In traditional robot exploration methods, the robot usually does not have prior biases about the environment it is exploring. Thus the robot assigns equal importance to the goals which leads to insufficient exploration efficiency. Alternative, often a hand-tuned policy is used to tweak the value of goals. In this paper, we present a method to learn how "good" some states are, measured by the state value function, to provide a hint for the robot to make exploration decisions. We propose to learn state value functions from previous offline collected datasets and then transfer and improve the value function during testing in a new environment. Moreover, the environments usually have very few and even no extrinsic reward or feedback for the robot. Therefore in this work, we also tackle the problem of sparse extrinsic rewards from the environments. We design several intrinsic rewards to encourage the robot to obtain more information during exploration. These reward functions then become the building blocks of the state value functions. We test our method on challenging subterranean and urban environments. To the best of our knowledge, this work for the first time demonstrates value function prediction with previous collected datasets to help exploration in challenging subterranean environments.
Collaborative filtering (CF) is one of the most successful and fundamental techniques in recommendation systems. In recent years, Graph Neural Network (GNN)-based CF models, such as NGCF [31], LightGCN [10] and GTN [9] have achieved tremendous success and significantly advanced the state-of-the-art. While there is a rich literature of such works using advanced models for learning user and item representations separately, item recommendation is essentially a link prediction problem between users and items. Furthermore, while there have been early works employing link prediction for collaborative filtering [5, 6], this trend has largely given way to works focused on aggregating information from user and item nodes, rather than modeling links directly. In this paper, we propose a new linkage (connectivity) score for bipartite graphs, generalizing multiple standard link prediction methods. We combine this new score with an iterative degree update process in the user-item interaction bipartite graph to exploit local graph structures without any node modeling. The result is a simple, non-deep learning model with only six learnable parameters. Despite its simplicity, we demonstrate our approach significantly outperforms existing state-of-the-art GNN-based CF approaches on four widely used benchmarks. In particular, on Amazon-Book, we demonstrate an over 60% improvement for both Recall and NDCG. We hope our work would invite the community to revisit the link prediction aspect of collaborative filtering, where significant performance gains could be achieved through aligning link prediction with item recommendations.
Despite recent stereo matching networks achieving impressive performance given sufficient training data, they suffer from domain shifts and generalize poorly to unseen domains. We argue that maintaining feature consistency between matching pixels is a vital factor for promoting the generalization capability of stereo matching networks, which has not been adequately considered. Here we address this issue by proposing a simple pixel-wise contrastive learning across the viewpoints. The stereo contrastive feature loss function explicitly constrains the consistency between learned features of matching pixel pairs which are observations of the same 3D points. A stereo selective whitening loss is further introduced to better preserve the stereo feature consistency across domains, which decorrelates stereo features from stereo viewpoint-specific style information. Counter-intuitively, the generalization of feature consistency between two viewpoints in the same scene translates to the generalization of stereo matching performance to unseen domains. Our method is generic in nature as it can be easily embedded into existing stereo networks and does not require access to the samples in the target domain. When trained on synthetic data and generalized to four real-world testing sets, our method achieves superior performance over several state-of-the-art networks.
Inverter-based solar energy sources are becoming widely integrated into modern power systems. However, their impacts on the system in the frequency domain are rarely investigated at a higher frequency range than conventional electromechanical oscillations. This paper presents evidence of the emergence of an oscillation mode injected by inverter-based solar energy sources in Dominion Energy's service territory. This new mode was recognized from the analysis of real-world ambient synchrophasor and point-of-wave data. The analysis was performed by developing customized synchrophasor analysis tools deployed on the PredictiveGrid^{TM} platform implemented at Dominion Energy. Herein, we describe and illustrate the preliminary analysis results acquired from spectrogram observations, power spectral density plots, and mode shape estimation. The emergence and propagation of this new mode in Dominion Energy's footprint is illustrated using a heatmap based on a proposed frequency component energy metric, which helps to assess this oscillation's spread and impact.
Light field image becomes one of the most promising media types for immersive video applications. In this paper, we propose a novel end-to-end spatial-angular-decorrelated network (SADN) for high-efficiency light field image compression. Different from the existing methods that exploit either spatial or angular consistency in the light field image, SADN decouples the angular and spatial information by dilation convolution and stride convolution in spatial-angular interaction, and performs feature fusion to compress spatial and angular information jointly. To train a stable and robust algorithm, a large-scale dataset consisting of 7549 light field images is proposed and built. The proposed method provides 2.137 times and 2.849 times higher compression efficiency relative to H.266/VVC and H.265/HEVC inter coding, respectively. It also outperforms the end-to-end image compression networks by an average of 79.6% bitrate saving with much higher subjective quality and light field consistency.
Because of the large number of online games available nowadays, online game recommender systems are necessary for users and online game platforms. The former can discover more potential online games of their interests, and the latter can attract users to dwell longer in the platform. This paper investigates the characteristics of user behaviors with respect to the online games on the Steam platform. Based on the observations, we argue that a satisfying recommender system for online games is able to characterize: personalization, game contextualization and social connection. However, simultaneously solving all is rather challenging for game recommendation. Firstly, personalization for game recommendation requires the incorporation of the dwelling time of engaged games, which are ignored in existing methods. Secondly, game contextualization should reflect the complex and high-order properties of those relations. Last but not least, it is problematic to use social connections directly for game recommendations due to the massive noise within social connections. To this end, we propose a Social-aware Contextualized Graph Neural Recommender System (SCGRec), which harnesses three perspectives to improve game recommendation. We conduct a comprehensive analysis of users' online game behaviors, which motivates the necessity of handling those three characteristics in the online game recommendation.
Staircases are some of the most common building structures in urban environments. Stair detection is an important task for various applications, including the environmental perception of exoskeleton robots, humanoid robots, and rescue robots and the navigation of visually impaired people. Most existing stair detection algorithms have difficulty dealing with the diversity of stair structure materials, extreme light and serious occlusion. Inspired by human perception, we propose an end-to-end method based on deep learning. Specifically, we treat the process of stair line detection as a multitask involving coarse-grained semantic segmentation and object detection. The input images are divided into cells, and a simple neural network is used to judge whether each cell contains stair lines. For cells containing stair lines, the locations of the stair lines relative to each cell are regressed. Extensive experiments on our dataset show that our method can achieve high performance in terms of both speed and accuracy. A lightweight version can even achieve 300+ frames per second with the same resolution. Our code and dataset will be soon available at GitHub.
In this note, we describe a battery failure detection pipeline backed up by deep learning models. We first introduce a large-scale Electric vehicle (EV) battery dataset including cleaned battery-charging data from hundreds of vehicles. We then formulate battery failure detection as an outlier detection problem, and propose a new algorithm named Dynamic-VAE based on dynamic system and variational autoencoders. We validate the performance of our proposed algorithm against several baselines on our released dataset and demonstrated the effectiveness of Dynamic-VAE.