Bio-inspired Obstacle Avoidance for Flying Robots with Active Sensing

This paper presents a novel vision-based obstacle avoidance system for flying robots working in dynamic environments. Instead of fusing multiple sensors to enlarge the view field, we introduce a bio-inspired solution that utilizes a stereo camera with independent rotational DOF to sense the obstacles actively. In particular, the rotation is planned heuristically by multiple objectives that can benefit flight safety, including tracking dynamic obstacles, observing the heading direction, and exploring the previously unseen area. With this sensing result, a flight path is planned based on real-time sampling and collision checking in state space, which constitutes an active sense and avoid (ASAA) system. Experiments demonstrate that this system is capable of handling environments with dynamic obstacles and abrupt changes in goal direction. Since only one stereo camera is utilized, this system provides a low-cost but effective approach to overcome the view field limitation in visual navigation.

Privacy Preserving Vertical Federated Learning for Tree-based Models

Federated learning (FL) is an emerging paradigm that enables multiple organizations to jointly train a model without revealing their private data to each other. This paper studies {\it vertical} federated learning, which tackles the scenarios where (i) collaborating organizations own data of the same set of users but with disjoint features, and (ii) only one organization holds the labels. We propose Pivot, a novel solution for privacy preserving vertical decision tree training and prediction, ensuring that no intermediate information is disclosed other than those the clients have agreed to release (i.e., the final tree model and the prediction output). Pivot does not rely on any trusted third party and provides protection against a semi-honest adversary that may compromise $m-1$ out of $m$ clients. We further identify two privacy leakages when the trained decision tree model is released in plaintext and propose an enhanced protocol to mitigate them. The proposed solution can also be extended to tree ensemble models, e.g., random forest (RF) and gradient boosting decision tree (GBDT) by treating single decision trees as building blocks. Theoretical and experimental analysis suggest that Pivot is efficient for the privacy achieved.

Planimation

Planimation is a modular and extensible open source framework to visualise sequential solutions of planning problems specified in PDDL. We introduce a preliminary declarative PDDL-like animation profile specification, expressive enough to synthesise animations of arbitrary initial states and goals of a benchmark with just a single profile.

Robust Federated Recommendation System

Federated recommendation systems can provide good performance without collecting users' private data, making them attractive. However, they are susceptible to low-cost poisoning attacks that can degrade their performance. In this paper, we develop a novel federated recommendation technique that is robust against the poisoning attack where Byzantine clients prevail. We argue that the key to Byzantine detection is monitoring of gradients of the model parameters of clients. We then propose a robust learning strategy where instead of using model parameters, the central server computes and utilizes the gradients to filter out Byzantine clients. Theoretically, we justify our robust learning strategy by our proposed definition of Byzantine resilience. Empirically, we confirm the efficacy of our robust learning strategy employing four datasets in a federated recommendation system.

Decorrelated Double Q-learning

Q-learning with value function approximation may have the poor performance because of overestimation bias and imprecise estimate. Specifically, overestimation bias is from the maximum operator over noise estimate, which is exaggerated using the estimate of a subsequent state. Inspired by the recent advance of deep reinforcement learning and Double Q-learning, we introduce the decorrelated double Q-learning (D2Q). Specifically, we introduce the decorrelated regularization item to reduce the correlation between value function approximators, which can lead to less biased estimation and low variance. The experimental results on a suite of MuJoCo continuous control tasks demonstrate that our decorrelated double Q-learning can effectively improve the performance.

Learning to Predict Explainable Plots for Neural Story Generation

Story generation is an important natural language processing task that aims to generate coherent stories automatically. While the use of neural networks has proven effective in improving story generation, how to learn to generate an explainable high-level plot still remains a major challenge. In this work, we propose a latent variable model for neural story generation. The model treats an outline, which is a natural language sentence explainable to humans, as a latent variable to represent a high-level plot that bridges the input and output. We adopt an external summarization model to guide the latent variable model to learn how to generate outlines from training data. Experiments show that our approach achieves significant improvements over state-of-the-art methods in both automatic and human evaluations.

PhoneBit: Efficient GPU-Accelerated Binary Neural Network Inference Engine for Mobile Phones

Over the last years, a great success of deep neural networks (DNNs) has been witnessed in computer vision and other fields. However, performance and power constraints make it still challenging to deploy DNNs on mobile devices due to their high computational complexity. Binary neural networks (BNNs) have been demonstrated as a promising solution to achieve this goal by using bit-wise operations to replace most arithmetic operations. Currently, existing GPU-accelerated implementations of BNNs are only tailored for desktop platforms. Due to architecture differences, mere porting of such implementations to mobile devices yields suboptimal performance or is impossible in some cases. In this paper, we propose PhoneBit, a GPU-accelerated BNN inference engine for Android-based mobile devices that fully exploits the computing power of BNNs on mobile GPUs. PhoneBit provides a set of operator-level optimizations including locality-friendly data layout, bit packing with vectorization and layers integration for efficient binary convolution. We also provide a detailed implementation and parallelization optimization for PhoneBit to optimally utilize the memory bandwidth and computing power of mobile GPUs. We evaluate PhoneBit with AlexNet, YOLOv2 Tiny and VGG16 with their binary version. Our experiment results show that PhoneBit can achieve significant speedup and energy efficiency compared with state-of-the-art frameworks for mobile devices.

Context-aware Active Multi-Step Reinforcement Learning

Reinforcement learning has attracted great attention recently, especially policy gradient algorithms, which have been demonstrated on challenging decision making and control tasks. In this paper, we propose an active multi-step TD algorithm with adaptive stepsizes to learn actor and critic. Specifically, our model consists of two components: active stepsize learning and adaptive multi-step TD algorithm. Firstly, we divide the time horizon into chunks and actively select state and action inside each chunk. Then given the selected samples, we propose the adaptive multi-step TD, which generalizes TD($\lambda$), but adaptively switch on/off the backups from future returns of different steps. Particularly, the adaptive multi-step TD introduces a context-aware mechanism, here a binary classifier, which decides whether or not to turn on its future backups based on the context changes. Thus, our model is kind of combination of active learning and multi-step TD algorithm, which has the capacity for learning off-policy without the need of importance sampling. We evaluate our approach on both discrete and continuous space tasks in an off-policy setting respectively, and demonstrate competitive results compared to other reinforcement learning baselines.

Merging Deterministic Policy Gradient Estimations with Varied Bias-Variance Tradeoff for Effective Deep Reinforcement Learning

Deep reinforcement learning (DRL) on Markov decision processes (MDPs) with continuous action spaces is often approached by directly updating parametric policies along the direction of estimated policy gradients (PGs). Previous research revealed that the performance of these PG algorithms depends heavily on the bias-variance tradeoff involved in estimating and using PGs. A notable approach towards balancing this tradeoff is to merge both on-policy and off-policy gradient estimations for the purpose of training stochastic policies. However this method cannot be utilized directly by sample-efficient off-policy PG algorithms such as Deep Deterministic Policy Gradient (DDPG) and twin-delayed DDPG (TD3), which have been designed to train deterministic policies. It is hence important to develop new techniques to merge multiple off-policy estimations of deterministic PG (DPG). Driven by this research question, this paper introduces elite DPG which will be estimated differently from conventional DPG to emphasize on the variance reduction effect at the expense of increased learning bias. To mitigate the extra bias, policy consolidation techniques will be developed to distill policy behavioral knowledge from elite trajectories and use the distilled generative model to further regularize policy training. Moreover, we will study both theoretically and experimentally two different DPG merging methods, i.e., interpolation merging and two-step merging, with the aim to induce varied bias-variance tradeoff through combined use of both conventional DPG and elite DPG. Experiments on six benchmark control tasks confirm that these two merging methods can noticeably improve the learning performance of TD3, significantly outperforming several state-of-the-art DRL algorithms.

Learning to Navigate from Simulation via Spatial and Semantic Information Synthesis with Noise Model Embedding

While training an end-to-end navigation network in the real world is usually of high cost, simulation provides a safe and cheap environment in this training stage. However, training neural network models in simulation brings up the problem of how to effectively transfer the model from simulation to the real world (sim-to-real). In this work, we regard the environment representation as a crucial element in this transfer process and propose a visual information pyramid (VIP) model to systematically investigate a practical environment representation. A novel representation composed of spatial and semantic information synthesis is then established accordingly, where noise model embedding is particularly considered. To explore the effectiveness of this representation, we compared the performance with representations popularly used in the literature in both simulated and real-world scenarios. Results suggest that our environment representation stands out. Furthermore, an analysis on the feature map is implemented to investigate the effectiveness through inner reaction, which could be irradiative for future researches on end-to-end navigation.