Learning Variable Impedance Skills from Demonstrations with Passivity Guarantee

Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive capabilities to handle the considerable variations exhibited by different robotic tasks in dynamic environments, which can be obtained through human demonstrations. This paper presents a learning-from-demonstration framework that integrates force sensing and motion information to facilitate variable impedance control. The proposed approach involves the estimation of full stiffness matrices from human demonstrations, which are then combined with sensed forces and motion information to create a model using the non-parametric method. This model allows the robot to replicate the demonstrated task while also responding appropriately to new task conditions through the use of the state-dependent stiffness profile. Additionally, a novel tank based variable impedance control approach is proposed to ensure passivity by using the learned stiffness. The proposed approach was evaluated using two virtual variable stiffness systems. The first evaluation demonstrates that the stiffness estimated approach exhibits superior robustness compared to traditional methods when tested on manual datasets, and the second evaluation illustrates that the novel tank based approach is more easily implementable compared to traditional variable impedance control approaches.

Noise-Resistant Multimodal Transformer for Emotion Recognition

Multimodal emotion recognition identifies human emotions from various data modalities like video, text, and audio. However, we found that this task can be easily affected by noisy information that does not contain useful semantics. To this end, we present a novel paradigm that attempts to extract noise-resistant features in its pipeline and introduces a noise-aware learning scheme to effectively improve the robustness of multimodal emotion understanding. Our new pipeline, namely Noise-Resistant Multimodal Transformer (NORM-TR), mainly introduces a Noise-Resistant Generic Feature (NRGF) extractor and a Transformer for the multimodal emotion recognition task. In particular, we make the NRGF extractor learn a generic and disturbance-insensitive representation so that consistent and meaningful semantics can be obtained. Furthermore, we apply a Transformer to incorporate Multimodal Features (MFs) of multimodal inputs based on their relations to the NRGF. Therefore, the possible insensitive but useful information of NRGF could be complemented by MFs that contain more details. To train the NORM-TR properly, our proposed noise-aware learning scheme complements normal emotion recognition losses by enhancing the learning against noises. Our learning scheme explicitly adds noises to either all the modalities or a specific modality at random locations of a multimodal input sequence. We correspondingly introduce two adversarial losses to encourage the NRGF extractor to learn to extract the NRGFs invariant to the added noises, thus facilitating the NORM-TR to achieve more favorable multimodal emotion recognition performance. In practice, on several popular multimodal datasets, our NORM-TR achieves state-of-the-art performance and outperforms existing methods by a large margin, which demonstrates that the ability to resist noisy information is important for effective emotion recognition.

LiteG2P: A fast, light and high accuracy model for grapheme-to-phoneme conversion

As a key component of automated speech recognition (ASR) and the front-end in text-to-speech (TTS), grapheme-to-phoneme (G2P) plays the role of converting letters to their corresponding pronunciations. Existing methods are either slow or poor in performance, and are limited in application scenarios, particularly in the process of on-device inference. In this paper, we integrate the advantages of both expert knowledge and connectionist temporal classification (CTC) based neural network and propose a novel method named LiteG2P which is fast, light and theoretically parallel. With the carefully leading design, LiteG2P can be applied both on cloud and on device. Experimental results on the CMU dataset show that the performance of the proposed method is superior to the state-of-the-art CTC based method with 10 times fewer parameters, and even comparable to the state-of-the-art Transformer-based sequence-to-sequence model with less parameters and 33 times less computation.

Coexistence of Pulsed Radar and Communications: Interference Suppression and Multi-path Combining

The focus of this study is on the spectrum sharing between multiple-input multiple-output (MIMO) communications and co-located pulsed MIMO radar systems in multi-path environments. The major challenge is to suppress the mutual interference between the two systems while combining the useful multi-path components received at each system. We tackle this challenge by jointly designing the communication precoder, radar transmit waveform and receive filter. Specifically, the signal-to-interference-plus-noise ratio (SINR) at the radar receiver is maximized subject to constraints on the radar waveform, communication rate and transmit power. The multi-path propagation complicates the expressions of the radar SINR and communication rate, leading to a non-convex problem. To solve it, a sub-optimal algorithm based on the alternating maximization is used to optimize the precoder, radar transmit waveform and receive filter iteratively. The radar receive filter can be updated by a closed-form solution. The communication precoder and radar transmit waveform can be obtained by the successive convex approximation and alternating direction method of multipliers. Simulation results are provided to demonstrate the effectiveness of the proposed design.

Time flies by: Analyzing the Impact of Face Ageing on the Recognition Performance with Synthetic Data

The vast progress in synthetic image synthesis enables the generation of facial images in high resolution and photorealism. In biometric applications, the main motivation for using synthetic data is to solve the shortage of publicly-available biometric data while reducing privacy risks when processing such sensitive information. These advantages are exploited in this work by simulating human face ageing with recent face age modification algorithms to generate mated samples, thereby studying the impact of ageing on the performance of an open-source biometric recognition system. Further, a real dataset is used to evaluate the effects of short-term ageing, comparing the biometric performance to the synthetic domain. The main findings indicate that short-term ageing in the range of 1-5 years has only minor effects on the general recognition performance. However, the correct verification of mated faces with long-term age differences beyond 20 years poses still a significant challenge and requires further investigation.

A Survey on Surrogate-assisted Efficient Neural Architecture Search

Neural architecture search (NAS) has become increasingly popular in the deep learning community recently, mainly because it can provide an opportunity to allow interested users without rich expertise to benefit from the success of deep neural networks (DNNs). However, NAS is still laborious and time-consuming because a large number of performance estimations are required during the search process of NAS, and training DNNs is computationally intensive. To solve the major limitation of NAS, improving the efficiency of NAS is essential in the design of NAS. This paper begins with a brief introduction to the general framework of NAS. Then, the methods for evaluating network candidates under the proxy metrics are systematically discussed. This is followed by a description of surrogate-assisted NAS, which is divided into three different categories, namely Bayesian optimization for NAS, surrogate-assisted evolutionary algorithms for NAS, and MOP for NAS. Finally, remaining challenges and open research questions are discussed, and promising research topics are suggested in this emerging field.

Temporally and Spatially variant-resolution illumination patterns in computational ghost imaging

Conventional computational ghost imaging (CGI) uses light carrying a sequence of patterns with uniform-resolution to illuminate the object, then performs correlation calculation based on the light intensity value reflected by the target and the preset patterns to obtain object image. It requires a large number of measurements to obtain high-quality images, especially if high-resolution images are to be obtained. To solve this problem, we developed temporally variable-resolution illumination patterns, replacing the conventional uniform-resolution illumination patterns with a sequence of patterns of different imaging resolutions. In addition, we propose to combine temporally variable-resolution illumination patterns and spatially variable-resolution structure to develop temporally and spatially variable-resolution (TSV) illumination patterns, which not only improve the imaging quality of the region of interest (ROI) but also improve the robustness to noise. The methods using proposed illumination patterns are verified by simulations and experiments compared with CGI. For the same number of measurements, the method using temporally variable-resolution illumination patterns has better imaging quality than CGI, but it is less robust to noise. The method using TSV illumination patterns has better imaging quality in ROI than the method using temporally variable-resolution illumination patterns and CGI under the same number of measurements. We also experimentally verify that the method using TSV patterns have better imaging performance when applied to higher resolution imaging. The proposed methods are expected to solve the current computational ghost imaging that is difficult to achieve high-resolution and high-quality imaging.

End-to-End Modeling via Information Tree for One-Shot Natural Language Spatial Video Grounding

Natural language spatial video grounding aims to detect the relevant objects in video frames with descriptive sentences as the query. In spite of the great advances, most existing methods rely on dense video frame annotations, which require a tremendous amount of human effort. To achieve effective grounding under a limited annotation budget, we investigate one-shot video grounding, and learn to ground natural language in all video frames with solely one frame labeled, in an end-to-end manner. One major challenge of end-to-end one-shot video grounding is the existence of videos frames that are either irrelevant to the language query or the labeled frames. Another challenge relates to the limited supervision, which might result in ineffective representation learning. To address these challenges, we designed an end-to-end model via Information Tree for One-Shot video grounding (IT-OS). Its key module, the information tree, can eliminate the interference of irrelevant frames based on branch search and branch cropping techniques. In addition, several self-supervised tasks are proposed based on the information tree to improve the representation learning under insufficient labeling. Experiments on the benchmark dataset demonstrate the effectiveness of our model.

Generation of Non-Deterministic Synthetic Face Datasets Guided by Identity Priors

Enabling highly secure applications (such as border crossing) with face recognition requires extensive biometric performance tests through large scale data. However, using real face images raises concerns about privacy as the laws do not allow the images to be used for other purposes than originally intended. Using representative and subsets of face data can also lead to unwanted demographic biases and cause an imbalance in datasets. One possible solution to overcome these issues is to replace real face images with synthetically generated samples. While generating synthetic images has benefited from recent advancements in computer vision, generating multiple samples of the same synthetic identity resembling real-world variations is still unaddressed, i.e., mated samples. This work proposes a non-deterministic method for generating mated face images by exploiting the well-structured latent space of StyleGAN. Mated samples are generated by manipulating latent vectors, and more precisely, we exploit Principal Component Analysis (PCA) to define semantically meaningful directions in the latent space and control the similarity between the original and the mated samples using a pre-trained face recognition system. We create a new dataset of synthetic face images (SymFace) consisting of 77,034 samples including 25,919 synthetic IDs. Through our analysis using well-established face image quality metrics, we demonstrate the differences in the biometric quality of synthetic samples mimicking characteristics of real biometric data. The analysis and results thereof indicate the use of synthetic samples created using the proposed approach as a viable alternative to replacing real biometric data.