Demonstration-Guided Reinforcement Learning with Efficient Exploration for Task Automation of Surgical Robot

Task automation of surgical robot has the potentials to improve surgical efficiency. Recent reinforcement learning (RL) based approaches provide scalable solutions to surgical automation, but typically require extensive data collection to solve a task if no prior knowledge is given. This issue is known as the exploration challenge, which can be alleviated by providing expert demonstrations to an RL agent. Yet, how to make effective use of demonstration data to improve exploration efficiency still remains an open challenge. In this work, we introduce Demonstration-guided EXploration (DEX), an efficient reinforcement learning algorithm that aims to overcome the exploration problem with expert demonstrations for surgical automation. To effectively exploit demonstrations, our method estimates expert-like behaviors with higher values to facilitate productive interactions, and adopts non-parametric regression to enable such guidance at states unobserved in demonstration data. Extensive experiments on $10$ surgical manipulation tasks from SurRoL, a comprehensive surgical simulation platform, demonstrate significant improvements in the exploration efficiency and task success rates of our method. Moreover, we also deploy the learned policies to the da Vinci Research Kit (dVRK) platform to show the effectiveness on the real robot. Code is available at https://github.com/med-air/DEX.

Local spectral attention for full-band speech enhancement

Attention mechanism has been widely utilized in speech enhancement (SE) because theoretically it can effectively model the inherent connection of signal both in time domain and spectrum domain. Usually, the span of attention is limited in time domain while the attention in frequency domain spans the whole frequency range. In this paper, we notice that the attention over the whole frequency range hampers the inference for full-band SE and possibly leads to excessive residual noise. To alleviate this problem, we introduce local spectral attention (LSA) into full-band SE model by limiting the span of attention. The ablation test on the state-of-the-art (SOTA) full-band SE model reveals that the local frequency attention can effectively improve overall performance. The improved model achieves the best objective score on the full-band VoiceBank+DEMAND set.

Attention does not guarantee best performance in speech enhancement

Attention mechanism has been widely utilized in speech enhancement (SE) because theoretically it can effectively model the long-term inherent connection of signal both in time domain and spectrum domain. However, the generally used global attention mechanism might not be the best choice since the adjacent information naturally imposes more influence than the far-apart information in speech enhancement. In this paper, we validate this conjecture by replacing attention with RNN in two typical state-of-the-art (SOTA) models, multi-scale temporal frequency convolutional network (MTFAA) with axial attention and conformer-based metric-GAN network (CMGAN).

Boosting Neural Networks to Decompile Optimized Binaries

Decompilation aims to transform a low-level program language (LPL) (eg., binary file) into its functionally-equivalent high-level program language (HPL) (e.g., C/C++). It is a core technology in software security, especially in vulnerability discovery and malware analysis. In recent years, with the successful application of neural machine translation (NMT) models in natural language processing (NLP), researchers have tried to build neural decompilers by borrowing the idea of NMT. They formulate the decompilation process as a translation problem between LPL and HPL, aiming to reduce the human cost required to develop decompilation tools and improve their generalizability. However, state-of-the-art learning-based decompilers do not cope well with compiler-optimized binaries. Since real-world binaries are mostly compiler-optimized, decompilers that do not consider optimized binaries have limited practical significance. In this paper, we propose a novel learning-based approach named NeurDP, that targets compiler-optimized binaries. NeurDP uses a graph neural network (GNN) model to convert LPL to an intermediate representation (IR), which bridges the gap between source code and optimized binary. We also design an Optimized Translation Unit (OTU) to split functions into smaller code fragments for better translation performance. Evaluation results on datasets containing various types of statements show that NeurDP can decompile optimized binaries with 45.21% higher accuracy than state-of-the-art neural decompilation frameworks.

RTMDet: An Empirical Study of Designing Real-Time Object Detectors

In this paper, we aim to design an efficient real-time object detector that exceeds the YOLO series and is easily extensible for many object recognition tasks such as instance segmentation and rotated object detection. To obtain a more efficient model architecture, we explore an architecture that has compatible capacities in the backbone and neck, constructed by a basic building block that consists of large-kernel depth-wise convolutions. We further introduce soft labels when calculating matching costs in the dynamic label assignment to improve accuracy. Together with better training techniques, the resulting object detector, named RTMDet, achieves 52.8% AP on COCO with 300+ FPS on an NVIDIA 3090 GPU, outperforming the current mainstream industrial detectors. RTMDet achieves the best parameter-accuracy trade-off with tiny/small/medium/large/extra-large model sizes for various application scenarios, and obtains new state-of-the-art performance on real-time instance segmentation and rotated object detection. We hope the experimental results can provide new insights into designing versatile real-time object detectors for many object recognition tasks. Code and models are released at https://github.com/open-mmlab/mmdetection/tree/3.x/configs/rtmdet.

Anger Breeds Controversy: Analyzing Controversy and Emotions on Reddit

Emotions play an important role in interpersonal interactions and social conflict, yet their function in the development of controversy and disagreement in online conversations has not been explored. To address this gap, we study controversy on Reddit, a popular network of online discussion forums. We collect discussions from a wide variety of topical forums and use emotion detection to recognize a range of emotions from text, including anger, fear, joy, admiration, etc. Our study has three main findings. First, controversial comments express more anger and less admiration, joy and optimism than non-controversial comments. Second, controversial comments affect emotions of downstream comments in a discussion, usually resulting in long-term increase in anger and a decrease in positive emotions, although the magnitude and direction of emotional change depends on the forum. Finally, we show that emotions help better predict which comments will become controversial. Understanding emotional dynamics of online discussions can help communities to better manage conversations.

StereoPose: Category-Level 6D Transparent Object Pose Estimation from Stereo Images via Back-View NOCS

Most existing methods for category-level pose estimation rely on object point clouds. However, when considering transparent objects, depth cameras are usually not able to capture meaningful data, resulting in point clouds with severe artifacts. Without a high-quality point cloud, existing methods are not applicable to challenging transparent objects. To tackle this problem, we present StereoPose, a novel stereo image framework for category-level object pose estimation, ideally suited for transparent objects. For a robust estimation from pure stereo images, we develop a pipeline that decouples category-level pose estimation into object size estimation, initial pose estimation, and pose refinement. StereoPose then estimates object pose based on representation in the normalized object coordinate space~(NOCS). To address the issue of image content aliasing, we further define a back-view NOCS map for the transparent object. The back-view NOCS aims to reduce the network learning ambiguity caused by content aliasing, and leverage informative cues on the back of the transparent object for more accurate pose estimation. To further improve the performance of the stereo framework, StereoPose is equipped with a parallax attention module for stereo feature fusion and an epipolar loss for improving the stereo-view consistency of network predictions. Extensive experiments on the public TOD dataset demonstrate the superiority of the proposed StereoPose framework for category-level 6D transparent object pose estimation.

Boosting Point Clouds Rendering via Radiance Mapping

Recent years we have witnessed rapid development in NeRF-based image rendering due to its high quality. However, point clouds rendering is somehow less explored. Compared to NeRF-based rendering which suffers from dense spatial sampling, point clouds rendering is naturally less computation intensive, which enables its deployment in mobile computing device. In this work, we focus on boosting the image quality of point clouds rendering with a compact model design. We first analyze the adaption of the volume rendering formulation on point clouds. Based on the analysis, we simplify the NeRF representation to a spatial mapping function which only requires single evaluation per pixel. Further, motivated by ray marching, we rectify the the noisy raw point clouds to the estimated intersection between rays and surfaces as queried coordinates, which could avoid spatial frequency collapse and neighbor point disturbance. Composed of rasterization, spatial mapping and the refinement stages, our method achieves the state-of-the-art performance on point clouds rendering, outperforming prior works by notable margins, with a smaller model size. We obtain a PSNR of 31.74 on NeRF-Synthetic, 25.88 on ScanNet and 30.81 on DTU. Code and data would be released soon.

A Novel Membership Inference Attack against Dynamic Neural Networks by Utilizing Policy Networks Information

Unlike traditional static deep neural networks (DNNs), dynamic neural networks (NNs) adjust their structures or parameters to different inputs to guarantee accuracy and computational efficiency. Meanwhile, it has been an emerging research area in deep learning recently. Although traditional static DNNs are vulnerable to the membership inference attack (MIA) , which aims to infer whether a particular point was used to train the model, little is known about how such an attack performs on the dynamic NNs. In this paper, we propose a novel MI attack against dynamic NNs, leveraging the unique policy networks mechanism of dynamic NNs to increase the effectiveness of membership inference. We conducted extensive experiments using two dynamic NNs, i.e., GaterNet, BlockDrop, on four mainstream image classification tasks, i.e., CIFAR-10, CIFAR-100, STL-10, and GTSRB. The evaluation results demonstrate that the control-flow information can significantly promote the MIA. Based on backbone-finetuning and information-fusion, our method achieves better results than baseline attack and traditional attack using intermediate information.