Deep reinforcement learning (DRL) faces significant challenges in addressing the hard-exploration problems in tasks with sparse or deceptive rewards and large state spaces. These challenges severely limit the practical application of DRL. Most previous exploration methods relied on complex architectures to estimate state novelty or introduced sensitive hyperparameters, resulting in instability. To mitigate these issues, we propose an efficient adaptive trajectory-constrained exploration strategy for DRL. The proposed method guides the policy of the agent away from suboptimal solutions by leveraging incomplete offline demonstrations as references. This approach gradually expands the exploration scope of the agent and strives for optimality in a constrained optimization manner. Additionally, we introduce a novel policy-gradient-based optimization algorithm that utilizes adaptively clipped trajectory-distance rewards for both single- and multi-agent reinforcement learning. We provide a theoretical analysis of our method, including a deduction of the worst-case approximation error bounds, highlighting the validity of our approach for enhancing exploration. To evaluate the effectiveness of the proposed method, we conducted experiments on two large 2D grid world mazes and several MuJoCo tasks. The extensive experimental results demonstrate the significant advantages of our method in achieving temporally extended exploration and avoiding myopic and suboptimal behaviors in both single- and multi-agent settings. Notably, the specific metrics and quantifiable results further support these findings. The code used in the study is available at \url{https://github.com/buaawgj/TACE}.
This paper presents a novel vision-based proprioception approach for a soft robotic finger capable of estimating and reconstructing tactile interactions in terrestrial and aquatic environments. The key to this system lies in the finger's unique metamaterial structure, which facilitates omni-directional passive adaptation during grasping, protecting delicate objects across diverse scenarios. A compact in-finger camera captures high-framerate images of the finger's deformation during contact, extracting crucial tactile data in real time. We present a method of the volumetric discretized model of the soft finger and use the geometry constraints captured by the camera to find the optimal estimation of the deformed shape. The approach is benchmarked with a motion-tracking system with sparse markers and a haptic device with dense measurements. Both results show state-of-the-art accuracies, with a median error of 1.96 mm for overall body deformation, corresponding to 2.1$\%$ of the finger's length. More importantly, the state estimation is robust in both on-land and underwater environments as we demonstrate its usage for underwater object shape sensing. This combination of passive adaptation and real-time tactile sensing paves the way for amphibious robotic grasping applications.
Robots play a critical role as the physical agent of human operators in exploring the ocean. However, it remains challenging to grasp objects reliably while fully submerging under a highly pressurized aquatic environment with little visible light, mainly due to the fluidic interference on the tactile mechanics between the finger and object surfaces. This study investigates the transferability of grasping knowledge from on-land to underwater via a vision-based soft robotic finger that learns 6D forces and torques (FT) using a Supervised Variational Autoencoder (SVAE). A high-framerate camera captures the whole-body deformations while a soft robotic finger interacts with physical objects on-land and underwater. Results show that the trained SVAE model learned a series of latent representations of the soft mechanics transferrable from land to water, presenting a superior adaptation to the changing environments against commercial FT sensors. Soft, delicate, and reactive grasping enabled by tactile intelligence enhances the gripper's underwater interaction with improved reliability and robustness at a much-reduced cost, paving the path for learning-based intelligent grasping to support fundamental scientific discoveries in environmental and ocean research.
This paper introduces a novel low-latency online beamforming (BF) algorithm, named Modified Parametric Multichannel Wiener Filter (Mod-PMWF), for enhancing speech mixtures with unknown and varying number of speakers. Although conventional BFs such as linearly constrained minimum variance BF (LCMV BF) can enhance a speech mixture, they typically require such attributes of the speech mixture as the number of speakers and the acoustic transfer functions (ATFs) from the speakers to the microphones. When the mixture attributes are unavailable, estimating them by low-latency processing is challenging, hindering the application of the BFs to the problem. In this paper, we overcome this problem by modifying a conventional Parametric Multichannel Wiener Filter (PMWF). The proposed Mod-PMWF can adaptively form a directivity pattern that enhances all the speakers in the mixture without explicitly estimating these attributes. Our experiments will show the proposed BF's effectiveness in interference reduction ratios and subjective listening tests.
With a fast developing pace of geographic applications, automatable and intelligent models are essential to be designed to handle the large volume of information. However, few researchers focus on geographic natural language processing, and there has never been a benchmark to build a unified standard. In this work, we propose a GeoGraphic Language Understanding Evaluation benchmark, named GeoGLUE. We collect data from open-released geographic resources and introduce six natural language understanding tasks, including geographic textual similarity on recall, geographic textual similarity on rerank, geographic elements tagging, geographic composition analysis, geographic where what cut, and geographic entity alignment. We also pro vide evaluation experiments and analysis of general baselines, indicating the effectiveness and significance of the GeoGLUE benchmark.
We study a multi-source wireless power transfer (WPT) enabled network supporting multi-sensor transmissions. Activated by energy harvesting (EH) from multiple WPT sources, sensors transmit short packets to a destination with finite blocklength (FBL) codes. This work for the first time characterizes the FBL reliability for such multi-source WPT enabled network and provides reliability-oriented resource allocation designs, while a practical nonlinear EH model is considered. For scenario with a fixed frame structure, we maximize the FBL reliability via optimally allocating the transmit power among multi-source. In particular, we first investigate the relationship between the FBL reliability and multiple WPT source power, based on which a power allocation problem is formulated. To solve the formulated non-convex problem, we introduce auxiliary variables and apply successive convex approximation (SCA) technique to the non-convex component. Consequently, a sub-optimal solution can be obtained. Moreover, we extend our design into a dynamic frame structure scenario, i.e., the blocklength allocated for WPT phase and short-packet transmission phase are adjustable, which introduces more flexibility and new challenges to the system design. We provide a joint power and blocklength allocation design to minimize the system overall error probability under the total power and blocklength constraints. To address the high-dimensional optimization problem, auxiliary variables introduction, multiple variable substitutions and SCA technique utilization are exploited to reformulate and efficiently solve the problem. Finally, through numerical results, we validate our analytical model and evaluate the system performance, where a set of guidelines for practical system design are concluded.
Blind image quality assessment (BIQA) remains challenging due to the diversity of distortion and image content variation, which complicate the distortion patterns crossing different scales and aggravate the difficulty of the regression problem for BIQA. However, existing BIQA methods often fail to consider multi-scale distortion patterns and image content, and little research has been done on learning strategies to make the regression model produce better performance. In this paper, we propose a simple yet effective Progressive Multi-Task Image Quality Assessment (PMT-IQA) model, which contains a multi-scale feature extraction module (MS) and a progressive multi-task learning module (PMT), to help the model learn complex distortion patterns and better optimize the regression issue to align with the law of human learning process from easy to hard. To verify the effectiveness of the proposed PMT-IQA model, we conduct experiments on four widely used public datasets, and the experimental results indicate that the performance of PMT-IQA is superior to the comparison approaches, and both MS and PMT modules improve the model's performance.
Self-supervised learning approach like contrastive learning is attached great attention in natural language processing. It uses pairs of training data augmentations to build a classification task for an encoder with well representation ability. However, the construction of learning pairs over contrastive learning is much harder in NLP tasks. Previous works generate word-level changes to form pairs, but small transforms may cause notable changes on the meaning of sentences as the discrete and sparse nature of natural language. In this paper, adversarial training is performed to generate challenging and harder learning adversarial examples over the embedding space of NLP as learning pairs. Using contrastive learning improves the generalization ability of adversarial training because contrastive loss can uniform the sample distribution. And at the same time, adversarial training also enhances the robustness of contrastive learning. Two novel frameworks, supervised contrastive adversarial learning (SCAL) and unsupervised SCAL (USCAL), are proposed, which yields learning pairs by utilizing the adversarial training for contrastive learning. The label-based loss of supervised tasks is exploited to generate adversarial examples while unsupervised tasks bring contrastive loss. To validate the effectiveness of the proposed framework, we employ it to Transformer-based models for natural language understanding, sentence semantic textual similarity and adversarial learning tasks. Experimental results on GLUE benchmark tasks show that our fine-tuned supervised method outperforms BERT$_{base}$ over 1.75\%. We also evaluate our unsupervised method on semantic textual similarity (STS) tasks, and our method gets 77.29\% with BERT$_{base}$. The robustness of our approach conducts state-of-the-art results under multiple adversarial datasets on NLI tasks.
In recent years, deep learning-based image analysis methods have been widely applied in computer-aided detection, diagnosis and prognosis, and has shown its value during the public health crisis of the novel coronavirus disease 2019 (COVID-19) pandemic. Chest radiograph (CXR) has been playing a crucial role in COVID-19 patient triaging, diagnosing and monitoring, particularly in the United States. Considering the mixed and unspecific signals in CXR, an image retrieval model of CXR that provides both similar images and associated clinical information can be more clinically meaningful than a direct image diagnostic model. In this work we develop a novel CXR image retrieval model based on deep metric learning. Unlike traditional diagnostic models which aims at learning the direct mapping from images to labels, the proposed model aims at learning the optimized embedding space of images, where images with the same labels and similar contents are pulled together. It utilizes multi-similarity loss with hard-mining sampling strategy and attention mechanism to learn the optimized embedding space, and provides similar images to the query image. The model is trained and validated on an international multi-site COVID-19 dataset collected from 3 different sources. Experimental results of COVID-19 image retrieval and diagnosis tasks show that the proposed model can serve as a robust solution for CXR analysis and patient management for COVID-19. The model is also tested on its transferability on a different clinical decision support task, where the pre-trained model is applied to extract image features from a new dataset without any further training. These results demonstrate our deep metric learning based image retrieval model is highly efficient in the CXR retrieval, diagnosis and prognosis, and thus has great clinical value for the treatment and management of COVID-19 patients.