Design of a Flying Humanoid Robot Based on Thrust Vector Control

Achieving short-distance flight helps improve the efficiency of humanoid robots moving in complex environments (e.g., crossing large obstacles or reaching high places) for rapid emergency missions. This study proposes a design of a flying humanoid robot named Jet-HR2. The robot has 10 joints driven by brushless motors and harmonic drives for locomotion. To overcome the challenge of the stable-attitude takeoff in small thrust-to-weight conditions, the robot was designed based on the concept of thrust vectoring. The propulsion system consists of four ducted fans, that is, two fixed on the waist of the robot and the other two mounted on the feet, for thrust vector control. The thrust vector is controlled by adjusting the attitude of the foot during the flight. A simplified model and control strategies are proposed to solve the problem of attitude instability caused by mass errors and joint position errors during takeoff. The experimental results show that the robot's spin and dive behaviors during takeoff were effectively suppressed by controlling the thrust vector of the ducted fan on the foot. The robot successfully achieved takeoff at a thrust-to-weight ratio of 1.17 (17 kg / 20 kg) and maintained a stable attitude, reaching a takeoff height of over 1000 mm.

Spatio-temporal Parking Behaviour Forecasting and Analysis Before and During COVID-19

Parking demand forecasting and behaviour analysis have received increasing attention in recent years because of their critical role in mitigating traffic congestion and understanding travel behaviours. However, previous studies usually only consider temporal dependence but ignore the spatial correlations among parking lots for parking prediction. This is mainly due to the lack of direct physical connections or observable interactions between them. Thus, how to quantify the spatial correlation remains a significant challenge. To bridge the gap, in this study, we propose a spatial-aware parking prediction framework, which includes two steps, i.e. spatial connection graph construction and spatio-temporal forecasting. A case study in Ningbo, China is conducted using parking data of over one million records before and during COVID-19. The results show that the approach is superior on parking occupancy forecasting than baseline methods, especially for the cases with high temporal irregularity such as during COVID-19. Our work has revealed the impact of the pandemic on parking behaviour and also accentuated the importance of modelling spatial dependence in parking behaviour forecasting, which can benefit future studies on epidemiology and human travel behaviours.

Disentangling Hate in Online Memes

Hateful and offensive content detection has been extensively explored in a single modality such as text. However, such toxic information could also be communicated via multimodal content such as online memes. Therefore, detecting multimodal hateful content has recently garnered much attention in academic and industry research communities. This paper aims to contribute to this emerging research topic by proposing DisMultiHate, which is a novel framework that performed the classification of multimodal hateful content. Specifically, DisMultiHate is designed to disentangle target entities in multimodal memes to improve hateful content classification and explainability. We conduct extensive experiments on two publicly available hateful and offensive memes datasets. Our experiment results show that DisMultiHate is able to outperform state-of-the-art unimodal and multimodal baselines in the hateful meme classification task. Empirical case studies were also conducted to demonstrate DisMultiHate's ability to disentangle target entities in memes and ultimately showcase DisMultiHate's explainability of the multimodal hateful content classification task.

An End-to-End and Accurate PPG-based Respiratory Rate Estimation Approach Using Cycle Generative Adversarial Networks

Respiratory rate (RR) is a clinical sign representing ventilation. An abnormal change in RR is often the first sign of health deterioration as the body attempts to maintain oxygen delivery to its tissues. There has been a growing interest in remotely monitoring of RR in everyday settings which has made photoplethysmography (PPG) monitoring wearable devices an attractive choice. PPG signals are useful sources for RR extraction due to the presence of respiration-induced modulations in them. The existing PPG-based RR estimation methods mainly rely on hand-crafted rules and manual parameters tuning. An end-to-end deep learning approach was recently proposed, however, despite its automatic nature, the performance of this method is not ideal using the real world data. In this paper, we present an end-to-end and accurate pipeline for RR estimation using Cycle Generative Adversarial Networks (CycleGAN) to reconstruct respiratory signals from raw PPG signals. Our results demonstrate a higher RR estimation accuracy of up to 2$\times$ (mean absolute error of 1.9$\pm$0.3 using five fold cross validation) compared to the state-of-th-art using a identical publicly available dataset. Our results suggest that CycleGAN can be a valuable method for RR estimation from raw PPG signals.

Learning to Remove: Towards Isotropic Pre-trained BERT Embedding

Pre-trained language models such as BERT have become a more common choice of natural language processing (NLP) tasks. Research in word representation shows that isotropic embeddings can significantly improve performance on downstream tasks. However, we measure and analyze the geometry of pre-trained BERT embedding and find that it is far from isotropic. We find that the word vectors are not centered around the origin, and the average cosine similarity between two random words is much higher than zero, which indicates that the word vectors are distributed in a narrow cone and deteriorate the representation capacity of word embedding. We propose a simple, and yet effective method to fix this problem: remove several dominant directions of BERT embedding with a set of learnable weights. We train the weights on word similarity tasks and show that processed embedding is more isotropic. Our method is evaluated on three standardized tasks: word similarity, word analogy, and semantic textual similarity. In all tasks, the word embedding processed by our method consistently outperforms the original embedding (with average improvement of 13% on word analogy and 16% on semantic textual similarity) and two baseline methods. Our method is also proven to be more robust to changes of hyperparameter.

AngryBERT: Joint Learning Target and Emotion for Hate Speech Detection

Automated hate speech detection in social media is a challenging task that has recently gained significant traction in the data mining and Natural Language Processing community. However, most of the existing methods adopt a supervised approach that depended heavily on the annotated hate speech datasets, which are imbalanced and often lack training samples for hateful content. This paper addresses the research gaps by proposing a novel multitask learning-based model, AngryBERT, which jointly learns hate speech detection with sentiment classification and target identification as secondary relevant tasks. We conduct extensive experiments to augment three commonly-used hate speech detection datasets. Our experiment results show that AngryBERT outperforms state-of-the-art single-task-learning and multitask learning baselines. We conduct ablation studies and case studies to empirically examine the strengths and characteristics of our AngryBERT model and show that the secondary tasks are able to improve hate speech detection.

DeepHate: Hate Speech Detection via Multi-Faceted Text Representations

Online hate speech is an important issue that breaks the cohesiveness of online social communities and even raises public safety concerns in our societies. Motivated by this rising issue, researchers have developed many traditional machine learning and deep learning methods to detect hate speech in online social platforms automatically. However, most of these methods have only considered single type textual feature, e.g., term frequency, or using word embeddings. Such approaches neglect the other rich textual information that could be utilized to improve hate speech detection. In this paper, we propose DeepHate, a novel deep learning model that combines multi-faceted text representations such as word embeddings, sentiments, and topical information, to detect hate speech in online social platforms. We conduct extensive experiments and evaluate DeepHate on three large publicly available real-world datasets. Our experiment results show that DeepHate outperforms the state-of-the-art baselines on the hate speech detection task. We also perform case studies to provide insights into the salient features that best aid in detecting hate speech in online social platforms.

Deep Learning based Monocular Depth Prediction: Datasets, Methods and Applications

Estimating depth from RGB images can facilitate many computer vision tasks, such as indoor localization, height estimation, and simultaneous localization and mapping (SLAM). Recently, monocular depth estimation has obtained great progress owing to the rapid development of deep learning techniques. They surpass traditional machine learning-based methods by a large margin in terms of accuracy and speed. Despite the rapid progress in this topic, there are lacking of a comprehensive review, which is needed to summarize the current progress and provide the future directions. In this survey, we first introduce the datasets for depth estimation, and then give a comprehensive introduction of the methods from three perspectives: supervised learning-based methods, unsupervised learning-based methods, and sparse samples guidance-based methods. In addition, downstream applications that benefit from the progress have also been illustrated. Finally, we point out the future directions and conclude the paper.

On Analyzing Antisocial Behaviors Amid COVID-19 Pandemic

The COVID-19 pandemic has developed to be more than a bio-crisis as global news has reported a sharp rise in xenophobia and discrimination in both online and offline communities. Such toxic behaviors take a heavy toll on society, especially during these daunting times. Despite the gravity of the issue, very few studies have studied online antisocial behaviors amid the COVID-19 pandemic. In this paper, we fill the research gap by collecting and annotating a large dataset of over 40 million COVID-19 related tweets. Specially, we propose an annotation framework to annotate the antisocial behavior tweets automatically. We also conduct an empirical analysis of our annotated dataset and found that new abusive lexicons are introduced amid the COVID-19 pandemic. Our study also identified the vulnerable targets of antisocial behaviors and the factors that influence the spreading of online antisocial content.

MiniNet: An extremely lightweight convolutional neural network for real-time unsupervised monocular depth estimation

Predicting depth from a single image is an attractive research topic since it provides one more dimension of information to enable machines to better perceive the world. Recently, deep learning has emerged as an effective approach to monocular depth estimation. As obtaining labeled data is costly, there is a recent trend to move from supervised learning to unsupervised learning to obtain monocular depth. However, most unsupervised learning methods capable of achieving high depth prediction accuracy will require a deep network architecture which will be too heavy and complex to run on embedded devices with limited storage and memory spaces. To address this issue, we propose a new powerful network with a recurrent module to achieve the capability of a deep network while at the same time maintaining an extremely lightweight size for real-time high performance unsupervised monocular depth prediction from video sequences. Besides, a novel efficient upsample block is proposed to fuse the features from the associated encoder layer and recover the spatial size of features with the small number of model parameters. We validate the effectiveness of our approach via extensive experiments on the KITTI dataset. Our new model can run at a speed of about 110 frames per second (fps) on a single GPU, 37 fps on a single CPU, and 2 fps on a Raspberry Pi 3. Moreover, it achieves higher depth accuracy with nearly 33 times fewer model parameters than state-of-the-art models. To the best of our knowledge, this work is the first extremely lightweight neural network trained on monocular video sequences for real-time unsupervised monocular depth estimation, which opens up the possibility of implementing deep learning-based real-time unsupervised monocular depth prediction on low-cost embedded devices.