Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion

This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control within the WBC. The proposed approach involves utilizing the linearized model of unactuated dynamics to formulate a Linear Quadratic Regulator(LQR) and solving a Riccati gain while accounting for potential physical constraints through a second-order approximation of the log-barrier function. And then the user-tuned feedback gain for the floating base task is replaced by a new one constructed from the solved Riccati gain. Extensive simulations conducted in MuJoCo with a point bipedal robot, as well as real-world experiments performed on a quadruped robot, demonstrate the effectiveness of the proposed method. In the different bipedal locomotion tasks, compared with the user-tuned method, the proposed approach is at least 12% better and up to 50% better at linear velocity tracking, and at least 7% better and up to 47% better at angular velocity tracking. In the quadruped experiment, linear velocity tracking is improved by at least 3% and angular velocity tracking is improved by at least 23% using the proposed method.

MuLan: Multimodal-LLM Agent for Progressive Multi-Object Diffusion

Existing text-to-image models still struggle to generate images of multiple objects, especially in handling their spatial positions, relative sizes, overlapping, and attribute bindings. In this paper, we develop a training-free Multimodal-LLM agent (MuLan) to address these challenges by progressive multi-object generation with planning and feedback control, like a human painter. MuLan harnesses a large language model (LLM) to decompose a prompt to a sequence of sub-tasks, each generating only one object conditioned on previously generated objects by stable diffusion. Unlike existing LLM-grounded methods, MuLan only produces a high-level plan at the beginning while the exact size and location of each object are determined by an LLM and attention guidance upon each sub-task. Moreover, MuLan adopts a vision-language model (VLM) to provide feedback to the image generated in each sub-task and control the diffusion model to re-generate the image if it violates the original prompt. Hence, each model in every step of MuLan only needs to address an easy sub-task it is specialized for. We collect 200 prompts containing multi-objects with spatial relationships and attribute bindings from different benchmarks to evaluate MuLan. The results demonstrate the superiority of MuLan in generating multiple objects over baselines. The code is available on https://github.com/measure-infinity/mulan-code.

Advancing Attack-Resilient Scheduling of Integrated Energy Systems with Demand Response via Deep Reinforcement Learning

Optimally scheduling multi-energy flow is an effective method to utilize renewable energy sources (RES) and improve the stability and economy of integrated energy systems (IES). However, the stable demand-supply of IES faces challenges from uncertainties that arise from RES and loads, as well as the increasing impact of cyber-attacks with advanced information and communication technologies adoption. To address these challenges, this paper proposes an innovative model-free resilience scheduling method based on state-adversarial deep reinforcement learning (DRL) for integrated demand response (IDR)-enabled IES. The proposed method designs an IDR program to explore the interaction ability of electricity-gas-heat flexible loads. Additionally, a state-adversarial Markov decision process (SA-MDP) model characterizes the energy scheduling problem of IES under cyber-attack. The state-adversarial soft actor-critic (SA-SAC) algorithm is proposed to mitigate the impact of cyber-attacks on the scheduling strategy. Simulation results demonstrate that our method is capable of adequately addressing the uncertainties resulting from RES and loads, mitigating the impact of cyber-attacks on the scheduling strategy, and ensuring a stable demand supply for various energy sources. Moreover, the proposed method demonstrates resilience against cyber-attacks. Compared to the original soft actor-critic (SAC) algorithm, it achieves a 10\% improvement in economic performance under cyber-attack scenarios.

Active Surface with Passive Omni-Directional Adaptation of Soft Polyhedral Fingers for In-Hand Manipulation

Track systems effectively distribute loads, augmenting traction and maneuverability on unstable terrains, leveraging their expansive contact areas. This tracked locomotion capability also aids in hand manipulation of not only regular objects but also irregular objects. In this study, we present the design of a soft robotic finger with an active surface on an omni-adaptive network structure, which can be easily installed on existing grippers and achieve stability and dexterity for in-hand manipulation. The system's active surfaces initially transfer the object from the fingertip segment with less compliance to the middle segment of the finger with superior adaptability. Despite the omni-directional deformation of the finger, in-hand manipulation can still be executed with controlled active surfaces. We characterized the soft finger's stiffness distribution and simplified models to assess the feasibility of repositioning and reorienting a grasped object. A set of experiments on in-hand manipulation was performed with the proposed fingers, demonstrating the dexterity and robustness of the strategy.

Seismogram Transformer: A generic deep learning backbone network for multiple earthquake monitoring tasks

Seismic records, known as seismograms, are crucial records of ground motion resulting from seismic events, constituting the backbone of earthquake research and monitoring. The latest advancements in deep learning have significantly facilitated various seismic signal processing tasks. This paper introduces a novel backbone neural network model designed for various seismic monitoring tasks, named Seismogram Transformer (SeisT). Thanks to its efficient network architecture, SeisT matches or even outperforms the state-of-the-art models in earthquake detection, seismic phase picking, first-motion polarity classification, magnitude estimation, and azimuth estimation tasks, particularly in terms of out-of-distribution generalization performance. SeisT consists of multiple network layers composed of different foundational blocks, which help the model understand multi-level feature representations of seismograms from low-level to high-level complex features, effectively extracting features such as frequency, phase, and time-frequency relationships from input seismograms. Three different-sized models were customized based on these diverse foundational modules. Through extensive experiments and performance evaluations, this study showcases the capabilities and potential of SeisT in advancing seismic signal processing and earthquake research.

Graph Contrastive Learning with Multi-Objective for Personalized Product Retrieval in Taobao Search

In e-commerce search, personalized retrieval is a crucial technique for improving user shopping experience. Recent works in this domain have achieved significant improvements by the representation learning paradigm, e.g., embedding-based retrieval (EBR) and collaborative filtering (CF). EBR methods do not sufficiently exploit the useful collaborative signal and are difficult to learn the representations of long-tail item well. Graph-based CF methods improve personalization by modeling collaborative signal within the user click graph. However, existing Graph-based methods ignore user's multiple behaviours, such as click/purchase and the relevance constraint between user behaviours and items.In this paper, we propose a Graph Contrastive Learning with Multi-Objective (GCL-MO) collaborative filtering model, which solves the problems of weak relevance and incomplete personalization in e-commerce search. Specifically, GCL-MO builds a homogeneous graph of items and then optimizes a multi-objective function of personalization and relevance. Moreover, we propose a modified contrastive loss for multi-objectives graph learning, which avoids the mutual suppression among positive samples and thus improves the generalization and robustness of long-tail item representations. These learned item embeddings are then used for personalized retrieval by constructing an efficient offline-to-online inverted table. GCL-MO outperforms the online collaborative filtering baseline in both offline/online experimental metrics and shows a significant improvement in the online A/B testing of Taobao search.

Emotional Talking Head Generation based on Memory-Sharing and Attention-Augmented Networks

Given an audio clip and a reference face image, the goal of the talking head generation is to generate a high-fidelity talking head video. Although some audio-driven methods of generating talking head videos have made some achievements in the past, most of them only focused on lip and audio synchronization and lack the ability to reproduce the facial expressions of the target person. To this end, we propose a talking head generation model consisting of a Memory-Sharing Emotion Feature extractor (MSEF) and an Attention-Augmented Translator based on U-net (AATU). Firstly, MSEF can extract implicit emotional auxiliary features from audio to estimate more accurate emotional face landmarks.~Secondly, AATU acts as a translator between the estimated landmarks and the photo-realistic video frames. Extensive qualitative and quantitative experiments have shown the superiority of the proposed method to the previous works. Codes will be made publicly available.

MAVD: The First Open Large-Scale Mandarin Audio-Visual Dataset with Depth Information

Audio-visual speech recognition (AVSR) gains increasing attention from researchers as an important part of human-computer interaction. However, the existing available Mandarin audio-visual datasets are limited and lack the depth information. To address this issue, this work establishes the MAVD, a new large-scale Mandarin multimodal corpus comprising 12,484 utterances spoken by 64 native Chinese speakers. To ensure the dataset covers diverse real-world scenarios, a pipeline for cleaning and filtering the raw text material has been developed to create a well-balanced reading material. In particular, the latest data acquisition device of Microsoft, Azure Kinect is used to capture depth information in addition to the traditional audio signals and RGB images during data acquisition. We also provide a baseline experiment, which could be used to evaluate the effectiveness of the dataset. The dataset and code will be released at https://github.com/SpringHuo/MAVD.

Rethinking the Role of Pre-ranking in Large-scale E-Commerce Searching System

E-commerce search systems such as Taobao Search, the largest e-commerce searching system in China, aim at providing users with the most preferred items (e.g., products). Due to the massive data and limited time for response, a typical industrial ranking system consists of three or more modules, including matching, pre-ranking, and ranking. The pre-ranking is widely considered a mini-ranking module, as it needs to rank hundreds of times more items than the ranking under limited latency. Existing researches focus on building a lighter model that imitates the ranking model. As such, the metric of a pre-ranking model follows the ranking model using Area Under ROC (AUC) for offline evaluation. However, such a metric is inconsistent with online A/B tests in practice, so engineers have to perform costly online tests to reach a convincing conclusion. In our work, we rethink the role of the pre-ranking. We argue that the primary goal of the pre-ranking stage is to return an optimal unordered set rather than an ordered list of items because it is the ranking that determines the final exposures. Since AUC measures the quality of an ordered item list, it is not suitable for evaluating the quality of the output unordered set. This paper proposes a new evaluation metric called All-Scenario Hitrate (ASH) for pre-ranking. ASH is proven effective in the offline evaluation and consistent with online A/B tests based on numerous experiments in Taobao Search. We also introduce an all-scenario-based multi-objective learning framework (ASMOL), which improves the ASH significantly. Surprisingly, the new pre-ranking model can outperforms the ranking model when outputting thousands of items. The phenomenon validates that the pre-ranking stage should not imitate the ranking blindly. With the improvements in ASH consistently translating to online improvement, it makes a 1.2% GMV improvement on Taobao Search.

DABS: Data-Agnostic Backdoor attack at the Server in Federated Learning

Federated learning (FL) attempts to train a global model by aggregating local models from distributed devices under the coordination of a central server. However, the existence of a large number of heterogeneous devices makes FL vulnerable to various attacks, especially the stealthy backdoor attack. Backdoor attack aims to trick a neural network to misclassify data to a target label by injecting specific triggers while keeping correct predictions on original training data. Existing works focus on client-side attacks which try to poison the global model by modifying the local datasets. In this work, we propose a new attack model for FL, namely Data-Agnostic Backdoor attack at the Server (DABS), where the server directly modifies the global model to backdoor an FL system. Extensive simulation results show that this attack scheme achieves a higher attack success rate compared with baseline methods while maintaining normal accuracy on the clean data.