Honor of Kings Arena: an Environment for Generalization in Competitive Reinforcement Learning

This paper introduces Honor of Kings Arena, a reinforcement learning (RL) environment based on Honor of Kings, one of the world's most popular games at present. Compared to other environments studied in most previous work, ours presents new generalization challenges for competitive reinforcement learning. It is a multi-agent problem with one agent competing against its opponent; and it requires the generalization ability as it has diverse targets to control and diverse opponents to compete with. We describe the observation, action, and reward specifications for the Honor of Kings domain and provide an open-source Python-based interface for communicating with the game engine. We provide twenty target heroes with a variety of tasks in Honor of Kings Arena and present initial baseline results for RL-based methods with feasible computing resources. Finally, we showcase the generalization challenges imposed by Honor of Kings Arena and possible remedies to the challenges. All of the software, including the environment-class, are publicly available at https://github.com/tencent-ailab/hok_env . The documentation is available at https://aiarena.tencent.com/hok/doc/ .

Detaching and Boosting: Dual Engine for Scale-Invariant Self-Supervised Monocular Depth Estimation

Monocular depth estimation (MDE) in the self-supervised scenario has emerged as a promising method as it refrains from the requirement of ground truth depth. Despite continuous efforts, MDE is still sensitive to scale changes especially when all the training samples are from one single camera. Meanwhile, it deteriorates further since camera movement results in heavy coupling between the predicted depth and the scale change. In this paper, we present a scale-invariant approach for self-supervised MDE, in which scale-sensitive features (SSFs) are detached away while scale-invariant features (SIFs) are boosted further. To be specific, a simple but effective data augmentation by imitating the camera zooming process is proposed to detach SSFs, making the model robust to scale changes. Besides, a dynamic cross-attention module is designed to boost SIFs by fusing multi-scale cross-attention features adaptively. Extensive experiments on the KITTI dataset demonstrate that the detaching and boosting strategies are mutually complementary in MDE and our approach achieves new State-of-The-Art performance against existing works from 0.097 to 0.090 w.r.t absolute relative error. The code will be made public soon.

NMTSloth: Understanding and Testing Efficiency Degradation of Neural Machine Translation Systems

Neural Machine Translation (NMT) systems have received much recent attention due to their human-level accuracy. While existing works mostly focus on either improving accuracy or testing accuracy robustness, the computation efficiency of NMT systems, which is of paramount importance due to often vast translation demands and real-time requirements, has surprisingly received little attention. In this paper, we make the first attempt to understand and test potential computation efficiency robustness in state-of-the-art NMT systems. By analyzing the working mechanism and implementation of 1455 public-accessible NMT systems, we observe a fundamental property in NMT systems that could be manipulated in an adversarial manner to reduce computation efficiency significantly. Our key motivation is to generate test inputs that could sufficiently delay the generation of EOS such that NMT systems would have to go through enough iterations to satisfy the pre-configured threshold. We present NMTSloth, which develops a gradient-guided technique that searches for a minimal and unnoticeable perturbation at character-level, token-level, and structure-level, which sufficiently delays the appearance of EOS and forces these inputs to reach the naturally-unreachable threshold. To demonstrate the effectiveness of NMTSloth, we conduct a systematic evaluation on three public-available NMT systems: Google T5, AllenAI WMT14, and Helsinki-NLP translators. Experimental results show that NMTSloth can increase NMT systems' response latency and energy consumption by 85% to 3153% and 86% to 3052%, respectively, by perturbing just one character or token in the input sentence. Our case study shows that inputs generated by NMTSloth significantly affect the battery power in real-world mobile devices (i.e., drain more than 30 times battery power than normal inputs).

DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrations

Teaching a multi-fingered dexterous robot to grasp objects in the real world has been a challenging problem due to its high dimensional state and action space. We propose a robot-learning system that can take a small number of human demonstrations and learn to grasp unseen object poses given partially occluded observations. Our system leverages a small motion capture dataset and generates a large dataset with diverse and successful trajectories for a multi-fingered robot gripper. By adding domain randomization, we show that our dataset provides robust grasping trajectories that can be transferred to a policy learner. We train a dexterous grasping policy that takes the point clouds of the object as input and predicts continuous actions to grasp objects from different initial robot states. We evaluate the effectiveness of our system on a 22-DoF floating Allegro Hand in simulation and a 23-DoF Allegro robot hand with a KUKA arm in real world. The policy learned from our dataset can generalize well on unseen object poses in both simulation and the real world

Revisiting Discrete Soft Actor-Critic

We study the adaption of soft actor-critic (SAC) from continuous action space to discrete action space. We revisit vanilla SAC and provide an in-depth understanding of its Q value underestimation and performance instability issues when applied to discrete settings. We thereby propose entropy-penalty and double average Q-learning with Q-clip to address these issues. Extensive experiments on typical benchmarks with discrete action space, including Atari games and a large-scale MOBA game, show the efficacy of our proposed method. Our code is at:https://github.com/coldsummerday/Revisiting-Discrete-SAC.

DeepNoise: Disentanglement of Experimental Noise from Real Biological Signals based on Fluorescent Microscopy Image Classification via Deep Learning

The high-content image-based assay is commonly leveraged for identifying the phenotypic impact of genetic perturbations in biology field. However, a persistent issue remains unsolved during experiments: the interferential technical noise caused by systematic errors (e.g., temperature, reagent concentration, and well location) is always mixed up with the real biological signals, leading to misinterpretation of any conclusion drawn. Here, we show a mean teacher based deep learning model (DeepNoise) that can disentangle biological signals from the experimental noise. Specifically, we aim to classify the phenotypic impact of 1,108 different genetic perturbations screened from 125,510 fluorescent microscopy images, which are totally unrecognizable by human eye. We validate our model by participating in the Recursion Cellular Image Classification Challenge, and our proposed method achieves an extremely high classification score (Acc: 99.596%), ranking the 2nd place among 866 participating groups. This promising result indicates the successful separation of biological and technical factors, which might help decrease the cost of treatment development and expedite the drug discovery process.

Fast localization and single-pixel imaging of the moving object using time-division multiplexing

When imaging moving objects, single-pixel imaging produces motion blur. This paper proposes a new single-pixel imaging method, which can achieve anti-motion blur imaging of a fast-moving object. The geometric moment patterns and Hadamard patterns are used to alternately encode the position information and the image information of the object with time-division multiplexing. In the reconstruction process, the object position information is extracted independently and combining motion-compensation reconstruction algorithm to decouple the object motion from image information. As a result, the anti-motion blur image and the high frame rate object positions are obtained. Experimental results show that for a moving object with an angular velocity of up to 0.5rad/s relative to the imaging system, the proposed method achieves a localization frequency of 5.55kHz, and gradually reconstructs a clear image of the fast-moving object with a pseudo resolution of 512x512. The method has application prospects in single-pixel imaging of the fast-moving object.

Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions

The pipeline of current robotic pick-and-place methods typically consists of several stages: grasp pose detection, finding inverse kinematic solutions for the detected poses, planning a collision-free trajectory, and then executing the open-loop trajectory to the grasp pose with a low-level tracking controller. While these grasping methods have shown good performance on grasping static objects on a table-top, the problem of grasping dynamic objects in constrained environments remains an open problem. We present Neural Motion Fields, a novel object representation which encodes both object point clouds and the relative task trajectories as an implicit value function parameterized by a neural network. This object-centric representation models a continuous distribution over the SE(3) space and allows us to perform grasping reactively by leveraging sampling-based MPC to optimize this value function.

Learning to Reverse DNNs from AI Programs Automatically

With the privatization deployment of DNNs on edge devices, the security of on-device DNNs has raised significant concern. To quantify the model leakage risk of on-device DNNs automatically, we propose NNReverse, the first learning-based method which can reverse DNNs from AI programs without domain knowledge. NNReverse trains a representation model to represent the semantics of binary code for DNN layers. By searching the most similar function in our database, NNReverse infers the layer type of a given function's binary code. To represent assembly instructions semantics precisely, NNReverse proposes a more fine-grained embedding model to represent the textual and structural-semantic of assembly functions.