Deep generative models have emerged as a popular machine learning-based approach for inverse design problems in the life sciences. However, these problems often require sampling new designs that satisfy multiple properties of interest in addition to learning the data distribution. This multi-objective optimization becomes more challenging when properties are independent or orthogonal to each other. In this work, we propose a Pareto-compositional energy-based model (pcEBM), a framework that uses multiple gradient descent for sampling new designs that adhere to various constraints in optimizing distinct properties. We demonstrate its ability to learn non-convex Pareto fronts and generate sequences that simultaneously satisfy multiple desired properties across a series of real-world antibody design tasks.
Compared with the rapid development of single-frequency multi-polarization SAR image classification technology, there is less research on the land cover classification of multifrequency polarimetric SAR (MF-PolSAR) images. In addition, the current deep learning methods for MF-PolSAR classification are mainly based on convolutional neural networks (CNNs), only local spatiality is considered but the nonlocal relationship is ignored. Therefore, based on semantic interaction and nonlocal topological structure, this paper proposes the MF semantics and topology fusion network (MF-STFnet) to improve MF-PolSAR classification performance. In MF-STFnet, two kinds of classification are implemented for each band, semantic information-based (SIC) and topological property-based (TPC). They work collaboratively during MF-STFnet training, which can not only fully leverage the complementarity of bands, but also combine local and nonlocal spatial information to improve the discrimination between different categories. For SIC, the designed crossband interactive feature extraction module (CIFEM) is embedded to explicitly model the deep semantic correlation among bands, thereby leveraging the complementarity of bands to make ground objects more separable. For TPC, the graph sample and aggregate network (GraphSAGE) is employed to dynamically capture the representation of nonlocal topological relations between land cover categories. In this way, the robustness of classification can be further improved by combining nonlocal spatial information. Finally, an adaptive weighting fusion (AWF) strategy is proposed to merge inference from different bands, so as to make the MF joint classification decisions of SIC and TPC. The comparative experiments show that MF-STFnet can achieve more competitive classification performance than some state-of-the-art methods.
As the number of devices connected to the Internet of Things (IoT) increases significantly, it leads to an exponential growth in the number of services that need to be processed and stored in the large-scale Cloud-based service repositories. An efficient service indexing model is critical for service retrieval and management of large-scale Cloud-based service repositories. The multilevel index model is the state-of-art service indexing model in recent years to improve service discovery and combination. This paper aims to optimize the model to consider the impact of unequal appearing probability of service retrieval request parameters and service input parameters on service retrieval and service addition operations. The least-used key selection method has been proposed to narrow the search scope of service retrieval and reduce its time. The experimental results show that the proposed least-used key selection method improves the service retrieval efficiency significantly compared with the designated key selection method in the case of the unequal appearing probability of parameters in service retrieval requests under three indexing models.
Robots are increasingly expected to manipulate objects in ever more unstructured environments where the object properties have high perceptual uncertainty from any single sensory modality. This directly impacts successful object manipulation. In this work, we propose a reinforcement learning-based motion planning framework for object manipulation which makes use of both on-the-fly multisensory feedback and a learned attention-guided deep affordance model as perceptual states. The affordance model is learned from multiple sensory modalities, including vision and touch (tactile and force/torque), which is designed to predict and indicate the manipulable regions of multiple affordances (i.e., graspability and pushability) for objects with similar appearances but different intrinsic properties (e.g., mass distribution). A DQN-based deep reinforcement learning algorithm is then trained to select the optimal action for successful object manipulation. To validate the performance of the proposed framework, our method is evaluated and benchmarked using both an open dataset and our collected dataset. The results show that the proposed method and overall framework outperform existing methods and achieve better accuracy and higher efficiency.
When deploying a robot to a new task, one often has to train it to detect novel objects, which is time-consuming and labor-intensive. We present TAILOR -- a method and system for object registration with active and incremental learning. When instructed by a human teacher to register an object, TAILOR is able to automatically select viewpoints to capture informative images by actively exploring viewpoints, and employs a fast incremental learning algorithm to learn new objects without potential forgetting of previously learned objects. We demonstrate the effectiveness of our method with a KUKA robot to learn novel objects used in a real-world gearbox assembly task through natural interactions.
Optical flow estimation aims to find the 2D motion field by identifying corresponding pixels between two images. Despite the tremendous progress of deep learning-based optical flow methods, it remains a challenge to accurately estimate large displacements with motion blur. This is mainly because the correlation volume, the basis of pixel matching, is computed as the dot product of the convolutional features of the two images. The locality of convolutional features makes the computed correlations susceptible to various noises. On large displacements with motion blur, noisy correlations could cause severe errors in the estimated flow. To overcome this challenge, we propose a new architecture "CRoss-Attentional Flow Transformer" (CRAFT), aiming to revitalize the correlation volume computation. In CRAFT, a Semantic Smoothing Transformer layer transforms the features of one frame, making them more global and semantically stable. In addition, the dot-product correlations are replaced with transformer Cross-Frame Attention. This layer filters out feature noises through the Query and Key projections, and computes more accurate correlations. On Sintel (Final) and KITTI (foreground) benchmarks, CRAFT has achieved new state-of-the-art performance. Moreover, to test the robustness of different models on large motions, we designed an image shifting attack that shifts input images to generate large artificial motions. Under this attack, CRAFT performs much more robustly than two representative methods, RAFT and GMA. The code of CRAFT is is available at https://github.com/askerlee/craft.
We present an end-to-end Reinforcement Learning(RL) framework for robotic manipulation tasks, using a robust and efficient keypoints representation. The proposed method learns keypoints from camera images as the state representation, through a self-supervised autoencoder architecture. The keypoints encode the geometric information, as well as the relationship of the tool and target in a compact representation to ensure efficient and robust learning. After keypoints learning, the RL step then learns the robot motion from the extracted keypoints state representation. The keypoints and RL learning processes are entirely done in the simulated environment. We demonstrate the effectiveness of the proposed method on robotic manipulation tasks including grasping and pushing, in different scenarios. We also investigate the generalization capability of the trained model. In addition to the robust keypoints representation, we further apply domain randomization and adversarial training examples to achieve zero-shot sim-to-real transfer in real-world robotic manipulation tasks.
Human grasping synthesis has numerous applications including AR/VR, video games, and robotics. While some methods have been proposed to generate realistic hand-object interaction for object grasping and manipulation, they typically only consider the hand interacting with objects. In this work, our goal is to synthesize whole-body grasping motion. Given a 3D object, we aim to generate diverse and natural whole-body human motions that approach and grasp the object. This task is challenging as it requires modeling both whole-body dynamics and dexterous finger movements. To this end, we propose SAGA (StochAstic whole-body Grasping with contAct) which consists of two key components: (a) Static whole-body grasping pose generation. Specifically, we propose a multi-task generative model, to jointly learn static whole-body grasping poses and human-object contacts. (b) Grasping motion infilling. Given an initial pose and the generated whole-body grasping pose as the starting and ending poses of the motion respectively, we design a novel contact-aware generative motion infilling module to generate a diverse set of grasp-oriented motions. We demonstrate the effectiveness of our method being the first generative framework to synthesize realistic and expressive whole-body motions that approach and grasp randomly placed unseen objects. The code and videos are available at: https://jiahaoplus.github.io/SAGA/saga.html.
The ability to learn universal audio representations that can solve diverse speech, music, and environment tasks can spur many applications that require general sound content understanding. In this work, we introduce a holistic audio representation evaluation suite (HARES) spanning 12 downstream tasks across audio domains and provide a thorough empirical study of recent sound representation learning systems on that benchmark. We discover that previous sound event classification or speech models do not generalize outside of their domains. We observe that more robust audio representations can be learned with the SimCLR objective; however, the model's transferability depends heavily on the model architecture. We find the Slowfast architecture is good at learning rich representations required by different domains, but its performance is affected by the normalization scheme. Based on these findings, we propose a novel normalizer-free Slowfast NFNet and achieve state-of-the-art performance across all domains.