TCM-SD: A Large Dataset for Syndrome Differentiation in Traditional Chinese Medicine

Traditional Chinese Medicine (TCM) is a natural, safe, and effective therapy that has spread and been applied worldwide. The unique TCM diagnosis and treatment system requires a comprehensive analysis of a patient's symptoms hidden in the clinical record written in free text. Prior studies have shown that this system can be informationized and intelligentized with the aid of artificial intelligence (AI) technology, such as natural language processing (NLP). However, existing datasets are not of sufficient quality nor quantity to support the further development of data-driven AI technology in TCM. Therefore, in this paper, we focus on the core task of the TCM diagnosis and treatment system -- syndrome differentiation (SD) -- and we introduce the first public large-scale dataset for SD, called TCM-SD. Our dataset contains 54,152 real-world clinical records covering 148 syndromes. Furthermore, we collect a large-scale unlabelled textual corpus in the field of TCM and propose a domain-specific pre-trained language model, called ZY-BERT. We conducted experiments using deep neural networks to establish a strong performance baseline, reveal various challenges in SD, and prove the potential of domain-specific pre-trained language model. Our study and analysis reveal opportunities for incorporating computer science and linguistics knowledge to explore the empirical validity of TCM theories.

Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapes

We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple "pick-and-place" solution. Our method is a reinforcement learning (RL) approach combined with vision-based interactive policy distillation and simulation-to-reality transfer. Our learned policies can efficiently handle multiple object combinations in the real world and exhibit a large variety of stacking skills. In a large experimental study, we investigate what choices matter for learning such general vision-based agents in simulation, and what affects optimal transfer to the real robot. We then leverage data collected by such policies and improve upon them with offline RL. A video and a blog post of our work are provided as supplementary material.

To be Closer: Learning to Link up Aspects with Opinions

Dependency parse trees are helpful for discovering the opinion words in aspect-based sentiment analysis (ABSA). However, the trees obtained from off-the-shelf dependency parsers are static, and could be sub-optimal in ABSA. This is because the syntactic trees are not designed for capturing the interactions between opinion words and aspect words. In this work, we aim to shorten the distance between aspects and corresponding opinion words by learning an aspect-centric tree structure. The aspect and opinion words are expected to be closer along such tree structure compared to the standard dependency parse tree. The learning process allows the tree structure to adaptively correlate the aspect and opinion words, enabling us to better identify the polarity in the ABSA task. We conduct experiments on five aspect-based sentiment datasets, and the proposed model significantly outperforms recent strong baselines. Furthermore, our thorough analysis demonstrates the average distance between aspect and opinion words are shortened by at least 19% on the standard SemEval Restaurant14 dataset.

Manipulator-Independent Representations for Visual Imitation

Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particularly difficult. Imitation, typically behavior cloning or inverse RL, derive a policy from a collection of first-person action-state trajectories. This is contrary to how humans and other animals imitate: we observe a behavior, even from other species, understand its perceived effect on the state of the environment, and figure out what actions our body can perform to reach a similar outcome. In this work, we explore the possibility of third-person visual imitation of manipulation trajectories, only from vision and without access to actions, demonstrated by embodiments different to the ones of our imitating agent. Specifically, we investigate what would be an appropriate representation method with which an RL agent can visually track trajectories of complex manipulation behavior -- non-planar with multiple-object interactions -- demonstrated by experts with different embodiments. We present a way to train manipulator-independent representations (MIR) that primarily focus on the change in the environment and have all the characteristics that make them suitable for cross-embodiment visual imitation with RL: cross-domain alignment, temporal smoothness, and being actionable. We show that with our proposed method our agents are able to imitate, with complex robot control, trajectories from a variety of embodiments and with significant visual and dynamics differences, e.g. simulation-to-reality gap.

Learning rich touch representations through cross-modal self-supervision

The sense of touch is fundamental in several manipulation tasks, but rarely used in robot manipulation. In this work we tackle the problem of learning rich touch features from cross-modal self-supervision. We evaluate them identifying objects and their properties in a few-shot classification setting. Two new datasets are introduced using a simulated anthropomorphic robotic hand equipped with tactile sensors on both synthetic and daily life objects. Several self-supervised learning methods are benchmarked on these datasets, by evaluating few-shot classification on unseen objects and poses. Our experiments indicate that cross-modal self-supervision effectively improves touch representation, and in turn has great potential to enhance robot manipulation skills.

Learning Dexterous Manipulation from Suboptimal Experts

Learning dexterous manipulation in high-dimensional state-action spaces is an important open challenge with exploration presenting a major bottleneck. Although in many cases the learning process could be guided by demonstrations or other suboptimal experts, current RL algorithms for continuous action spaces often fail to effectively utilize combinations of highly off-policy expert data and on-policy exploration data. As a solution, we introduce Relative Entropy Q-Learning (REQ), a simple policy iteration algorithm that combines ideas from successful offline and conventional RL algorithms. It represents the optimal policy via importance sampling from a learned prior and is well-suited to take advantage of mixed data distributions. We demonstrate experimentally that REQ outperforms several strong baselines on robotic manipulation tasks for which suboptimal experts are available. We show how suboptimal experts can be constructed effectively by composing simple waypoint tracking controllers, and we also show how learned primitives can be combined with waypoint controllers to obtain reference behaviors to bootstrap a complex manipulation task on a simulated bimanual robot with human-like hands. Finally, we show that REQ is also effective for general off-policy RL, offline RL, and RL from demonstrations. Videos and further materials are available at sites.google.com/view/rlfse.

Deep Residual Dense U-Net for Resolution Enhancement in Accelerated MRI Acquisition

Typical Magnetic Resonance Imaging (MRI) scan may take 20 to 60 minutes. Reducing MRI scan time is beneficial for both patient experience and cost considerations. Accelerated MRI scan may be achieved by acquiring less amount of k-space data (down-sampling in the k-space). However, this leads to lower resolution and aliasing artifacts for the reconstructed images. There are many existing approaches for attempting to reconstruct high-quality images from down-sampled k-space data, with varying complexity and performance. In recent years, deep-learning approaches have been proposed for this task, and promising results have been reported. Still, the problem remains challenging especially because of the high fidelity requirement in most medical applications employing reconstructed MRI images. In this work, we propose a deep-learning approach, aiming at reconstructing high-quality images from accelerated MRI acquisition. Specifically, we use Convolutional Neural Network (CNN) to learn the differences between the aliased images and the original images, employing a U-Net-like architecture. Further, a micro-architecture termed Residual Dense Block (RDB) is introduced for learning a better feature representation than the plain U-Net. Considering the peculiarity of the down-sampled k-space data, we introduce a new term to the loss function in learning, which effectively employs the given k-space data during training to provide additional regularization on the update of the network weights. To evaluate the proposed approach, we compare it with other state-of-the-art methods. In both visual inspection and evaluation using standard metrics, the proposed approach is able to deliver improved performance, demonstrating its potential for providing an effective solution.

Self-Supervised Sim-to-Real Adaptation for Visual Robotic Manipulation

Collecting and automatically obtaining reward signals from real robotic visual data for the purposes of training reinforcement learning algorithms can be quite challenging and time-consuming. Methods for utilizing unlabeled data can have a huge potential to further accelerate robotic learning. We consider here the problem of performing manipulation tasks from pixels. In such tasks, choosing an appropriate state representation is crucial for planning and control. This is even more relevant with real images where noise, occlusions and resolution affect the accuracy and reliability of state estimation. In this work, we learn a latent state representation implicitly with deep reinforcement learning in simulation, and then adapt it to the real domain using unlabeled real robot data. We propose to do so by optimizing sequence-based self supervised objectives. These exploit the temporal nature of robot experience, and can be common in both the simulated and real domains, without assuming any alignment of underlying states in simulated and unlabeled real images. We propose Contrastive Forward Dynamics loss, which combines dynamics model learning with time-contrastive techniques. The learned state representation that results from our methods can be used to robustly solve a manipulation task in simulation and to successfully transfer the learned skill on a real system. We demonstrate the effectiveness of our approaches by training a vision-based reinforcement learning agent for cube stacking. Agents trained with our method, using only 5 hours of unlabeled real robot data for adaptation, shows a clear improvement over domain randomization, and standard visual domain adaptation techniques for sim-to-real transfer.

RetinaFace: Single-stage Dense Face Localisation in the Wild

Though tremendous strides have been made in uncontrolled face detection, accurate and efficient face localisation in the wild remains an open challenge. This paper presents a robust single-stage face detector, named RetinaFace, which performs pixel-wise face localisation on various scales of faces by taking advantages of joint extra-supervised and self-supervised multi-task learning. Specifically, We make contributions in the following five aspects: (1) We manually annotate five facial landmarks on the WIDER FACE dataset and observe significant improvement in hard face detection with the assistance of this extra supervision signal. (2) We further add a self-supervised mesh decoder branch for predicting a pixel-wise 3D shape face information in parallel with the existing supervised branches. (3) On the WIDER FACE hard test set, RetinaFace outperforms the state of the art average precision (AP) by 1.1% (achieving AP equal to 91.4%). (4) On the IJB-C test set, RetinaFace enables state of the art methods (ArcFace) to improve their results in face verification (TAR=89.59% for FAR=1e-6). (5) By employing light-weight backbone networks, RetinaFace can run real-time on a single CPU core for a VGA-resolution image. Extra annotations and code have been made available at: https://github.com/deepinsight/insightface/tree/master/RetinaFace.