Impact Mitigation for Dynamic Legged Robots with Steel Wire Transmission Using Nonlinear Active Compliance Control

Impact mitigation is crucial to the stable locomotion of legged robots, especially in high-speed dynamic locomotion. This paper presents a leg locomotion system including the nonlinear active compliance control and the active impedance control for the steel wire transmission-based legged robot. The developed control system enables high-speed dynamic locomotion with excellent impact mitigation and leg position tracking performance, where three strategies are applied. a) The feed-forward controller is designed according to the linear motor-leg model with the information of Coulomb friction and viscous friction. b) Steel wire transmission model-based compensation guarantees ideal virtual spring compliance characteristics. c) Nonlinear active compliance control and active impedance control ensure better impact mitigation performance than linear scheme and guarantee position tracking performance. The proposed control system is verified on a real robot named SCIT Dog and the experiment demonstrates the ideal impact mitigation ability in high-speed dynamic locomotion without any passive spring mechanism.

Learning Language-Conditioned Robot Behavior from Offline Data and Crowd-Sourced Annotation

We study the problem of learning a range of vision-based manipulation tasks from a large offline dataset of robot interaction. In order to accomplish this, humans need easy and effective ways of specifying tasks to the robot. Goal images are one popular form of task specification, as they are already grounded in the robot's observation space. However, goal images also have a number of drawbacks: they are inconvenient for humans to provide, they can over-specify the desired behavior leading to a sparse reward signal, or under-specify task information in the case of non-goal reaching tasks. Natural language provides a convenient and flexible alternative for task specification, but comes with the challenge of grounding language in the robot's observation space. To scalably learn this grounding we propose to leverage offline robot datasets (including highly sub-optimal, autonomously collected data) with crowd-sourced natural language labels. With this data, we learn a simple classifier which predicts if a change in state completes a language instruction. This provides a language-conditioned reward function that can then be used for offline multi-task RL. In our experiments, we find that on language-conditioned manipulation tasks our approach outperforms both goal-image specifications and language conditioned imitation techniques by more than 25%, and is able to perform visuomotor tasks from natural language, such as "open the right drawer" and "move the stapler", on a Franka Emika Panda robot.

Correlation Clustering Reconstruction in Semi-Adversarial Models

Correlation Clustering is an important clustering problem with many applications. We study the reconstruction version of this problem in which one is seeking to reconstruct a latent clustering that has been corrupted by random noise and adversarial modifications. Concerning the latter, we study a standard "post-adversarial" model, in which adversarial modifications come after the noise, and also introduce and analyze a "pre-adversarial" model in which adversarial modifications come before the noise. Given an input coming from such a semi-adversarial generative model, the goal is to reconstruct almost perfectly and with high probability the latent clustering. We focus on the case where the hidden clusters have equal size and show the following. In the pre-adversarial setting, spectral algorithms are optimal, in the sense that they reconstruct all the way to the information-theoretic threshold beyond which no reconstruction is possible. In contrast, in the post-adversarial setting their ability to restore the hidden clusters stops before the threshold, but the gap is optimally filled by SDP-based algorithms.

Multi-channel Opus compression for far-field automatic speech recognition with a fixed bitrate budget

Automatic speech recognition (ASR) in the cloud allows the use of larger models and more powerful multi-channel signal processing front-ends compared to on-device processing. However, it also adds an inherent latency due to the transmission of the audio signal, especially when transmitting multiple channels of a microphone array. One way to reduce the network bandwidth requirements is client-side compression with a lossy codec such as Opus. However, this compression can have a detrimental effect especially on multi-channel ASR front-ends, due to the distortion and loss of spatial information introduced by the codec. In this publication, we propose an improved approach for the compression of microphone array signals based on Opus, using a modified joint channel coding approach and additionally introducing a multi-channel spatial decorrelating transform to reduce redundancy in the transmission. We illustrate the effect of the proposed approach on the spatial information retained in multi-channel signals after compression, and evaluate the performance on far-field ASR with a multi-channel beamforming front-end. We demonstrate that our approach can lead to a 37.5 % bitrate reduction or a 5.1 % relative word error rate reduction for a fixed bitrate budget in a seven channel setup.

Decentralized Multi-Agent Reinforcement Learning for Task Offloading Under Uncertainty

Multi-Agent Reinforcement Learning (MARL) is a challenging subarea of Reinforcement Learning due to the non-stationarity of the environments and the large dimensionality of the combined action space. Deep MARL algorithms have been applied to solve different task offloading problems. However, in real-world applications, information required by the agents (i.e. rewards and states) are subject to noise and alterations. The stability and the robustness of deep MARL to practical challenges is still an open research problem. In this work, we apply state-of-the art MARL algorithms to solve task offloading with reward uncertainty. We show that perturbations in the reward signal can induce decrease in the performance compared to learning with perfect rewards. We expect this paper to stimulate more research in studying and addressing the practical challenges of deploying deep MARL solutions in wireless communications systems.

Learning User Embeddings from Temporal Social Media Data: A Survey

User-generated data on social media contain rich information about who we are, what we like and how we make decisions. In this paper, we survey representative work on learning a concise latent user representation (a.k.a. user embedding) that can capture the main characteristics of a social media user. The learned user embeddings can later be used to support different downstream user analysis tasks such as personality modeling, suicidal risk assessment and purchase decision prediction. The temporal nature of user-generated data on social media has largely been overlooked in much of the existing user embedding literature. In this survey, we focus on research that bridges the gap by incorporating temporal/sequential information in user representation learning. We categorize relevant papers along several key dimensions, identify limitations in the current work and suggest future research directions.

An Anatomy of Graph Neural Networks Going Deep via the Lens of Mutual Information: Exponential Decay vs. Full Preservation

Graph Convolutional Network (GCN) has attracted intensive interests recently. One major limitation of GCN is that it often cannot benefit from using a deep architecture, while traditional CNN and an alternative Graph Neural Network architecture, namely GraphCNN, often achieve better quality with a deeper neural architecture. How can we explain this phenomenon? In this paper, we take the first step towards answering this question. We first conduct a systematic empirical study on the accuracy of GCN, GraphCNN, and ResNet-18 on 2D images and identified relative importance of different factors in architectural design. This inspired a novel theoretical analysis on the mutual information between the input and the output after $l$ GCN and GraphCNN layers. We identified regimes in which GCN suffers exponentially fast information lose and show that GraphCNN requires a much weaker condition for similar behavior to happen.

VALUE: A Multi-Task Benchmark for Video-and-Language Understanding Evaluation

Most existing video-and-language (VidL) research focuses on a single dataset, or multiple datasets of a single task. In reality, a truly useful VidL system is expected to be easily generalizable to diverse tasks, domains, and datasets. To facilitate the evaluation of such systems, we introduce Video-And-Language Understanding Evaluation (VALUE) benchmark, an assemblage of 11 VidL datasets over 3 popular tasks: (i) text-to-video retrieval; (ii) video question answering; and (iii) video captioning. VALUE benchmark aims to cover a broad range of video genres, video lengths, data volumes, and task difficulty levels. Rather than focusing on single-channel videos with visual information only, VALUE promotes models that leverage information from both video frames and their associated subtitles, as well as models that share knowledge across multiple tasks. We evaluate various baseline methods with and without large-scale VidL pre-training, and systematically investigate the impact of video input channels, fusion methods, and different video representations. We also study the transferability between tasks, and conduct multi-task learning under different settings. The significant gap between our best model and human performance calls for future study for advanced VidL models. VALUE is available at https://value-leaderboard.github.io/.

Improving Compositionality of Neural Networks by Decoding Representations to Inputs

In traditional software programs, we take for granted how easy it is to debug code by tracing program logic from variables back to input, apply unit tests and assertion statements to block erroneous behavior, and compose programs together. But as the programs we write grow more complex, it becomes hard to apply traditional software to applications like computer vision or natural language. Although deep learning programs have demonstrated strong performance on these applications, they sacrifice many of the functionalities of traditional software programs. In this paper, we work towards bridging the benefits of traditional and deep learning programs by jointly training a generative model to constrain neural network activations to "decode" back to inputs. Doing so enables practitioners to probe and track information encoded in activation(s), apply assertion-like constraints on what information is encoded in an activation, and compose separate neural networks together in a plug-and-play fashion. In our experiments, we demonstrate applications of decodable representations to out-of-distribution detection, adversarial examples, calibration, and fairness -- while matching standard neural networks in accuracy.

COMBO: a new module for EUD parsing

We introduce the COMBO-based approach for EUD parsing and its implementation, which took part in the IWPT 2021 EUD shared task. The goal of this task is to parse raw texts in 17 languages into Enhanced Universal Dependencies (EUD). The proposed approach uses COMBO to predict UD trees and EUD graphs. These structures are then merged into the final EUD graphs. Some EUD edge labels are extended with case information using a single language-independent expansion rule. In the official evaluation, the solution ranked fourth, achieving an average ELAS of 83.79%. The source code is available at https://gitlab.clarin-pl.eu/syntactic-tools/combo.