Robotic Imitation of Human Actions

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to imitation learning that tackles the challenges of a robot imitating a human, such as the change in perspective and body schema. Our approach can use a single human demonstration to abstract information about the demonstrated task, and use that information to generalise and replicate it. We facilitate this ability by a new integration of two state-of-the-art methods: a diffusion action segmentation model to abstract temporal information from the demonstration and an open vocabulary object detector for spatial information. Furthermore, we refine the abstracted information and use symbolic reasoning to create an action plan utilising inverse kinematics, to allow the robot to imitate the demonstrated action.

FedGT: Federated Node Classification with Scalable Graph Transformer

Graphs are widely used to model relational data. As graphs are getting larger and larger in real-world scenarios, there is a trend to store and compute subgraphs in multiple local systems. For example, recently proposed \emph{subgraph federated learning} methods train Graph Neural Networks (GNNs) distributively on local subgraphs and aggregate GNN parameters with a central server. However, existing methods have the following limitations: (1) The links between local subgraphs are missing in subgraph federated learning. This could severely damage the performance of GNNs that follow message-passing paradigms to update node/edge features. (2) Most existing methods overlook the subgraph heterogeneity issue, brought by subgraphs being from different parts of the whole graph. To address the aforementioned challenges, we propose a scalable \textbf{Fed}erated \textbf{G}raph \textbf{T}ransformer (\textbf{FedGT}) in the paper. Firstly, we design a hybrid attention scheme to reduce the complexity of the Graph Transformer to linear while ensuring a global receptive field with theoretical bounds. Specifically, each node attends to the sampled local neighbors and a set of curated global nodes to learn both local and global information and be robust to missing links. The global nodes are dynamically updated during training with an online clustering algorithm to capture the data distribution of the corresponding local subgraph. Secondly, FedGT computes clients' similarity based on the aligned global nodes with optimal transport. The similarity is then used to perform weighted averaging for personalized aggregation, which well addresses the data heterogeneity problem. Moreover, local differential privacy is applied to further protect the privacy of clients. Finally, extensive experimental results on 6 datasets and 2 subgraph settings demonstrate the superiority of FedGT.

TA-RNN: an Attention-based Time-aware Recurrent Neural Network Architecture for Electronic Health Records

Motivation: Electronic Health Records (EHR) represent a comprehensive resource of a patient's medical history. EHR are essential for utilizing advanced technologies such as deep learning (DL), enabling healthcare providers to analyze extensive data, extract valuable insights, and make precise and data-driven clinical decisions. DL methods such as Recurrent Neural Networks (RNN) have been utilized to analyze EHR to model disease progression and predict diagnosis. However, these methods do not address some inherent irregularities in EHR data such as irregular time intervals between clinical visits. Furthermore, most DL models are not interpretable. In this study, we propose two interpretable DL architectures based on RNN, namely Time-Aware RNN (TA-RNN) and TA-RNN-Autoencoder (TA-RNN-AE) to predict patient's clinical outcome in EHR at next visit and multiple visits ahead, respectively. To mitigate the impact of irregular time intervals, we propose incorporating time embedding of the elapsed times between visits. For interpretability, we propose employing a dual-level attention mechanism that operates between visits and features within each visit. Results: The results of the experiments conducted on Alzheimer's Disease Neuroimaging Initiative (ADNI) and National Alzheimer's Coordinating Center (NACC) datasets indicated superior performance of proposed models for predicting Alzheimer's Disease (AD) compared to state-of-the-art and baseline approaches based on F2 and sensitivity. Additionally, TA-RNN showed superior performance on Medical Information Mart for Intensive Care (MIMIC-III) dataset for mortality prediction. In our ablation study, we observed enhanced predictive performance by incorporating time embedding and attention mechanisms. Finally, investigating attention weights helped identify influential visits and features in predictions. Availability: https://github.com/bozdaglab/TA-RNN

BackdoorBench: A Comprehensive Benchmark and Analysis of Backdoor Learning

As an emerging and vital topic for studying deep neural networks' vulnerability (DNNs), backdoor learning has attracted increasing interest in recent years, and many seminal backdoor attack and defense algorithms are being developed successively or concurrently, in the status of a rapid arms race. However, mainly due to the diverse settings, and the difficulties of implementation and reproducibility of existing works, there is a lack of a unified and standardized benchmark of backdoor learning, causing unfair comparisons, and unreliable conclusions (e.g., misleading, biased or even false conclusions). Consequently, it is difficult to evaluate the current progress and design the future development roadmap of this literature. To alleviate this dilemma, we build a comprehensive benchmark of backdoor learning called BackdoorBench. Our benchmark makes three valuable contributions to the research community. 1) We provide an integrated implementation of state-of-the-art (SOTA) backdoor learning algorithms (currently including 16 attack and 27 defense algorithms), based on an extensible modular-based codebase. 2) We conduct comprehensive evaluations of 12 attacks against 16 defenses, with 5 poisoning ratios, based on 4 models and 4 datasets, thus 11,492 pairs of evaluations in total. 3) Based on above evaluations, we present abundant analysis from 8 perspectives via 18 useful analysis tools, and provide several inspiring insights about backdoor learning. We hope that our efforts could build a solid foundation of backdoor learning to facilitate researchers to investigate existing algorithms, develop more innovative algorithms, and explore the intrinsic mechanism of backdoor learning. Finally, we have created a user-friendly website at http://backdoorbench.com, which collects all important information of BackdoorBench, including codebase, docs, leaderboard, and model Zoo.

Stream Query Denoising for Vectorized HD Map Construction

To enhance perception performance in complex and extensive scenarios within the realm of autonomous driving, there has been a noteworthy focus on temporal modeling, with a particular emphasis on streaming methods. The prevailing trend in streaming models involves the utilization of stream queries for the propagation of temporal information. Despite the prevalence of this approach, the direct application of the streaming paradigm to the construction of vectorized high-definition maps (HD-maps) fails to fully harness the inherent potential of temporal information. This paper introduces the Stream Query Denoising (SQD) strategy as a novel approach for temporal modeling in high-definition map (HD-map) construction. SQD is designed to facilitate the learning of temporal consistency among map elements within the streaming model. The methodology involves denoising the queries that have been perturbed by the addition of noise to the ground-truth information from the preceding frame. This denoising process aims to reconstruct the ground-truth information for the current frame, thereby simulating the prediction process inherent in stream queries. The SQD strategy can be applied to those streaming methods (e.g., StreamMapNet) to enhance the temporal modeling. The proposed SQD-MapNet is the StreamMapNet equipped with SQD. Extensive experiments on nuScenes and Argoverse2 show that our method is remarkably superior to other existing methods across all settings of close range and long range. The code will be available soon.

Sound Unblending: Exploring Sound Manipulations for Accessible Mixed-Reality Awareness

Mixed-reality (MR) soundscapes blend real-world sound with virtual audio from hearing devices, presenting intricate auditory information that is hard to discern and differentiate. This is particularly challenging for blind or visually impaired individuals, who rely on sounds and descriptions in their everyday lives. To understand how complex audio information is consumed, we analyzed online forum posts within the blind community, identifying prevailing challenges, needs, and desired solutions. We synthesized the results and proposed Sound Unblending for increasing MR sound awareness, which includes six sound manipulations: Ambience Builder, Feature Shifter, Earcon Generator, Prioritizer, Spatializer, and Stylizer. To evaluate the effectiveness of sound unblending, we conducted a user study with 18 blind participants across three simulated MR scenarios, where participants identified specific sounds within intricate soundscapes. We found that sound unblending increased MR sound awareness and minimized cognitive load. Finally, we developed three real-world example applications to demonstrate the practicality of sound unblending.

Robust Beamforming for Downlink Multi-Cell Systems: A Bilevel Optimization Perspective

Utilization of inter-base station cooperation for information processing has shown great potential in enhancing the overall quality of communication services (QoS) in wireless communication networks. Nevertheless, such cooperations require the knowledge of channel state information (CSI) at base stations (BSs), which is assumed to be perfectly known. However, CSI errors are inevitable in practice which necessitates beamforming techniques that can achieve robust performance in the presence of channel estimation errors. Existing approaches relax the robust beamforming design problems into semidefinite programming (SDP), which can only achieve a solution that is far from being optimal. To this end, this paper views robust beamforming design problems from a bilevel optimization perspective. In particular, we focus on maximizing the worst-case weighted sum-rate (WSR) in the downlink multi-cell multi-user multiple-input single-output (MISO) system considering bounded CSI errors. We first reformulate this problem into a bilevel optimization problem and then develop an efficient algorithm based on the cutting plane method. A distributed optimization algorithm has also been developed to facilitate the parallel processing in practical settings. Numerical results are provided to confirm the effectiveness of the proposed algorithm in terms of performance and complexity, particularly in the presence of CSI uncertainties.

State Estimation for Continuum Multi-Robot Systems on SE(3)

In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body. Consequentially, state estimation approaches that utilize additional sensor information to predict the shape of continuum robots have garnered significant interest. This paper presents a novel approach to state estimation for systems with multiple coupled continuum robots, which allows estimating the shape and strain variables of multiple continuum robots in an arbitrary coupled topology. Simulations and experiments demonstrate the capabilities and versatility of the proposed method, while achieving accurate and continuous estimates for the state of such systems, resulting in average end-effector errors of 3.3 mm and 5.02{\deg} depending on the sensor setup. It is further shown, that the approach offers fast computation times of below 10 ms, enabling its utilization in quasi-static real-time scenarios with average update rates of 100-200 Hz. An open-source C++ implementation of the proposed state estimation method is made publicly available to the community.

Synthetic data enables faster annotation and robust segmentation for multi-object grasping in clutter

Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this work, we propose a synthetic data generation method that minimizes human intervention and makes downstream image segmentation algorithms more robust by combining a generated synthetic dataset with a smaller real-world dataset (hybrid dataset). Annotation experiments show that the proposed synthetic scene generation can diminish labelling time dramatically. RGB image segmentation is trained with hybrid dataset and combined with depth information to produce pixel-to-point correspondence of individual segmented objects. The object to grasp is then determined by the confidence score of the segmentation algorithm. Pick-and-place experiments demonstrate that segmentation trained on our hybrid dataset (98.9%, 70%) outperforms the real dataset and a publicly available dataset by (6.7%, 18.8%) and (2.8%, 10%) in terms of labelling and grasping success rate, respectively. Supplementary material is available at https://sites.google.com/view/synthetic-dataset-generation.

Traffic Learning and Proactive UAV Trajectory Planning for Data Uplink in Markovian IoT Models

The age of information (AoI) is used to measure the freshness of the data. In IoT networks, the traditional resource management schemes rely on a message exchange between the devices and the base station (BS) before communication which causes high AoI, high energy consumption, and low reliability. Unmanned aerial vehicles (UAVs) as flying BSs have many advantages in minimizing the AoI, energy-saving, and throughput improvement. In this paper, we present a novel learning-based framework that estimates the traffic arrival of IoT devices based on Markovian events. The learning proceeds to optimize the trajectory of multiple UAVs and their scheduling policy. First, the BS predicts the future traffic of the devices. We compare two traffic predictors: the forward algorithm (FA) and the long short-term memory (LSTM). Afterward, we propose a deep reinforcement learning (DRL) approach to optimize the optimal policy of each UAV. Finally, we manipulate the optimum reward function for the proposed DRL approach. Simulation results show that the proposed algorithm outperforms the random-walk (RW) baseline model regarding the AoI, scheduling accuracy, and transmission power.