Adaptive Finite-Time Model Estimation and Control for Manipulator Visual Servoing using Sliding Mode Control and Neural Networks

The image-based visual servoing without models of system is challenging since it is hard to fetch an accurate estimation of hand-eye relationship via merely visual measurement. Whereas, the accuracy of estimated hand-eye relationship expressed in local linear format with Jacobian matrix is important to whole system's performance. In this article, we proposed a finite-time controller as well as a Jacobian matrix estimator in a combination of online and offline way. The local linear formulation is formulated first. Then, we use a combination of online and offline method to boost the estimation of the highly coupled and nonlinear hand-eye relationship with data collected via depth camera. A neural network (NN) is pre-trained to give a relative reasonable initial estimation of Jacobian matrix. Then, an online updating method is carried out to modify the offline trained NN for a more accurate estimation. Moreover, sliding mode control algorithm is introduced to realize a finite-time controller. Compared with previous methods, our algorithm possesses better convergence speed. The proposed estimator possesses excellent performance in the accuracy of initial estimation and powerful tracking capabilities for time-varying estimation for Jacobian matrix compared with other data-driven estimators. The proposed scheme acquires the combination of neural network and finite-time control effect which drives a faster convergence speed compared with the exponentially converge ones. Another main feature of our algorithm is that the state signals in system is proved to be semi-global practical finite-time stable. Several experiments are carried out to validate proposed algorithm's performance.

TiAda: A Time-scale Adaptive Algorithm for Nonconvex Minimax Optimization

Adaptive gradient methods have shown their ability to adjust the stepsizes on the fly in a parameter-agnostic manner, and empirically achieve faster convergence for solving minimization problems. When it comes to nonconvex minimax optimization, however, current convergence analyses of gradient descent ascent (GDA) combined with adaptive stepsizes require careful tuning of hyper-parameters and the knowledge of problem-dependent parameters. Such a discrepancy arises from the primal-dual nature of minimax problems and the necessity of delicate time-scale separation between the primal and dual updates in attaining convergence. In this work, we propose a single-loop adaptive GDA algorithm called TiAda for nonconvex minimax optimization that automatically adapts to the time-scale separation. Our algorithm is fully parameter-agnostic and can achieve near-optimal complexities simultaneously in deterministic and stochastic settings of nonconvex-strongly-concave minimax problems. The effectiveness of the proposed method is further justified numerically for a number of machine learning applications.

(1,1)-Cluster Editing is Polynomial-time Solvable

A graph $H$ is a clique graph if $H$ is a vertex-disjoin union of cliques. Abu-Khzam (2017) introduced the $(a,d)$-{Cluster Editing} problem, where for fixed natural numbers $a,d$, given a graph $G$ and vertex-weights $a^*:\ V(G)\rightarrow \{0,1,\dots, a\}$ and $d^*{}:\ V(G)\rightarrow \{0,1,\dots, d\}$, we are to decide whether $G$ can be turned into a cluster graph by deleting at most $d^*(v)$ edges incident to every $v\in V(G)$ and adding at most $a^*(v)$ edges incident to every $v\in V(G)$. Results by Komusiewicz and Uhlmann (2012) and Abu-Khzam (2017) provided a dichotomy of complexity (in P or NP-complete) of $(a,d)$-{Cluster Editing} for all pairs $a,d$ apart from $a=d=1.$ Abu-Khzam (2017) conjectured that $(1,1)$-{Cluster Editing} is in P. We resolve Abu-Khzam's conjecture in affirmative by (i) providing a serious of five polynomial-time reductions to $C_3$-free and $C_4$-free graphs of maximum degree at most 3, and (ii) designing a polynomial-time algorithm for solving $(1,1)$-{Cluster Editing} on $C_3$-free and $C_4$-free graphs of maximum degree at most 3.

NOPE: Novel Object Pose Estimation from a Single Image

The practicality of 3D object pose estimation remains limited for many applications due to the need for prior knowledge of a 3D model and a training period for new objects. To address this limitation, we propose an approach that takes a single image of a new object as input and predicts the relative pose of this object in new images without prior knowledge of the object's 3D model and without requiring training time for new objects and categories. We achieve this by training a model to directly predict discriminative embeddings for viewpoints surrounding the object. This prediction is done using a simple U-Net architecture with attention and conditioned on the desired pose, which yields extremely fast inference. We compare our approach to state-of-the-art methods and show it outperforms them both in terms of accuracy and robustness. Our source code is publicly available at https://github.com/nv-nguyen/nope

Modular Retrieval for Generalization and Interpretation

New retrieval tasks have always been emerging, thus urging the development of new retrieval models. However, instantiating a retrieval model for each new retrieval task is resource-intensive and time-consuming, especially for a retrieval model that employs a large-scale pre-trained language model. To address this issue, we shift to a novel retrieval paradigm called modular retrieval, which aims to solve new retrieval tasks by instead composing multiple existing retrieval modules. Built upon the paradigm, we propose a retrieval model with modular prompt tuning named REMOP. It constructs retrieval modules subject to task attributes with deep prompt tuning, and yields retrieval models subject to tasks with module composition. We validate that, REMOP inherently with modularity not only has appealing generalizability and interpretability in preliminary explorations, but also achieves comparable performance to state-of-the-art retrieval models on a zero-shot retrieval benchmark.\footnote{Our code is available at \url{https://github.com/FreedomIntelligence/REMOP}}

TAPS3D: Text-Guided 3D Textured Shape Generation from Pseudo Supervision

In this paper, we investigate an open research task of generating controllable 3D textured shapes from the given textual descriptions. Previous works either require ground truth caption labeling or extensive optimization time. To resolve these issues, we present a novel framework, TAPS3D, to train a text-guided 3D shape generator with pseudo captions. Specifically, based on rendered 2D images, we retrieve relevant words from the CLIP vocabulary and construct pseudo captions using templates. Our constructed captions provide high-level semantic supervision for generated 3D shapes. Further, in order to produce fine-grained textures and increase geometry diversity, we propose to adopt low-level image regularization to enable fake-rendered images to align with the real ones. During the inference phase, our proposed model can generate 3D textured shapes from the given text without any additional optimization. We conduct extensive experiments to analyze each of our proposed components and show the efficacy of our framework in generating high-fidelity 3D textured and text-relevant shapes.

Sketch2Saliency: Learning to Detect Salient Objects from Human Drawings

Human sketch has already proved its worth in various visual understanding tasks (e.g., retrieval, segmentation, image-captioning, etc). In this paper, we reveal a new trait of sketches - that they are also salient. This is intuitive as sketching is a natural attentive process at its core. More specifically, we aim to study how sketches can be used as a weak label to detect salient objects present in an image. To this end, we propose a novel method that emphasises on how "salient object" could be explained by hand-drawn sketches. To accomplish this, we introduce a photo-to-sketch generation model that aims to generate sequential sketch coordinates corresponding to a given visual photo through a 2D attention mechanism. Attention maps accumulated across the time steps give rise to salient regions in the process. Extensive quantitative and qualitative experiments prove our hypothesis and delineate how our sketch-based saliency detection model gives a competitive performance compared to the state-of-the-art.

SAOR: Single-View Articulated Object Reconstruction

We introduce SAOR, a novel approach for estimating the 3D shape, texture, and viewpoint of an articulated object from a single image captured in the wild. Unlike prior approaches that rely on pre-defined category-specific 3D templates or tailored 3D skeletons, SAOR learns to articulate shapes from single-view image collections with a skeleton-free part-based model without requiring any 3D object shape priors. To prevent ill-posed solutions, we propose a cross-instance consistency loss that exploits disentangled object shape deformation and articulation. This is helped by a new silhouette-based sampling mechanism to enhance viewpoint diversity during training. Our method only requires estimated object silhouettes and relative depth maps from off-the-shelf pre-trained networks during training. At inference time, given a single-view image, it efficiently outputs an explicit mesh representation. We obtain improved qualitative and quantitative results on challenging quadruped animals compared to relevant existing work.

Confidence-Aware and Self-Supervised Image Anomaly Localisation

Universal anomaly detection still remains a challenging problem in machine learning and medical image analysis. It is possible to learn an expected distribution from a single class of normative samples, e.g., through epistemic uncertainty estimates, auto-encoding models, or from synthetic anomalies in a self-supervised way. The performance of self-supervised anomaly detection approaches is still inferior compared to methods that use examples from known unknown classes to shape the decision boundary. However, outlier exposure methods often do not identify unknown unknowns. Here we discuss an improved self-supervised single-class training strategy that supports the approximation of probabilistic inference with loosen feature locality constraints. We show that up-scaling of gradients with histogram-equalised images is beneficial for recently proposed self-supervision tasks. Our method is integrated into several out-of-distribution (OOD) detection models and we show evidence that our method outperforms the state-of-the-art on various benchmark datasets. Source code will be publicly available by the time of the conference.

RLOR: A Flexible Framework of Deep Reinforcement Learning for Operation Research

Reinforcement learning has been applied in operation research and has shown promise in solving large combinatorial optimization problems. However, existing works focus on developing neural network architectures for certain problems. These works lack the flexibility to incorporate recent advances in reinforcement learning, as well as the flexibility of customizing model architectures for operation research problems. In this work, we analyze the end-to-end autoregressive models for vehicle routing problems and show that these models can benefit from the recent advances in reinforcement learning with a careful re-implementation of the model architecture. In particular, we re-implemented the Attention Model and trained it with Proximal Policy Optimization (PPO) in CleanRL, showing at least 8 times speed up in training time. We hereby introduce RLOR, a flexible framework for Deep Reinforcement Learning for Operation Research. We believe that a flexible framework is key to developing deep reinforcement learning models for operation research problems. The code of our work is publicly available at https://github.com/cpwan/RLOR.