arXiv subjects

Donghyun Kim

Publications and source records attributed to Donghyun Kim.

At least 163 records · Page 9Linked to original sources

arXiv2020

Multi-way Encoding for Robustness

Deep models are state-of-the-art for many computer vision tasks including image classification and object detection. However, it has been shown that deep models are vulnerable to adversarial examples. We highlight how one-hot encoding directly contributes to this vulnerability and propose breaking away from this widely-used, but highly-vulnerable mapping. We demonstrate that by leveraging a different output encoding, multi-way encoding, we decorrelate source and target models, making target models more secure. Our approach makes it more difficult for adversaries to find useful gradients for generating adversarial attacks. We present robustness for black-box and white-box attacks on four benchmark datasets: MNIST, CIFAR-10, CIFAR-100, and SVHN. The strength of our approach is also presented in the form of an attack for model watermarking, raising challenges in detecting stolen models.

cs.CV↗

arXiv2019

MULE: Multimodal Universal Language Embedding

Existing vision-language methods typically support two languages at a time at most. In this paper, we present a modular approach which can easily be incorporated into existing vision-language methods in order to support many languages. We accomplish this by learning a single shared Multimodal Universal Language Embedding (MULE) which has been visually-semantically aligned across all languages. Then we learn to relate MULE to visual data as if it were a single language. Our method is not architecture specific, unlike prior work which typically learned separate branches for each language, enabling our approach to easily be adapted to many vision-language methods and tasks. Since MULE learns a single language branch in the multimodal model, we can also scale to support many languages, and languages with fewer annotations can take advantage of the good representation learned from other (more abundant) language data. We demonstrate the effectiveness of MULE on the bidirectional image-sentence retrieval task, supporting up to four languages in a single model. In addition, we show that Machine Translation can be used for data augmentation in multilingual learning, which, combined with MULE, improves mean recall by up to 21.9% on a single-language compared to prior work, with the most significant gains seen on languages with relatively few annotations. Our code is publicly available.

cs.CV↗

arXiv2019

Control of A High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators

This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design embodying a Reaction Force Sensing Series Elastic Actuator (RFSEA) and a Force Sensing Series Elastic Actuator (FSEA). These designs are aimed at reducing the size and weight of the robot's actuation system while inheriting the advantages of our designs such as energy efficiency, torque density, impact resistance and position/force controllability. The system design takes into consideration human-inspired kinematics and range-of-motion (ROM), while relying on foot placement to balance. In terms of actuator control, we perform a stability analysis on a Disturbance Observer (DOB) designed for force control. We then evaluate various position control algorithms both in the time and frequency domains for our VLCA actuators. Having the low level baseline established, we first perform a controller evaluation on the legs using Operational Space Control (OSC) [2]. Finally, we move on to evaluating the full bipedal robot by accomplishing unsupported dynamic walking by means of the algorithms to appear in [3].

cs.RO↗

arXiv2019

Semi-supervised Domain Adaptation via Minimax Entropy

Contemporary domain adaptation methods are very effective at aligning feature distributions of source and target domains without any target supervision. However, we show that these techniques perform poorly when even a few labeled examples are available in the target. To address this semi-supervised domain adaptation (SSDA) setting, we propose a novel Minimax Entropy (MME) approach that adversarially optimizes an adaptive few-shot model. Our base model consists of a feature encoding network, followed by a classification layer that computes the features' similarity to estimated prototypes (representatives of each class). Adaptation is achieved by alternately maximizing the conditional entropy of unlabeled target data with respect to the classifier and minimizing it with respect to the feature encoder. We empirically demonstrate the superiority of our method over many baselines, including conventional feature alignment and few-shot methods, setting a new state of the art for SSDA.

cs.CV↗

arXiv2019

Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control

Dynamic legged locomotion is a challenging topic because of the lack of established control schemes which can handle aerial phases, short stance times, and high-speed leg swings. In this paper, we propose a controller combining whole-body control (WBC) and model predictive control (MPC). In our framework, MPC finds an optimal reaction force profile over a longer time horizon with a simple model, and WBC computes joint torque, position, and velocity commands based on the reaction forces computed from MPC. Unlike existing WBCs, which attempt to track commanded body trajectories, our controller is focused more on the reaction force command, which allows it to accomplish high speed dynamic locomotion with aerial phases. The newly devised WBC is integrated with MPC and tested on the Mini-Cheetah quadruped robot. To demonstrate the robustness and versatility, the controller is tested on six different gaits in a number of different environments, including outdoors and on a treadmill, reaching a top speed of 3.7 m/s.

cs.RO↗

arXiv2019

Task-Guided Pair Embedding in Heterogeneous Network

Many real-world tasks solved by heterogeneous network embedding methods can be cast as modeling the likelihood of pairwise relationship between two nodes. For example, the goal of author identification task is to model the likelihood of a paper being written by an author (paper-author pairwise relationship). Existing task-guided embedding methods are node-centric in that they simply measure the similarity between the node embeddings to compute the likelihood of a pairwise relationship between two nodes. However, we claim that for task-guided embeddings, it is crucial to focus on directly modeling the pairwise relationship. In this paper, we propose a novel task-guided pair embedding framework in heterogeneous network, called TaPEm, that directly models the relationship between a pair of nodes that are related to a specific task (e.g., paper-author relationship in author identification). To this end, we 1) propose to learn a pair embedding under the guidance of its associated context path, i.e., a sequence of nodes between the pair, and 2) devise the pair validity classifier to distinguish whether the pair is valid with respect to the specific task at hand. By introducing pair embeddings that capture the semantics behind the pairwise relationships, we are able to learn the fine-grained pairwise relationship between two nodes, which is paramount for task-guided embedding methods. Extensive experiments on author identification task demonstrate that TaPEm outperforms the state-of-the-art methods, especially for authors with few publication records.

cs.CL↗

arXiv2019

Collaborative Translational Metric Learning

Recently, matrix factorization-based recommendation methods have been criticized for the problem raised by the triangle inequality violation. Although several metric learning-based approaches have been proposed to overcome this issue, existing approaches typically project each user to a single point in the metric space, and thus do not suffice for properly modeling the intensity and the heterogeneity of user-item relationships in implicit feedback. In this paper, we propose TransCF to discover such latent user-item relationships embodied in implicit user-item interactions. Inspired by the translation mechanism popularized by knowledge graph embedding, we construct user-item specific translation vectors by employing the neighborhood information of users and items, and translate each user toward items according to the user's relationships with the items. Our proposed method outperforms several state-of-the-art methods for top-N recommendation on seven real-world data by up to 17% in terms of hit ratio. We also conduct extensive qualitative evaluations on the translation vectors learned by our proposed method to ascertain the benefit of adopting the translation mechanism for implicit feedback-based recommendations.

cs.IR↗

arXiv2019

Conversation Model Fine-Tuning for Classifying Client Utterances in Counseling Dialogues

The recent surge of text-based online counseling applications enables us to collect and analyze interactions between counselors and clients. A dataset of those interactions can be used to learn to automatically classify the client utterances into categories that help counselors in diagnosing client status and predicting counseling outcome. With proper anonymization, we collect counselor-client dialogues, define meaningful categories of client utterances with professional counselors, and develop a novel neural network model for classifying the client utterances. The central idea of our model, ConvMFiT, is a pre-trained conversation model which consists of a general language model built from an out-of-domain corpus and two role-specific language models built from unlabeled in-domain dialogues. The classification result shows that ConvMFiT outperforms state-of-the-art comparison models. Further, the attention weights in the learned model confirm that the model finds expected linguistic patterns for each category.

cs.CL↗

arXiv2018

A Hybrid of Deep Audio Feature and i-vector for Artist Recognition

Artist recognition is a task of modeling the artist's musical style. This problem is challenging because there is no clear standard. We propose a hybrid method of the generative model i-vector and the discriminative model deep convolutional neural network. We show that this approach achieves state-of-the-art performance by complementing each other. In addition, we briefly explain the advantages and disadvantages of each approach.

cs.SD↗

arXiv2018

Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles

We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan footstep locations and the biped dynamics in separate steps, we handle both simultaneously. Three advantages of this approach are (1) the ability to differentiate alternate routes while selecting footstep locations based on the temporal duration of the route as determined by the Linear Inverted Pendulum Model dynamics, (2) the ability to perform collision checking through time so that collisions with moving obstacles are prevented without avoiding their entire trajectory, and (3) the ability to specify a minimum forward velocity for the biped. To generate a dynamically consistent description of the walking behavior, we exploit the Phase Space Planner. To plan a collision free route toward the goal, we adapt planning strategies from non-holonomic wheeled robots to gather a sequence of inputs for the PSP. This allows us to efficiently approximate dynamic and kinematic constraints on bipedal motion, to apply a sampling based planning algorithms, and to use the Dubin's path as the steering method to connect two points in the configuration space. The results of the algorithm are sent to a Whole Body Controller to generate full body dynamic walking behavior.

cs.RO↗

arXiv2018

Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints

In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body controllers that is very general via incorporating centroidal momentum dynamics, operational task priorities, contact re- action forces, and internal force constraints. First, we achieve efficiency by solving a quadratic program that only involves the floating base dynamics and the reaction forces. Second, we achieve computational robustness by relaxing task accelerations such that they comply with friction cone constraints. Finally, we incorporate methods for smooth contact transitions to enhance the control of dynamic locomotion behaviors. The proposed methods are demonstrated both in simulation and in real experiments using a passive-ankle bipedal robot.

cs.RO↗

arXiv2018

Investigations of a Robotic Testbed with Viscoelastic Liquid Cooled Actuators

We design, build, and thoroughly test a new type of actuator dubbed viscoelastic liquid cooled actuator (VLCA) for robotic applications. VLCAs excel in the following five critical axes of performance: energy efficiency, torque density, impact resistence, joint position and force controllability. We first study the design objectives and choices of the VLCA to enhance the performance on the needed criteria. We follow by an investigation on viscoelastic materials in terms of their damping, viscous and hysteresis properties as well as parameters related to the long- term performance. As part of the actuator design, we configure a disturbance observer to provide high-fidelity force control to enable a wide range of impedance control capabilities. We proceed to design a robotic system capable to lift payloads of 32.5 kg, which is three times larger than its own weight. In addition, we experiment with Cartesian trajectory control up to 2 Hz with a vertical range of motion of 32 cm while carrying a payload of 10 kg. Finally, we perform experiments on impedance control and mechanical robustness by studying the response of the robotics testbed to hammering impacts and external force interactions.

eess.SY↗

arXiv2018

Excitation Backprop for RNNs

Deep models are state-of-the-art for many vision tasks including video action recognition and video captioning. Models are trained to caption or classify activity in videos, but little is known about the evidence used to make such decisions. Grounding decisions made by deep networks has been studied in spatial visual content, giving more insight into model predictions for images. However, such studies are relatively lacking for models of spatiotemporal visual content - videos. In this work, we devise a formulation that simultaneously grounds evidence in space and time, in a single pass, using top-down saliency. We visualize the spatiotemporal cues that contribute to a deep model's classification/captioning output using the model's internal representation. Based on these spatiotemporal cues, we are able to localize segments within a video that correspond with a specific action, or phrase from a caption, without explicitly optimizing/training for these tasks.

cs.CV↗

arXiv2017

Robust Dynamic Locomotion via Reinforcement Learning and Novel Whole Body Controller

We propose a robust dynamic walking controller consisting of a dynamic locomotion planner, a reinforcement learning process for robustness, and a novel whole-body locomotion controller (WBLC). Previous approaches specify either the position or the timing of steps, however, the proposed locomotion planner simultaneously computes both of these parameters as locomotion outputs. Our locomotion strategy relies on devising a reinforcement learning (RL) approach for robust walking. The learned policy generates multi step walking patterns, and the process is quick enough to be suitable for real-time controls. For learning, we devise an RL strategy that uses a phase space planner (PSP) and a linear inverted pendulum model to make the problem tractable and very fast. Then, the learned policy is used to provide goal-based commands to the WBLC, which calculates the torque commands to be executed in full-humanoid robots. The WBLC combines multiple prioritized tasks and calculates the associated reaction forces based on practical inequality constraints. The novel formulation includes efficient calculation of the time derivatives of various Jacobians. This provides high-fidelity dynamic control of fast motions. More specifically, we compute the time derivative of the Jacobian for various tasks and the Jacobian of the centroidal momentum task by utilizing Lie group operators and operational space dynamics respectively. The integration of RL-PSP and the WBLC provides highly robust, versatile, and practical locomotion including steering while walking and handling push disturbances of up to 520 N during an interval of 0.1 sec. Theoretical and numerical results are tested through a 3D physics-based simulation of the humanoid robot Valkyrie.

cs.RO↗

arXiv2017

Deep 3D Face Identification

We propose a novel 3D face recognition algorithm using a deep convolutional neural network (DCNN) and a 3D augmentation technique. The performance of 2D face recognition algorithms has significantly increased by leveraging the representational power of deep neural networks and the use of large-scale labeled training data. As opposed to 2D face recognition, training discriminative deep features for 3D face recognition is very difficult due to the lack of large-scale 3D face datasets. In this paper, we show that transfer learning from a CNN trained on 2D face images can effectively work for 3D face recognition by fine-tuning the CNN with a relatively small number of 3D facial scans. We also propose a 3D face augmentation technique which synthesizes a number of different facial expressions from a single 3D face scan. Our proposed method shows excellent recognition results on Bosphorus, BU-3DFE, and 3D-TEC datasets, without using hand-crafted features. The 3D identification using our deep features also scales well for large databases.

cs.CV↗

arXiv2017

Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical Systems

We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two scenarios. The first involves an assistive robot that aims to maximize productivity while minimizing the human's workload, and the second involves a listening humanoid robot that manages its eye contact behavior to maximize "connection" and minimize social "awkwardness" with the human during the interaction. Our simulation results show that the robot generates useful behaviors as it finds control policies to minimize the specified cost function. Further, we implement the second scenario on a humanoid robot and test the eye contact scenario with 48 human participants to demonstrate and evaluate the desired controller behavior. The humanoid generated 25% more eye contact when it was told to maximize connection over when it was told to maximize awkwardness. However, despite showing the desired behavior, there was no statistical difference between the participant's perceived connection with the humanoid.

cs.HC↗

arXiv2016

Detection of Single Nanoparticles Using the Dissipative Interaction in a High-Q Microcavity

Ultrasensitive optical detection of nanometer-scaled particles is highly desirable for applications in early-stage diagnosis of human diseases, environmental monitoring, and homeland security, but remains extremely difficult due to ultralow polarizabilities of small-sized, low-index particles. Optical whispering-gallery-mode microcavities, which can enhance significantly the light-matter interaction, have emerged as promising platforms for label-free detection of nanoscale objects. Different from the conventional whispering-gallery-mode sensing relying on the reactive (i.e., dispersive) interaction, here we propose and demonstrate to detect single lossy nanoparticles using the dissipative interaction in a high-$Q$ toroidal microcavity. In the experiment, detection of single gold nanorods in an aqueous environment is realized by monitoring simultaneously the linewidth change and shift of the cavity mode. The experimental result falls within the theoretical prediction. Remarkably, the reactive and dissipative sensing methods are evaluated by setting the probe wavelength on and off the surface plasmon resonance to tune the absorption of nanorods, which demonstrates clearly the great potential of the dissipative sensing method to detect lossy nanoparticles. Future applications could also combine the dissipative and reactive sensing methods, which may provide better characterizations of nanoparticles.

physics.optics↗

arXiv2015

PBF: A New Privacy-Aware Billing Framework for Online Electric Vehicles with Bidirectional Auditability

Recently an online electric vehicle (OLEV) concept has been introduced, where vehicles are propelled through the wirelessly transmitted electrical power from the infrastructure installed under the road while moving. The absence of secure-and-fair billing is one main hurdle to widely adopt this promising technology. This paper introduces a secure and privacy-aware fair billing framework for OLEV on the move through the charging plates installed under the road. We first propose two extreme lightweight mutual authentication mechanisms, a direct authentication and a hash chain-based authentication between vehicles and the charging plates that can be used for different vehicular speeds on the road. Second we propose a secure and privacy-aware wireless power transfer on move for the vehicles with bidirectional auditability guarantee by leveraging game-theoretic approach. Each charging plate transfers a fixed amount of energy to the vehicle and bills the vehicle in a privacy-aware way accordingly. Our protocol guarantees secure, privacy-aware, and fair billing mechanism for the OLEVs while receiving electric power from the road. Moreover our proposed framework can play a vital role in eliminating the security and privacy challenges in the deployment of power transfer technology to the OLEVs.

cs.CR↗