arXiv subjects

Ken Chen

Publications and source records attributed to Ken Chen.

43 records · Page 3Linked to original sources

arXiv2021

Feature-Based Compliance Control for Peg-in-Hole Assembly with Clearance or Interference Fit

This paper aims at solving mass precise peg-in-hole assembly. First, a feature space and a response space are constructed according to the relative pose and equivalent forces and moments. Then the contact states are segmented in the feature space and the segmentation boundaries are mapped into the response space. Further, a feature-based compliance control (FBCC) algorithm is proposed based on boundary mapping. In the FBCC algorithm, a direction matrix is designed to execute accurate adjustment and an integrator is applied to eliminate the residual responses. Finally, the simulations and experiments demonstrate the superiority, robustness, and generalization ability of the FBCC.

eess.SY↗

arXiv2020

A User-experience Driven SSIM-Aware Adaptation Approach for DASH Video Streaming

Dynamic Adaptive Streaming over HTTP (DASH) is a video streaming technique largely used. One key point is the adaptation mechanism which resides at the client's side. This mechanism impacts greatly on the overall Quality of Experience (QoE) of the video streaming. In this paper, we propose a new adaptation algorithm for DASH, namely SSIM Based Adaptation (SBA). This mechanism is user-experience driven: it uses the Structural Similarity Index Measurement (SSIM) as main video perceptual quality indicator; moreover, the adaptation is based on a joint consideration of SSIM indicator and the physical resources (buffer occupancy, bandwidth) in order to minimize the buffer starvation (rebuffering) and video quality instability, as well as to maximize the overall video quality (through SSIM). To evaluate the performance of our proposal, we carried out trace-driven emulation with real traffic traces (captured in real mobile network). Comparisons with some representative algorithms (BBA, FESTIVE, OSMF) through major QoE metrics show that our adaptation algorithm SBA achieves an efficient adaptation minimizing both the rebuffering and instability, whereas the displayed video is maintained at a high level of bitrate.

cs.MM↗

arXiv2020

Dynamic Spatio-temporal Graph-based CNNs for Traffic Prediction

Forecasting future traffic flows from previous ones is a challenging problem because of their complex and dynamic nature of spatio-temporal structures. Most existing graph-based CNNs attempt to capture the static relations while largely neglecting the dynamics underlying sequential data. In this paper, we present dynamic spatio-temporal graph-based CNNs (DST-GCNNs) by learning expressive features to represent spatio-temporal structures and predict future traffic flows from surveillance video data. In particular, DST-GCNN is a two stream network. In the flow prediction stream, we present a novel graph-based spatio-temporal convolutional layer to extract features from a graph representation of traffic flows. Then several such layers are stacked together to predict future flows over time. Meanwhile, the relations between traffic flows in the graph are often time variant as the traffic condition changes over time. To capture the graph dynamics, we use the graph prediction stream to predict the dynamic graph structures, and the predicted structures are fed into the flow prediction stream. Experiments on real datasets demonstrate that the proposed model achieves competitive performances compared with the other state-of-the-art methods.

cs.CV↗

arXiv2019

Learning to Auto Weight: Entirely Data-driven and Highly Efficient Weighting Framework

Example weighting algorithm is an effective solution to the training bias problem, however, most previous typical methods are usually limited to human knowledge and require laborious tuning of hyperparameters. In this paper, we propose a novel example weighting framework called Learning to Auto Weight (LAW). The proposed framework finds step-dependent weighting policies adaptively, and can be jointly trained with target networks without any assumptions or prior knowledge about the dataset. It consists of three key components: Stage-based Searching Strategy (3SM) is adopted to shrink the huge searching space in a complete training process; Duplicate Network Reward (DNR) gives more accurate supervision by removing randomness during the searching process; Full Data Update (FDU) further improves the updating efficiency. Experimental results demonstrate the superiority of weighting policy explored by LAW over standard training pipeline. Compared with baselines, LAW can find a better weighting schedule which achieves much more superior accuracy on both biased CIFAR and ImageNet.

cs.LG↗

arXiv2019

Sampled in Pairs and Driven by Text: A New Graph Embedding Framework

In graphs with rich texts, incorporating textual information with structural information would benefit constructing expressive graph embeddings. Among various graph embedding models, random walk (RW)-based is one of the most popular and successful groups. However, it is challenged by two issues when applied on graphs with rich texts: (i) sampling efficiency: deriving from the training objective of RW-based models (e.g., DeepWalk and node2vec), we show that RW-based models are likely to generate large amounts of redundant training samples due to three main drawbacks. (ii) text utilization: these models have difficulty in dealing with zero-shot scenarios where graph embedding models have to infer graph structures directly from texts. To solve these problems, we propose a novel framework, namely Text-driven Graph Embedding with Pairs Sampling (TGE-PS). TGE-PS uses Pairs Sampling (PS) to improve the sampling strategy of RW, being able to reduce ~99% training samples while preserving competitive performance. TGE-PS uses Text-driven Graph Embedding (TGE), an inductive graph embedding approach, to generate node embeddings from texts. Since each node contains rich texts, TGE is able to generate high-quality embeddings and provide reasonable predictions on existence of links to unseen nodes. We evaluate TGE-PS on several real-world datasets, and experiment results demonstrate that TGE-PS produces state-of-the-art results on both traditional and zero-shot link prediction tasks.

cs.AI↗

arXiv2019

Fast Skill Learning for Variable Compliance Robotic Assembly

The robotic assembly represents a group of benchmark problems for reinforcement learning and variable compliance control that features sophisticated contact manipulation. One of the key challenges in applying reinforcement learning to physical robot is the sample complexity, the requirement of large amounts of experience for learning. We mitigate this sample complexity problem by incorporating an iteratively refitted model into the learning process through model-guided exploration. Yet, fitting a local model of the physical environment is of major difficulties. In this work, a Kalman filter is used to combine the adaptive linear dynamics with a coarse prior model from analytical description, and proves to give more accurate predictions than the existing method. Experimental results show that the proposed model fitting strategy can be incorporated into a model predictive controller to generate good exploration behaviors for learning acceleration, while preserving the benefits of model-free reinforcement learning for uncertain environments. In addition to the sample complexity, the inevitable robot overloaded during operation also tends to limit the learning efficiency. To address this problem, we present a method to restrict the largest possible potential energy in the compliance control system and therefore keep the contact force within the legitimate range.

cs.RO↗

arXiv2018

Label-aware Double Transfer Learning for Cross-Specialty Medical Named Entity Recognition

We study the problem of named entity recognition (NER) from electronic medical records, which is one of the most fundamental and critical problems for medical text mining. Medical records which are written by clinicians from different specialties usually contain quite different terminologies and writing styles. The difference of specialties and the cost of human annotation makes it particularly difficult to train a universal medical NER system. In this paper, we propose a label-aware double transfer learning framework (La-DTL) for cross-specialty NER, so that a medical NER system designed for one specialty could be conveniently applied to another one with minimal annotation efforts. The transferability is guaranteed by two components: (i) we propose label-aware MMD for feature representation transfer, and (ii) we perform parameter transfer with a theoretical upper bound which is also label aware. We conduct extensive experiments on 12 cross-specialty NER tasks. The experimental results demonstrate that La-DTL provides consistent accuracy improvement over strong baselines. Besides, the promising experimental results on non-medical NER scenarios indicate that La-DTL is potential to be seamlessly adapted to a wide range of NER tasks.

cs.CL↗