arXiv subjects

Wei Xu

Publications and source records attributed to Wei Xu.

At least 469 records · Page 26Linked to original sources

arXiv2021

An Empowerment-based Solution to Robotic Manipulation Tasks with Sparse Rewards

In order to provide adaptive and user-friendly solutions to robotic manipulation, it is important that the agent can learn to accomplish tasks even if they are only provided with very sparse instruction signals. To address the issues reinforcement learning algorithms face when task rewards are sparse, this paper proposes an intrinsic motivation approach that can be easily integrated into any standard reinforcement learning algorithm and can allow robotic manipulators to learn useful manipulation skills with only sparse extrinsic rewards. Through integrating and balancing empowerment and curiosity, this approach shows superior performance compared to other state-of-the-art intrinsic exploration approaches during extensive empirical testing. Qualitative analysis also shows that when combined with diversity-driven intrinsic motivations, this approach can help manipulators learn a set of diverse skills which could potentially be applied to other more complicated manipulation tasks and accelerate their learning process.

cs.RO↗

arXiv2021

Neural semi-Markov CRF for Monolingual Word Alignment

Monolingual word alignment is important for studying fine-grained editing operations (i.e., deletion, addition, and substitution) in text-to-text generation tasks, such as paraphrase generation, text simplification, neutralizing biased language, etc. In this paper, we present a novel neural semi-Markov CRF alignment model, which unifies word and phrase alignments through variable-length spans. We also create a new benchmark with human annotations that cover four different text genres to evaluate monolingual word alignment models in more realistic settings. Experimental results show that our proposed model outperforms all previous approaches for monolingual word alignment as well as a competitive QA-based baseline, which was previously only applied to bilingual data. Our model demonstrates good generalizability to three out-of-domain datasets and shows great utility in two downstream applications: automatic text simplification and sentence pair classification tasks.

cs.CL↗

arXiv2021

Dilated Convolution based CSI Feedback Compression for Massive MIMO Systems

Although the frequency-division duplex (FDD) massive multiple-input multiple-output (MIMO) system can offer high spectral and energy efficiency, it requires to feedback the downlink channel state information (CSI) from users to the base station (BS), in order to fulfill the precoding design at the BS. However, the large dimension of CSI matrices in the massive MIMO system makes the CSI feedback very challenging, and it is urgent to compress the feedback CSI. To this end, this paper proposes a novel dilated convolution based CSI feedback network, namely DCRNet. Specifically, the dilated convolutions are used to enhance the receptive field (RF) of the proposed DCRNet without increasing the convolution size. Moreover, advanced encoder and decoder blocks are designed to improve the reconstruction performance and reduce computational complexity as well. Numerical results are presented to show the superiority of the proposed DCRNet over the conventional networks. In particular, the proposed DCRNet can achieve almost the state-of-the-arts (SOTA) performance with much lower floating point operations (FLOPs). The open source code and checkpoint of this work are available at https://github.com/recusant7/DCRNet.

cs.IT↗

arXiv2021

KACC: A Multi-task Benchmark for Knowledge Abstraction, Concretization and Completion

A comprehensive knowledge graph (KG) contains an instance-level entity graph and an ontology-level concept graph. The two-view KG provides a testbed for models to "simulate" human's abilities on knowledge abstraction, concretization, and completion (KACC), which are crucial for human to recognize the world and manage learned knowledge. Existing studies mainly focus on partial aspects of KACC. In order to promote thorough analyses for KACC abilities of models, we propose a unified KG benchmark by improving existing benchmarks in terms of dataset scale, task coverage, and difficulty. Specifically, we collect new datasets that contain larger concept graphs, abundant cross-view links as well as dense entity graphs. Based on the datasets, we propose novel tasks such as multi-hop knowledge abstraction (MKA), multi-hop knowledge concretization (MKC) and then design a comprehensive benchmark. For MKA and MKC tasks, we further annotate multi-hop hierarchical triples as harder samples. The experimental results of existing methods demonstrate the challenges of our benchmark. The resource is available at https://github.com/thunlp/KACC.

cs.CL↗

arXiv2021

Contrastive Learning of Relative Position Regression for One-Shot Object Localization in 3D Medical Images

Deep learning networks have shown promising performance for accurate object localization in medial images, but require large amount of annotated data for supervised training, which is expensive and expertise burdensome. To address this problem, we present a one-shot framework for organ and landmark localization in volumetric medical images, which does not need any annotation during the training stage and could be employed to locate any landmarks or organs in test images given a support (reference) image during the inference stage. Our main idea comes from that tissues and organs from different human bodies have a similar relative position and context. Therefore, we could predict the relative positions of their non-local patches, thus locate the target organ. Our framework is composed of three parts: (1) A projection network trained to predict the 3D offset between any two patches from the same volume, where human annotations are not required. In the inference stage, it takes one given landmark in a reference image as a support patch and predicts the offset from a random patch to the corresponding landmark in the test (query) volume. (2) A coarse-to-fine framework contains two projection networks, providing more accurate localization of the target. (3) Based on the coarse-to-fine model, we transfer the organ boundingbox (B-box) detection to locating six extreme points along x, y and z directions in the query volume. Experiments on multi-organ localization from head-and-neck (HaN) CT volumes showed that our method acquired competitive performance in real time, which is more accurate and 10^5 times faster than template matching methods with the same setting. Code is available: https://github.com/LWHYC/RPR-Loc.

cs.CV↗

arXiv2021

A Lightweight Deep Network for Efficient CSI Feedback in Massive MIMO Systems

To fully exploit the advantages of massive multiple-input multiple-output (m-MIMO), accurate channel state information (CSI) is required at the transmitter. However, excessive CSI feedback for large antenna arrays is inefficient and thus undesirable in practical applications. By exploiting the inherent correlation characteristics of complex-valued channel responses in the angular-delay domain, we propose a novel neural network (NN) architecture, namely ENet, for CSI compression and feedback in m-MIMO. Even if the ENet processes the real and imaginary parts of the CSI values separately, its special structure enables the network trained for the real part only to be reused for the imaginary part. The proposed ENet shows enhanced performance with the network size reduced by nearly an order of magnitude compared to the existing NN-based solutions. Experimental results verify the effectiveness of the proposed ENet.

cs.IT↗

arXiv2021

PPCA: Privacy-preserving Principal Component Analysis Using Secure Multiparty Computation(MPC)

Privacy-preserving data mining has become an important topic. People have built several multi-party-computation (MPC)-based frameworks to provide theoretically guaranteed privacy, the poor performance of real-world algorithms have always been a challenge. Using Principal Component Analysis (PCA) as an example, we show that by considering the unique performance characters of the MPC platform, we can design highly effective algorithm-level optimizations, such as replacing expensive operators and batching up. We achieve about 200$\times$ performance boost over existing privacy-preserving PCA algorithms with the same level of privacy guarantee. Also, using real-world datasets, we show that by combining multi-party data, we can achieve better training results.

cs.CR↗

arXiv2021

Maximizing the Value of Enterprise Human-Computer Interaction Standards: Strategies and Applications

Human factors/ergonomics (HFE) standards are not only a useful reference for experienced HFE practitioners but can also provide guidance for organizations that are inexperienced in HFE design practice. HFE standards can give credibility to the value of introducing user centered methods. As computing technologies advance, knowledge of HFE has spread to the computing related work, and the field of human-computer interaction (HCI) has grown rapidly. Accordingly, HCI standards have evolved for guiding practice. There is great deal of literature concerned with the development and practice of international standards (e.g., International Organization for Standardization/ISO) and national (e.g., The American National Standards Institute/ANSI) HFE or HCI standards, but little on the practice of HCI standards at lower levels, such as at the level of enterprise. This chapter will focus on the practice of HCI standards there. It intends to assess the challenges of enterprise HCI standards from strategy, development, and governance perspectives. Specifically, we discuss the practices at Intel Corporation, a high-tech enterprise environment.

cs.HC↗

arXiv2021

Super Solutions of the Model RB

The concept of super solution is a special type of generalized solutions with certain degree of robustness and stability. In this paper we consider the $(1,1)$-super solutions of the model RB. Using the first moment method, we establish a "threshold" such that as the constraint density crosses this value, the expected number of $(1,1)$-super solutions goes from $0$ to infinity.

cs.CC↗

arXiv2021

FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter

This paper presents a computationally efficient and robust LiDAR-inertial odometry framework. We fuse LiDAR feature points with IMU data using a tightly-coupled iterated extended Kalman filter to allow robust navigation in fast-motion, noisy or cluttered environments where degeneration occurs. To lower the computation load in the presence of large number of measurements, we present a new formula to compute the Kalman gain. The new formula has computation load depending on the state dimension instead of the measurement dimension. The proposed method and its implementation are tested in various indoor and outdoor environments. In all tests, our method produces reliable navigation results in real-time: running on a quadrotor onboard computer, it fuses more than 1,200 effective feature points in a scan and completes all iterations of an iEKF step within 25 ms. Our codes are open-sourced on Github.

cs.RO↗

arXiv2021

Controllable Text Simplification with Explicit Paraphrasing

Text Simplification improves the readability of sentences through several rewriting transformations, such as lexical paraphrasing, deletion, and splitting. Current simplification systems are predominantly sequence-to-sequence models that are trained end-to-end to perform all these operations simultaneously. However, such systems limit themselves to mostly deleting words and cannot easily adapt to the requirements of different target audiences. In this paper, we propose a novel hybrid approach that leverages linguistically-motivated rules for splitting and deletion, and couples them with a neural paraphrasing model to produce varied rewriting styles. We introduce a new data augmentation method to improve the paraphrasing capability of our model. Through automatic and manual evaluations, we show that our proposed model establishes a new state-of-the-art for the task, paraphrasing more often than the existing systems, and can control the degree of each simplification operation applied to the input texts.

cs.CL↗

arXiv2021

The GEM Benchmark: Natural Language Generation, its Evaluation and Metrics

We introduce GEM, a living benchmark for natural language Generation (NLG), its Evaluation, and Metrics. Measuring progress in NLG relies on a constantly evolving ecosystem of automated metrics, datasets, and human evaluation standards. Due to this moving target, new models often still evaluate on divergent anglo-centric corpora with well-established, but flawed, metrics. This disconnect makes it challenging to identify the limitations of current models and opportunities for progress. Addressing this limitation, GEM provides an environment in which models can easily be applied to a wide set of tasks and in which evaluation strategies can be tested. Regular updates to the benchmark will help NLG research become more multilingual and evolve the challenge alongside models. This paper serves as the description of the data for which we are organizing a shared task at our ACL 2021 Workshop and to which we invite the entire NLG community to participate.

cs.CL↗

arXiv2021

Mutual Information State Intrinsic Control

Reinforcement learning has been shown to be highly successful at many challenging tasks. However, success heavily relies on well-shaped rewards. Intrinsically motivated RL attempts to remove this constraint by defining an intrinsic reward function. Motivated by the self-consciousness concept in psychology, we make a natural assumption that the agent knows what constitutes itself, and propose a new intrinsic objective that encourages the agent to have maximum control on the environment. We mathematically formalize this reward as the mutual information between the agent state and the surrounding state under the current agent policy. With this new intrinsic motivation, we are able to outperform previous methods, including being able to complete the pick-and-place task for the first time without using any task reward. A video showing experimental results is available at https://youtu.be/AUCwc9RThpk.

cs.LG↗

arXiv2021

MetaView: Few-shot Active Object Recognition

In robot sensing scenarios, instead of passively utilizing human captured views, an agent should be able to actively choose informative viewpoints of a 3D object as discriminative evidence to boost the recognition accuracy. This task is referred to as active object recognition. Recent works on this task rely on a massive amount of training examples to train an optimal view selection policy. But in realistic robot sensing scenarios, the large-scale training data may not exist and whether the intelligent view selection policy can be still learned from few object samples remains unclear. In this paper, we study this new problem which is extremely challenging but very meaningful in robot sensing -- Few-shot Active Object Recognition, i.e., to learn view selection policies from few object samples, which has not been considered and addressed before. We solve the proposed problem by adopting the framework of meta learning and name our method "MetaView". Extensive experiments on both category-level and instance-level classification tasks demonstrate that the proposed method can efficiently resolve issues that are hard for state-of-the-art active object recognition methods to handle, and outperform several baselines by large margins.

cs.RO↗

arXiv2021

Analysis and Optimization for RIS-Aided Multi-Pair Communications Relying on Statistical CSI

In this paper, we investigate a reconfigurable intelligent surface (RIS) aided multi-pair communication system, in which multi-pair users exchange information via an RIS. We derive an approximate expression of the achievable rate by assuming that statistical channel state information (CSI) is available. A genetic algorithm (GA) to solve the rate maximization problem is proposed as well. In particular, we consider implementations of RISs with continuous phase shifts (CPSs) and discrete phase shifts (DPSs). Simulation results verify the correctness of the obtained results and show that the proposed GA method has almost the same performance as the globally optimal solution. In addition, numerical results show that three quantization bits can achieve a large portion of the sum achievable rate for the CPSs setup.

eess.SP↗

arXiv2021

Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots

In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact, integrated, and fully autonomous quadrotor system, which can fly safely in cluttered environments while avoiding dynamic small obstacles. Our quadrotor platform is equipped with a forward-looking three-dimensional (3D) light detection and ranging (lidar) sensor to perceive the environment and an onboard embedded computer to perform all the estimation, mapping, and planning tasks. Specifically, the computer estimates the current pose of the UAV, maintains a local map (time-accumulated point clouds KD-Trees), and computes a safe trajectory using kinodynamic A* search to the goal point. The whole perception and planning system can run onboard at 50Hz with careful optimization. Various indoor and outdoor experiments show that the system can avoid dynamic small obstacles (down to 20mm diameter bar) while flying at 2m/s in cluttered environments. Our codes and hardware design are open-sourced on Github.

cs.RO↗

arXiv2021

R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping

In this letter, we propose a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses measurement from LiDAR, inertial sensor, and visual camera to achieve robust and accurate state estimation. Our proposed framework is composed of two parts: the filter-based odometry and factor graph optimization. To guarantee real-time performance, we estimate the state within the framework of error-state iterated Kalman-filter, and further improve the overall precision with our factor graph optimization. Taking advantage of measurement from all individual sensors, our algorithm is robust enough to various visual failure, LiDAR-degenerated scenarios, and is able to run in real-time on an on-board computation platform, as shown by extensive experiments conducted in indoor, outdoor, and mixed environment of different scale. Moreover, the results show that our proposed framework can improve the accuracy of state-of-the-art LiDAR-inertial or visual-inertial odometry. To share our findings and to make contributions to the community, we open source our codes on our Github.

cs.RO↗

arXiv2021

ikd-Tree: An Incremental K-D Tree for Robotic Applications

This paper proposes an efficient data structure, ikd-Tree, for dynamic space partition. The ikd-Tree incrementally updates a k-d tree with new coming points only, leading to much lower computation time than existing static k-d trees. Besides point-wise operations, the ikd-Tree supports several features such as box-wise operations and down-sampling that are practically useful in robotic applications. In parallel to the incremental operations (i.e., insert, re-insert, and delete), ikd-Tree actively monitors the tree structure and partially re-balances the tree, which enables efficient nearest point search in later stages. The ikd-Tree is carefully engineered and supports multi-thread parallel computing to maximize the overall efficiency. We validate the ikd-Tree in both theory and practical experiments. On theory level, a complete time complexity analysis is presented to prove the high efficiency. On experiment level, the ikd-Tree is tested on both randomized datasets and real-world LiDAR point data in LiDAR-inertial odometry and mapping application. In all tests, ikd-Tree consumes only 4% of the running time in a static k-d tree.

cs.RO↗