arXiv subjects

Zhe Liu

Publications and source records attributed to Zhe Liu.

At least 307 records · Page 17Linked to original sources

arXiv2021

When and Why does a Model Fail? A Human-in-the-loop Error Detection Framework for Sentiment Analysis

Although deep neural networks have been widely employed and proven effective in sentiment analysis tasks, it remains challenging for model developers to assess their models for erroneous predictions that might exist prior to deployment. Once deployed, emergent errors can be hard to identify in prediction run-time and impossible to trace back to their sources. To address such gaps, in this paper we propose an error detection framework for sentiment analysis based on explainable features. We perform global-level feature validation with human-in-the-loop assessment, followed by an integration of global and local-level feature contribution analysis. Experimental results show that, given limited human-in-the-loop intervention, our method is able to identify erroneous model predictions on unseen data with high precision.

cs.CL↗

arXiv2021

THG: Transformer with Hyperbolic Geometry

Transformer model architectures have become an indispensable staple in deep learning lately for their effectiveness across a range of tasks. Recently, a surge of "X-former" models have been proposed which improve upon the original Transformer architecture. However, most of these variants make changes only around the quadratic time and memory complexity of self-attention, i.e. the dot product between the query and the key. What's more, they are calculate solely in Euclidean space. In this work, we propose a novel Transformer with Hyperbolic Geometry (THG) model, which take the advantage of both Euclidean space and Hyperbolic space. THG makes improvements in linear transformations of self-attention, which are applied on the input sequence to get the query and the key, with the proposed hyperbolic linear. Extensive experiments on sequence labeling task, machine reading comprehension task and classification task demonstrate the effectiveness and generalizability of our model. It also demonstrates THG could alleviate overfitting.

cs.CL↗

arXiv2021

Benchmarking the Performance of Bayesian Optimization across Multiple Experimental Materials Science Domains

In the field of machine learning (ML) for materials optimization, active learning algorithms, such as Bayesian Optimization (BO), have been leveraged for guiding autonomous and high-throughput experimentation systems. However, very few studies have evaluated the efficiency of BO as a general optimization algorithm across a broad range of experimental materials science domains. In this work, we evaluate the performance of BO algorithms with a collection of surrogate model and acquisition function pairs across five diverse experimental materials systems, namely carbon nanotube polymer blends, silver nanoparticles, lead-halide perovskites, as well as additively manufactured polymer structures and shapes. By defining acceleration and enhancement metrics for general materials optimization objectives, we find that for surrogate model selection, Gaussian Process (GP) with anisotropic kernels (automatic relevance detection, ARD) and Random Forests (RF) have comparable performance and both outperform the commonly used GP without ARD. We discuss the implicit distributional assumptions of RF and GP, and the benefits of using GP with anisotropic kernels in detail. We provide practical insights for experimentalists on surrogate model selection of BO during materials optimization campaigns.

cond-mat.mtrl-sci↗

arXiv2021

Accountable Error Characterization

Customers of machine learning systems demand accountability from the companies employing these algorithms for various prediction tasks. Accountability requires understanding of system limit and condition of erroneous predictions, as customers are often interested in understanding the incorrect predictions, and model developers are absorbed in finding methods that can be used to get incremental improvements to an existing system. Therefore, we propose an accountable error characterization method, AEC, to understand when and where errors occur within the existing black-box models. AEC, as constructed with human-understandable linguistic features, allows the model developers to automatically identify the main sources of errors for a given classification system. It can also be used to sample for the set of most informative input points for a next round of training. We perform error detection for a sentiment analysis task using AEC as a case study. Our results on the sample sentiment task show that AEC is able to characterize erroneous predictions into human understandable categories and also achieves promising results on selecting erroneous samples when compared with the uncertainty-based sampling.

cs.LG↗

arXiv2021

Message-Aware Graph Attention Networks for Large-Scale Multi-Robot Path Planning

The domains of transport and logistics are increasingly relying on autonomous mobile robots for the handling and distribution of passengers or resources. At large system scales, finding decentralized path planning and coordination solutions is key to efficient system performance. Recently, Graph Neural Networks (GNNs) have become popular due to their ability to learn communication policies in decentralized multi-agent systems. Yet, vanilla GNNs rely on simplistic message aggregation mechanisms that prevent agents from prioritizing important information. To tackle this challenge, in this paper, we extend our previous work that utilizes GNNs in multi-agent path planning by incorporating a novel mechanism to allow for message-dependent attention. Our Message-Aware Graph Attention neTwork (MAGAT) is based on a key-query-like mechanism that determines the relative importance of features in the messages received from various neighboring robots. We show that MAGAT is able to achieve a performance close to that of a coupled centralized expert algorithm. Further, ablation studies and comparisons to several benchmark models show that our attention mechanism is very effective across different robot densities and performs stably in different constraints in communication bandwidth. Experiments demonstrate that our model is able to generalize well in previously unseen problem instances, and that it achieves a 47\% improvement over the benchmark success rate, even in very large-scale instances that are $\times$100 larger than the training instances.

cs.RO↗

arXiv2021

PWCLO-Net: Deep LiDAR Odometry in 3D Point Clouds Using Hierarchical Embedding Mask Optimization

A novel 3D point cloud learning model for deep LiDAR odometry, named PWCLO-Net, using hierarchical embedding mask optimization is proposed in this paper. In this model, the Pyramid, Warping, and Cost volume (PWC) structure for the LiDAR odometry task is built to refine the estimated pose in a coarse-to-fine approach hierarchically. An attentive cost volume is built to associate two point clouds and obtain embedding motion patterns. Then, a novel trainable embedding mask is proposed to weigh the local motion patterns of all points to regress the overall pose and filter outlier points. The estimated current pose is used to warp the first point cloud to bridge the distance to the second point cloud, and then the cost volume of the residual motion is built. At the same time, the embedding mask is optimized hierarchically from coarse to fine to obtain more accurate filtering information for pose refinement. The trainable pose warp-refinement process is iteratively used to make the pose estimation more robust for outliers. The superior performance and effectiveness of our LiDAR odometry model are demonstrated on KITTI odometry dataset. Our method outperforms all recent learning-based methods and outperforms the geometry-based approach, LOAM with mapping optimization, on most sequences of KITTI odometry dataset.Our source codes will be released on https://github.com/IRMVLab/PWCLONet.

cs.CV↗

arXiv2021

Toward Native Artificial Intelligence in 6G Networks: System Design, Architectures, and Paradigms

The mobile communication system has transformed to be the fundamental infrastructure to support digital demands from all industry sectors, and 6G is envisioned to go far beyond the communication-only purpose. There is coming to a consensus that 6G will treat Artificial Intelligence (AI) as the cornerstone and has a potential capability to provide "intelligence inclusion", which implies to enable the access of AI services at anytime and anywhere by anyone. Apparently, the intelligent inclusion vision produces far-reaching influence on the corresponding network architecture design in 6G and deserves a clean-slate rethink. In this article, we propose an end-to-end system architecture design scope for 6G, and talk about the necessity to incorporate an independent data plane and a novel intelligent plane with particular emphasis on end-to-end AI workflow orchestration, management and operation. We also highlight the advantages to provision converged connectivity and computing services at the network function plane. Benefiting from these approaches, we believe that 6G will turn to an "everything as a service" (XaaS) platform with significantly enhanced business merits.

cs.NI↗

arXiv2021

Task Aligned Generative Meta-learning for Zero-shot Learning

Zero-shot learning (ZSL) refers to the problem of learning to classify instances from the novel classes (unseen) that are absent in the training set (seen). Most ZSL methods infer the correlation between visual features and attributes to train the classifier for unseen classes. However, such models may have a strong bias towards seen classes during training. Meta-learning has been introduced to mitigate the basis, but meta-ZSL methods are inapplicable when tasks used for training are sampled from diverse distributions. In this regard, we propose a novel Task-aligned Generative Meta-learning model for Zero-shot learning (TGMZ). TGMZ mitigates the potentially biased training and enables meta-ZSL to accommodate real-world datasets containing diverse distributions. TGMZ incorporates an attribute-conditioned task-wise distribution alignment network that projects tasks into a unified distribution to deliver an unbiased model. Our comparisons with state-of-the-art algorithms show the improvements of 2.1%, 3.0%, 2.5%, and 7.6% achieved by TGMZ on AWA1, AWA2, CUB, and aPY datasets, respectively. TGMZ also outperforms competitors by 3.6% in generalized zero-shot learning (GZSL) setting and 7.9% in our proposed fusion-ZSL setting.

cs.CV↗

arXiv2021

Experimental reconstruction of the few-photon nonlinear scattering matrix from a single quantum dot in a nanophotonic waveguide

Coherent photon-emitter interfaces offer a way to mediate efficient nonlinear photon-photon interactions, much needed for quantum information processing. Here we experimentally study the case of a two-level emitter, a quantum dot, coupled to a single optical mode in a nanophotonic waveguide. We carry out few-photon transport experiments and record the statistics of the light to reconstruct the scattering matrix elements of 1- and 2-photon components. This provides direct insight to the complex nonlinear photon interaction that contains rich many-body physics.

quant-ph↗

arXiv2020

GAKP: GRU Association and Kalman Prediction for Multiple Object Tracking

Multiple Object Tracking (MOT) has been a useful yet challenging task in many real-world applications such as video surveillance, intelligent retail, and smart city. The challenge is how to model long-term temporal dependencies in an efficient manner. Some recent works employ Recurrent Neural Networks (RNN) to obtain good performance, which, however, requires a large amount of training data. In this paper, we proposed a novel tracking method that integrates the auto-tuning Kalman method for prediction and the Gated Recurrent Unit (GRU) and achieves a near-optimum with a small amount of training data. Experimental results show that our new algorithm can achieve competitive performance on the challenging MOT benchmark, and faster and more robust than the state-of-the-art RNN-based online MOT algorithms.

cs.CV↗

arXiv2020

ProMask: Probability Mask for Skeleton Detection

Detecting object skeletons in natural images presents challenging, due to varied object scales, the complexity of backgrounds and various noises. The skeleton is a highly compressing shape representation, which can bring some essential advantages but cause the difficulties of detection. This skeleton line occupies a rare proportion of an image and is overly sensitive to spatial position. Inspired by these issues, we propose the ProMask, which is a novel skeleton detection model. The ProMask includes the probability mask and vector router. The skeleton probability mask representation explicitly encodes skeletons with segmentation signals, which can provide more supervised information to learn and pay more attention to ground-truth skeleton pixels. Moreover, the vector router module possesses two sets of orthogonal basis vectors in a two-dimensional space, which can dynamically adjust the predicted skeleton position. We evaluate our method on the well-known skeleton datasets, realizing the better performance than state-of-the-art approaches. Especially, ProMask significantly outperforms the competitive DeepFlux by 6.2% on the challenging SYM-PASCAL dataset. We consider that our proposed skeleton probability mask could serve as a solid baseline for future skeleton detection, since it is very effective and it requires about 10 lines of code.

cs.CV↗

arXiv2020

Federated Marginal Personalization for ASR Rescoring

We introduce federated marginal personalization (FMP), a novel method for continuously updating personalized neural network language models (NNLMs) on private devices using federated learning (FL). Instead of fine-tuning the parameters of NNLMs on personal data, FMP regularly estimates global and personalized marginal distributions of words, and adjusts the probabilities from NNLMs by an adaptation factor that is specific to each word. Our presented approach can overcome the limitations of federated fine-tuning and efficiently learn personalized NNLMs on devices. We study the application of FMP on second-pass ASR rescoring tasks. Experiments on two speech evaluation datasets show modest word error rate (WER) reductions. We also demonstrate that FMP could offer reasonable privacy with only a negligible cost in speech recognition accuracy.

cs.CL↗

arXiv2020

Spherical Interpolated Convolutional Network with Distance-Feature Density for 3D Semantic Segmentation of Point Clouds

The semantic segmentation of point clouds is an important part of the environment perception for robots. However, it is difficult to directly adopt the traditional 3D convolution kernel to extract features from raw 3D point clouds because of the unstructured property of point clouds. In this paper, a spherical interpolated convolution operator is proposed to replace the traditional grid-shaped 3D convolution operator. This newly proposed feature extraction operator improves the accuracy of the network and reduces the parameters of the network. In addition, this paper analyzes the defect of point cloud interpolation methods based on the distance as the interpolation weight and proposes the self-learned distance-feature density by combining the distance and the feature correlation. The proposed method makes the feature extraction of spherical interpolated convolution network more rational and effective. The effectiveness of the proposed network is demonstrated on the 3D semantic segmentation task of point clouds. Experiments show that the proposed method achieves good performance on the ScanNet dataset and Paris-Lille-3D dataset.

cs.CV↗

arXiv2020

Use the Spear as a Shield: A Novel Adversarial Example based Privacy-Preserving Technique against Membership Inference Attacks

Recently, the membership inference attack poses a serious threat to the privacy of confidential training data of machine learning models. This paper proposes a novel adversarial example based privacy-preserving technique (AEPPT), which adds the crafted adversarial perturbations to the prediction of the target model to mislead the adversary's membership inference model. The added adversarial perturbations do not affect the accuracy of target model, but can prevent the adversary from inferring whether a specific data is in the training set of the target model. Since AEPPT only modifies the original output of the target model, the proposed method is general and does not require modifying or retraining the target model. Experimental results show that the proposed method can reduce the inference accuracy and precision of the membership inference model to 50%, which is close to a random guess. Further, for those adaptive attacks where the adversary knows the defense mechanism, the proposed AEPPT is also demonstrated to be effective. Compared with the state-of-the-art defense methods, the proposed defense can significantly degrade the accuracy and precision of membership inference attacks to 50% (i.e., the same as a random guess) while the performance and utility of the target model will not be affected.

cs.CR↗

arXiv2020

3D Invisible Cloak

In this paper, we propose a novel physical stealth attack against the person detectors in real world. The proposed method generates an adversarial patch, and prints it on real clothes to make a three dimensional (3D) invisible cloak. Anyone wearing the cloak can evade the detection of person detectors and achieve stealth. We consider the impacts of those 3D physical constraints (i.e., radian, wrinkle, occlusion, angle, etc.) on person stealth attacks, and propose 3D transformations to generate 3D invisible cloak. We launch the person stealth attacks in 3D physical space instead of 2D plane by printing the adversarial patches on real clothes under challenging and complex 3D physical scenarios. The conventional and 3D transformations are performed on the patch during its optimization process. Further, we study how to generate the optimal 3D invisible cloak. Specifically, we explore how to choose input images with specific shapes and colors to generate the optimal 3D invisible cloak. Besides, after successfully making the object detector misjudge the person as other objects, we explore how to make a person completely disappeared, i.e., the person will not be detected as any objects. Finally, we present a systematic evaluation framework to methodically evaluate the performance of the proposed attack in digital domain and physical world. Experimental results in various indoor and outdoor physical scenarios show that, the proposed person stealth attack method is robust and effective even under those complex and challenging physical conditions, such as the cloak is wrinkled, obscured, curved, and from different angles. The attack success rate in digital domain (Inria data set) is 86.56%, while the static and dynamic stealth attack performance in physical world is 100% and 77%, respectively, which are significantly better than existing works.

cs.CV↗

arXiv2020

DASGIL: Domain Adaptation for Semantic and Geometric-aware Image-based Localization

Long-Term visual localization under changing environments is a challenging problem in autonomous driving and mobile robotics due to season, illumination variance, etc. Image retrieval for localization is an efficient and effective solution to the problem. In this paper, we propose a novel multi-task architecture to fuse the geometric and semantic information into the multi-scale latent embedding representation for visual place recognition. To use the high-quality ground truths without any human effort, the effective multi-scale feature discriminator is proposed for adversarial training to achieve the domain adaptation from synthetic virtual KITTI dataset to real-world KITTI dataset. The proposed approach is validated on the Extended CMU-Seasons dataset and Oxford RobotCar dataset through a series of crucial comparison experiments, where our performance outperforms state-of-the-art baselines for retrieval-based localization and large-scale place recognition under the challenging environment.

cs.CV↗

arXiv2020

Hierarchical Attention Learning of Scene Flow in 3D Point Clouds

Scene flow represents the 3D motion of every point in the dynamic environments. Like the optical flow that represents the motion of pixels in 2D images, 3D motion representation of scene flow benefits many applications, such as autonomous driving and service robot. This paper studies the problem of scene flow estimation from two consecutive 3D point clouds. In this paper, a novel hierarchical neural network with double attention is proposed for learning the correlation of point features in adjacent frames and refining scene flow from coarse to fine layer by layer. The proposed network has a new more-for-less hierarchical architecture. The more-for-less means that the number of input points is greater than the number of output points for scene flow estimation, which brings more input information and balances the precision and resource consumption. In this hierarchical architecture, scene flow of different levels is generated and supervised respectively. A novel attentive embedding module is introduced to aggregate the features of adjacent points using a double attention method in a patch-to-patch manner. The proper layers for flow embedding and flow supervision are carefully considered in our network designment. Experiments show that the proposed network outperforms the state-of-the-art performance of 3D scene flow estimation on the FlyingThings3D and KITTI Scene Flow 2015 datasets. We also apply the proposed network to realistic LiDAR odometry task, which is an key problem in autonomous driving. The experiment results demonstrate that our proposed network can outperform the ICP-based method and shows the good practical application ability.

cs.CV↗

arXiv2020

Mobile Robot Path Planning in Dynamic Environments through Globally Guided Reinforcement Learning

Path planning for mobile robots in large dynamic environments is a challenging problem, as the robots are required to efficiently reach their given goals while simultaneously avoiding potential conflicts with other robots or dynamic objects. In the presence of dynamic obstacles, traditional solutions usually employ re-planning strategies, which re-call a planning algorithm to search for an alternative path whenever the robot encounters a conflict. However, such re-planning strategies often cause unnecessary detours. To address this issue, we propose a learning-based technique that exploits environmental spatio-temporal information. Different from existing learning-based methods, we introduce a globally guided reinforcement learning approach (G2RL), which incorporates a novel reward structure that generalizes to arbitrary environments. We apply G2RL to solve the multi-robot path planning problem in a fully distributed reactive manner. We evaluate our method across different map types, obstacle densities, and the number of robots. Experimental results show that G2RL generalizes well, outperforming existing distributed methods, and performing very similarly to fully centralized state-of-the-art benchmarks.

cs.RO↗