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Intersection-free Robot Manipulation with Soft-Rigid Coupled Incremental Potential Contact

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arXiv 2023年

作者： Du, Wenxin Yao, Siqiong Wang, Xinlei Xu, Yuhang Xu, Wenqiang Lu, Cewu The School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China SJTU-Yale Joint Center of Biostatistics and Data Science National Center for Translational Medicine Shanghai Jiao Tong University China Qing Yuan Research Institute MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University Shanghai China ZenusTech Inc Philippines

This paper presents a novel simulation platform, ZeMa, designed for robotic manipulation tasks concerning soft objects. Such simulation ideally requires three properties: two-way soft-rigid coupling, intersection-free guarantees, and frictional contact modeling, with acceptable runtime suitable for deep and reinforcement learning tasks. Current simulators often satisfy only a subset of these needs, primarily focusing on distinct rigid-rigid or soft-soft interactions. The proposed ZeMa prioritizes physical accuracy and integrates the incremental potential contact method, offering unified dynamics simulation for both soft and rigid objects. It efficiently manages soft-rigid contact, operating 75x faster than baseline tools with similar methodologies like IPC-GraspSim. To demonstrate its applicability, we employ it for parallel grasp generation, penetrated grasp repair, and reinforcement learning for grasping, successfully transferring the trained RL policy to real-world scenarios. More experiments and videos can be found in the supplementary materials and on the website: https: //***/view/zema-ipc. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

Structure-aware random fourier kernel for graphs 21

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Structure-aware random fourier kernel for graphs

Proceedings of the 35th International Conference on Neural Information Processing Systems

作者： Jinyuan Fang Qiang Zhang Zaiqiao Meng Shangsong Liang School of Computer Science and Engineering Sun Yat-sen University China and Guangdong Key Laboratory of Big Data Analysis and Processing Guangzhou China Hangzhou Innovation Center Zhejiang University China and College of Computer Science and Technology Zhejiang University China and AZFT Knowledge Engine Lab China School of Computing Science University of Glasgow United Kingdom and Mohamed bin Zayed University of Artificial Intelligence United Arab Emirates School of Computer Science and Engineering Sun Yat-sen University China and Guangdong Key Laboratory of Big Data Analysis and Processing Guangzhou China and Mohamed bin Zayed University of Artificial Intelligence United Arab Emirates

ISBN: (纸本)9781713845393

Gaussian Processes (GPs) define distributions over functions and their generalization capabilities depend heavily on the choice of kernels. In this paper, we propose a novel structure-aware random Fourier (SRF) kernel for GPs that brings several benefits when modeling graph-structured data. First, SRF kernel is defined with a spectral distribution based on the Fourier duality given by the Bochner's theorem, transforming the kernel learning problem to a distribution inference problem. Second, SRF kernel admits a random Fourier feature formulation that makes the kernel scalable for optimization. Third, SRF kernel enables to leverage geometric structures by taking subgraphs as inputs. To effectively optimize GPs with SRF kernel, we develop a variational EM algorithm, which alternates between an inference procedure (E-step) and a learning procedure (M-step). Experimental results on five real-world datasets show that our model can achieve state-of-the-art performance in two typical graph learning tasks, i.e., object classification and link prediction.

关键词：

SOLVING CONTINUAL OFFLINE RL THROUGH SELECTIVE WEIGHTS ACTIVATION ON ALIGNED SPACES

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arXiv 2024年

作者： Hu, Jifeng Huang, Sili Shen, Li Yang, Zhejian Hu, Shengchao Tang, Shisong Chen, Hechang Chang, Yi Tao, Dacheng Sun, Lichao School of Artificial Intelligence Jilin University China School of Cyber Science and Technology Shenzhen Campus of Sun Yat-sen University China MoE Key Lab of Artificial Intelligence Shanghai Jiao Tong University China Shenzhen International Graduate School Tsinghua University China College of Computing and Data Science Nanyang Technological University Singapore Computer Science and Engineering Lehigh University United States

Continual offline reinforcement learning (CORL) has shown impressive ability in diffusion-based lifelong learning systems by modeling the joint distributions of trajectories. However, most research only focuses on limited continual task settings where the tasks have the same observation and action space, which deviates from the realistic demands of training agents in various environments. In view of this, we propose Vector-Quantized Continual Diffuser, named VQ-CD, to break the barrier of different spaces between various tasks. Specifically, our method contains two complementary sections, where the quantization spaces alignment provides a unified basis for the selective weights activation. In the quantized spaces alignment, we leverage vector quantization to align the different state and action spaces of various tasks, facilitating continual training in the same space. Then, we propose to leverage a unified diffusion model attached by the inverse dynamic model to master all tasks by selectively activating different weights according to the task-related sparse masks. Finally, we conduct extensive experiments on 15 continual learning (CL) tasks, including conventional CL task settings (identical state and action spaces) and general CL task settings (various state and action spaces). Compared with 16 baselines, our method reaches the SOTA performance. Copyright © 2024, The Authors. All rights reserved.

关键词： Vector quantization

Triplet Deep Subspace Clustering via Self-Supervised data Augmentation

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Triplet Deep Subspace Clustering via Self-Supervised Data Au...

IEEE International Conference on data Mining (ICDM)

作者： Zhao Zhang Xianzhen Li Haijun Zhang Yi Yang Shuicheng Yan Meng Wang School of Computer Science and Information Engineering Hefei University of Technology Hefei China Key Laboratory of Knowledge Engineering with Big Data (Ministry of Education) & Intelligent Interconnected Systems Laboratory of Anhui Province Hefei University of Technology Hefei China School of Computer Science and Technology Soochow University Suzhou China Harbin Institute of Technology (Shenzhen) Shenzhen China Centre for Artificial Intelligence University of Technology Sydney Sydney NSW Australia Sea AI Lab (SAIL) & National University of Singapore Singapore

ISBN: (纸本)9781665423991

Deep subspace clustering (DSC) with the auto-encoder and self-expression layer is of great concern due to encouraging performance. However, existing methods usually adopt a “single-task” strategy based on a single dataset, without considering other related tasks or data. As such, they cannot discover other useful information to improve the clustering task. Besides, the local structure preservation of the latent codes in mapping is usually ignored. In this paper, we therefore present an effective “multi-task” strategy via the self-supervised data augmentation, and propose a new end-to-end trainable Triplet Deep Subspace Clustering Network (TDSC-net). Specifically, TDSC-net firstly generates triplet data (i.e., anchor, positive and negative data) from input data by a spectral clustering module and a self-supervised data augmentation module. This can enable it to inherit the merits of self-supervised learning and multitask learning implicitly. After that, TDSC-net builds a triplet deep autoencoder network with a self-expression layer, which takes the triplet data as input, where they share the common network layers (i.e., autoencoder and self-expression layers) over the triple tasks for complementary learning and mutual supervision. A triplet loss is also included to retain the local information of deep latent codes, which will also benefit the self-expression. Furthermore, TDSC-net separates the self-expression layer from decoding process to improve the efficiency of reconstruction. Extensive results on several public datasets demonstrate the effectiveness of our triplet-task DSC strategy.

关键词： Codes Conferences Multitasking Decoding data mining Task analysis

Disentangled Noisy Correspondence Learning

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arXiv 2024年

作者： Dang, Zhuohang Luo, Minnan Wang, Jihong Jia, Chengyou Han, Haochen Wan, Herun Dai, Guang Chang, Xiaojun Wang, Jingdong The School of Computer Science and Technology The Ministry of Education Key Laboratory of Intelligent Networks and Network Security The Shaanxi Province Key Laboratory of Big Data Knowledge Engineering Xi'an Jiaotong University Shaanxi Xi'An710049 China SGIT AI Lab State Grid Shaanxi Electric Power Company Limited State Grid Corporation of China Shaanxi China The School of Information Science and Technology University of Science and Technology China United Arab Emirates The Baidu Inc China

Cross-modal retrieval is crucial in understanding latent correspondences across modalities. However, existing methods implicitly assume well-matched training data, which is impractical as real-world data inevitably involves imperfect alignments, i.e., noisy correspondences. Although some works explore similarity-based strategies to address such noise, they suffer from sub-optimal similarity predictions influenced by modality-exclusive information (MEI), e.g., background noise in images and abstract definitions in texts. This issue arises as MEI is not shared across modalities, thus aligning it in training can markedly mislead similarity predictions. Moreover, although intuitive, directly applying previous cross-modal disentanglement methods suffers from limited noise tolerance and disentanglement efficacy. Inspired by the robustness of information bottlenecks against noise, we introduce DisNCL, a novel information-theoretic framework for feature Disentanglement in Noisy Correspondence Learning, to adaptively balance the extraction of MII and MEI with certifiable optimal cross-modal disentanglement efficacy. DisNCL then enhances similarity predictions in modality-invariant subspace, thereby greatly boosting similarity-based alleviation strategy for noisy correspondences. Furthermore, DisNCL introduces soft matching targets to model noisy many-to-many relationships inherent in multi-modal input for noise-robust and accurate cross-modal alignment. Extensive experiments confirm DisNCL's efficacy by 2% average recall improvement. Mutual information estimation and visualization results show that DisNCL learns meaningful MII/MEI subspaces, validating our theoretical analyses. Copyright © 2024, The Authors. All rights reserved.

关键词： Contrastive Learning

Not All Diffusion Model Activations Have Been Evaluated as Discriminative Features

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arXiv 2024年

作者： Meng, Benyuan Xu, Qianqian Wang, Zitai Cao, Xiaochun Huang, Qingming Institute of Information Engineering CAS China School of Cyber Security University of Chinese Academy of Sciences China Key Lab. of Intelligent Information Processing Institute of Computing Technology CAS China Peng Cheng Laboratory China School of Cyber Science and Tech. Shenzhen Campus of Sun Yat-sen University China School of Computer Science and Tech. University of Chinese Academy of Sciences China Key Laboratory of Big Data Mining and Knowledge Management CAS China

Diffusion models are initially designed for image generation. Recent research shows that the internal signals within their backbones, named activations, can also serve as dense features for various discriminative tasks such as semantic segmentation. Given numerous activations, selecting a small yet effective subset poses a fundamental problem. To this end, the early study of this field performs a large-scale quantitative comparison of the discriminative ability of the activations. However, we find that many potential activations have not been evaluated, such as the queries and keys used to compute attention scores. Moreover, recent advancements in diffusion architectures bring many new activations, such as those within embedded ViT modules. Both combined, activation selection remains unresolved but overlooked. To tackle this issue, this paper takes a further step with a much broader range of activations evaluated. Considering the significant increase in activations, a full-scale quantitative comparison is no longer operational. Instead, we seek to understand the properties of these activations, such that the activations that are clearly inferior can be filtered out in advance via simple qualitative evaluation. After careful analysis, we discover three properties universal among diffusion models, enabling this study to go beyond specific models. On top of this, we present effective feature selection solutions for several popular diffusion models. Finally, the experiments across multiple discriminative tasks validate the superiority of our method over the SOTA competitors. Our code is available at this url. © 2024, CC BY.

关键词： Semantics

Suppress Content Shift: Better Diffusion Features via Off-the-Shelf Generation Techniques

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arXiv 2024年

作者： Meng, Benyuan Xu, Qianqian Wang, Zitai Yang, Zhiyong Cao, Xiaochun Huang, Qingming Institute of Information Engineering CAS China School of Cyber Security University of Chinese Academy of Sciences China Key Lab. of Intelligent Information Processing Institute of Computing Technology CAS China Peng Cheng Laboratory China School of Computer Science and Tech. University of Chinese Academy of Sciences China Key Laboratory of Big Data Mining and Knowledge Management CAS China School of Cyber Science and Tech. Sun Yat-sen University Shenzhen Campus China

Diffusion models are powerful generative models, and this capability can also be applied to discrimination. The inner activations of a pre-trained diffusion model can serve as features for discriminative tasks, namely, diffusion feature. We discover that diffusion feature has been hindered by a hidden yet universal phenomenon that we call content shift. To be specific, there are content differences between features and the input image, such as the exact shape of a certain object. We locate the cause of content shift as one inherent characteristic of diffusion models, which suggests the broad existence of this phenomenon in diffusion feature. Further empirical study also indicates that its negative impact is not negligible even when content shift is not visually perceivable. Hence, we propose to suppress content shift to enhance the overall quality of diffusion features. Specifically, content shift is related to the information drift during the process of recovering an image from the noisy input, pointing out the possibility of turning off-the-shelf generation techniques into tools for content shift suppression. We further propose a practical guideline named GATE to efficiently evaluate the potential benefit of a technique and provide an implementation of our methodology. Despite the simplicity, the proposed approach has achieved superior results on various tasks and datasets, validating its potential as a generic booster for diffusion features. Our code is available at this url. © 2024, CC BY.

关键词：

Learning with Group Noise

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arXiv 2021年

作者： Wang, Qizhou Yao, Jiangchao Gong, Chen Liu, Tongliang Gong, Mingming Yang, Hongxia Han, Bo Department of Computer Science Hong Kong Baptist University Hong Kong Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of MoE School of Computer Science and Engineering Nanjing University of Science and Technology China Data Analytics and Intelligence Lab Alibaba Group China Department of Computing Hong Kong Polytechnic University Hong Kong Trustworthy Machine Learning Lab School of Computer Science University of Sydney Australia School of Mathematics and Statistics University of Melbourne Australia

Machine learning in the context of noise is a challenging but practical setting to plenty of real-world applications. Most of the previous approaches in this area focus on the pairwise relation (casual or correlational relationship) with noise, such as learning with noisy labels. However, the group noise, which is parasitic on the coarse-grained accurate relation with the fine-grained uncertainty, is also universal and has not been well investigated. The challenge under this setting is how to discover true pairwise connections concealed by the group relation with its fine-grained noise. To overcome this issue, we propose a novel Max-Matching method for learning with group noise. Specifically, it utilizes a matching mechanism to evaluate the relation confidence of each object (cf. Figure 1) w.r.t. the target, meanwhile considering the Non-IID characteristics among objects in the group. Only the most confident object is considered to learn the model, so that the fine-grained noise is mostly dropped. The performance on a range of real-world datasets in the area of several learning paradigms demonstrates the effectiveness of Max-Matching. Copyright © 2021, The Authors. All rights reserved.

关键词： Machine learning

A deep learning system for predicting time to progression of diabetic retinopathy

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NATURE MEDICINE 2024年第2期30卷 358-359页

作者： [Anonymous] Shanghai Belt and Road International Joint Laboratory for Intelligent Prevention and Treatment of Metabolic Disorders Department of Computer Science and Engineering School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Department of Endocrinology and Metabolism Shanghai Sixth People’s Hospital Affiliated to Shanghai Jiao Tong University School of Medicine Shanghai Diabetes Institute Shanghai Clinical Center for Diabetes Shanghai China MOE Key Laboratory of AI School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Department of Ophthalmology Huadong Sanatorium Wuxi China Department of Ophthalmology Shanghai Sixth People’s Hospital Affiliated to Shanghai Jiao Tong University School of Medicine Shanghai China Department of Ophthalmology and Visual Sciences The Chinese University of Hong Kong Hong Kong China Singapore Eye Research Institute Singapore National Eye Centre Singapore Singapore Department of Computer Science and Engineering The Hong Kong University of Science and Technology Hong Kong China Department of Chemical and Biological Engineering The Hong Kong University of Science and Technology Hong Kong China State Key Laboratory of Ophthalmology Zhongshan Ophthalmic Center Sun Yat-sen University Guangdong Provincial Key Laboratory of Ophthalmology and Visual Science Guangzhou China Department of Ophthalmology Peking Union Medical College Hospital Peking Union Medical College Chinese Academy of Medical Sciences Beijing China Medical Records and Statistics Office Shanghai Sixth People’s Hospital Affiliated to Shanghai Jiao Tong University School of Medicine Shanghai China Department of Geriatrics Tongji Hospital Tongji Medical College Huazhong University of Science and Technology Wuhan China National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Cluster and Grid Computing Lab School of Computer Science and Tech

We developed and validated a deep learning system (termed DeepDR Plus) in a diverse, multiethnic, multi-country dataset to predict personalized risk and time to progression of diabetic retinopathy. We show that DeepDR Plus can be integrated into the clinical workflow to promote individualized intervention strategies for the management of diabetic retinopathy.

关键词： Diabetes complications Machine learning Predictive markers