arXiv subjects

Yu Sun

Publications and source records attributed to Yu Sun.

At least 253 records · Page 14Linked to original sources

arXiv2021

Evaluating Recipes Generated from Functional Object-Oriented Network

The functional object-oriented network (FOON) has been introduced as a knowledge representation, which takes the form of a graph, for symbolic task planning. To get a sequential plan for a manipulation task, a robot can obtain a task tree through a knowledge retrieval process from the FOON. To evaluate the quality of an acquired task tree, we compare it with a conventional form of task knowledge, such as recipes or manuals. We first automatically convert task trees to recipes, and we then compare them with the human-created recipes in the Recipe1M+ dataset via a survey. Our preliminary study finds no significant difference between the recipes in Recipe1M+ and the recipes generated from FOON task trees in terms of correctness, completeness, and clarity.

cs.RO↗

arXiv2021

ERNIE-Doc: A Retrospective Long-Document Modeling Transformer

Transformers are not suited for processing long documents, due to their quadratically increasing memory and time consumption. Simply truncating a long document or applying the sparse attention mechanism will incur the context fragmentation problem or lead to an inferior modeling capability against comparable model sizes. In this paper, we propose ERNIE-Doc, a document-level language pretraining model based on Recurrence Transformers. Two well-designed techniques, namely the retrospective feed mechanism and the enhanced recurrence mechanism, enable ERNIE-Doc, which has a much longer effective context length, to capture the contextual information of a complete document. We pretrain ERNIE-Doc to explicitly learn the relationships among segments with an additional document-aware segment-reordering objective. Various experiments were conducted on both English and Chinese document-level tasks. ERNIE-Doc improved the state-of-the-art language modeling result of perplexity to 16.8 on WikiText-103. Moreover, it outperformed competitive pretraining models by a large margin on most language understanding tasks, such as text classification and question answering.

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arXiv2021

Masked Label Prediction: Unified Message Passing Model for Semi-Supervised Classification

Graph neural network (GNN) and label propagation algorithm (LPA) are both message passing algorithms, which have achieved superior performance in semi-supervised classification. GNN performs feature propagation by a neural network to make predictions, while LPA uses label propagation across graph adjacency matrix to get results. However, there is still no effective way to directly combine these two kinds of algorithms. To address this issue, we propose a novel Unified Message Passaging Model (UniMP) that can incorporate feature and label propagation at both training and inference time. First, UniMP adopts a Graph Transformer network, taking feature embedding and label embedding as input information for propagation. Second, to train the network without overfitting in self-loop input label information, UniMP introduces a masked label prediction strategy, in which some percentage of input label information are masked at random, and then predicted. UniMP conceptually unifies feature propagation and label propagation and is empirically powerful. It obtains new state-of-the-art semi-supervised classification results in Open Graph Benchmark (OGB).

cs.LG↗

arXiv2021

Recent Advances in Monocular 2D and 3D Human Pose Estimation: A Deep Learning Perspective

Estimation of the human pose from a monocular camera has been an emerging research topic in the computer vision community with many applications. Recently, benefited from the deep learning technologies, a significant amount of research efforts have greatly advanced the monocular human pose estimation both in 2D and 3D areas. Although there have been some works to summarize the different approaches, it still remains challenging for researchers to have an in-depth view of how these approaches work. In this paper, we provide a comprehensive and holistic 2D-to-3D perspective to tackle this problem. We categorize the mainstream and milestone approaches since the year 2014 under unified frameworks. By systematically summarizing the differences and connections between these approaches, we further analyze the solutions for challenging cases, such as the lack of data, the inherent ambiguity between 2D and 3D, and the complex multi-person scenarios. We also summarize the pose representation styles, benchmarks, evaluation metrics, and the quantitative performance of popular approaches. Finally, we discuss the challenges and give deep thinking of promising directions for future research. We believe this survey will provide the readers with a deep and insightful understanding of monocular human pose estimation.

cs.CV↗

arXiv2021

ERNIE-Gram: Pre-Training with Explicitly N-Gram Masked Language Modeling for Natural Language Understanding

Coarse-grained linguistic information, such as named entities or phrases, facilitates adequately representation learning in pre-training. Previous works mainly focus on extending the objective of BERT's Masked Language Modeling (MLM) from masking individual tokens to contiguous sequences of n tokens. We argue that such contiguously masking method neglects to model the intra-dependencies and inter-relation of coarse-grained linguistic information. As an alternative, we propose ERNIE-Gram, an explicitly n-gram masking method to enhance the integration of coarse-grained information into pre-training. In ERNIE-Gram, n-grams are masked and predicted directly using explicit n-gram identities rather than contiguous sequences of n tokens. Furthermore, ERNIE-Gram employs a generator model to sample plausible n-gram identities as optional n-gram masks and predict them in both coarse-grained and fine-grained manners to enable comprehensive n-gram prediction and relation modeling. We pre-train ERNIE-Gram on English and Chinese text corpora and fine-tune on 19 downstream tasks. Experimental results show that ERNIE-Gram outperforms previous pre-training models like XLNet and RoBERTa by a large margin, and achieves comparable results with state-of-the-art methods. The source codes and pre-trained models have been released at https://github.com/PaddlePaddle/ERNIE.

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arXiv2021

Self-Supervised Policy Adaptation during Deployment

In most real world scenarios, a policy trained by reinforcement learning in one environment needs to be deployed in another, potentially quite different environment. However, generalization across different environments is known to be hard. A natural solution would be to keep training after deployment in the new environment, but this cannot be done if the new environment offers no reward signal. Our work explores the use of self-supervision to allow the policy to continue training after deployment without using any rewards. While previous methods explicitly anticipate changes in the new environment, we assume no prior knowledge of those changes yet still obtain significant improvements. Empirical evaluations are performed on diverse simulation environments from DeepMind Control suite and ViZDoom, as well as real robotic manipulation tasks in continuously changing environments, taking observations from an uncalibrated camera. Our method improves generalization in 31 out of 36 environments across various tasks and outperforms domain randomization on a majority of environments.

cs.LG↗

arXiv2021

Task Planning with a Weighted Functional Object-Oriented Network

In reality, there is still much to be done for robots to be able to perform manipulation actions with full autonomy. Complicated manipulation tasks, such as cooking, may still require a person to perform some actions that are very risky for a robot to perform. On the other hand, some other actions may be very risky for a human with physical disabilities to perform. Therefore, it is necessary to balance the workload of a robot and a human based on their limitations while minimizing the effort needed from a human in a collaborative robot (cobot) set-up. This paper proposes a new version of our functional object-oriented network (FOON) that integrates weights in its functional units to reflect a robot's chance of successfully executing an action of that functional unit. The paper also presents a task planning algorithm for the weighted FOON to allocate manipulation action load to the robot and human to achieve optimal performance while minimizing human effort. Through a number of experiments, this paper shows several successful cases in which using the proposed weighted FOON and the task planning algorithm allow a robot and a human to successfully complete complicated tasks together with higher success rates than a robot doing them alone.

cs.RO↗

arXiv2021

ERNIE-ViL: Knowledge Enhanced Vision-Language Representations Through Scene Graph

We propose a knowledge-enhanced approach, ERNIE-ViL, which incorporates structured knowledge obtained from scene graphs to learn joint representations of vision-language. ERNIE-ViL tries to build the detailed semantic connections (objects, attributes of objects and relationships between objects) across vision and language, which are essential to vision-language cross-modal tasks. Utilizing scene graphs of visual scenes, ERNIE-ViL constructs Scene Graph Prediction tasks, i.e., Object Prediction, Attribute Prediction and Relationship Prediction tasks in the pre-training phase. Specifically, these prediction tasks are implemented by predicting nodes of different types in the scene graph parsed from the sentence. Thus, ERNIE-ViL can learn the joint representations characterizing the alignments of the detailed semantics across vision and language. After pre-training on large scale image-text aligned datasets, we validate the effectiveness of ERNIE-ViL on 5 cross-modal downstream tasks. ERNIE-ViL achieves state-of-the-art performances on all these tasks and ranks the first place on the VCR leaderboard with an absolute improvement of 3.7%.

cs.CV↗

arXiv2021

CoIL: Coordinate-based Internal Learning for Imaging Inverse Problems

We propose Coordinate-based Internal Learning (CoIL) as a new deep-learning (DL) methodology for the continuous representation of measurements. Unlike traditional DL methods that learn a mapping from the measurements to the desired image, CoIL trains a multilayer perceptron (MLP) to encode the complete measurement field by mapping the coordinates of the measurements to their responses. CoIL is a self-supervised method that requires no training examples besides the measurements of the test object itself. Once the MLP is trained, CoIL generates new measurements that can be used within a majority of image reconstruction methods. We validate CoIL on sparse-view computed tomography using several widely-used reconstruction methods, including purely model-based methods and those based on DL. Our results demonstrate the ability of CoIL to consistently improve the performance of all the considered methods by providing high-fidelity measurement fields.

eess.IV↗

arXiv2021

Scalable Plug-and-Play ADMM with Convergence Guarantees

Plug-and-play priors (PnP) is a broadly applicable methodology for solving inverse problems by exploiting statistical priors specified as denoisers. Recent work has reported the state-of-the-art performance of PnP algorithms using pre-trained deep neural nets as denoisers in a number of imaging applications. However, current PnP algorithms are impractical in large-scale settings due to their heavy computational and memory requirements. This work addresses this issue by proposing an incremental variant of the widely used PnP-ADMM algorithm, making it scalable to large-scale datasets. We theoretically analyze the convergence of the algorithm under a set of explicit assumptions, extending recent theoretical results in the area. Additionally, we show the effectiveness of our algorithm with nonsmooth data-fidelity terms and deep neural net priors, its fast convergence compared to existing PnP algorithms, and its scalability in terms of speed and memory.

cs.LG↗

arXiv2021

SGD-Net: Efficient Model-Based Deep Learning with Theoretical Guarantees

Deep unfolding networks have recently gained popularity in the context of solving imaging inverse problems. However, the computational and memory complexity of data-consistency layers within traditional deep unfolding networks scales with the number of measurements, limiting their applicability to large-scale imaging inverse problems. We propose SGD-Net as a new methodology for improving the efficiency of deep unfolding through stochastic approximations of the data-consistency layers. Our theoretical analysis shows that SGD-Net can be trained to approximate batch deep unfolding networks to an arbitrary precision. Our numerical results on intensity diffraction tomography and sparse-view computed tomography show that SGD-Net can match the performance of the batch network at a fraction of training and testing complexity.

eess.IV↗

arXiv2020

Developing Motion Code Embedding for Action Recognition in Videos

In this work, we propose a motion embedding strategy known as motion codes, which is a vectorized representation of motions based on a manipulation's salient mechanical attributes. These motion codes provide a robust motion representation, and they are obtained using a hierarchy of features called the motion taxonomy. We developed and trained a deep neural network model that combines visual and semantic features to identify the features found in our motion taxonomy to embed or annotate videos with motion codes. To demonstrate the potential of motion codes as features for machine learning tasks, we integrated the extracted features from the motion embedding model into the current state-of-the-art action recognition model. The obtained model achieved higher accuracy than the baseline model for the verb classification task on egocentric videos from the EPIC-KITCHENS dataset.

cs.CV↗

arXiv2020

Multimodal Spatio-Temporal Deep Learning Approach for Neonatal Postoperative Pain Assessment

The current practice for assessing neonatal postoperative pain relies on bedside caregivers. This practice is subjective, inconsistent, slow, and discontinuous. To develop a reliable medical interpretation, several automated approaches have been proposed to enhance the current practice. These approaches are unimodal and focus mainly on assessing neonatal procedural (acute) pain. As pain is a multimodal emotion that is often expressed through multiple modalities, the multimodal assessment of pain is necessary especially in case of postoperative (acute prolonged) pain. Additionally, spatio-temporal analysis is more stable over time and has been proven to be highly effective at minimizing misclassification errors. In this paper, we present a novel multimodal spatio-temporal approach that integrates visual and vocal signals and uses them for assessing neonatal postoperative pain. We conduct comprehensive experiments to investigate the effectiveness of the proposed approach. We compare the performance of the multimodal and unimodal postoperative pain assessment, and measure the impact of temporal information integration. The experimental results, on a real-world dataset, show that the proposed multimodal spatio-temporal approach achieves the highest AUC (0.87) and accuracy (79%), which are on average 6.67% and 6.33% higher than unimodal approaches. The results also show that the integration of temporal information markedly improves the performance as compared to the non-temporal approach as it captures changes in the pain dynamic. These results demonstrate that the proposed approach can be used as a viable alternative to manual assessment, which would tread a path toward fully automated pain monitoring in clinical settings, point-of-care testing, and homes.

cs.CV↗

arXiv2020

Functional Object-Oriented Network for Manipulation Learning

This paper presents a novel structured knowledge representation called the functional object-oriented network (FOON) to model the connectivity of the functional-related objects and their motions in manipulation tasks. The graphical model FOON is learned by observing object state change and human manipulations with the objects. Using a well-trained FOON, robots can decipher a task goal, seek the correct objects at the desired states on which to operate, and generate a sequence of proper manipulation motions. The paper describes FOON's structure and an approach to form a universal FOON with extracted knowledge from online instructional videos. A graph retrieval approach is presented to generate manipulation motion sequences from the FOON to achieve a desired goal, demonstrating the flexibility of FOON in creating a novel and adaptive means of solving a problem using knowledge gathered from multiple sources. The results are demonstrated in a simulated environment to illustrate the motion sequences generated from the FOON to carry out the desired tasks.

cs.RO↗

arXiv2020

Joint Reconstruction and Calibration using Regularization by Denoising

Regularization by denoising (RED) is a broadly applicable framework for solving inverse problems by using priors specified as denoisers. While RED has been shown to provide state-of-the-art performance in a number of applications, existing RED algorithms require exact knowledge of the measurement operator characterizing the imaging system, limiting their applicability in problems where the measurement operator has parametric uncertainties. We propose a new method, called Calibrated RED (Cal-RED), that enables joint calibration of the measurement operator along with reconstruction of the unknown image. Cal-RED extends the traditional RED methodology to imaging problems that require the calibration of the measurement operator. We validate Cal-RED on the problem of image reconstruction in computerized tomography (CT) under perturbed projection angles. Our results corroborate the effectiveness of Cal-RED for joint calibration and reconstruction using pre-trained deep denoisers as image priors.

eess.IV↗

arXiv2020

Distance-based Data Cleaning: A Survey (Technical Report)

With the rapid development of the internet technology, dirty data are commonly observed in various real scenarios, e.g., owing to unreliable sensor reading, transmission and collection from heterogeneous sources. To deal with their negative effects on downstream applications, data cleaning approaches are designed to preprocess the dirty data before conducting applications. The idea of most data cleaning methods is to identify or correct dirty data, referring to the values of their neighbors which share the same information. Unfortunately, owing to data sparsity and heterogeneity, the number of neighbors based on equality relationship is rather limited, especially in the presence of data values with variances. To tackle this problem, distance-based data cleaning approaches propose to consider similarity neighbors based on value distance. By tolerance of small variants, the enriched similarity neighbors can be identified and used for data cleaning tasks. At the same time, distance relationship between tuples is also helpful to guide the data cleaning, which contains more information and includes the equality relationship. Therefore, distance-based technology plays an important role in the data cleaning area, and we also have reason to believe that distance-based data cleaning technology will attract more attention in data preprocessing research in the future. Hence this survey provides a classification of four main data cleaning tasks, i.e., rule profiling, error detection, data repair and data imputation, and comprehensively reviews the state of the art for each class.

cs.DB↗

arXiv2020

Robot Gaining Accurate Pouring Skills through Self-Supervised Learning and Generalization

Pouring is one of the most commonly executed tasks in humans' daily lives, whose accuracy is affected by multiple factors, including the type of material to be poured and the geometry of the source and receiving containers. In this work, we propose a self-supervised learning approach that learns the pouring dynamics, pouring motion, and outcomes from unsupervised demonstrations for accurate pouring. The learned pouring model is then generalized by self-supervised practicing to different conditions such as using unaccustomed pouring cups. We have evaluated the proposed approach first with one container from the training set and four new but similar containers. The proposed approach achieved better pouring accuracy than a regular human with a similar pouring speed for all five cups. Both the accuracy and pouring speed outperform state-of-the-art works. We have also evaluated the proposed self-supervised generalization approach using unaccustomed containers that are far different from the ones in the training set. The self-supervised generalization reduces the pouring error of the unaccustomed containers to the desired accuracy level.

cs.RO↗

arXiv2020

Synthetic Training for Monocular Human Mesh Recovery

Recovering 3D human mesh from monocular images is a popular topic in computer vision and has a wide range of applications. This paper aims to estimate 3D mesh of multiple body parts (e.g., body, hands) with large-scale differences from a single RGB image. Existing methods are mostly based on iterative optimization, which is very time-consuming. We propose to train a single-shot model to achieve this goal. The main challenge is lacking training data that have complete 3D annotations of all body parts in 2D images. To solve this problem, we design a multi-branch framework to disentangle the regression of different body properties, enabling us to separate each component's training in a synthetic training manner using unpaired data available. Besides, to strengthen the generalization ability, most existing methods have used in-the-wild 2D pose datasets to supervise the estimated 3D pose via 3D-to-2D projection. However, we observe that the commonly used weak-perspective model performs poorly in dealing with the external foreshortening effect of camera projection. Therefore, we propose a depth-to-scale (D2S) projection to incorporate the depth difference into the projection function to derive per-joint scale variants for more proper supervision. The proposed method outperforms previous methods on the CMU Panoptic Studio dataset according to the evaluation results and achieves comparable results on the Human3.6M body and STB hand benchmarks. More impressively, the performance in close shot images gets significantly improved using the proposed D2S projection for weak supervision, while maintains obvious superiority in computational efficiency.

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