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Artificial Intelligence and Robotics
Research Collection School Of Computing and Information Systems
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- Deep learning (10)
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Articles 91 - 113 of 113
Full-Text Articles in Physical Sciences and Mathematics
Asteroids: Exploring Swarms Of Mini-Telepresence Robots For Physical Skill Demonstration, Jiannan Li, Maurício Sousa, Chu Li, Jessie Liu, Yan Chen, Ravin Balakrishnan, Tovi Grossman
Asteroids: Exploring Swarms Of Mini-Telepresence Robots For Physical Skill Demonstration, Jiannan Li, Maurício Sousa, Chu Li, Jessie Liu, Yan Chen, Ravin Balakrishnan, Tovi Grossman
Research Collection School Of Computing and Information Systems
Online synchronous tutoring allows for immediate engagement between instructors and audiences over distance. However, tutoring physical skills remains challenging because current telepresence approaches may not allow for adequate spatial awareness, viewpoint control of the demonstration activities scattered across an entire work area, and the instructor’s sufficient awareness of the audience. We present Asteroids, a novel approach for tangible robotic telepresence, to enable workbench-scale physical embodiments of remote people and tangible interactions by the instructor. With Asteroids, the audience can actively control a swarm of mini-telepresence robots, change camera positions, and switch to other robots’ viewpoints. Demonstrators can perceive the audiences’ …
Neuron Coverage-Guided Domain Generalization, Chris Xing Tian, Haoliang Li, Xiaofei Xie, Yang Liu, Shiqi Wang
Neuron Coverage-Guided Domain Generalization, Chris Xing Tian, Haoliang Li, Xiaofei Xie, Yang Liu, Shiqi Wang
Research Collection School Of Computing and Information Systems
This paper focuses on the domain generalization task where domain knowledge is unavailable, and even worse, only samples from a single domain can be utilized during training. Our motivation originates from the recent progresses in deep neural network (DNN) testing, which has shown that maximizing neuron coverage of DNN can help to explore possible defects of DNN (i.e.,misclassification). More specifically, by treating the DNN as a program and each neuron as a functional point of the code, during the network training we aim to improve the generalization capability by maximizing the neuron coverage of DNN with the gradient similarity regularization …
State Graph Reasoning For Multimodal Conversational Recommendation, Yuxia Wu, Lizi Liao, Gangyi Zhang, Wenqiang Lei, Guoshuai Zhao, Xueming Qian, Tat-Seng Chua
State Graph Reasoning For Multimodal Conversational Recommendation, Yuxia Wu, Lizi Liao, Gangyi Zhang, Wenqiang Lei, Guoshuai Zhao, Xueming Qian, Tat-Seng Chua
Research Collection School Of Computing and Information Systems
Conversational recommendation system (CRS) attracts increasing attention in various application domains such as retail and travel. It offers an effective way to capture users’ dynamic preferences with multi-turn conversations. However, most current studies center on the recommendation aspect while over-simplifying the conversation process. The negligence of complexity in data structure and conversation flow hinders their practicality and utility. In reality, there exist various relationships among slots and values, while users’ requirements may dynamically adjust or change. Moreover, the conversation often involves visual modality to facilitate the conversation. These actually call for a more advanced internal state representation of the dialogue …
Riconv++: Effective Rotation Invariant Convolutions For 3d Point Clouds Deep Learning, Zhiyuan Zhang, Binh-Son Hua, Sai-Kit Yeung
Riconv++: Effective Rotation Invariant Convolutions For 3d Point Clouds Deep Learning, Zhiyuan Zhang, Binh-Son Hua, Sai-Kit Yeung
Research Collection School Of Computing and Information Systems
3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point cloud convolutions can be invariant to translation and point permutation, investigations of the rotation invariance property for point cloud convolution has been so far scarce. Some existing methods perform point cloud convolutions with rotation-invariant features, existing methods generally do not perform as well as translation-invariant only counterpart. In this work, we argue that a key reason is that compared to …
Learning Variable Ordering Heuristics For Solving Constraint Satisfaction Problems, Wen Song, Zhiguang Cao, Jie Zhang, Chi Xu, Andrew Lim
Learning Variable Ordering Heuristics For Solving Constraint Satisfaction Problems, Wen Song, Zhiguang Cao, Jie Zhang, Chi Xu, Andrew Lim
Research Collection School Of Computing and Information Systems
Backtracking search algorithms are often used to solve the Constraint Satisfaction Problem (CSP), which is widely applied in various domains such as automated planning and scheduling. The efficiency of backtracking search depends greatly on the variable ordering heuristics. Currently, the most commonly used heuristics are hand-crafted based on expert knowledge. In this paper, we propose a deep reinforcement learning based approach to automatically discover new variable ordering heuristics that are better adapted for a given class of CSP instances, without the need of relying on hand-crafted features and heuristics. We show that directly optimizing the search tree size is not …
Innovative Human Motion Sensing With Earbuds, Dong Ma, Andrea Ferlini, Cecilia Mascolo
Innovative Human Motion Sensing With Earbuds, Dong Ma, Andrea Ferlini, Cecilia Mascolo
Research Collection School Of Computing and Information Systems
Earbuds, ear-worn wearables, have attracted growing attention from both industry and academia. This trend has witnessed manufacturers embedding multiple sensors on earbuds to enrich their functionalities. For example, Apple AirPods, Sony WF-1000XM3, and Bose QuietControl 30, have been equipped with accelerometers for tapping interaction or multiple microphones for noise cancellation. On the other hand, the research community regards earbuds as a powerful personal-scale human sensing and computing platform. By integrating sensors like PPG, barometer, and ultrasonic sensors, researchers have been devising a plethora of earable sensing applications, such as blood pressure monitoring [1], facial expression recognition [2], and authentication [3].
Towards Efficient Annotations For A Human-Ai Collaborative, Clinical Decision Support System: A Case Study On Physical Stroke Rehabilitation Assessment, Min Hun Lee, Daniel P. Siewiorek, Asim Smailagic, Alexandre Bernardino, Sergi Bermúdez I Badia
Towards Efficient Annotations For A Human-Ai Collaborative, Clinical Decision Support System: A Case Study On Physical Stroke Rehabilitation Assessment, Min Hun Lee, Daniel P. Siewiorek, Asim Smailagic, Alexandre Bernardino, Sergi Bermúdez I Badia
Research Collection School Of Computing and Information Systems
Artificial intelligence (AI) and machine learning (ML) algorithms are increasingly being explored to support various decision-making tasks in health (e.g. rehabilitation assessment). However, the development of such AI/ML-based decision support systems is challenging due to the expensive process to collect an annotated dataset. In this paper, we describe the development process of a human-AI collaborative, clinical decision support system that augments an ML model with a rule-based (RB) model from domain experts. We conducted its empirical evaluation in the context of assessing physical stroke rehabilitation with the dataset of three exercises from 15 post-stroke survivors and therapists. Our results bring …
Debiasing Nlu Models Via Causal Intervention And Counterfactual Reasoning, Bing Tian, Yixin Cao, Yong Zhang, Chunxiao Xing
Debiasing Nlu Models Via Causal Intervention And Counterfactual Reasoning, Bing Tian, Yixin Cao, Yong Zhang, Chunxiao Xing
Research Collection School Of Computing and Information Systems
Recent studies have shown that strong Natural Language Understanding (NLU) models are prone to relying on annotation biases of the datasets as a shortcut, which goes against the underlying mechanisms of the task of interest. To reduce such biases, several recent works introduce debiasing methods to regularize the training process of targeted NLU models. In this paper, we provide a new perspective with causal inference to fnd out the bias. On the one hand, we show that there is an unobserved confounder for the natural language utterances and their respective classes, leading to spurious correlations from training data. To remove …
Deconfounded Visual Grounding, Jianqiang Huang, Yu Qin, Jiaxin Qi, Qianru Sun, Hanwang Zhang
Deconfounded Visual Grounding, Jianqiang Huang, Yu Qin, Jiaxin Qi, Qianru Sun, Hanwang Zhang
Research Collection School Of Computing and Information Systems
We focus on the confounding bias between language and location in the visual grounding pipeline, where we find that the bias is the major visual reasoning bottleneck. For example, the grounding process is usually a trivial languagelocation association without visual reasoning, e.g., grounding any language query containing sheep to the nearly central regions, due to that most queries about sheep have groundtruth locations at the image center. First, we frame the visual grounding pipeline into a causal graph, which shows the causalities among image, query, target location and underlying confounder. Through the causal graph, we know how to break the …
Sample-Efficient Iterative Lower Bound Optimization Of Deep Reactive Policies For Planning In Continuous Mdps, Siow Meng Low, Akshat Kumar, Scott Sanner
Sample-Efficient Iterative Lower Bound Optimization Of Deep Reactive Policies For Planning In Continuous Mdps, Siow Meng Low, Akshat Kumar, Scott Sanner
Research Collection School Of Computing and Information Systems
Recent advances in deep learning have enabled optimization of deep reactive policies (DRPs) for continuous MDP planning by encoding a parametric policy as a deep neural network and exploiting automatic differentiation in an end-toend model-based gradient descent framework. This approach has proven effective for optimizing DRPs in nonlinear continuous MDPs, but it requires a large number of sampled trajectories to learn effectively and can suffer from high variance in solution quality. In this work, we revisit the overall model-based DRP objective and instead take a minorizationmaximization perspective to iteratively optimize the DRP w.r.t. a locally tight lower-bounded objective. This novel …
Interpretable Knowledge Tracing: Simple And Efficient Student Modeling With Causal Relations, Sein Minn, Jill-Jênn Vie, Koh Takeuchi, Feida Zhu
Interpretable Knowledge Tracing: Simple And Efficient Student Modeling With Causal Relations, Sein Minn, Jill-Jênn Vie, Koh Takeuchi, Feida Zhu
Research Collection School Of Computing and Information Systems
Intelligent Tutoring Systems have become critically important in future learning environments. Knowledge Tracing (KT) is a crucial part of that system. It is about inferring the skill mastery of students and predicting their performance to adjust the curriculum accordingly. Deep Learning based models like Deep Knowledge Tracing (DKT) and Dynamic Key-Value Memory Network (DKVMN) have shown significant predictive performance compared with traditional models like Bayesian Knowledge Tracing (BKT) and Performance Factors Analysis (PFA). However, it is difficult to extract psychologically meaningful explanations from the tens of thousands of parameters in neural networks, that would relate to cognitive theory. There are …
Meta-Transfer Learning Through Hard Tasks, Qianru Sun, Yaoyao Liu, Zhaozheng Chen, Chua Tat-Seng, Schiele Bernt
Meta-Transfer Learning Through Hard Tasks, Qianru Sun, Yaoyao Liu, Zhaozheng Chen, Chua Tat-Seng, Schiele Bernt
Research Collection School Of Computing and Information Systems
Meta-learning has been proposed as a framework to address the challenging few-shot learning setting. The key idea is to leverage a large number of similar few-shot tasks in order to learn how to adapt a base-learner to a new task for which only a few labeled samples are available. As deep neural networks (DNNs) tend to overfit using a few samples only, typical meta-learning models use shallow neural networks, thus limiting its effectiveness. In order to achieve top performance, some recent works tried to use the DNNs pre-trained on large-scale datasets but mostly in straight-forward manners, e.g., (1) taking their …
Viral Pneumonia Screening On Chest X-Rays Using Confidence-Aware Anomaly Detection, Jianpeng Zhang, Yutong Xie, Guansong Pang, Zhibin Liao, Johan Verjans, Wenxing Li, Zongji Sun, Jian He, Yi Li, Chunhua Shen, Yong Xia
Viral Pneumonia Screening On Chest X-Rays Using Confidence-Aware Anomaly Detection, Jianpeng Zhang, Yutong Xie, Guansong Pang, Zhibin Liao, Johan Verjans, Wenxing Li, Zongji Sun, Jian He, Yi Li, Chunhua Shen, Yong Xia
Research Collection School Of Computing and Information Systems
Clusters of viral pneumonia occurrences over a short period may be a harbinger of an outbreak or pandemic. Rapid and accurate detection of viral pneumonia using chest X-rays can be of significant value for large-scale screening and epidemic prevention, particularly when other more sophisticated imaging modalities are not readily accessible. However, the emergence of novel mutated viruses causes a substantial dataset shift, which can greatly limit the performance of classification-based approaches. In this paper, we formulate the task of differentiating viral pneumonia from non-viral pneumonia and healthy controls into a one-class classification-based anomaly detection problem. We therefore propose the confidence-aware …
Deep Learning For Anomaly Detection: A Review, Guansong Pang, Chunhua Shen, Longbing Cao, Anton Van Den Hengel
Deep Learning For Anomaly Detection: A Review, Guansong Pang, Chunhua Shen, Longbing Cao, Anton Van Den Hengel
Research Collection School Of Computing and Information Systems
Anomaly detection, a.k.a. outlier detection or novelty detection, has been a lasting yet active research area in various research communities for several decades. There are still some unique problem complexities and challenges that require advanced approaches. In recent years, deep learning enabled anomaly detection, i.e., deep anomaly detection, has emerged as a critical direction. This article surveys the research of deep anomaly detection with a comprehensive taxonomy, covering advancements in 3 high-level categories and 11 fine-grained categories of the methods. We review their key intuitions, objective functions, underlying assumptions, advantages, and disadvantages and discuss how they address the aforementioned challenges. …
On The Influence Of Biases In Bug Localization: Evaluation And Benchmark, Ratnadira Widyasari, Stefanus Agus Haryono, Ferdian Thung, Jieke Shi, Constance Tan, Fiona Wee, Jack Phan, David Lo
On The Influence Of Biases In Bug Localization: Evaluation And Benchmark, Ratnadira Widyasari, Stefanus Agus Haryono, Ferdian Thung, Jieke Shi, Constance Tan, Fiona Wee, Jack Phan, David Lo
Research Collection School Of Computing and Information Systems
Bug localization is the task of identifying parts of thesource code that needs to be changed to resolve a bug report.As this task is difficult, automatic bug localization tools havebeen proposed. The development and evaluation of these toolsrely on the availability of high-quality bug report datasets. In2014, Kochhar et al. identified three biases in datasets used toevaluate bug localization techniques: (1) misclassified bug report,(2) already localized bug report, and (3) incorrect ground truthfile in a bug report. They reported that already localized bugreports statistically significantly and substantially impact buglocalization results, and thus should be removed. However, theirevaluation is still limited, …
Heterogeneous Attentions For Solving Pickup And Delivery Problem Via Deep Reinforcement Learning, Jingwen Li, Liang Xin, Zhiguang Cao, Andrew Lim, Wen Song, Jie Zhang
Heterogeneous Attentions For Solving Pickup And Delivery Problem Via Deep Reinforcement Learning, Jingwen Li, Liang Xin, Zhiguang Cao, Andrew Lim, Wen Song, Jie Zhang
Research Collection School Of Computing and Information Systems
Recently, there is an emerging trend to apply deep reinforcement learning to solve the vehicle routing problem (VRP), where a learnt policy governs the selection of next node for visiting. However, existing methods could not handle well the pairing and precedence relationships in the pickup and delivery problem (PDP), which is a representative variant of VRP. To address this challenging issue, we leverage a novel neural network integrated with a heterogeneous attention mechanism to empower the policy in deep reinforcement learning to automatically select the nodes. In particular, the heterogeneous attention mechanism specifically prescribes attentions for each role of the …
Deep Graph-Level Anomaly Detection By Glocal Knowledge Distillation, Rongrong Ma, Guansong Pang, Ling Chen, Anton Van Den Hengel
Deep Graph-Level Anomaly Detection By Glocal Knowledge Distillation, Rongrong Ma, Guansong Pang, Ling Chen, Anton Van Den Hengel
Research Collection School Of Computing and Information Systems
Graph-level anomaly detection (GAD) describes the problem of detecting graphs that are abnormal in their structure and/or the features of their nodes, as compared to other graphs. One of the challenges in GAD is to devise graph representations that enable the detection of both locally- and globally-anomalous graphs, i.e., graphs that are abnormal in their fine-grained (node-level) or holistic (graph-level) properties, respectively. To tackle this challenge we introduce a novel deep anomaly detection approach for GAD that learns rich global and local normal pattern information by joint random distillation of graph and node representations. The random distillation is achieved by …
Choices Are Not Independent: Stackelberg Security Games With Nested Quantal Response Models, Tien Mai, Arunesh Sinha
Choices Are Not Independent: Stackelberg Security Games With Nested Quantal Response Models, Tien Mai, Arunesh Sinha
Research Collection School Of Computing and Information Systems
The quantal response (QR) model is widely used in Stackelberg security games (SSG) to model a bounded rational adversary. The QR model is a model of human response from among a large variety of prominent models known as discrete choice models. QR is the simplest type of discrete choice models and does not capture commonly observed phenomenon such as correlation among choices. We introduce the nested QR adversary model (based on nested logit model in discrete choice theory) in SSG which addresses shortcoming of the QR model. We present tractable approximation of the resulting equilibrium problem with nested QR adversary. …
Multiscale Generative Models: Improving Performance Of A Generative Model Using Feedback From Other Dependent Generative Models, Changyu Chen, Avinandan Bose, Shih-Fen Cheng, Arunesh Sinha
Multiscale Generative Models: Improving Performance Of A Generative Model Using Feedback From Other Dependent Generative Models, Changyu Chen, Avinandan Bose, Shih-Fen Cheng, Arunesh Sinha
Research Collection School Of Computing and Information Systems
Realistic fine-grained multi-agent simulation of real-world complex systems is crucial for many downstream tasks such as reinforcement learning. Recent work has used generative models (GANs in particular) for providing high-fidelity simulation of real-world systems. However, such generative models are often monolithic and miss out on modeling the interaction in multi-agent systems. In this work, we take a first step towards building multiple interacting generative models (GANs) that reflects the interaction in real world. We build and analyze a hierarchical set-up where a higher-level GAN is conditioned on the output of multiple lower-level GANs. We present a technique of using feedback …
Field Study In Deploying Restless Multi-Armed Bandits: Assisting Non-Profits In Improving Maternal And Child Health, Aditya Mate, Lovish Madan, Aparna Taneja, Neha Madhiwalla, Shresth Verma, Gargi Singh, Aparna Hegde, Pradeep Varakantham, Milind Tambe
Field Study In Deploying Restless Multi-Armed Bandits: Assisting Non-Profits In Improving Maternal And Child Health, Aditya Mate, Lovish Madan, Aparna Taneja, Neha Madhiwalla, Shresth Verma, Gargi Singh, Aparna Hegde, Pradeep Varakantham, Milind Tambe
Research Collection School Of Computing and Information Systems
The widespread availability of cell phones has enabled non-profits to deliver critical health information to their beneficiaries in a timely manner. This paper describes our work to assist non-profits that employ automated messaging programs to deliver timely preventive care information to beneficiaries (new and expecting mothers) during pregnancy and after delivery. Unfortunately, a key challenge in such information delivery programs is that a significant fraction of beneficiaries drop out of the program. Yet, non-profits often have limited health-worker resources (time) to place crucial service calls for live interaction with beneficiaries to prevent such engagement drops. To assist non-profits in optimizing …
Cross-Modal Food Retrieval: Learning A Joint Embedding Of Food Images And Recipes With Semantic Consistency And Attention Mechanism, Hao Wang, Doyen Sahoo, Chenghao Liu, Ke Shu, Palakorn Achananuparp, Ee-Peng Lim, Steven C. H. Hoi
Cross-Modal Food Retrieval: Learning A Joint Embedding Of Food Images And Recipes With Semantic Consistency And Attention Mechanism, Hao Wang, Doyen Sahoo, Chenghao Liu, Ke Shu, Palakorn Achananuparp, Ee-Peng Lim, Steven C. H. Hoi
Research Collection School Of Computing and Information Systems
Food retrieval is an important task to perform analysis of food-related information, where we are interested in retrieving relevant information about the queried food item such as ingredients, cooking instructions, etc. In this paper, we investigate cross-modal retrieval between food images and cooking recipes. The goal is to learn an embedding of images and recipes in a common feature space, such that the corresponding image-recipe embeddings lie close to one another. Two major challenges in addressing this problem are 1) large intra-variance and small inter-variance across cross-modal food data; and 2) difficulties in obtaining discriminative recipe representations. To address these …
Perceptions And Needs Of Artificial Intelligence In Health Care To Increase Adoption: Scoping Review, Han Shi Jocelyn Chew, Palakorn Achananuparp
Perceptions And Needs Of Artificial Intelligence In Health Care To Increase Adoption: Scoping Review, Han Shi Jocelyn Chew, Palakorn Achananuparp
Research Collection School Of Computing and Information Systems
Background: Artificial intelligence (AI) has the potential to improve the efficiency and effectiveness of health care service delivery. However, the perceptions and needs of such systems remain elusive, hindering efforts to promote AI adoption in health care. Objective: This study aims to provide an overview of the perceptions and needs of AI to increase its adoption in health care. Methods: A systematic scoping review was conducted according to the 5-stage framework by Arksey and O’Malley. Articles that described the perceptions and needs of AI in health care were searched across nine databases: ACM Library, CINAHL, Cochrane Central, Embase, IEEE Xplore, …
Beyond Triplet Loss: Person Re-Identification With Fine-Grained Difference-Aware Pairwise Loss, Cheng Yan, Guansong Pang, Xiao Bai, Changhong Liu, Xin Ning, Jun Zhou
Beyond Triplet Loss: Person Re-Identification With Fine-Grained Difference-Aware Pairwise Loss, Cheng Yan, Guansong Pang, Xiao Bai, Changhong Liu, Xin Ning, Jun Zhou
Research Collection School Of Computing and Information Systems
Person Re-IDentification (ReID) aims at re-identifying persons from different viewpoints across multiple cameras. Capturing the fine-grained appearance differences is often the key to accurate person ReID, because many identities can be differentiated only when looking into these fine-grained differences. However, most state-of-the-art person ReID approaches, typically driven by a triplet loss, fail to effectively learn the fine-grained features as they are focused more on differentiating large appearance differences. To address this issue, we introduce a novel pairwise loss function that enables ReID models to learn the fine-grained features by adaptively enforcing an exponential penalization on the images of small differences …