The hierarchical quadratic programming (HQP) is commonly applied to consider strict hierarchies of multi-tasks and robots physical inequality constraints during whole-body compliance. However, for the one-step HQP, the solution can oscillate when it
is close to the boundary of constraints. It is because the abrupt hit of the bounds gives rise to unrealisable jerks and even infeasible solutions. This paper proposes the mixed control, which blends the single-axis model predictive control (MPC) and proportional derivate (PD) control for the whole-body compliance to overcome these deficiencies. The MPC predicts the distances between the bounds and the control target of the critical tasks, and it provides smooth and feasible solutions by prediction and optimisation in advance. However, applying MPC will inevitably increase the computation time. Therefore, to achieve a 500 Hz servo rate, the PD controllers still regulate other tasks to save computation resources. Also, we use a more efficient null space projection (NSP) whole-body controller instead of the HQP and distribute the single-axis MPCs into four CPU cores for parallel computation. Finally, we validate the desired capabilities of the proposed strategy via Simulations and the experiment on the humanoid robot Walker X.
Redundant robots are desired to execute multitasks with different priorities simultaneously. The task priorities are necessary to be transitioned for complex task scheduling of whole-body control (WBC). Many methods focused on guaranteeing the contro
l continuity during task priority transition, however either increased the computation consumption or sacrificed the accuracy of tasks inevitably. This work formulates the WBC problem with task priority transition as an Hierarchical Quadratic Programming (HQP) with Recursive Hierarchical Projection (RHP) matrices. The tasks of each level are solved recursively through HQP. We propose the RHP matrix to form the continuously changing projection of each level so that the task priority transition is achieved without increasing computation consumption. Additionally, the recursive approach solves the WBC problem without losing the accuracy of tasks. We verify the effectiveness of this scheme by the comparative simulations of the reactive collision avoidance through multi-tasks priority transitions.
Whole-body control (WBC) has been applied to the locomotion of legged robots. However, current WBC methods have not considered the intrinsic features of parallel mechanisms, especially motion/force transmissibility (MFT). In this work, we propose an
MFT-enhanced WBC scheme. Introducing MFT into a WBC is challenging due to the nonlinear relationship between MFT indices and the robot configuration. To overcome this challenge, we establish the MFT preferable space of the robot and formulate it as a polyhedron in the joint space at the acceleration level. Then, the WBC employs the polyhedron as a soft constraint. As a result, the robot possesses high-speed and high-acceleration capabilities by satisfying this constraint as well as staying away from its singularity. In contrast with the WBC without considering MFT, our proposed scheme is more robust to external disturbances, e.g., push recovery and uneven terrain locomotion. simulations and experiments on a parallel-legged bipedal robot are provided to demonstrate the performance and robustness of the proposed method.
Modern deep neural networks struggle to transfer knowledge and generalize across domains when deploying to real-world applications. Domain generalization (DG) aims to learn a universal representation from multiple source domains to improve the networ
k generalization ability on unseen target domains. Previous DG methods mostly focus on the data-level consistency scheme to advance the generalization capability of deep networks, without considering the synergistic regularization of different consistency schemes. In this paper, we present a novel Hierarchical Consistency framework for Domain Generalization (HCDG) by ensembling Extrinsic Consistency and Intrinsic Consistency. Particularly, for Extrinsic Consistency, we leverage the knowledge across multiple source domains to enforce data-level consistency. Also, we design a novel Amplitude Gaussian-mixing strategy for Fourier-based data augmentation to enhance such consistency. For Intrinsic Consistency, we perform task-level consistency for the same instance under the dual-task form. We evaluate the proposed HCDG framework on two medical image segmentation tasks, i.e., optic cup/disc segmentation on fundus images and prostate MRI segmentation. Extensive experimental results manifest the effectiveness and versatility of our HCDG framework. Code will be available once accept.
Building fair machine learning models becomes more and more important. As many powerful models are built by collaboration among multiple parties, each holding some sensitive data, it is natural to explore the feasibility of training fair models in cr
oss-silo federated learning so that fairness, privacy and collaboration can be fully respected simultaneously. However, it is a very challenging task, since it is far from trivial to accurately estimate the fairness of a model without knowing the private data of the participating parties. In this paper, we first propose a federated estimation method to accurately estimate the fairness of a model without infringing the data privacy of any party. Then, we use the fairness estimation to formulate a novel problem of training fair models in cross-silo federated learning. We develop FedFair, a well-designed federated learning framework, which can successfully train a fair model with high performance without any data privacy infringement. Our extensive experiments on three real-world data sets demonstrate the excellent fair model training performance of our method.
Keyword spotting (KWS) on mobile devices generally requires a small memory footprint. However, most current models still maintain a large number of parameters in order to ensure good performance. To solve this problem, this paper proposes a separable
temporal convolution neural network with attention, it has a small number of parameters. Through the time convolution combined with attention mechanism, a small number of parameters model (32.2K) is implemented while maintaining high performance. The proposed model achieves 95.7% accuracy on the Google Speech Commands dataset, which is close to the performance of Res15(239K), the state-of-the-art model in KWS at present.
Transformers are the dominant architecture in NLP, but their training and fine-tuning is still very challenging. In this paper, we present the design and implementation of a visual analytic framework for assisting researchers in such process, by prov
iding them with valuable insights about the models intrinsic properties and behaviours. Our framework offers an intuitive overview that allows the user to explore different facets of the model (e.g., hidden states, attention) through interactive visualization, and allows a suite of built-in algorithms that compute the importance of model components and different parts of the input sequence. Case studies and feedback from a user focus group indicate that the framework is useful, and suggest several improvements.
The Ballast Water Management Convention can decrease the introduction risk of harmful aquatic organisms and pathogens, yet the Convention increases shipping costs and causes subsequent economic impacts. This paper examines whether the Convention gene
rates disproportionate invasion risk reduction results and economic impacts on Small Island Developing States (SIDS) and Least Developed Countries (LDCs). Risk reduction is estimated with an invasion risk assessment model based on a higher-order network, and the effects of the regulation on national economies and trade are estimated with an integrated shipping cost and computable general equilibrium modeling framework. Then we use the Lorenz curve to examine if the regulation generates risk or economic inequality among regions. Risk reduction ratios of all regions (except Singapore) are above 99%, which proves the effectiveness of the Convention. The Gini coefficient of 0.66 shows the inequality in risk changes relative to income levels among regions, but risk reductions across all nations vary without particularly high risks for SIDS and LDCs than for large economies. Similarly, we reveal inequality in economic impacts relative to income levels (the Gini coefficient is 0.58), but there is no evidence that SIDS and LDCs are disproportionately impacted compared to more developed regions. Most changes in GDP, real exports, and real imports of studied regions are minor (smaller than 0.1%). However, there are more noteworthy changes for select sectors and trade partners including Togo, Bangladesh, and Dominican Republic, whose exports may decrease for textiles and metal and chemicals. We conclude the Convention decreases biological invasion risk and does not generate disproportionate negative impacts on SIDS and LDCs.
The Mediterranean Sea is one of the most heavily invaded marine regions. This work focuses on the dynamics and potential policy options for ballast water-mediated nonindigenous species to the Mediterranean. Specifically, we (1) estimated port risks i
n years 2012, 2015, and 2018, (2) identified hub ports that connect many clusters, and (3) evaluated four regulatory scenarios. The risk results show that Gibraltar, Suez, and Istanbul remained high-risk ports from 2012-2018, and they served as hub ports that connected several spread clusters. With policy scenario analysis, we found that regulating the high-risk hub ports can disproportionately reduce the overall risk to the Mediterranean: the average risk to all ports was reduced by 5-10% by regulating one high-risk hub port, while the average risk to all ports was only reduced by 0.2% by regulating one average-risk Mediterranean port. We also found that only regulating high-risk ports cannot reduce their risks effectively.
Keyword spotting (KWS) on mobile devices generally requires a small memory footprint. However, most current models still maintain a large number of parameters in order to ensure good performance. In this paper, we propose a temporally pooled attentio
n module which can capture global features better than the AveragePool. Besides, we design a separable temporal convolution network which leverages depthwise separable and temporal convolution to reduce the number of parameter and calculations. Finally, taking advantage of separable temporal convolution and temporally pooled attention, a efficient neural network (ST-AttNet) is designed for KWS system. We evaluate the models on the publicly available Google speech commands data sets V1. The number of parameters of proposed model (48K) is 1/6 of state-of-the-art TC-ResNet14-1.5 model (305K). The proposed model achieves a 96.6% accuracy, which is comparable to the TC-ResNet14-1.5 model (96.6%).
