Lei Xu

Lei Xu, Tianyu Ren, Georgia Chalvatzaki et al.

As robots play an increasingly important role in the industrial, the expectations about their applications for everyday living tasks are getting higher. Robots need to perform long-horizon tasks that consist of several sub-tasks that need to be accomplished. Task and Motion Planning (TAMP) provides a hierarchical framework to handle the sequential nature of manipulation tasks by interleaving a symbolic task planner that generates a possible action sequence, with a motion planner that checks the kinematic feasibility in the geometric world, generating robot trajectories if several constraints are satisfied, e.g., a collision-free trajectory from one state to another. Hence, the reasoning about the task plan's geometric grounding is taken over by the motion planner. However, motion planning is computationally intense and is usability as feasibility checker casts TAMP methods inapplicable to real-world scenarios. In this paper, we introduce neural feasibility classifier (NFC), a simple yet effective visual heuristic for classifying the feasibility of proposed actions in TAMP. Namely, NFC will identify infeasible actions of the task planner without the need for costly motion planning, hence reducing planning time in multi-step manipulation tasks. NFC encodes the image of the robot's workspace into a feature map thanks to convolutional neural network (CNN). We train NFC using simulated data from TAMP problems and label the instances based on IK feasibility checking. Our empirical results in different simulated manipulation tasks show that our NFC generalizes to the entire robot workspace and has high prediction accuracy even in scenes with multiple obstructions. When combined with state-of-the-art integrated TAMP, our NFC enhances its performance while reducing its planning time.

Wenjing Huang, Shikui Tu, Lei Xu

Semantic face editing has achieved substantial progress in recent years. Known as a growingly popular method, latent space manipulation performs face editing by changing the latent code of an input face to liberate users from painting skills. However, previous latent space manipulation methods usually encode an entire face into a single low-dimensional embedding, which constrains the reconstruction capacity and the control flexibility of facial components, such as eyes and nose. This paper proposes IA-FaceS as a bidirectional method for disentangled face attribute manipulation as well as flexible, controllable component editing without the need for segmentation masks or sketches in the original image. To strike a balance between the reconstruction capacity and the control flexibility, the encoder is designed as a multi-head structure to yield embeddings for reconstruction and control, respectively: a high-dimensional tensor with spatial properties for consistent reconstruction and four low-dimensional facial component embeddings for semantic face editing. Manipulating the separate component embeddings can help achieve disentangled attribute manipulation and flexible control of facial components. To further disentangle the highly-correlated components, a component adaptive modulation (CAM) module is proposed for the decoder. The semantic single-eye editing is developed for the first time without any input visual guidance, such as segmentation masks or sketches. According to the experimental results, IA-FaceS establishes a good balance between maintaining image details and performing flexible face manipulation. Both quantitative and qualitative results indicate that the proposed method outperforms the other techniques in reconstruction, face attribute manipulation, and component transfer.

Sicong Zang, Shikui Tu, Lei Xu

Graphic sketch representations are effective for representing sketches. Existing methods take the patches cropped from sketches as the graph nodes, and construct the edges based on sketch's drawing order or Euclidean distances on the canvas. However, the drawing order of a sketch may not be unique, while the patches from semantically related parts of a sketch may be far away from each other on the canvas. In this paper, we propose an order-invariant, semantics-aware method for graphic sketch representations. The cropped sketch patches are linked according to their global semantics or local geometric shapes, namely the synonymous proximity, by computing the cosine similarity between the captured patch embeddings. Such constructed edges are learnable to adapt to the variation of sketch drawings, which enable the message passing among synonymous patches. Aggregating the messages from synonymous patches by graph convolutional networks plays a role of denoising, which is beneficial to produce robust patch embeddings and accurate sketch representations. Furthermore, we enforce a clustering constraint over the embeddings jointly with the network learning. The synonymous patches are self-organized as compact clusters, and their embeddings are guided to move towards their assigned cluster centroids. It raises the accuracy of the computed synonymous proximity. Experimental results show that our method significantly improves the performance on both controllable sketch synthesis and sketch healing.

Zhihao Xing, Shikui Tu, Lei Xu

We present a self-learning approach that combines deep reinforcement learning and Monte Carlo tree search to solve the traveling salesman problem. The proposed approach has two advantages. First, it adopts deep reinforcement learning to compute the value functions for decision, which removes the need of hand-crafted features and labelled data. Second, it uses Monte Carlo tree search to select the best policy by comparing different value functions, which increases its generalization ability. Experimental results show that the proposed method performs favorably against other methods in small-to-medium problem settings. And it shows comparable performance as state-of-the-art in large problem setting.

Kevin Alex Zhang, Lei Xu, Alfredo Cuesta-Infante et al.

The goal of video watermarking is to embed a message within a video file in a way such that it minimally impacts the viewing experience but can be recovered even if the video is redistributed and modified, allowing media producers to assert ownership over their content. This paper presents RivaGAN, a novel architecture for robust video watermarking which features a custom attention-based mechanism for embedding arbitrary data as well as two independent adversarial networks which critique the video quality and optimize for robustness. Using this technique, we are able to achieve state-of-the-art results in deep learning-based video watermarking and produce watermarked videos which have minimal visual distortion and are robust against common video processing operations.

Lei Xu, Maria Skoularidou, Alfredo Cuesta-Infante et al.

Modeling the probability distribution of rows in tabular data and generating realistic synthetic data is a non-trivial task. Tabular data usually contains a mix of discrete and continuous columns. Continuous columns may have multiple modes whereas discrete columns are sometimes imbalanced making the modeling difficult. Existing statistical and deep neural network models fail to properly model this type of data. We design TGAN, which uses a conditional generative adversarial network to address these challenges. To aid in a fair and thorough comparison, we design a benchmark with 7 simulated and 8 real datasets and several Bayesian network baselines. TGAN outperforms Bayesian methods on most of the real datasets whereas other deep learning methods could not.

Xiaojie Gao, Shikui Tu, Lei Xu

We propose a planning-based method to teach an agent to manage portfolio from scratch. Our approach combines deep reinforcement learning techniques with search techniques like AlphaGo. By uniting the advantages in A* search algorithm with Monte Carlo tree search, we come up with a new algorithm named A* tree search in which best information is returned to guide next search. Also, the expansion mode of Monte Carlo tree is improved for a higher utilization of the neural network. The suggested algorithm can also optimize non-differentiable utility function by combinatorial search. This technique is then used in our trading system. The major component is a neural network that is trained by trading experiences from tree search and outputs prior probability to guide search by pruning away branches in turn. Experimental results on simulated and real financial data verify the robustness of the proposed trading system and the trading system produces better strategies than several approaches based on reinforcement learning.

Yajing Chen, Shikui Tu, Yuqi Yi et al.

Sketch is an important media for human to communicate ideas, which reflects the superiority of human intelligence. Studies on sketch can be roughly summarized into recognition and generation. Existing models on image recognition failed to obtain satisfying performance on sketch classification. But for sketch generation, a recent study proposed a sequence-to-sequence variational-auto-encoder (VAE) model called sketch-rnn which was able to generate sketches based on human inputs. The model achieved amazing results when asked to learn one category of object, such as an animal or a vehicle. However, the performance dropped when multiple categories were fed into the model. Here, we proposed a model called sketch-pix2seq which could learn and draw multiple categories of sketches. Two modifications were made to improve the sketch-rnn model: one is to replace the bidirectional recurrent neural network (BRNN) encoder with a convolutional neural network(CNN); the other is to remove the Kullback-Leibler divergence from the objective function of VAE. Experimental results showed that models with CNN encoders outperformed those with RNN encoders in generating human-style sketches. Visualization of the latent space illustrated that the removal of KL-divergence made the encoder learn a posterior of latent space that reflected the features of different categories. Moreover, the combination of CNN encoder and removal of KL-divergence, i.e., the sketch-pix2seq model, had better performance in learning and generating sketches of multiple categories and showed promising results in creativity tasks.

Brandon Amos, Lei Xu, J. Zico Kolter

This paper presents the input convex neural network architecture. These are scalar-valued (potentially deep) neural networks with constraints on the network parameters such that the output of the network is a convex function of (some of) the inputs. The networks allow for efficient inference via optimization over some inputs to the network given others, and can be applied to settings including structured prediction, data imputation, reinforcement learning, and others. In this paper we lay the basic groundwork for these models, proposing methods for inference, optimization and learning, and analyze their representational power. We show that many existing neural network architectures can be made input-convex with a minor modification, and develop specialized optimization algorithms tailored to this setting. Finally, we highlight the performance of the methods on multi-label prediction, image completion, and reinforcement learning problems, where we show improvement over the existing state of the art in many cases.