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Da Sun

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2 papers
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2

AAAI Conference 2019 Conference Paper

What if We Simply Swap the Two Text Fragments? A Straightforward yet Effective Way to Test the Robustness of Methods to Confounding Signals in Nature Language Inference Tasks

  • Haohan Wang
  • Da Sun
  • Eric P. Xing

Nature language inference (NLI) task is a predictive task of determining the inference relationship of a pair of natural language sentences. With the increasing popularity of NLI, many state-of-the-art predictive models have been proposed with impressive performances. However, several works have noticed the statistical irregularities in the collected NLI data set that may result in an over-estimated performance of these models and proposed remedies. In this paper, we further investigate the statistical irregularities, what we refer as confounding factors, of the NLI data sets. With the belief that some NLI labels should preserve under swapping operations, we propose a simple yet effective way (swapping the two text fragments) of evaluating the NLI predictive models that naturally mitigate the observed problems. Further, we continue to train the predictive models with our swapping manner and propose to use the deviation of the model’s evaluation performances under different percentages of training text fragments to be swapped to describe the robustness of a predictive model. Our evaluation metrics leads to some interesting understandings of recent published NLI methods. Finally, we also apply the swapping operation on NLI models to see the effectiveness of this straightforward method in mitigating the confounding factor problems in training generic sentence embeddings for other NLP transfer tasks.

IROS Conference 2018 Conference Paper

Assisted Telemanipulation: A Stack-Of-Tasks Approach to Remote Manipulator Control

  • Todor Stoyanov
  • Robert Krug 0002
  • Andrey Kiselev
  • Da Sun
  • Amy Loutfi

This article presents an approach for assisted teleoperation of a robot arm, formulated within a real-time stack-of-tasks (SoT)whole-body motion control framework. The approach leverages the hierarchical nature of the SoT framework to integrate operator commands with assistive tasks, such as joint limit and obstacle avoidance or automatic gripper alignment. Thereby some aspects of the teleoperation problem are delegated to the controller and carried out autonomously. The key contributions of this work are two-fold: the first is a method for unobtrusive integration of autonomy in a telemanip-ulation system; and the second is a user study evaluation of the proposed system in the context of teleoperated pick-and-place tasks. The proposed approach of assistive control was found to result in higher grasp success rates and shorter trajectories than achieved through manual control, without incurring additional cognitive load to the operator.