OpenRaiser/Intern-Atlas huggingface dataset:
Neuro-Planner: A 3D Visual Navigation Method for MAV with Depth Camera based on Neuromorphic Reinforcement Learning
Venue: arXiv cs.RO 2022
Year: 2022

Traditional visual navigation methods of micro aerial vehicle (MAV) usually calculate a passable path that satisfies the constraints depending on a prior map. However, these methods have issues such as high demand for computing resources and poor robustness in face of unfamiliar environments. Aiming to solve the above problems, we propose a neuromorphic reinforcement learning method (Neuro-Planner) that combines spiking neural network (SNN) and deep reinforcement learning (DRL) to realize MAV 3D visual navigation with depth camera. Specifically, we design spiking actor network based on two-state LIF (TS-LIF) neurons and its encoding-decoding schemes for efficient inference. Then our improved hybrid deep deterministic policy gradient (HDDPG) and TS-LIF-based spatio-temporal back propagation (STBP) algorithms are used as the training framework for actor-critic network architecture. To verify the effectiveness of the proposed Neuro-Planner, we carry out detailed comparison experiments with various SNN training algorithm (STBP, BPTT and SLAYER) in the software-in-the-loop (SITL) simulation framework. The navigation success rate of our HDDPG-STBP is 4.3\% and 5.3\% higher than that of the original DDPG in the two evaluation environments. To the best of our knowledge, this is the first work combining neuromorphic computing and deep reinforcement learning for MAV 3D visual navigation task.
Multi-stream Fusion for Class Incremental Learning in Pill Image Classification
Venue: arXiv cs.CV 2022
Year: 2022

Classifying pill categories from real-world images is crucial for various smart healthcare applications. Although existing approaches in image classification might achieve a good performance on fixed pill categories, they fail to handle novel instances of pill categories that are frequently presented to the learning algorithm. To this end, a trivial solution is to train the model with novel classes. However, this may result in a phenomenon known as catastrophic forgetting, in which the system forgets what it learned in previous classes. In this paper, we address this challenge by introducing the class incremental learning (CIL) ability to traditional pill image classification systems. Specifically, we propose a novel incremental multi-stream intermediate fusion framework enabling incorporation of an additional guidance information stream that best matches the domain of the problem into various state-of-the-art CIL methods. From this framework, we consider color-specific information of pill images as a guidance stream and devise an approach, namely "Color Guidance with Multi-stream intermediate fusion"(CG-IMIF) for solving CIL pill image classification task. We conduct comprehensive experiments on real-world incremental pill image classification dataset, namely VAIPE-PCIL, and find that the CG-IMIF consistently outperforms several state-of-the-art methods by a large margin in different task settings. Our code, data, and trained model are available at https://github.com/vinuni-vishc/CG-IMIF.
Non-closure under complementation for unambiguous linear grammars
Venue: arXiv cs.FL 2022
Year: 2022

The paper demonstrates the non-closure of the family of unambiguous linear languages (that is, those defined by unambiguous linear context-free grammars) under complementation. To be precise, a particular unambiguous linear grammar is presented, and it is proved that the complement of this language is not defined by any context-free grammar. This also constitutes an alternative proof for the result of Hibbard and Ullian ("The independence of inherent ambiguity from complementedness among context-free languages", J.ACM, 1966) on the non-closure of the unambiguous languages under complementation.
Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning
Venue: arXiv cs.RO 2022
Year: 2022

We consider how to most efficiently leverage teleoperator time to collect data for learning robust image-based value functions and policies for sparse reward robotic tasks. To accomplish this goal, we modify the process of data collection to include more than just successful demonstrations of the desired task. Instead we develop a novel protocol that we call Visual Backtracking Teleoperation (VBT), which deliberately collects a dataset of visually similar failures, recoveries, and successes. VBT data collection is particularly useful for efficiently learning accurate value functions from small datasets of image-based observations. We demonstrate VBT on a real robot to perform continuous control from image observations for the deformable manipulation task of T-shirt grasping. We find that by adjusting the data collection process we improve the quality of both the learned value functions and policies over a variety of baseline methods for data collection. Specifically, we find that offline reinforcement learning on VBT data outperforms standard behavior cloning on successful demonstration data by 13% when both methods are given equal-sized datasets of 60 minutes of data from the real robot.
clip2latent: Text driven sampling of a pre-trained StyleGAN using denoising diffusion and CLIP
Venue: arXiv cs.CV 2022
Year: 2022

We introduce a new method to efficiently create text-to-image models from a pre-trained CLIP and StyleGAN. It enables text driven sampling with an existing generative model without any external data or fine-tuning. This is achieved by training a diffusion model conditioned on CLIP embeddings to sample latent vectors of a pre-trained StyleGAN, which we call clip2latent. We leverage the alignment between CLIP's image and text embeddings to avoid the need for any text labelled data for training the conditional diffusion model. We demonstrate that clip2latent allows us to generate high-resolution (1024x1024 pixels) images based on text prompts with fast sampling, high image quality, and low training compute and data requirements. We also show that the use of the well studied StyleGAN architecture, without further fine-tuning, allows us to directly apply existing methods to control and modify the generated images adding a further layer of control to our text-to-image pipeline.
SoccerNet 2022 Challenges Results
Venue: arXiv cs.CV 2022
Year: 2022

The SoccerNet 2022 challenges were the second annual video understanding challenges organized by the SoccerNet team. In 2022, the challenges were composed of 6 vision-based tasks: (1) action spotting, focusing on retrieving action timestamps in long untrimmed videos, (2) replay grounding, focusing on retrieving the live moment of an action shown in a replay, (3) pitch localization, focusing on detecting line and goal part elements, (4) camera calibration, dedicated to retrieving the intrinsic and extrinsic camera parameters, (5) player re-identification, focusing on retrieving the same players across multiple views, and (6) multiple object tracking, focusing on tracking players and the ball through unedited video streams. Compared to last year's challenges, tasks (1-2) had their evaluation metrics redefined to consider tighter temporal accuracies, and tasks (3-6) were novel, including their underlying data and annotations. More information on the tasks, challenges and leaderboards are available on https://www.soccer-net.org. Baselines and development kits are available on https://github.com/SoccerNet.
Geometry Driven Progressive Warping for One-Shot Face Animation
Venue: arXiv cs.CV 2022
Year: 2022

Face animation aims at creating photo-realistic portrait videos with animated poses and expressions. A common practice is to generate displacement fields that are used to warp pixels and features from source to target. However, prior attempts often produce sub-optimal displacements. In this work, we present a geometry driven model and propose two geometric patterns as guidance: 3D face rendered displacement maps and posed neural codes. The model can optionally use one of the patterns as guidance for displacement estimation. To model displacements at locations not covered by the face model (e.g., hair), we resort to source image features for contextual information and propose a progressive warping module that alternates between feature warping and displacement estimation at increasing resolutions. We show that the proposed model can synthesize portrait videos with high fidelity and achieve the new state-of-the-art results on the VoxCeleb1 and VoxCeleb2 datasets for both cross identity and same identity reconstruction.
Medical Image Retrieval via Nearest Neighbor Search on Pre-trained Image Features
Venue: arXiv cs.CV 2022
Year: 2022

Nearest neighbor search (NNS) aims to locate the points in high-dimensional space that is closest to the query point. The brute-force approach for finding the nearest neighbor becomes computationally infeasible when the number of points is large. The NNS has multiple applications in medicine, such as searching large medical imaging databases, disease classification, diagnosis, etc. With a focus on medical imaging, this paper proposes DenseLinkSearch an effective and efficient algorithm that searches and retrieves the relevant images from heterogeneous sources of medical images. Towards this, given a medical database, the proposed algorithm builds the index that consists of pre-computed links of each point in the database. The search algorithm utilizes the index to efficiently traverse the database in search of the nearest neighbor. We extensively tested the proposed NNS approach and compared the performance with state-of-the-art NNS approaches on benchmark datasets and our created medical image datasets. The proposed approach outperformed the existing approach in terms of retrieving accurate neighbors and retrieval speed. We also explore the role of medical image feature representation in content-based medical image retrieval tasks. We propose a Transformer-based feature representation technique that outperformed the existing pre-trained Transformer approach on CLEF 2011 medical image retrieval task. The source code of our experiments are available at https://github.com/deepaknlp/DLS.
Ask Me Anything: A simple strategy for prompting language models
Venue: arXiv cs.CL 2022
Year: 2022

Large language models (LLMs) transfer well to new tasks out-of-the-box simply given a natural language prompt that demonstrates how to perform the task and no additional training. Prompting is a brittle process wherein small modifications to the prompt can cause large variations in the model predictions, and therefore significant effort is dedicated towards designing a painstakingly "perfect prompt" for a task. To mitigate the high degree of effort involved in prompt-design, we instead ask whether producing multiple effective, yet imperfect, prompts and aggregating them can lead to a high quality prompting strategy. Our observations motivate our proposed prompting method, ASK ME ANYTHING (AMA). We first develop an understanding of the effective prompt formats, finding that question-answering (QA) prompts, which encourage open-ended generation ("Who went to the park?") tend to outperform those that restrict the model outputs ("John went to the park. Output True or False."). Our approach recursively uses the LLM itself to transform task inputs to the effective QA format. We apply the collected prompts to obtain several noisy votes for the input's true label. We find that the prompts can have very different accuracies and complex dependencies and thus propose to use weak supervision, a procedure for combining the noisy predictions, to produce the final predictions for the inputs. We evaluate AMA across open-source model families (e.g., EleutherAI, BLOOM, OPT, and T0) and model sizes (125M-175B parameters), demonstrating an average performance lift of 10.2% over the few-shot baseline. This simple strategy enables the open-source GPT-J-6B model to match and exceed the performance of few-shot GPT3-175B on 15 of 20 popular benchmarks. Averaged across these tasks, the GPT-J-6B model outperforms few-shot GPT3-175B. We release our code here: https://github.com/HazyResearch/ama_prompting
TgDLF2.0: Theory-guided deep-learning for electrical load forecasting via Transformer and transfer learning
Venue: arXiv cs.LG 2022
Year: 2022

Electrical energy is essential in today's society. Accurate electrical load forecasting is beneficial for better scheduling of electricity generation and saving electrical energy. In this paper, we propose theory-guided deep-learning load forecasting 2.0 (TgDLF2.0) to solve this issue, which is an improved version of the theory-guided deep-learning framework for load forecasting via ensemble long short-term memory (TgDLF). TgDLF2.0 introduces the deep-learning model Transformer and transfer learning on the basis of dividing the electrical load into dimensionless trends and local fluctuations, which realizes the utilization of domain knowledge, captures the long-term dependency of the load series, and is more appropriate for realistic scenarios with scarce samples. Cross-validation experiments on different districts show that TgDLF2.0 is approximately 16% more accurate than TgDLF and saves more than half of the training time. TgDLF2.0 with 50% weather noise has the same accuracy as TgDLF without noise, which proves its robustness. We also preliminarily mine the interpretability of Transformer in TgDLF2.0, which may provide future potential for better theory guidance. Furthermore, experiments demonstrate that transfer learning can accelerate convergence of the model in half the number of training epochs and achieve better performance.
Toward Knowledge-Driven Speech-Based Models of Depression: Leveraging Spectrotemporal Variations in Speech Vowels
Venue: arXiv cs.LG 2022
Year: 2022

Psychomotor retardation associated with depression has been linked with tangible differences in vowel production. This paper investigates a knowledge-driven machine learning (ML) method that integrates spectrotemporal information of speech at the vowel-level to identify the depression. Low-level speech descriptors are learned by a convolutional neural network (CNN) that is trained for vowel classification. The temporal evolution of those low-level descriptors is modeled at the high-level within and across utterances via a long short-term memory (LSTM) model that takes the final depression decision. A modified version of the Local Interpretable Model-agnostic Explanations (LIME) is further used to identify the impact of the low-level spectrotemporal vowel variation on the decisions and observe the high-level temporal change of the depression likelihood. The proposed method outperforms baselines that model the spectrotemporal information in speech without integrating the vowel-based information, as well as ML models trained with conventional prosodic and spectrotemporal features. The conducted explainability analysis indicates that spectrotemporal information corresponding to non-vowel segments less important than the vowel-based information. Explainability of the high-level information capturing the segment-by-segment decisions is further inspected for participants with and without depression. The findings from this work can provide the foundation toward knowledge-driven interpretable decision-support systems that can assist clinicians to better understand fine-grain temporal changes in speech data, ultimately augmenting mental health diagnosis and care.
Attention-based Ingredient Phrase Parser
Venue: arXiv cs.CL 2022
Year: 2022

As virtual personal assistants have now penetrated the consumer market, with products such as Siri and Alexa, the research community has produced several works on task-oriented dialogue tasks such as hotel booking, restaurant booking, and movie recommendation. Assisting users to cook is one of these tasks that are expected to be solved by intelligent assistants, where ingredients and their corresponding attributes, such as name, unit, and quantity, should be provided to users precisely and promptly. However, existing ingredient information scraped from the cooking website is in the unstructured form with huge variation in the lexical structure, for example, '1 garlic clove, crushed', and '1 (8 ounce) package cream cheese, softened', making it difficult to extract information exactly. To provide an engaged and successful conversational service to users for cooking tasks, we propose a new ingredient parsing model that can parse an ingredient phrase of recipes into the structure form with its corresponding attributes with over 0.93 F1-score. Experimental results show that our model achieves state-of-the-art performance on AllRecipes and Food.com datasets.
Diverse End User Requirements
Venue: arXiv cs.SE 2022
Year: 2022

As part of our larger research effort to improve support for diverse end user human-centric aspects during software development, we wanted to better understand how developers currently go about addressing these challenging human-centric aspects of their end users in contemporary software development projects. We wanted to find out which are the key end user human-centric aspects that software developers currently find challenging to address, and how they currently go about trying to address diverse end user human-centric aspects. We wanted to find out what sorts of end user human-centric aspects they tend to encounter, which ones they view as more important and which more challenging to address, what techniques (if any) they currently use to address (some of) them, and where they perceive further research in this area could be done to provide them practical support. To this end we carried out a detailed online survey of developers and development team managers, receiving 60 usable responses. We interviewed 12 developers and managers from a range of different practice domains, role specialisations and experience levels to explore further details about issues.
JoeyS2T: Minimalistic Speech-to-Text Modeling with JoeyNMT
Venue: arXiv cs.CL 2022
Year: 2022

JoeyS2T is a JoeyNMT extension for speech-to-text tasks such as automatic speech recognition and end-to-end speech translation. It inherits the core philosophy of JoeyNMT, a minimalist NMT toolkit built on PyTorch, seeking simplicity and accessibility. JoeyS2T's workflow is self-contained, starting from data pre-processing, over model training and prediction to evaluation, and is seamlessly integrated into JoeyNMT's compact and simple code base. On top of JoeyNMT's state-of-the-art Transformer-based encoder-decoder architecture, JoeyS2T provides speech-oriented components such as convolutional layers, SpecAugment, CTC-loss, and WER evaluation. Despite its simplicity compared to prior implementations, JoeyS2T performs competitively on English speech recognition and English-to-German speech translation benchmarks. The implementation is accompanied by a walk-through tutorial and available on https://github.com/may-/joeys2t.
Improved Anomaly Detection by Using the Attention-Based Isolation Forest
Venue: arXiv cs.LG 2022
Year: 2022

A new modification of Isolation Forest called Attention-Based Isolation Forest (ABIForest) for solving the anomaly detection problem is proposed. It incorporates the attention mechanism in the form of the Nadaraya-Watson regression into the Isolation Forest for improving solution of the anomaly detection problem. The main idea underlying the modification is to assign attention weights to each path of trees with learnable parameters depending on instances and trees themselves. The Huber's contamination model is proposed to be used for defining the attention weights and their parameters. As a result, the attention weights are linearly depend on the learnable attention parameters which are trained by solving the standard linear or quadratic optimization problem. ABIForest can be viewed as the first modification of Isolation Forest, which incorporates the attention mechanism in a simple way without applying gradient-based algorithms. Numerical experiments with synthetic and real datasets illustrate outperforming results of ABIForest. The code of proposed algorithms is available.
Privacy-Preserving Text Classification on BERT Embeddings with Homomorphic Encryption
Venue: arXiv cs.CL 2022
Year: 2022

Embeddings, which compress information in raw text into semantics-preserving low-dimensional vectors, have been widely adopted for their efficacy. However, recent research has shown that embeddings can potentially leak private information about sensitive attributes of the text, and in some cases, can be inverted to recover the original input text. To address these growing privacy challenges, we propose a privatization mechanism for embeddings based on homomorphic encryption, to prevent potential leakage of any piece of information in the process of text classification. In particular, our method performs text classification on the encryption of embeddings from state-of-the-art models like BERT, supported by an efficient GPU implementation of CKKS encryption scheme. We show that our method offers encrypted protection of BERT embeddings, while largely preserving their utility on downstream text classification tasks.
U3E: Unsupervised and Erasure-based Evidence Extraction for Machine Reading Comprehension
Venue: arXiv cs.CL 2022
Year: 2022

More tasks in Machine Reading Comprehension(MRC) require, in addition to answer prediction, the extraction of evidence sentences that support the answer. However, the annotation of supporting evidence sentences is usually time-consuming and labor-intensive. In this paper, to address this issue and considering that most of the existing extraction methods are semi-supervised, we propose an unsupervised evidence extraction method (U3E). U3E takes the changes after sentence-level feature erasure in the document as input, simulating the decline in problem-solving ability caused by human memory decline. In order to make selections on the basis of fully understanding the semantics of the original text, we also propose metrics to quickly select the optimal memory model for this input changes. To compare U3E with typical evidence extraction methods and investigate its effectiveness in evidence extraction, we conduct experiments on different datasets. Experimental results show that U3E is simple but effective, not only extracting evidence more accurately, but also significantly improving model performance.
Cooperative Coverage with a Leader and a Wingmate in Communication-Constrained Environments
Venue: arXiv cs.RO 2022
Year: 2022

We consider a mission framework in which two unmanned vehicles (UVs), a leader and a wingmate, are required to provide cooperative coverage of an environment while being within a short communication range. This framework finds applications in underwater and/or military domains, where certain constraints are imposed on communication by either the application or the environment. An important objective of missions within this framework is to minimize the total travel and communication costs of the leader-wingmate duo. In this paper, we propose and formulate the problem of finding routes for the UVs that minimize the sum of their travel and communication costs as a network optimization problem of the form of a binary program (BP). The BP is computationally expensive, with the time required to compute optimal solutions increasing rapidly with the problem size. To address this challenge, here, we propose two algorithms, an approximation algorithm and a heuristic algorithm, to solve large-scale instances of the problem swiftly. We demonstrate the effectiveness and the scalability of these algorithms through an analysis of extensive numerical simulations performed over 500 instances, with the number of targets in the instances ranging from 6 to 100.