Spatially temporally distributed informative path planning for multi-robot systems

This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their movements to build a Gaussian Process (GP) model of a spatio-temporal field. The model is then utilized to predict the spatio-temporal phenomenon at different points of interest. To spatially and temporally navigate the group of robots so that they can optimally acquire maximal information gains while their connectivity is preserved, we propose a novel multistep prediction informative path planning optimization strategy employing our newly defined local cost functions. By using the dual decomposition method, it is feasible and practical to effectively solve the optimization problem in a distributed manner. The proposed method was validated through synthetic experiments utilizing real-world data sets.

Bellman Optimal Step-size Straightening of Flow-Matching Models

Flow matching is a powerful framework for generating high-quality samples in various applications, especially image synthesis. However, the intensive computational demands of these models, especially during the fine-tuning process and sampling processes, pose significant challenges for low-resource scenarios. This paper introduces Bellman Optimal Step-size Straightening (BOSS) technique for distilling flow-matching generative models: it aims specifically for a few-step efficient image sampling while adhering to a computational budget constraint. First, this technique involves a dynamic programming algorithm that optimizes the step sizes of the pretrained network. Then, it refines the velocity network to match the optimal step sizes, aiming to straighten the generation paths. Extensive experimental evaluations across image generation tasks demonstrate the efficacy of BOSS in terms of both resource utilization and image quality. Our results reveal that BOSS achieves substantial gains in efficiency while maintaining competitive sample quality, effectively bridging the gap between low-resource constraints and the demanding requirements of flow-matching generative models. Our paper also fortifies the responsible development of artificial intelligence, offering a more sustainable generative model that reduces computational costs and environmental footprints. Our code can be found at https://github.com/nguyenngocbaocmt02/BOSS.

Flow Matching in Latent Space

Flow matching is a recent framework to train generative models that exhibits impressive empirical performance while being relatively easier to train compared with diffusion-based models. Despite its advantageous properties, prior methods still face the challenges of expensive computing and a large number of function evaluations of off-the-shelf solvers in the pixel space. Furthermore, although latent-based generative methods have shown great success in recent years, this particular model type remains underexplored in this area. In this work, we propose to apply flow matching in the latent spaces of pretrained autoencoders, which offers improved computational efficiency and scalability for high-resolution image synthesis. This enables flow-matching training on constrained computational resources while maintaining their quality and flexibility. Additionally, our work stands as a pioneering contribution in the integration of various conditions into flow matching for conditional generation tasks, including label-conditioned image generation, image inpainting, and semantic-to-image generation. Through extensive experiments, our approach demonstrates its effectiveness in both quantitative and qualitative results on various datasets, such as CelebA-HQ, FFHQ, LSUN Church & Bedroom, and ImageNet. We also provide a theoretical control of the Wasserstein-2 distance between the reconstructed latent flow distribution and true data distribution, showing it is upper-bounded by the latent flow matching objective. Our code will be available at https://github.com/VinAIResearch/LFM.git.

Application of Self-Supervised Learning to MICA Model for Reconstructing Imperfect 3D Facial Structures

In this study, we emphasize the integration of a pre-trained MICA model with an imperfect face dataset, employing a self-supervised learning approach. We present an innovative method for regenerating flawed facial structures, yielding 3D printable outputs that effectively support physicians in their patient treatment process. Our results highlight the model's capacity for concealing scars and achieving comprehensive facial reconstructions without discernible scarring. By capitalizing on pre-trained models and necessitating only a few hours of supplementary training, our methodology adeptly devises an optimal model for reconstructing damaged and imperfect facial features. Harnessing contemporary 3D printing technology, we institute a standardized protocol for fabricating realistic, camouflaging mask models for patients in a laboratory environment.

Ontology-based Solution for Building an Intelligent Searching System on Traffic Law Documents

In this paper, an ontology-based approach is used to organize the knowledge base of legal documents in road traffic law. This knowledge model is built by the improvement of ontology Rela-model. In addition, several searching problems on traffic law are proposed and solved based on the legal knowledge base. The intelligent search system on Vietnam road traffic law is constructed by applying the method. The searching system can help users to find concepts and definitions in road traffic law. Moreover, it can also determine penalties and fines for violations in the traffic. The experiment results show that the system is efficient for users' typical searching and is emerging for usage in the real-world.

Co-Factorization Model for Collaborative Filtering with Session-based Data

Matrix factorization (MF) is a common method for collaborative filtering. MF represents user preferences and item attributes by latent factors. Despite that MF is a powerful method, it suffers from not be able to identifying strong associations of closely related items. In this work, we propose a method for matrix factorization that can reflect the localized relationships between strong related items into the latent representations of items. We do it by combine two worlds: MF for collaborative filtering and item2vec for item-embedding. The proposed method is able to exploit item-item relations. Our experiments on several datasets demonstrates a better performance with the previous work.

Fast and Accurate Capitalization and Punctuation for Automatic Speech Recognition Using Transformer and Chunk Merging

In recent years, studies on automatic speech recognition (ASR) have shown outstanding results that reach human parity on short speech segments. However, there are still difficulties in standardizing the output of ASR such as capitalization and punctuation restoration for long-speech transcription. The problems obstruct readers to understand the ASR output semantically and also cause difficulties for natural language processing models such as NER, POS and semantic parsing. In this paper, we propose a method to restore the punctuation and capitalization for long-speech ASR transcription. The method is based on Transformer models and chunk merging that allows us to (1), build a single model that performs punctuation and capitalization in one go, and (2), perform decoding in parallel while improving the prediction accuracy. Experiments on British National Corpus showed that the proposed approach outperforms existing methods in both accuracy and decoding speed.

Bayesian Active Learning With Abstention Feedbacks

We study pool-based active learning with abstention feedbacks where a labeler can abstain from labeling a queried example with some unknown abstention rate. Using the Bayesian approach, we develop two new greedy algorithms that learn both the classification problem and the unknown abstention rate at the same time. These are achieved by incorporating the estimated average abstention rate into the greedy criteria. We prove that both algorithms have near-optimality guarantees: they respectively achieve a ${(1-\frac{1}{e})}$ constant factor approximation of the optimal expected or worst-case value of a useful utility function. Our experiments show the algorithms perform well in various practical scenarios.

Bayesian Pool-based Active Learning With Abstention Feedbacks

We study pool-based active learning with abstention feedbacks, where a labeler can abstain from labeling a queried example with some unknown abstention rate. This is an important problem with many useful applications. We take a Bayesian approach to the problem and develop two new greedy algorithms that learn both the classification problem and the unknown abstention rate at the same time. These are achieved by simply incorporating the estimated abstention rate into the greedy criteria. We prove that both of our algorithms have near-optimality guarantees: they respectively achieve a ${(1-\frac{1}{e})}$ constant factor approximation of the optimal expected or worst-case value of a useful utility function. Our experiments show the algorithms perform well in various practical scenarios.