Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physics-based optimization generalizes better, but it does not perform as well in complicated tasks due to the lack of high-level semantic information and the reliance on manual parametric tuning. To take advantage of these two complementary worlds, we present PyPose: a robotics-oriented, PyTorch-based library that combines deep perceptual models with physics-based optimization techniques. Our design goal for PyPose is to make it user-friendly, efficient, and interpretable with a tidy and well-organized architecture. Using an imperative style interface, it can be easily integrated into real-world robotic applications. Besides, it supports parallel computing of any order gradients of Lie groups and Lie algebras and $2^{\text{nd}}$-order optimizers, such as trust region methods. Experiments show that PyPose achieves 3-20$\times$ speedup in computation compared to state-of-the-art libraries. To boost future research, we provide concrete examples across several fields of robotics, including SLAM, inertial navigation, planning, and control.
Most graph-to-text works are built on the encoder-decoder framework with cross-attention mechanism. Recent studies have shown that explicitly modeling the input graph structure can significantly improve the performance. However, the vanilla structural encoder cannot capture all specialized information in a single forward pass for all decoding steps, resulting in inaccurate semantic representations. Meanwhile, the input graph is flatted as an unordered sequence in the cross attention, ignoring the original graph structure. As a result, the obtained input graph context vector in the decoder may be flawed. To address these issues, we propose a Structure-Aware Cross-Attention (SACA) mechanism to re-encode the input graph representation conditioning on the newly generated context at each decoding step in a structure aware manner. We further adapt SACA and introduce its variant Dynamic Graph Pruning (DGP) mechanism to dynamically drop irrelevant nodes in the decoding process. We achieve new state-of-the-art results on two graph-to-text datasets, LDC2020T02 and ENT-DESC, with only minor increase on computational cost.
This paper aims to improve the performance of text-to-SQL parsing by exploring the intrinsic uncertainties in the neural network based approaches (called SUN). From the data uncertainty perspective, it is indisputable that a single SQL can be learned from multiple semantically-equivalent questions.Different from previous methods that are limited to one-to-one mapping, we propose a data uncertainty constraint to explore the underlying complementary semantic information among multiple semantically-equivalent questions (many-to-one) and learn the robust feature representations with reduced spurious associations. In this way, we can reduce the sensitivity of the learned representations and improve the robustness of the parser. From the model uncertainty perspective, there is often structural information (dependence) among the weights of neural networks. To improve the generalizability and stability of neural text-to-SQL parsers, we propose a model uncertainty constraint to refine the query representations by enforcing the output representations of different perturbed encoding networks to be consistent with each other. Extensive experiments on five benchmark datasets demonstrate that our method significantly outperforms strong competitors and achieves new state-of-the-art results. For reproducibility, we release our code and data at https://github.com/AlibabaResearch/DAMO-ConvAI/tree/main/sunsql.
In this paper, we introduce novel lightweight generative adversarial networks, which can effectively capture long-range dependencies in the image generation process, and produce high-quality results with a much simpler architecture. To achieve this, we first introduce a long-range module, allowing the network to dynamically adjust the number of focused sampling pixels and to also augment sampling locations. Thus, it can break the limitation of the fixed geometric structure of the convolution operator, and capture long-range dependencies in both spatial and channel-wise directions. Also, the proposed long-range module can highlight negative relations between pixels, working as a regularization to stabilize training. Furthermore, we propose a new generation strategy through which we introduce metadata into the image generation process to provide basic information about target images, which can stabilize and speed up the training process. Our novel long-range module only introduces few additional parameters and is easily inserted into existing models to capture long-range dependencies. Extensive experiments demonstrate the competitive performance of our method with a lightweight architecture.
We introduce a memory-driven semi-parametric approach to text-to-image generation, which is based on both parametric and non-parametric techniques. The non-parametric component is a memory bank of image features constructed from a training set of images. The parametric component is a generative adversarial network. Given a new text description at inference time, the memory bank is used to selectively retrieve image features that are provided as basic information of target images, which enables the generator to produce realistic synthetic results. We also incorporate the content information into the discriminator, together with semantic features, allowing the discriminator to make a more reliable prediction. Experimental results demonstrate that the proposed memory-driven semi-parametric approach produces more realistic images than purely parametric approaches, in terms of both visual fidelity and text-image semantic consistency.
Story visualization aims to generate a sequence of images to narrate each sentence in a multi-sentence story with a global consistency across dynamic scenes and characters. Current works still struggle with output images' quality and consistency, and rely on additional semantic information or auxiliary captioning networks. To address these challenges, we first introduce a new sentence representation, which incorporates word information from all story sentences to mitigate the inconsistency problem. Then, we propose a new discriminator with fusion features and further extend the spatial attention to improve image quality and story consistency. Extensive experiments on different datasets and human evaluation demonstrate the superior performance of our approach, compared to state-of-the-art methods, neither using segmentation masks nor auxiliary captioning networks.
Interestingness recognition is crucial for decision making in autonomous exploration for mobile robots. Previous methods proposed an unsupervised online learning approach that can adapt to environments and detect interesting scenes quickly, but lack the ability to adapt to human-informed interesting objects. To solve this problem, we introduce a human-interactive framework, AirInteraction, that can detect human-informed objects via few-shot online learning. To reduce the communication bandwidth, we first apply an online unsupervised learning algorithm on the unmanned vehicle for interestingness recognition and then only send the potential interesting scenes to a base-station for human inspection. The human operator is able to draw and provide bounding box annotations for particular interesting objects, which are sent back to the robot to detect similar objects via few-shot learning. Only using few human-labeled examples, the robot can learn novel interesting object categories during the mission and detect interesting scenes that contain the objects. We evaluate our method on various interesting scene recognition datasets. To the best of our knowledge, it is the first human-informed few-shot object detection framework for autonomous exploration.
The importance of building text-to-SQL parsers which can be applied to new databases has long been acknowledged, and a critical step to achieve this goal is schema linking, i.e., properly recognizing mentions of unseen columns or tables when generating SQLs. In this work, we propose a novel framework to elicit relational structures from large-scale pre-trained language models (PLMs) via a probing procedure based on Poincar\'e distance metric, and use the induced relations to augment current graph-based parsers for better schema linking. Compared with commonly-used rule-based methods for schema linking, we found that probing relations can robustly capture semantic correspondences, even when surface forms of mentions and entities differ. Moreover, our probing procedure is entirely unsupervised and requires no additional parameters. Extensive experiments show that our framework sets new state-of-the-art performance on three benchmarks. We empirically verify that our probing procedure can indeed find desired relational structures through qualitative analysis.
Recently, learned image compression methods have developed rapidly and exhibited excellent rate-distortion performance when compared to traditional standards, such as JPEG, JPEG2000 and BPG. However, the learning-based methods suffer from high computational costs, which is not beneficial for deployment on devices with limited resources. To this end, we propose shift-addition parallel modules (SAPMs), including SAPM-E for the encoder and SAPM-D for the decoder, to largely reduce the energy consumption. To be specific, they can be taken as plug-and-play components to upgrade existing CNN-based architectures, where the shift branch is used to extract large-grained features as compared to small-grained features learned by the addition branch. Furthermore, we thoroughly analyze the probability distribution of latent representations and propose to use Laplace Mixture Likelihoods for more accurate entropy estimation. Experimental results demonstrate that the proposed methods can achieve comparable or even better performance on both PSNR and MS-SSIM metrics to that of the convolutional counterpart with an about 2x energy reduction.
Unmanned aerial vehicle (UAV)-based visual object tracking has enabled a wide range of applications and attracted increasing attention in the field of remote sensing because of its versatility and effectiveness. As a new force in the revolutionary trend of deep learning, Siamese networks shine in visual object tracking with their promising balance of accuracy, robustness, and speed. Thanks to the development of embedded processors and the gradual optimization of deep neural networks, Siamese trackers receive extensive research and realize preliminary combinations with UAVs. However, due to the UAV's limited onboard computational resources and the complex real-world circumstances, aerial tracking with Siamese networks still faces severe obstacles in many aspects. To further explore the deployment of Siamese networks in UAV tracking, this work presents a comprehensive review of leading-edge Siamese trackers, along with an exhaustive UAV-specific analysis based on the evaluation using a typical UAV onboard processor. Then, the onboard tests are conducted to validate the feasibility and efficacy of representative Siamese trackers in real-world UAV deployment. Furthermore, to better promote the development of the tracking community, this work analyzes the limitations of existing Siamese trackers and conducts additional experiments represented by low-illumination evaluations. In the end, prospects for the development of Siamese UAV tracking in the remote sensing field are discussed. The unified framework of leading-edge Siamese trackers, i.e., code library, and the results of their experimental evaluations are available at https://github.com/vision4robotics/SiameseTracking4UAV .