The ability to fuse sentences is highly attractive for summarization systems because it is an essential step to produce succinct abstracts. However, to date, summarizers can fail on fusing sentences. They tend to produce few summary sentences by fusion or generate incorrect fusions that lead the summary to fail to retain the original meaning. In this paper, we explore the ability of Transformers to fuse sentences and propose novel algorithms to enhance their ability to perform sentence fusion by leveraging the knowledge of points of correspondence between sentences. Through extensive experiments, we investigate the effects of different design choices on Transformer's performance. Our findings highlight the importance of modeling points of correspondence between sentences for effective sentence fusion.
We present an empirical study in favor of a cascade architecture to neural text summarization. Summarization practices vary widely but few other than news summarization can provide a sufficient amount of training data enough to meet the requirement of end-to-end neural abstractive systems which perform content selection and surface realization jointly to generate abstracts. Such systems also pose a challenge to summarization evaluation, as they force content selection to be evaluated along with text generation, yet evaluation of the latter remains an unsolved problem. In this paper, we present empirical results showing that the performance of a cascaded pipeline that separately identifies important content pieces and stitches them together into a coherent text is comparable to or outranks that of end-to-end systems, whereas a pipeline architecture allows for flexible content selection. We finally discuss how we can take advantage of a cascaded pipeline in neural text summarization and shed light on important directions for future research.
Reliable real-time planning for robots is essential in today's rapidly expanding automated ecosystem. In such environments, traditional methods that plan by relaxing constraints become unreliable or slow-down for kinematically constrained robots. This paper describes the algorithm Dynamic Motion Planning Networks (Dynamic MPNet), an extension to Motion Planning Networks, for non-holonomic robots that address the challenge of real-time motion planning using a neural planning approach. We propose modifications to the training and planning networks that make it possible for real-time planning while improving the data efficiency of training and trained models' generalizability. We evaluate our model in simulation for planning tasks for a non-holonomic robot. We also demonstrate experimental results for an indoor navigation task using a Dubins car.
As a combination of various kinds of technologies, autonomous vehicles could complete a series of driving tasks by itself, such as perception, decision-making, planning, and control. Since there is no human driver to handle the emergency situation, future transportation information is significant for automated vehicles. This paper proposes different methods to forecast the time series for autonomous vehicles, which are the nearest neighborhood (NN), fuzzy coding (FC), and long short term memory (LSTM). First, the formulation and operational process for these three approaches are introduced. Then, the vehicle velocity is regarded as a case study and the real-world dataset is utilized to predict future information via these techniques. Finally, the performance, merits, and drawbacks of the presented methods are analyzed and discussed.
Fusing sentences containing disparate content is a remarkable human ability that helps create informative and succinct summaries. Such a simple task for humans has remained challenging for modern abstractive summarizers, substantially restricting their applicability in real-world scenarios. In this paper, we present an investigation into fusing sentences drawn from a document by introducing the notion of points of correspondence, which are cohesive devices that tie any two sentences together into a coherent text. The types of points of correspondence are delineated by text cohesion theory, covering pronominal and nominal referencing, repetition and beyond. We create a dataset containing the documents, source and fusion sentences, and human annotations of points of correspondence between sentences. Our dataset bridges the gap between coreference resolution and summarization. It is publicly shared to serve as a basis for future work to measure the success of sentence fusion systems. (https://github.com/ucfnlp/points-of-correspondence)
Recently, the advancement of deep learning in discriminative feature learning from 3D LiDAR data has led to rapid development in the field of autonomous driving. However, automated processing uneven, unstructured, noisy, and massive 3D point clouds is a challenging and tedious task. In this paper, we provide a systematic review of existing compelling deep learning architectures applied in LiDAR point clouds, detailing for specific tasks in autonomous driving such as segmentation, detection, and classification. Although several published research papers focus on specific topics in computer vision for autonomous vehicles, to date, no general survey on deep learning applied in LiDAR point clouds for autonomous vehicles exists. Thus, the goal of this paper is to narrow the gap in this topic. More than 140 key contributions in the recent five years are summarized in this survey, including the milestone 3D deep architectures, the remarkable deep learning applications in 3D semantic segmentation, object detection, and classification; specific datasets, evaluation metrics, and the state of the art performance. Finally, we conclude the remaining challenges and future researches.
Recent promising effort for spectral reconstruction (SR) focuses on learning a complicated mapping through using a deeper and wider convolutional neural networks (CNNs). Nevertheless, most CNN-based SR algorithms neglect to explore the camera spectral sensitivity (CSS) prior and interdependencies among intermediate features, thus limiting the representation ability of the network and performance of SR. To conquer these issues, we propose a novel adaptive weighted attention network (AWAN) for SR, whose backbone is stacked with multiple dual residual attention blocks (DRAB) decorating with long and short skip connections to form the dual residual learning. Concretely, we investigate an adaptive weighted channel attention (AWCA) module to reallocate channel-wise feature responses via integrating correlations between channels. Furthermore, a patch-level second-order non-local (PSNL) module is developed to capture long-range spatial contextual information by second-order non-local operations for more powerful feature representations. Based on the fact that the recovered RGB images can be projected by the reconstructed hyperspectral image (HSI) and the given CSS function, we incorporate the discrepancies of the RGB images and HSIs as a finer constraint for more accurate reconstruction. Experimental results demonstrate the effectiveness of our proposed AWAN network in terms of quantitative comparison and perceptual quality over other state-of-the-art SR methods. In the NTIRE 2020 Spectral Reconstruction Challenge, our entries obtain the 1st ranking on the Clean track and the 3rd place on the Real World track. Codes are available at https://github.com/Deep-imagelab/AWAN.
Machine learning (ML) methods have gained increasing popularity in exploring and developing new materials. More specifically, graph neural network (GNN) has been applied in predicting material properties. In this work, we develop a novel model, GATGNN, for predicting inorganic material properties based on graph neural networks composed of multiple graph-attention layers (GAT) and a global attention layer. Through the application of the GAT layers, our model can efficiently learn the complex bonds shared among the atoms within each atom's local neighborhood. Subsequently, the global attention layer provides the weight coefficients of each atom in the inorganic crystal material which are used to considerably improve our model's performance. Notably, with the development of our GATGNN model, we show that our method is able to both outperform the previous models' predictions and provide insight into the crystallization of the material.
Skeleton-based action recognition has recently attracted a lot of attention. Researchers are coming up with new approaches for extracting spatio-temporal relations and making considerable progress on large-scale skeleton-based datasets. Most of the architectures being proposed are based upon recurrent neural networks (RNNs), convolutional neural networks (CNNs) and graph-based CNNs. When it comes to skeleton-based action recognition, the importance of long term contextual information is central which is not captured by the current architectures. In order to come up with a better representation and capturing of long term spatio-temporal relationships, we propose three variants of Self-Attention Network (SAN), namely, SAN-V1, SAN-V2 and SAN-V3. Our SAN variants has the impressive capability of extracting high-level semantics by capturing long-range correlations. We have also integrated the Temporal Segment Network (TSN) with our SAN variants which resulted in improved overall performance. Different configurations of Self-Attention Network (SAN) variants and Temporal Segment Network (TSN) are explored with extensive experiments. Our chosen configuration outperforms state-of-the-art Top-1 and Top-5 by 4.4% and 7.9% respectively on Kinetics and shows consistently better performance than state-of-the-art methods on NTU RGB+D.
An abstract must not change the meaning of the original text. A single most effective way to achieve that is to increase the amount of copying while still allowing for text abstraction. Human editors can usually exercise control over copying, resulting in summaries that are more extractive than abstractive, or vice versa. However, it remains poorly understood whether modern neural abstractive summarizers can provide the same flexibility, i.e., learning from single reference summaries to generate multiple summary hypotheses with varying degrees of copying. In this paper, we present a neural summarization model that, by learning from single human abstracts, can produce a broad spectrum of summaries ranging from purely extractive to highly generative ones. We frame the task of summarization as language modeling and exploit alternative mechanisms to generate summary hypotheses. Our method allows for control over copying during both training and decoding stages of a neural summarization model. Through extensive experiments we illustrate the significance of our proposed method on controlling the amount of verbatim copying and achieve competitive results over strong baselines. Our analysis further reveals interesting and unobvious facts.