Mix-and-Match: Scalable Dialog Response Retrieval using Gaussian Mixture Embeddings

Embedding-based approaches for dialog response retrieval embed the context-response pairs as points in the embedding space. These approaches are scalable, but fail to account for the complex, many-to-many relationships that exist between context-response pairs. On the other end of the spectrum, there are approaches that feed the context-response pairs jointly through multiple layers of neural networks. These approaches can model the complex relationships between context-response pairs, but fail to scale when the set of responses is moderately large (>100). In this paper, we combine the best of both worlds by proposing a scalable model that can learn complex relationships between context-response pairs. Specifically, the model maps the contexts as well as responses to probability distributions over the embedding space. We train the models by optimizing the Kullback-Leibler divergence between the distributions induced by context-response pairs in the training data. We show that the resultant model achieves better performance as compared to other embedding-based approaches on publicly available conversation data.

Variational Learning for Unsupervised Knowledge Grounded Dialogs

Recent methods for knowledge grounded dialogs generate responses by incorporating information from an external textual document. These methods do not require the exact document to be known during training and rely on the use of a retrieval system to fetch relevant documents from a large index. The documents used to generate the responses are modeled as latent variables whose prior probabilities need to be estimated. Models such as RAG , marginalize the document probabilities over the documents retrieved from the index to define the log likelihood loss function which is optimized end-to-end. In this paper, we develop a variational approach to the above technique wherein, we instead maximize the Evidence Lower bound (ELBO). Using a collection of three publicly available open-conversation datasets, we demonstrate how the posterior distribution, that has information from the ground-truth response, allows for a better approximation of the objective function during training. To overcome the challenges associated with sampling over a large knowledge collection, we develop an efficient approach to approximate the ELBO. To the best of our knowledge we are the first to apply variational training for open-scale unsupervised knowledge grounded dialog systems.

Localization of a Smart Infrastructure Fisheye Camera in a Prior Map for Autonomous Vehicles

This work presents a technique for localization of a smart infrastructure node, consisting of a fisheye camera, in a prior map. These cameras can detect objects that are outside the line of sight of the autonomous vehicles (AV) and send that information to AVs using V2X technology. However, in order for this information to be of any use to the AV, the detected objects should be provided in the reference frame of the prior map that the AV uses for its own navigation. Therefore, it is important to know the accurate pose of the infrastructure camera with respect to the prior map. Here we propose to solve this localization problem in two steps, \textit{(i)} we perform feature matching between perspective projection of fisheye image and bird's eye view (BEV) satellite imagery from the prior map to estimate an initial camera pose, \textit{(ii)} we refine the initialization by maximizing the Mutual Information (MI) between intensity of pixel values of fisheye image and reflectivity of 3D LiDAR points in the map data. We validate our method on simulated data and also present results with real world data.

Infrastructure Node-based Vehicle Localization for Autonomous Driving

Vehicle localization is essential for autonomous vehicle (AV) navigation and Advanced Driver Assistance Systems (ADAS). Accurate vehicle localization is often achieved via expensive inertial navigation systems or by employing compute-intensive vision processing (LiDAR/camera) to augment the low-cost and noisy inertial sensors. Here we have developed a framework for fusing the information obtained from a smart infrastructure node (ix-node) with the autonomous vehicles on-board localization engine to estimate the robust and accurate pose of the ego-vehicle even with cheap inertial sensors. A smart ix-node is typically used to augment the perception capability of an autonomous vehicle, especially when the onboard perception sensors of AVs are blocked by the dynamic and static objects in the environment thereby making them ineffectual. In this work, we utilize this perception output from an ix-node to increase the localization accuracy of the AV. The fusion of ix-node perception output with the vehicle's low-cost inertial sensors allows us to perform reliable vehicle localization without the need for relying on expensive inertial navigation systems or compute-intensive vision processing onboard the AVs. The proposed approach has been tested on real-world datasets collected from a test track in Ann Arbor, Michigan. Detailed analysis of the experimental results shows that incorporating ix-node data improves localization performance.

Motion based Extrinsic Calibration of a 3D Lidar and an IMU

This work presents a novel extrinsic calibration estimation algorithm between a 3D Lidar and an IMU using an Extended Kalman Filter which exploits the motion based calibration constraint for state update. The steps include, data collection by moving the Lidar Inertial sensor suite randomly along all degrees of freedom, determination of the inter sensor rotation by using rotational component of the aforementioned motion based calibration constraint in a least squares optimization framework, and finally determination of inter sensor translation using the motion based calibration constraint in an Extended Kalman Filter (EKF) framework. We experimentally validate our method on data collected in our lab.

Developing parsimonious ensembles using predictor diversity within a reinforcement learning framework

Heterogeneous ensembles that can aggregate an unrestricted number and variety of base predictors can effectively address challenging prediction problems. In particular, accurate ensembles that are also parsimonious, i.e., consist of as few base predictors as possible, can help reveal potentially useful knowledge about the target problem domain. Although ensemble selection offers a potential approach to achieving these goals, the currently available algorithms are limited in their abilities. In this paper, we present several algorithms that incorporate ensemble diversity into a reinforcement learning (RL)-based ensemble selection framework to build accurate and parsimonious ensembles. These algorithms, as well as several baselines, are rigorously evaluated on datasets from diverse domains in terms of the predictive performance and parsimony of their ensembles. This evaluation demonstrates that our diversity-incorporated RL-based algorithms perform better than the others for constructing simultaneously accurate and parsimonious ensembles. These algorithms can eventually aid the interpretation or reverse engineering of predictive models assimilated into effective ensembles. To enable such a translation, an implementation of these algorithms, as well the experimental setup they are evaluated in, has been made available at https://github.com/GauravPandeyLab/lens-learning-ensembles-using-reinforcement-learning.

Real Time Incremental Foveal Texture Mapping for Autonomous Vehicles

We propose an end-to-end real time framework to generate high resolution graphics grade textured 3D map of urban environment. The generated detailed map finds its application in the precise localization and navigation of autonomous vehicles. It can also serve as a virtual test bed for various vision and planning algorithms as well as a background map in the computer games. In this paper, we focus on two important issues: (i) incrementally generating a map with coherent 3D surface, in real time and (ii) preserving the quality of color texture. To handle the above issues, firstly, we perform a pose-refinement procedure which leverages camera image information, Delaunay triangulation and existing scan matching techniques to produce high resolution 3D map from the sparse input LIDAR scan. This 3D map is then texturized and accumulated by using a novel technique of ray-filtering which handles occlusion and inconsistencies in pose-refinement. Further, inspired by human fovea, we introduce foveal-processing which significantly reduces the computation time and also assists ray-filtering to maintain consistency in color texture and coherency in 3D surface of the output map. Moreover, we also introduce texture error (TE) and mean texture mapping error (MTME), which provides quantitative measure of texturing and overall quality of the textured maps.

Simulated Chats for Task-oriented Dialog: Learning to Generate Conversations from Instructions

Popular task-oriented dialog data sets such as MultiWOZ (Budzianowski et al. 2018) are created by providing crowd-sourced workers a goal instruction, expressed in natural language, that describes the task to be accomplished. Crowd-sourced workers play the role of a user and an agent to generate dialogs to accomplish tasks involving booking restaurant tables, making train reservations, calling a taxi etc. However, creating large crowd-sourced datasets can be time consuming and expensive. To reduce the cost associated with generating such dialog datasets, recent work has explored methods to automatically create larger datasets from small samples.In this paper, we present a data creation strategy that uses the pre-trained language model, GPT2 (Radford et al. 2018), to simulate the interaction between crowd-sourced workers by creating a user bot and an agent bot. We train the simulators using a smaller percentage of actual crowd-generated conversations and their corresponding goal instructions. We demonstrate that by using the simulated data, we achieve significant improvements in both low-resource setting as well as in over-all task performance. To the best of our knowledge we are the first to present a model for generating entire conversations by simulating the crowd-sourced data collection process