SentiCSE: A Sentiment-aware Contrastive Sentence Embedding Framework with Sentiment-guided Textual Similarity

Recently, sentiment-aware pre-trained language models (PLMs) demonstrate impressive results in downstream sentiment analysis tasks. However, they neglect to evaluate the quality of their constructed sentiment representations; they just focus on improving the fine-tuning performance, which overshadows the representation quality. We argue that without guaranteeing the representation quality, their downstream performance can be highly dependent on the supervision of the fine-tuning data rather than representation quality. This problem would make them difficult to foray into other sentiment-related domains, especially where labeled data is scarce. We first propose Sentiment-guided Textual Similarity (SgTS), a novel metric for evaluating the quality of sentiment representations, which is designed based on the degree of equivalence in sentiment polarity between two sentences. We then propose SentiCSE, a novel Sentiment-aware Contrastive Sentence Embedding framework for constructing sentiment representations via combined word-level and sentence-level objectives, whose quality is guaranteed by SgTS. Qualitative and quantitative comparison with the previous sentiment-aware PLMs shows the superiority of our work. Our code is available at: https://github.com/nayohan/SentiCSE

Leveraging Human-Machine Interactions for Computer Vision Dataset Quality Enhancement

Large-scale datasets for single-label multi-class classification, such as \emph{ImageNet-1k}, have been instrumental in advancing deep learning and computer vision. However, a critical and often understudied aspect is the comprehensive quality assessment of these datasets, especially regarding potential multi-label annotation errors. In this paper, we introduce a lightweight, user-friendly, and scalable framework that synergizes human and machine intelligence for efficient dataset validation and quality enhancement. We term this novel framework \emph{Multilabelfy}. Central to Multilabelfy is an adaptable web-based platform that systematically guides annotators through the re-evaluation process, effectively leveraging human-machine interactions to enhance dataset quality. By using Multilabelfy on the ImageNetV2 dataset, we found that approximately $47.88\%$ of the images contained at least two labels, underscoring the need for more rigorous assessments of such influential datasets. Furthermore, our analysis showed a negative correlation between the number of potential labels per image and model top-1 accuracy, illuminating a crucial factor in model evaluation and selection. Our open-source framework, Multilabelfy, offers a convenient, lightweight solution for dataset enhancement, emphasizing multi-label proportions. This study tackles major challenges in dataset integrity and provides key insights into model performance evaluation. Moreover, it underscores the advantages of integrating human expertise with machine capabilities to produce more robust models and trustworthy data development. The source code for Multilabelfy will be available at https://github.com/esla/Multilabelfy. \keywords{Computer Vision \and Dataset Quality Enhancement \and Dataset Validation \and Human-Computer Interaction \and Multi-label Annotation.}

PolyFit: A Peg-in-hole Assembly Framework for Unseen Polygon Shapes via Sim-to-real Adaptation

The study addresses the foundational and challenging task of peg-in-hole assembly in robotics, where misalignments caused by sensor inaccuracies and mechanical errors often result in insertion failures or jamming. This research introduces PolyFit, representing a paradigm shift by transitioning from a reinforcement learning approach to a supervised learning methodology. PolyFit is a Force/Torque (F/T)-based supervised learning framework designed for 5-DoF peg-in-hole assembly. It utilizes F/T data for accurate extrinsic pose estimation and adjusts the peg pose to rectify misalignments. Extensive training in a simulated environment involves a dataset encompassing a diverse range of peg-hole shapes, extrinsic poses, and their corresponding contact F/T readings. To enhance extrinsic pose estimation, a multi-point contact strategy is integrated into the model input, recognizing that identical F/T readings can indicate different poses. The study proposes a sim-to-real adaptation method for real-world application, using a sim-real paired dataset to enable effective generalization to complex and unseen polygon shapes. PolyFit achieves impressive peg-in-hole success rates of 97.3% and 96.3% for seen and unseen shapes in simulations, respectively. Real-world evaluations further demonstrate substantial success rates of 86.7% and 85.0%, highlighting the robustness and adaptability of the proposed method.

INSTA-BEEER: Explicit Error Estimation and Refinement for Fast and Accurate Unseen Object Instance Segmentation

Efficient and accurate segmentation of unseen objects is crucial for robotic manipulation. However, it remains challenging due to over- or under-segmentation. Although existing refinement methods can enhance the segmentation quality, they fix only minor boundary errors or are not sufficiently fast. In this work, we propose INSTAnce Boundary Explicit Error Estimation and Refinement (INSTA-BEEER), a novel refinement model that allows for adding and deleting instances and sharpening boundaries. Leveraging an error-estimation-then-refinement scheme, the model first estimates the pixel-wise boundary explicit errors: true positive, true negative, false positive, and false negative pixels of the instance boundary in the initial segmentation. It then refines the initial segmentation using these error estimates as guidance. Experiments show that the proposed model significantly enhances segmentation, achieving state-of-the-art performance. Furthermore, with a fast runtime (less than 0.1 s), the model consistently improves performance across various initial segmentation methods, making it highly suitable for practical robotic applications.