Intention Communication and Hypothesis Likelihood in Game-Theoretic Motion Planning

Game-theoretic motion planners are a potent solution for controlling systems of multiple highly interactive robots. Most existing game-theoretic planners unrealistically assume a priori objective function knowledge is available to all agents. To address this, we propose a fault-tolerant receding horizon game-theoretic motion planner that leverages inter-agent communication with intention hypothesis likelihood. Specifically, robots communicate their objective function incorporating their intentions. A discrete Bayesian filter is designed to infer the objectives in real-time based on the discrepancy between observed trajectories and the ones from communicated intentions. In simulation, we consider three safety-critical autonomous driving scenarios of overtaking, lane-merging and intersection crossing, to demonstrate our planner's ability to capitalize on alternative intention hypotheses to generate safe trajectories in the presence of faulty transmissions in the communication network.

Learning Dialogue Representations from Consecutive Utterances

Learning high-quality dialogue representations is essential for solving a variety of dialogue-oriented tasks, especially considering that dialogue systems often suffer from data scarcity. In this paper, we introduce Dialogue Sentence Embedding (DSE), a self-supervised contrastive learning method that learns effective dialogue representations suitable for a wide range of dialogue tasks. DSE learns from dialogues by taking consecutive utterances of the same dialogue as positive pairs for contrastive learning. Despite its simplicity, DSE achieves significantly better representation capability than other dialogue representation and universal sentence representation models. We evaluate DSE on five downstream dialogue tasks that examine dialogue representation at different semantic granularities. Experiments in few-shot and zero-shot settings show that DSE outperforms baselines by a large margin. For example, it achieves 13 average performance improvement over the strongest unsupervised baseline in 1-shot intent classification on 6 datasets. We also provide analyses on the benefits and limitations of our model.

ConferencingSpeech 2022 Challenge: Non-intrusive Objective Speech Quality Assessment (NISQA) Challenge for Online Conferencing Applications

With the advances in speech communication systems such as online conferencing applications, we can seamlessly work with people regardless of where they are. However, during online meetings, speech quality can be significantly affected by background noise, reverberation, packet loss, network jitter, etc. Because of its nature, speech quality is traditionally assessed in subjective tests in laboratories and lately also in crowdsourcing following the international standards from ITU-T Rec. P.800 series. However, those approaches are costly and cannot be applied to customer data. Therefore, an effective objective assessment approach is needed to evaluate or monitor the speech quality of the ongoing conversation. The ConferencingSpeech 2022 challenge targets the non-intrusive deep neural network models for the speech quality assessment task. We open-sourced a training corpus with more than 86K speech clips in different languages, with a wide range of synthesized and live degradations and their corresponding subjective quality scores through crowdsourcing. 18 teams submitted their models for evaluation in this challenge. The blind test sets included about 4300 clips from wide ranges of degradations. This paper describes the challenge, the datasets, and the evaluation methods and reports the final results.

Control Barrier Functions for Systems with Multiple Control Inputs

Control Barrier Functions (CBFs) are becoming popular tools in guaranteeing safety for nonlinear systems and constraints, and they can reduce a constrained optimal control problem into a sequence of Quadratic Programs (QPs) for affine control systems. The recently proposed High Order Control Barrier Functions (HOCBFs) work for arbitrary relative degree constraints. One of the challenges in a HOCBF is to address the relative degree problem when a system has multiple control inputs, i.e., the relative degree could be defined with respect to different components of the control vector. This paper proposes two methods for HOCBFs to deal with systems with multiple control inputs: a general integral control method and a method which is simpler but limited to specific classes of physical systems. When control bounds are involved, the feasibility of the above mentioned QPs can also be significantly improved with the proposed methods. We illustrate our approaches on a unicyle model with two control inputs, and compare the two proposed methods to demonstrate their effectiveness and performance.

Differentiable Control Barrier Functions for Vision-based End-to-End Autonomous Driving

Guaranteeing safety of perception-based learning systems is challenging due to the absence of ground-truth state information unlike in state-aware control scenarios. In this paper, we introduce a safety guaranteed learning framework for vision-based end-to-end autonomous driving. To this end, we design a learning system equipped with differentiable control barrier functions (dCBFs) that is trained end-to-end by gradient descent. Our models are composed of conventional neural network architectures and dCBFs. They are interpretable at scale, achieve great test performance under limited training data, and are safety guaranteed in a series of autonomous driving scenarios such as lane keeping and obstacle avoidance. We evaluated our framework in a sim-to-real environment, and tested on a real autonomous car, achieving safe lane following and obstacle avoidance via Augmented Reality (AR) and real parked vehicles.

QaNER: Prompting Question Answering Models for Few-shot Named Entity Recognition

Recently, prompt-based learning for pre-trained language models has succeeded in few-shot Named Entity Recognition (NER) by exploiting prompts as task guidance to increase label efficiency. However, previous prompt-based methods for few-shot NER have limitations such as a higher computational complexity, poor zero-shot ability, requiring manual prompt engineering, or lack of prompt robustness. In this work, we address these shortcomings by proposing a new prompt-based learning NER method with Question Answering (QA), called QaNER. Our approach includes 1) a refined strategy for converting NER problems into the QA formulation; 2) NER prompt generation for QA models; 3) prompt-based tuning with QA models on a few annotated NER examples; 4) zero-shot NER by prompting the QA model. Comparing the proposed approach with previous methods, QaNER is faster at inference, insensitive to the prompt quality, and robust to hyper-parameters, as well as demonstrating significantly better low-resource performance and zero-shot capability.

BarrierNet: A Safety-Guaranteed Layer for Neural Networks

This paper introduces differentiable higher-order control barrier functions (CBF) that are end-to-end trainable together with learning systems. CBFs are usually overly conservative, while guaranteeing safety. Here, we address their conservativeness by softening their definitions using environmental dependencies without loosing safety guarantees, and embed them into differentiable quadratic programs. These novel safety layers, termed a BarrierNet, can be used in conjunction with any neural network-based controller, and can be trained by gradient descent. BarrierNet allows the safety constraints of a neural controller be adaptable to changing environments. We evaluate them on a series of control problems such as traffic merging and robot navigations in 2D and 3D space, and demonstrate their effectiveness compared to state-of-the-art approaches.

Two-stage Voice Application Recommender System for Unhandled Utterances in Intelligent Personal Assistant

Intelligent personal assistants (IPA) enable voice applications that facilitate people's daily tasks. However, due to the complexity and ambiguity of voice requests, some requests may not be handled properly by the standard natural language understanding (NLU) component. In such cases, a simple reply like "Sorry, I don't know" hurts the user's experience and limits the functionality of IPA. In this paper, we propose a two-stage shortlister-reranker recommender system to match third-party voice applications (skills) to unhandled utterances. In this approach, a skill shortlister is proposed to retrieve candidate skills from the skill catalog by calculating both lexical and semantic similarity between skills and user requests. We also illustrate how to build a new system by using observed data collected from a baseline rule-based system, and how the exposure biases can generate discrepancy between offline and human metrics. Lastly, we present two relabeling methods that can handle the incomplete ground truth, and mitigate exposure bias. We demonstrate the effectiveness of our proposed system through extensive offline experiments. Furthermore, we present online A/B testing results that show a significant boost on user experience satisfaction.

Virtual Augmentation Supported Contrastive Learning of Sentence Representations

Despite profound successes, contrastive representation learning relies on carefully designed data augmentations using domain specific knowledge. This challenge is magnified in natural language processing where no general rules exist for data augmentation due to the discrete nature of natural language. We tackle this challenge by presenting a Virtual augmentation Supported Contrastive Learning of sentence representations (VaSCL). Originating from the interpretation that data augmentation essentially constructs the neighborhoods of each training instance, we in turn utilize the neighborhood to generate effective data augmentations. Leveraging the large training batch size of contrastive learning, we approximate the neighborhood of an instance via its K-nearest in-batch neighbors in the representation space. We then define an instance discrimination task within this neighborhood, and generate the virtual augmentation in an adversarial training manner. We access the performance of VaSCL on a wide range of downstream tasks, and set a new state-of-the-art for unsupervised sentence representation learning.

Lifelong Pretraining: Continually Adapting Language Models to Emerging Corpora

Pretrained language models (PTLMs) are typically learned over a large, static corpus and further fine-tuned for various downstream tasks. However, when deployed in the real world, a PTLM-based model must deal with data from a new domain that deviates from what the PTLM was initially trained on, or newly emerged data that contains out-of-distribution information. In this paper, we study a lifelong language model pretraining challenge where a PTLM is continually updated so as to adapt to emerging data. Over a domain-incremental research paper stream and a chronologically ordered tweet stream, we incrementally pretrain a PTLM with different continual learning algorithms, and keep track of the downstream task performance (after fine-tuning) to analyze its ability of acquiring new knowledge and preserving learned knowledge. Our experiments show continual learning algorithms improve knowledge preservation, with logit distillation being the most effective approach. We further show that continual pretraining improves generalization when training and testing data of downstream tasks are drawn from different time steps, but do not improve when they are from the same time steps. We believe our problem formulation, methods, and analysis will inspire future studies towards continual pretraining of language models.