Natural Language Instructions for Intuitive Human Interaction with Robotic Assistants in Field Construction Work

The introduction of robots is widely considered to have significant potential of alleviating the issues of worker shortage and stagnant productivity that afflict the construction industry. However, it is challenging to use fully automated robots in complex and unstructured construction sites. Human-Robot Collaboration (HRC) has shown promise of combining human workers' flexibility and robot assistants' physical abilities to jointly address the uncertainties inherent in construction work. When introducing HRC in construction, it is critical to recognize the importance of teamwork and supervision in field construction and establish a natural and intuitive communication system for the human workers and robotic assistants. Natural language-based interaction can enable intuitive and familiar communication with robots for human workers who are non-experts in robot programming. However, limited research has been conducted on this topic in construction. This paper proposes a framework to allow human workers to interact with construction robots based on natural language instructions. The proposed method consists of three stages: Natural Language Understanding (NLU), Information Mapping (IM), and Robot Control (RC). Natural language instructions are input to a language model to predict a tag for each word in the NLU module. The IM module uses the result of the NLU module and building component information to generate the final instructional output essential for a robot to acknowledge and perform the construction task. A case study for drywall installation is conducted to evaluate the proposed approach. The obtained results highlight the potential of using natural language-based interaction to replicate the communication that occurs between human workers within the context of human-robot teams.

ContextSpeech: Expressive and Efficient Text-to-Speech for Paragraph Reading

While state-of-the-art Text-to-Speech systems can generate natural speech of very high quality at sentence level, they still meet great challenges in speech generation for paragraph / long-form reading. Such deficiencies are due to i) ignorance of cross-sentence contextual information, and ii) high computation and memory cost for long-form synthesis. To address these issues, this work develops a lightweight yet effective TTS system, ContextSpeech. Specifically, we first design a memory-cached recurrence mechanism to incorporate global text and speech context into sentence encoding. Then we construct hierarchically-structured textual semantics to broaden the scope for global context enhancement. Additionally, we integrate linearized self-attention to improve model efficiency. Experiments show that ContextSpeech significantly improves the voice quality and prosody expressiveness in paragraph reading with competitive model efficiency. Audio samples are available at: https://contextspeech.github.io/demo/

Palm: Predicting Actions through Language Models @ Ego4D Long-Term Action Anticipation Challenge 2023

We present Palm, a solution to the Long-Term Action Anticipation (LTA) task utilizing vision-language and large language models. Given an input video with annotated action periods, the LTA task aims to predict possible future actions. We hypothesize that an optimal solution should capture the interdependency between past and future actions, and be able to infer future actions based on the structure and dependency encoded in the past actions. Large language models have demonstrated remarkable commonsense-based reasoning ability. Inspired by that, Palm chains an image captioning model and a large language model. It predicts future actions based on frame descriptions and action labels extracted from the input videos. Our method outperforms other participants in the EGO4D LTA challenge and achieves the best performance in terms of action prediction. Our code is available at https://github.com/DanDoge/Palm

Online Distillation for Pseudo-Relevance Feedback

Model distillation has emerged as a prominent technique to improve neural search models. To date, distillation taken an offline approach, wherein a new neural model is trained to predict relevance scores between arbitrary queries and documents. In this paper, we explore a departure from this offline distillation strategy by investigating whether a model for a specific query can be effectively distilled from neural re-ranking results (i.e., distilling in an online setting). Indeed, we find that a lexical model distilled online can reasonably replicate the re-ranking of a neural model. More importantly, these models can be used as queries that execute efficiently on indexes. This second retrieval stage can enrich the pool of documents for re-ranking by identifying documents that were missed in the first retrieval stage. Empirically, we show that this approach performs favourably when compared with established pseudo relevance feedback techniques, dense retrieval methods, and sparse-dense ensemble "hybrid" approaches.

Enabling BIM-Driven Robotic Construction Workflows with Closed-Loop Digital Twins

Robots can greatly alleviate physical demands on construction workers while enhancing both the productivity and safety of construction projects. Leveraging a Building Information Model (BIM) offers a natural and promising approach to drive a robotic construction workflow. However, because of uncertainties inherent on construction sites, such as discrepancies between the designed and as-built workpieces, robots cannot solely rely on the BIM to guide field construction work. Human workers are adept at improvising alternative plans with their creativity and experience and thus can assist robots in overcoming uncertainties and performing construction work successfully. This research introduces an interactive closed-loop digital twin system that integrates a BIM into human-robot collaborative construction workflows. The robot is primarily driven by the BIM, but it adaptively adjusts its plan based on actual site conditions while the human co-worker supervises the process. If necessary, the human co-worker intervenes in the robot's plan by changing the task sequence or target position, requesting a new motion plan, or modifying the construction component(s)/material(s) to help the robot navigate uncertainties. To investigate the physical deployment of the system, a drywall installation case study is conducted with an industrial robotic arm in a laboratory. In addition, a block pick-and-place experiment is carried out to evaluate system performance. Integrating the flexibility of human workers and the autonomy and accuracy afforded by the BIM, the system significantly increases the robustness of construction robots in the performance of field construction work.

Self Contrastive Learning for Session-based Recommendation

Session-based recommendation, which aims to predict the next item of users' interest as per an existing sequence interaction of items, has attracted growing applications of Contrastive Learning (CL) with improved user and item representations. However, these contrastive objectives: (1) serve a similar role as the cross-entropy loss while ignoring the item representation space optimisation; and (2) commonly require complicated modelling, including complex positive/negative sample constructions and extra data augmentation. In this work, we introduce Self-Contrastive Learning (SCL), which simplifies the application of CL and enhances the performance of state-of-the-art CL-based recommendation techniques. Specifically, SCL is formulated as an objective function that directly promotes a uniform distribution among item representations and efficiently replaces all the existing contrastive objective components of state-of-the-art models. Unlike previous works, SCL eliminates the need for any positive/negative sample construction or data augmentation, leading to enhanced interpretability of the item representation space and facilitating its extensibility to existing recommender systems. Through experiments on three benchmark datasets, we demonstrate that SCL consistently improves the performance of state-of-the-art models with statistical significance. Notably, our experiments show that SCL improves the performance of two best-performing models by 8.2% and 9.5% in P@10 (Precision) and 9.9% and 11.2% in MRR@10 (Mean Reciprocal Rank) on average across different benchmarks. Additionally, our analysis elucidates the improvement in terms of alignment and uniformity of representations, as well as the effectiveness of SCL with a low computational cost.

A Survey on Asking Clarification Questions Datasets in Conversational Systems

The ability to understand a user's underlying needs is critical for conversational systems, especially with limited input from users in a conversation. Thus, in such a domain, Asking Clarification Questions (ACQs) to reveal users' true intent from their queries or utterances arise as an essential task. However, it is noticeable that a key limitation of the existing ACQs studies is their incomparability, from inconsistent use of data, distinct experimental setups and evaluation strategies. Therefore, in this paper, to assist the development of ACQs techniques, we comprehensively analyse the current ACQs research status, which offers a detailed comparison of publicly available datasets, and discusses the applied evaluation metrics, joined with benchmarks for multiple ACQs-related tasks. In particular, given a thorough analysis of the ACQs task, we discuss a number of corresponding research directions for the investigation of ACQs as well as the development of conversational systems.

When and What to Ask Through World States and Text Instructions: IGLU NLP Challenge Solution

In collaborative tasks, effective communication is crucial for achieving joint goals. One such task is collaborative building where builders must communicate with each other to construct desired structures in a simulated environment such as Minecraft. We aim to develop an intelligent builder agent to build structures based on user input through dialogue. However, in collaborative building, builders may encounter situations that are difficult to interpret based on the available information and instructions, leading to ambiguity. In the NeurIPS 2022 Competition NLP Task, we address two key research questions, with the goal of filling this gap: when should the agent ask for clarification, and what clarification questions should it ask? We move towards this target with two sub-tasks, a classification task and a ranking task. For the classification task, the goal is to determine whether the agent should ask for clarification based on the current world state and dialogue history. For the ranking task, the goal is to rank the relevant clarification questions from a pool of candidates. In this report, we briefly introduce our methods for the classification and ranking task. For the classification task, our model achieves an F1 score of 0.757, which placed the 3rd on the leaderboard. For the ranking task, our model achieves about 0.38 for Mean Reciprocal Rank by extending the traditional ranking model. Lastly, we discuss various neural approaches for the ranking task and future direction.

EFE: End-to-end Frame-to-Gaze Estimation

Despite the recent development of learning-based gaze estimation methods, most methods require one or more eye or face region crops as inputs and produce a gaze direction vector as output. Cropping results in a higher resolution in the eye regions and having fewer confounding factors (such as clothing and hair) is believed to benefit the final model performance. However, this eye/face patch cropping process is expensive, erroneous, and implementation-specific for different methods. In this paper, we propose a frame-to-gaze network that directly predicts both 3D gaze origin and 3D gaze direction from the raw frame out of the camera without any face or eye cropping. Our method demonstrates that direct gaze regression from the raw downscaled frame, from FHD/HD to VGA/HVGA resolution, is possible despite the challenges of having very few pixels in the eye region. The proposed method achieves comparable results to state-of-the-art methods in Point-of-Gaze (PoG) estimation on three public gaze datasets: GazeCapture, MPIIFaceGaze, and EVE, and generalizes well to extreme camera view changes.

Deep Learning in Breast Cancer Imaging: A Decade of Progress and Future Directions

Breast cancer has reached the highest incidence rate worldwide among all malignancies since 2020. Breast imaging plays a significant role in early diagnosis and intervention to improve the outcome of breast cancer patients. In the past decade, deep learning has shown remarkable progress in breast cancer imaging analysis, holding great promise in interpreting the rich information and complex context of breast imaging modalities. Considering the rapid improvement in the deep learning technology and the increasing severity of breast cancer, it is critical to summarize past progress and identify future challenges to be addressed. In this paper, we provide an extensive survey of deep learning-based breast cancer imaging research, covering studies on mammogram, ultrasound, magnetic resonance imaging, and digital pathology images over the past decade. The major deep learning methods, publicly available datasets, and applications on imaging-based screening, diagnosis, treatment response prediction, and prognosis are described in detail. Drawn from the findings of this survey, we present a comprehensive discussion of the challenges and potential avenues for future research in deep learning-based breast cancer imaging.