Deformation Control of a Deformable Object Based on Visual and Tactile Feedback

In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional constraints. But in fact, in many situations manipulation has to be performed under actively applied force constraints. This scenario is considered in this research. In the proposed scheme a tactile feedback is integrated to ensure a stable contact between the robot end-effector and the soft object to be manipulated. The controlled contact force is also utilized to regulate the deformation of the soft object with its shape measured by a vision sensor. The effectiveness of the proposed method is demonstrated by a book page turning and shaping experiment.

Improved OOD Generalization via Adversarial Training and Pre-training

Recently, learning a model that generalizes well on out-of-distribution (OOD) data has attracted great attention in the machine learning community. In this paper, after defining OOD generalization via Wasserstein distance, we theoretically show that a model robust to input perturbation generalizes well on OOD data. Inspired by previous findings that adversarial training helps improve input-robustness, we theoretically show that adversarially trained models have converged excess risk on OOD data, and empirically verify it on both image classification and natural language understanding tasks. Besides, in the paradigm of first pre-training and then fine-tuning, we theoretically show that a pre-trained model that is more robust to input perturbation provides a better initialization for generalization on downstream OOD data. Empirically, after fine-tuning, this better-initialized model from adversarial pre-training also has better OOD generalization.

PanGu-$α$: Large-scale Autoregressive Pretrained Chinese Language Models with Auto-parallel Computation

Large-scale Pretrained Language Models (PLMs) have become the new paradigm for Natural Language Processing (NLP). PLMs with hundreds of billions parameters such as GPT-3 have demonstrated strong performances on natural language understanding and generation with \textit{few-shot in-context} learning. In this work, we present our practice on training large-scale autoregressive language models named PanGu-$\alpha$, with up to 200 billion parameters. PanGu-$\alpha$ is developed under the MindSpore and trained on a cluster of 2048 Ascend 910 AI processors. The training parallelism strategy is implemented based on MindSpore Auto-parallel, which composes five parallelism dimensions to scale the training task to 2048 processors efficiently, including data parallelism, op-level model parallelism, pipeline model parallelism, optimizer model parallelism and rematerialization. To enhance the generalization ability of PanGu-$\alpha$, we collect 1.1TB high-quality Chinese data from a wide range of domains to pretrain the model. We empirically test the generation ability of PanGu-$\alpha$ in various scenarios including text summarization, question answering, dialogue generation, etc. Moreover, we investigate the effect of model scales on the few-shot performances across a broad range of Chinese NLP tasks. The experimental results demonstrate the superior capabilities of PanGu-$\alpha$ in performing various tasks under few-shot or zero-shot settings.

Extract then Distill: Efficient and Effective Task-Agnostic BERT Distillation

Task-agnostic knowledge distillation, a teacher-student framework, has been proved effective for BERT compression. Although achieving promising results on NLP tasks, it requires enormous computational resources. In this paper, we propose Extract Then Distill (ETD), a generic and flexible strategy to reuse the teacher's parameters for efficient and effective task-agnostic distillation, which can be applied to students of any size. Specifically, we introduce two variants of ETD, ETD-Rand and ETD-Impt, which extract the teacher's parameters in a random manner and by following an importance metric respectively. In this way, the student has already acquired some knowledge at the beginning of the distillation process, which makes the distillation process converge faster. We demonstrate the effectiveness of ETD on the GLUE benchmark and SQuAD. The experimental results show that: (1) compared with the baseline without an ETD strategy, ETD can save 70\% of computation cost. Moreover, it achieves better results than the baseline when using the same computing resource. (2) ETD is generic and has been proven effective for different distillation methods (e.g., TinyBERT and MiniLM) and students of different sizes. The source code will be publicly available upon publication.

An Approach to Improve Robustness of NLP Systems against ASR Errors

Speech-enabled systems typically first convert audio to text through an automatic speech recognition (ASR) model and then feed the text to downstream natural language processing (NLP) modules. The errors of the ASR system can seriously downgrade the performance of the NLP modules. Therefore, it is essential to make them robust to the ASR errors. Previous work has shown it is effective to employ data augmentation methods to solve this problem by injecting ASR noise during the training process. In this paper, we utilize the prevalent pre-trained language model to generate training samples with ASR-plausible noise. Compare to the previous methods, our approach generates ASR noise that better fits the real-world error distribution. Experimental results on spoken language translation(SLT) and spoken language understanding (SLU) show that our approach effectively improves the system robustness against the ASR errors and achieves state-of-the-art results on both tasks.

Reweighting Augmented Samples by Minimizing the Maximal Expected Loss

Data augmentation is an effective technique to improve the generalization of deep neural networks. However, previous data augmentation methods usually treat the augmented samples equally without considering their individual impacts on the model. To address this, for the augmented samples from the same training example, we propose to assign different weights to them. We construct the maximal expected loss which is the supremum over any reweighted loss on augmented samples. Inspired by adversarial training, we minimize this maximal expected loss (MMEL) and obtain a simple and interpretable closed-form solution: more attention should be paid to augmented samples with large loss values (i.e., harder examples). Minimizing this maximal expected loss enables the model to perform well under any reweighting strategy. The proposed method can generally be applied on top of any data augmentation methods. Experiments are conducted on both natural language understanding tasks with token-level data augmentation, and image classification tasks with commonly-used image augmentation techniques like random crop and horizontal flip. Empirical results show that the proposed method improves the generalization performance of the model.

LightMBERT: A Simple Yet Effective Method for Multilingual BERT Distillation

The multilingual pre-trained language models (e.g, mBERT, XLM and XLM-R) have shown impressive performance on cross-lingual natural language understanding tasks. However, these models are computationally intensive and difficult to be deployed on resource-restricted devices. In this paper, we propose a simple yet effective distillation method (LightMBERT) for transferring the cross-lingual generalization ability of the multilingual BERT to a small student model. The experiment results empirically demonstrate the efficiency and effectiveness of LightMBERT, which is significantly better than the baselines and performs comparable to the teacher mBERT.

Training Multilingual Pre-trained Language Model with Byte-level Subwords

The pre-trained language models have achieved great successes in various natural language understanding (NLU) tasks due to its capacity to capture the deep contextualized information in text by pre-training on large-scale corpora. One of the fundamental components in pre-trained language models is the vocabulary, especially for training multilingual models on many different languages. In the technical report, we present our practices on training multilingual pre-trained language models with BBPE: Byte-Level BPE (i.e., Byte Pair Encoding). In the experiment, we adopted the architecture of NEZHA as the underlying pre-trained language model and the results show that NEZHA trained with byte-level subwords consistently outperforms Google multilingual BERT and vanilla NEZHA by a notable margin in several multilingual NLU tasks. We release the source code of our byte-level vocabulary building tools and the multilingual pre-trained language models.

Red Alarm for Pre-trained Models: Universal Vulnerabilities by Neuron-Level Backdoor Attacks

Due to the success of pre-trained models (PTMs), people usually fine-tune an existing PTM for downstream tasks. Most of PTMs are contributed and maintained by open sources and may suffer from backdoor attacks. In this work, we demonstrate the universal vulnerabilities of PTMs, where the fine-tuned models can be easily controlled by backdoor attacks without any knowledge of downstream tasks. Specifically, the attacker can add a simple pre-training task to restrict the output hidden states of the trigger instances to the pre-defined target embeddings, namely neuron-level backdoor attack (NeuBA). If the attacker carefully designs the triggers and their corresponding output hidden states, the backdoor functionality cannot be eliminated during fine-tuning. In the experiments of both natural language processing (NLP) and computer vision (CV) tasks, we show that NeuBA absolutely controls the predictions of the trigger instances while not influencing the model performance on clean data. Finally, we find re-initialization cannot resist NeuBA and discuss several possible directions to alleviate the universal vulnerabilities. Our findings sound a red alarm for the wide use of PTMs. Our source code and data can be accessed at \url{https://github.com/thunlp/NeuBA}.

BinaryBERT: Pushing the Limit of BERT Quantization

The rapid development of large pre-trained language models has greatly increased the demand for model compression techniques, among which quantization is a popular solution. In this paper, we propose BinaryBERT, which pushes BERT quantization to the limit with weight binarization. We find that a binary BERT is hard to be trained directly than a ternary counterpart due to its complex and irregular loss landscapes. Therefore, we propose ternary weight splitting, which initializes the binary model by equivalent splitting from a half-sized ternary network. The binary model thus inherits the good performance of the ternary model, and can be further enhanced by fine-tuning the new architecture after splitting. Empirical results show that BinaryBERT has negligible performance drop compared to the full-precision BERT-base while being $24\times$ smaller, achieving the state-of-the-art results on GLUE and SQuAD benchmarks.