Robot Motion Planning as Video Prediction: A Spatio-Temporal Neural Network-based Motion Planner

Neural network (NN)-based methods have emerged as an attractive approach for robot motion planning due to strong learning capabilities of NN models and their inherently high parallelism. Despite the current development in this direction, the efficient capture and processing of important sequential and spatial information, in a direct and simultaneous way, is still relatively under-explored. To overcome the challenge and unlock the potentials of neural networks for motion planning tasks, in this paper, we propose STP-Net, an end-to-end learning framework that can fully extract and leverage important spatio-temporal information to form an efficient neural motion planner. By interpreting the movement of the robot as a video clip, robot motion planning is transformed to a video prediction task that can be performed by STP-Net in both spatially and temporally efficient ways. Empirical evaluations across different seen and unseen environments show that, with nearly 100% accuracy (aka, success rate), STP-Net demonstrates very promising performance with respect to both planning speed and path cost. Compared with existing NN-based motion planners, STP-Net achieves at least 5x, 2.6x and 1.8x faster speed with lower path cost on 2D Random Forest, 2D Maze and 3D Random Forest environments, respectively. Furthermore, STP-Net can quickly and simultaneously compute multiple near-optimal paths in multi-robot motion planning tasks

ESSumm: Extractive Speech Summarization from Untranscribed Meeting

In this paper, we propose a novel architecture for direct extractive speech-to-speech summarization, ESSumm, which is an unsupervised model without dependence on intermediate transcribed text. Different from previous methods with text presentation, we are aimed at generating a summary directly from speech without transcription. First, a set of smaller speech segments are extracted based on speech signal's acoustic features. For each candidate speech segment, a distance-based summarization confidence score is designed for latent speech representation measure. Specifically, we leverage the off-the-shelf self-supervised convolutional neural network to extract the deep speech features from raw audio. Our approach automatically predicts the optimal sequence of speech segments that capture the key information with a target summary length. Extensive results on two well-known meeting datasets (AMI and ICSI corpora) show the effectiveness of our direct speech-based method to improve the summarization quality with untranscribed data. We also observe that our unsupervised speech-based method even performs on par with recent transcript-based summarization approaches, where extra speech recognition is required.

Graph Reasoning Transformer for Image Parsing

Capturing the long-range dependencies has empirically proven to be effective on a wide range of computer vision tasks. The progressive advances on this topic have been made through the employment of the transformer framework with the help of the multi-head attention mechanism. However, the attention-based image patch interaction potentially suffers from problems of redundant interactions of intra-class patches and unoriented interactions of inter-class patches. In this paper, we propose a novel Graph Reasoning Transformer (GReaT) for image parsing to enable image patches to interact following a relation reasoning pattern. Specifically, the linearly embedded image patches are first projected into the graph space, where each node represents the implicit visual center for a cluster of image patches and each edge reflects the relation weight between two adjacent nodes. After that, global relation reasoning is performed on this graph accordingly. Finally, all nodes including the relation information are mapped back into the original space for subsequent processes. Compared to the conventional transformer, GReaT has higher interaction efficiency and a more purposeful interaction pattern. Experiments are carried out on the challenging Cityscapes and ADE20K datasets. Results show that GReaT achieves consistent performance gains with slight computational overheads on the state-of-the-art transformer baselines.

EEGNN: Edge Enhanced Graph Neural Networks

Training deep graph neural networks (GNNs) poses a challenging task, as the performance of GNNs may suffer from the number of hidden message-passing layers. The literature has focused on the proposals of over-smoothing and under-reaching to explain the performance deterioration of deep GNNs. In this paper, we propose a new explanation for such deteriorated performance phenomenon, mis-simplification, that is, mistakenly simplifying graphs by preventing self-loops and forcing edges to be unweighted. We show that such simplifying can reduce the potential of message-passing layers to capture the structural information of graphs. In view of this, we propose a new framework, edge enhanced graph neural network(EEGNN). EEGNN uses the structural information extracted from the proposed Dirichlet mixture Poisson graph model, a Bayesian nonparametric model for graphs, to improve the performance of various deep message-passing GNNs. Experiments over different datasets show that our method achieves considerable performance increase compared to baselines.

Data Leaves: Scenario-oriented Metadata for Data Federative Innovation

A method for representing the digest information of each dataset is proposed, oriented to the aid of innovative thoughts and the communication of data users who attempt to create valuable products, services, and business models using or combining datasets. Compared with methods for connecting datasets via shared attributes (i.e., variables), this method connects datasets via events, situations, or actions in a scenario that is supposed to be active in the real world. This method reflects the consideration of the fitness of each metadata to the feature concept, which is an abstract of the information or knowledge expected to be acquired from data; thus, the users of the data acquire practical knowledge that fits the requirements of real businesses and real life, as well as grounds for realistic application of AI technologies to data.

Re-Imagen: Retrieval-Augmented Text-to-Image Generator

Research on text-to-image generation has witnessed significant progress in generating diverse and photo-realistic images, driven by diffusion and auto-regressive models trained on large-scale image-text data. Though state-of-the-art models can generate high-quality images of common entities, they often have difficulty generating images of uncommon entities, such as `Chortai (dog)' or `Picarones (food)'. To tackle this issue, we present the Retrieval-Augmented Text-to-Image Generator (Re-Imagen), a generative model that uses retrieved information to produce high-fidelity and faithful images, even for rare or unseen entities. Given a text prompt, Re-Imagen accesses an external multi-modal knowledge base to retrieve relevant (image, text) pairs, and uses them as references to generate the image. With this retrieval step, Re-Imagen is augmented with the knowledge of high-level semantics and low-level visual details of the mentioned entities, and thus improves its accuracy in generating the entities' visual appearances. We train Re-Imagen on a constructed dataset containing (image, text, retrieval) triples to teach the model to ground on both text prompt and retrieval. Furthermore, we develop a new sampling strategy to interleave the classifier-free guidance for text and retrieval condition to balance the text and retrieval alignment. Re-Imagen achieves new SoTA FID results on two image generation benchmarks, such as COCO (ie, FID = 5.25) and WikiImage (ie, FID = 5.82) without fine-tuning. To further evaluate the capabilities of the model, we introduce EntityDrawBench, a new benchmark that evaluates image generation for diverse entities, from frequent to rare, across multiple visual domains. Human evaluation on EntityDrawBench shows that Re-Imagen performs on par with the best prior models in photo-realism, but with significantly better faithfulness, especially on less frequent entities.

Cascaded Multi-Modal Mixing Transformers for Alzheimer's Disease Classification with Incomplete Data

Accurate medical classification requires a large number of multi-modal data, and in many cases, in different formats. Previous studies have shown promising results when using multi-modal data, outperforming single-modality models on when classifying disease such as AD. However, those models are usually not flexible enough to handle missing modalities. Currently, the most common workaround is excluding samples with missing modalities which leads to considerable data under-utilisation. Adding to the fact that labelled medical images are already scarce, the performance of data-driven methods like deep learning is severely hampered. Therefore, a multi-modal method that can gracefully handle missing data in various clinical settings is highly desirable. In this paper, we present the Multi-Modal Mixing Transformer (3MT), a novel Transformer for disease classification based on multi-modal data. In this work, we test it for \ac{AD} or \ac{CN} classification using neuroimaging data, gender, age and MMSE scores. The model uses a novel Cascaded Modality Transformers architecture with cross-attention to incorporate multi-modal information for more informed predictions. Auxiliary outputs and a novel modality dropout mechanism were incorporated to ensure an unprecedented level of modality independence and robustness. The result is a versatile network that enables the mixing of an unlimited number of modalities with different formats and full data utilization. 3MT was first tested on the ADNI dataset and achieved state-of-the-art test accuracy of $0.987\pm0.0006$. To test its generalisability, 3MT was directly applied to the AIBL after training on the ADNI dataset, and achieved a test accuracy of $0.925\pm0.0004$ without fine-tuning. Finally, we show that Grad-CAM visualizations are also possible with our model for explainable results.

(Non)-Coherent MU-MIMO Block Fading Channels with Finite Blocklength and Linear Processing

This paper studies the coherent and non-coherent multiuser multiple-input multiple-output (MU-MIMO) uplink system in the finite blocklength regime. The i.i.d. Gaussian codebook is assumed for each user. To be more specific, the BS first uses two popular linear processing schemes to combine the signals transmitted from all users, namely, MRC and ZF. Following it, the matched maximum-likelihood (ML) and mismatched nearest-neighbour (NN) decoding metric for the coherent and non-coherent cases are respectively employed at the BS. Under these conditions, the refined third-order achievable coding rate, expressed as a function of the blocklength, average error probability, and the third-order term of the information density (called as the channel perturbation), is derived. With this result in hand, a detailed performance analysis is then pursued, through which, we derive the asymptotic results of the channel perturbation, achievable coding rate, channel capacity, and the channel dispersion. These theoretical results enable us to obtain a number of interesting insights related to the impact of the finite blocklength: i) in our system setting, massive MIMO helps to reduce the channel perturbation of the achievable coding rate, which can even be discarded without affecting the performance with just a small-to-moderate number of BS antennas and number of blocks; ii) under the non-coherent case, even with massive MIMO, the channel estimation errors cannot be eliminated unless the transmit powers in both the channel estimation and data transmission phases for each user are made inversely proportional to the square root of the number of BS antennas; iii) in the non-coherent case and for fixed total blocklength, the scenarios with longer coherence intervals and smaller number of blocks offer higher achievable coding rate.

Boosting the Discriminant Power of Naive Bayes

Naive Bayes has been widely used in many applications because of its simplicity and ability in handling both numerical data and categorical data. However, lack of modeling of correlations between features limits its performance. In addition, noise and outliers in the real-world dataset also greatly degrade the classification performance. In this paper, we propose a feature augmentation method employing a stack auto-encoder to reduce the noise in the data and boost the discriminant power of naive Bayes. The proposed stack auto-encoder consists of two auto-encoders for different purposes. The first encoder shrinks the initial features to derive a compact feature representation in order to remove the noise and redundant information. The second encoder boosts the discriminant power of the features by expanding them into a higher-dimensional space so that different classes of samples could be better separated in the higher-dimensional space. By integrating the proposed feature augmentation method with the regularized naive Bayes, the discrimination power of the model is greatly enhanced. The proposed method is evaluated on a set of machine-learning benchmark datasets. The experimental results show that the proposed method significantly and consistently outperforms the state-of-the-art naive Bayes classifiers.

Motion and Appearance Adaptation for Cross-Domain Motion Transfer

Motion transfer aims to transfer the motion of a driving video to a source image. When there are considerable differences between object in the driving video and that in the source image, traditional single domain motion transfer approaches often produce notable artifacts; for example, the synthesized image may fail to preserve the human shape of the source image (cf . Fig. 1 (a)). To address this issue, in this work, we propose a Motion and Appearance Adaptation (MAA) approach for cross-domain motion transfer, in which we regularize the object in the synthesized image to capture the motion of the object in the driving frame, while still preserving the shape and appearance of the object in the source image. On one hand, considering the object shapes of the synthesized image and the driving frame might be different, we design a shape-invariant motion adaptation module that enforces the consistency of the angles of object parts in two images to capture the motion information. On the other hand, we introduce a structure-guided appearance consistency module designed to regularize the similarity between the corresponding patches of the synthesized image and the source image without affecting the learned motion in the synthesized image. Our proposed MAA model can be trained in an end-to-end manner with a cyclic reconstruction loss, and ultimately produces a satisfactory motion transfer result (cf . Fig. 1 (b)). We conduct extensive experiments on human dancing dataset Mixamo-Video to Fashion-Video and human face dataset Vox-Celeb to Cufs; on both of these, our MAA model outperforms existing methods both quantitatively and qualitatively.