Across the robotics field, quality demonstrations are an integral part of many control pipelines. However, collecting high-quality demonstration trajectories remains time-consuming and difficult, often resulting in the number of demonstrations being the performance bottleneck. To address this issue, we present a method of Virtual Reality (VR) Teleoperation that uses an Oculus VR headset to teleoperate a Franka Emika Panda robot. Although other VR teleoperation methods exist, our code is open source, designed for readily available consumer hardware, easy to modify, agnostic to experimental setup, and simple to use.
Recent progress in large language models has enabled the deployment of many generative NLP applications. At the same time, it has also led to a misleading public discourse that ``it's all been solved.'' Not surprisingly, this has in turn made many NLP researchers -- especially those at the beginning of their career -- wonder about what NLP research area they should focus on. This document is a compilation of NLP research directions that are rich for exploration, reflecting the views of a diverse group of PhD students in an academic research lab. While we identify many research areas, many others exist; we do not cover those areas that are currently addressed by LLMs but where LLMs lag behind in performance, or those focused on LLM development. We welcome suggestions for other research directions to include: https://bit.ly/nlp-era-llm
Speech is promising as an objective, convenient tool to monitor health remotely over time using mobile devices. Numerous paralinguistic features have been demonstrated to contain salient information related to an individual's health. However, mobile device specification and acoustic environments vary widely, risking the reliability of the extracted features. In an initial step towards quantifying these effects, we report the variability of 13 exemplar paralinguistic features commonly reported in the speech-health literature and extracted from the speech of 42 healthy volunteers recorded consecutively in rooms with low and high reverberation with one budget and two higher-end smartphones and a condenser microphone. Our results show reverberation has a clear effect on several features, in particular voice quality markers. They point to new research directions investigating how best to record and process in-the-wild speech for reliable longitudinal health state assessment.
Automated depression screening and diagnosis is a highly relevant problem today. There are a number of limitations of the traditional depression detection methods, namely, high dependence on clinicians and biased self-reporting. In recent years, research has suggested strong potential in machine learning (ML) based methods that make use of the user's passive data collected via wearable devices. However, ML is data hungry. Especially in the healthcare domain primary data collection is challenging. In this work, we present an approach based on transfer learning, from a model trained on a secondary dataset, for the real time deployment of the depression screening tool based on the actigraphy data of users. This approach enables machine learning modelling even with limited primary data samples. A modified version of leave one out cross validation approach performed on the primary set resulted in mean accuracy of 0.96, where in each iteration one subject's data from the primary set was set aside for testing.
Depression detection from user-generated content on the internet has been a long-lasting topic of interest in the research community, providing valuable screening tools for psychologists. The ubiquitous use of social media platforms lays out the perfect avenue for exploring mental health manifestations in posts and interactions with other users. Current methods for depression detection from social media mainly focus on text processing, and only a few also utilize images posted by users. In this work, we propose a flexible time-enriched multimodal transformer architecture for detecting depression from social media posts, using pretrained models for extracting image and text embeddings. Our model operates directly at the user-level, and we enrich it with the relative time between posts by using time2vec positional embeddings. Moreover, we propose another model variant, which can operate on randomly sampled and unordered sets of posts to be more robust to dataset noise. We show that our method, using EmoBERTa and CLIP embeddings, surpasses other methods on two multimodal datasets, obtaining state-of-the-art results of 0.931 F1 score on a popular multimodal Twitter dataset, and 0.902 F1 score on the only multimodal Reddit dataset.
Faster-than-Nyquist (FTN) signaling is a nonorthogonal transmission technique, which brings in intentional inter-symbol interference. This way it can significantly enhance spectral efficiency for practical pulse shapes such as the root raised cosine pulses. This paper proposes an achievable rate region for the multiple antenna (MIMO) asynchronous multiple access channel (aMAC) with FTN signaling. The scheme applies waterfilling in the spatial domain and precoding in time. Waterfilling in space provides better power allocation and precoding helps mitigate inter-symbol interference due to asynchronous transmission and FTN. The results show that the gains due to asynchronous transmission and FTN are more emphasized in MIMO aMAC than in single antenna aMAC. Moreover, FTN improves single-user rates, and asynchronous transmission improves the sum-rate, due to better inter-user interference management.
Continuous-time Markov chains (CTMCs) are popular modeling formalism that constitutes the underlying semantics for real-time probabilistic systems such as queuing networks, stochastic process algebras, and calculi for systems biology. Prism and Storm are popular model checking tools that provide a number of powerful analysis techniques for CTMCs. These tools accept models expressed as the parallel composition of a number of modules interacting with each other. The outcome of the analysis is strongly dependent on the parameter values used in the model which govern the timing and probability of events of the resulting CTMC. However, for some applications, parameter values have to be empirically estimated from partially-observable executions. In this work, we address the problem of estimating parameter values of CTMCs expressed as Prism models from a number of partially-observable executions. We introduce the class parametric CTMCs -- CTMCs where transition rates are polynomial functions over a set of parameters -- as an abstraction of CTMCs covering a large class of Prism models. Then, building on a theory of algorithms known by the initials MM, for minorization-maximization, we present iterative maximum likelihood estimation algorithms for parametric CTMCs covering two learning scenarios: when both state-labels and dwell times are observable, or just state-labels are. We conclude by illustrating the use of our technique in a simple but non-trivial case study: the analysis of the spread of COVID-19 in presence of lockdown countermeasures.
Large pre-trained vision-language models have shown great prominence in transferring pre-acquired knowledge to various domains and downstream tasks with appropriate prompting or tuning. Existing prevalent tuning methods can be generally categorized into three genres: 1) prompt engineering by creating suitable prompt texts, which is time-consuming and requires domain expertise; 2) or simply fine-tuning the whole model, which is extremely inefficient; 3) prompt tuning through parameterized prompt embeddings with the text encoder. Nevertheless, all methods rely on the text encoder for bridging the modality gap between vision and language. In this work, we question the necessity of the cumbersome text encoder for a more lightweight and efficient tuning paradigm as well as more representative prompt embeddings closer to the image representations. To achieve this, we propose a Concept Embedding Search (ConES) approach by optimizing prompt embeddings -- without the need of the text encoder -- to capture the 'concept' of the image modality through a variety of task objectives. By dropping the text encoder, we are able to significantly speed up the learning process, \eg, from about an hour to just ten minutes in our experiments for personalized text-to-image generation without impairing the generation quality. Moreover, our proposed approach is orthogonal to current existing tuning methods since the searched concept embeddings can be further utilized in the next stage of fine-tuning the pre-trained large models for boosting performance. Extensive experiments show that our approach can beat the prompt tuning and textual inversion methods in a variety of downstream tasks including objection detection, instance segmentation, and image generation. Our approach also shows better generalization capability for unseen concepts in specialized domains, such as the medical domain.
Classifying the same event reported by different countries is of significant importance for public opinion control and intelligence gathering. Due to the diverse types of news, relying solely on transla-tors would be costly and inefficient, while depending solely on translation systems would incur considerable performance overheads in invoking translation interfaces and storing translated texts. To address this issue, we mainly focus on the clustering problem of cross-lingual news. To be specific, we use a combination of sentence vector representations of news headlines in a mixed semantic space and the topic probability distributions of news content to represent a news article. In the training of cross-lingual models, we employ knowledge distillation techniques to fit two semantic spaces into a mixed semantic space. We abandon traditional static clustering methods like K-Means and AGNES in favor of the incremental clustering algorithm Single-Pass, which we further modify to better suit cross-lingual news clustering scenarios. Our main contributions are as follows: (1) We adopt the English standard BERT as the teacher model and XLM-Roberta as the student model, training a cross-lingual model through knowledge distillation that can represent sentence-level bilingual texts in both Chinese and English. (2) We use the LDA topic model to represent news as a combina-tion of cross-lingual vectors for headlines and topic probability distributions for con-tent, introducing concepts such as topic similarity to address the cross-lingual issue in news content representation. (3) We adapt the Single-Pass clustering algorithm for the news context to make it more applicable. Our optimizations of Single-Pass include ad-justing the distance algorithm between samples and clusters, adding cluster merging operations, and incorporating a news time parameter.
High-quality data is crucial for the success of machine learning, but labeling large datasets is often a time-consuming and costly process. While semi-supervised learning can help mitigate the need for labeled data, label quality remains an open issue due to ambiguity and disagreement among annotators. Thus, we use proposal-guided annotations as one option which leads to more consistency between annotators. However, proposing a label increases the probability of the annotators deciding in favor of this specific label. This introduces a bias which we can simulate and remove. We propose a new method CleverLabel for Cost-effective LabEling using Validated proposal-guidEd annotations and Repaired LABELs. CleverLabel can reduce labeling costs by up to 30.0%, while achieving a relative improvement in Kullback-Leibler divergence of up to 29.8% compared to the previous state-of-the-art on a multi-domain real-world image classification benchmark. CleverLabel offers a novel solution to the challenge of efficiently labeling large datasets while also improving the label quality.