Viterbi Decoding of Directed Acyclic Transformer for Non-Autoregressive Machine Translation

Non-autoregressive models achieve significant decoding speedup in neural machine translation but lack the ability to capture sequential dependency. Directed Acyclic Transformer (DA-Transformer) was recently proposed to model sequential dependency with a directed acyclic graph. Consequently, it has to apply a sequential decision process at inference time, which harms the global translation accuracy. In this paper, we present a Viterbi decoding framework for DA-Transformer, which guarantees to find the joint optimal solution for the translation and decoding path under any length constraint. Experimental results demonstrate that our approach consistently improves the performance of DA-Transformer while maintaining a similar decoding speedup.

Robust Safe Control for Uncertain Dynamic Models

Model mismatches prevail in real-world applications. Hence it is important to design robust safe control algorithms for systems with uncertain dynamic models. The major challenge is that uncertainty results in difficulty in finding a feasible safe control in real-time. Existing methods usually simplify the problem such as restricting uncertainty type, ignoring control limits, or forgoing feasibility guarantees. In this work, we overcome these issues by proposing a robust safe control framework for bounded state-dependent uncertainties. We first guarantee the feasibility of safe control for uncertain dynamics by learning a control-limits-aware, uncertainty-robust safety index. Then we show that robust safe control can be formulated as convex problems (Convex Semi-Infinite Programming or Second-Order Cone Programming) and propose corresponding optimal solvers that can run in real-time. In addition, we analyze when and how safety can be preserved under unmodeled uncertainties. Experiment results show that our method successfully finds robust safe control in real-time for different uncertainties and is much less conservative than a strong baseline algorithm.

Learning latent causal relationships in multiple time series

Identifying the causal structure of systems with multiple dynamic elements is critical to several scientific disciplines. The conventional approach is to conduct statistical tests of causality, for example with Granger Causality, between observed signals that are selected a priori. Here it is posited that, in many systems, the causal relations are embedded in a latent space that is expressed in the observed data as a linear mixture. A technique for blindly identifying the latent sources is presented: the observations are projected into pairs of components -- driving and driven -- to maximize the strength of causality between the pairs. This leads to an optimization problem with closed form expressions for the objective function and gradient that can be solved with off-the-shelf techniques. After demonstrating proof-of-concept on synthetic data with known latent structure, the technique is applied to recordings from the human brain and historical cryptocurrency prices. In both cases, the approach recovers multiple strong causal relationships that are not evident in the observed data. The proposed technique is unsupervised and can be readily applied to any multiple time series to shed light on the causal relationships underlying the data.

BEBERT: Efficient and robust binary ensemble BERT

Pre-trained BERT models have achieved impressive accuracy on natural language processing (NLP) tasks. However, their excessive amount of parameters hinders them from efficient deployment on edge devices. Binarization of the BERT models can significantly alleviate this issue but comes with a severe accuracy drop compared with their full-precision counterparts. In this paper, we propose an efficient and robust binary ensemble BERT (BEBERT) to bridge the accuracy gap. To the best of our knowledge, this is the first work employing ensemble techniques on binary BERTs, yielding BEBERT, which achieves superior accuracy while retaining computational efficiency. Furthermore, we remove the knowledge distillation procedures during ensemble to speed up the training process without compromising accuracy. Experimental results on the GLUE benchmark show that the proposed BEBERT significantly outperforms the existing binary BERT models in accuracy and robustness with a 2x speedup on training time. Moreover, our BEBERT has only a negligible accuracy loss of 0.3% compared to the full-precision baseline while saving 15x and 13x in FLOPs and model size, respectively. In addition, BEBERT also outperforms other compressed BERTs in accuracy by up to 6.7%.

Complex Handwriting Trajectory Recovery: Evaluation Metrics and Algorithm

Many important tasks such as forensic signature verification, calligraphy synthesis, etc, rely on handwriting trajectory recovery of which, however, even an appropriate evaluation metric is still missing. Indeed, existing metrics only focus on the writing orders but overlook the fidelity of glyphs. Taking both facets into account, we come up with two new metrics, the adaptive intersection on union (AIoU) which eliminates the influence of various stroke widths, and the length-independent dynamic time warping (LDTW) which solves the trajectory-point alignment problem. After that, we then propose a novel handwriting trajectory recovery model named Parsing-and-tracing ENcoder-decoder Network (PEN-Net), in particular for characters with both complex glyph and long trajectory, which was believed very challenging. In the PEN-Net, a carefully designed double-stream parsing encoder parses the glyph structure, and a global tracing decoder overcomes the memory difficulty of long trajectory prediction. Our experiments demonstrate that the two new metrics AIoU and LDTW together can truly assess the quality of handwriting trajectory recovery and the proposed PEN-Net exhibits satisfactory performance in various complex-glyph languages including Chinese, Japanese and Indic.

Boulders Identification on Small Bodies Under Varying Illumination Conditions

The capability to detect boulders on the surface of small bodies is beneficial for vision-based applications such as navigation and hazard detection during critical operations. This task is challenging due to the wide assortment of irregular shapes, the characteristics of the boulders population, and the rapid variability in the illumination conditions. The authors address this challenge by designing a multi-step training approach to develop a data-driven image processing pipeline to robustly detect and segment boulders scattered over the surface of a small body. Due to the limited availability of labeled image-mask pairs, the developed methodology is supported by two artificial environments designed in Blender specifically for this work. These are used to generate a large amount of synthetic image-label sets, which are made publicly available to the image processing community. The methodology presented addresses the challenges of varying illumination conditions, irregular shapes, fast training time, extensive exploration of the architecture design space, and domain gap between synthetic and real images from previously flown missions. The performance of the developed image processing pipeline is tested both on synthetic and real images, exhibiting good performances, and high generalization capabilities

LBF:Learnable Bilateral Filter For Point Cloud Denoising

Bilateral filter (BF) is a fast, lightweight and effective tool for image denoising and well extended to point cloud denoising. However, it often involves continual yet manual parameter adjustment; this inconvenience discounts the efficiency and user experience to obtain satisfied denoising results. We propose LBF, an end-to-end learnable bilateral filtering network for point cloud denoising; to our knowledge, this is the first time. Unlike the conventional BF and its variants that receive the same parameters for a whole point cloud, LBF learns adaptive parameters for each point according its geometric characteristic (e.g., corner, edge, plane), avoiding remnant noise, wrongly-removed geometric details, and distorted shapes. Besides the learnable paradigm of BF, we have two cores to facilitate LBF. First, different from the local BF, LBF possesses a global-scale feature perception ability by exploiting multi-scale patches of each point. Second, LBF formulates a geometry-aware bi-directional projection loss, leading the denoising results to being faithful to their underlying surfaces. Users can apply our LBF without any laborious parameter tuning to achieve the optimal denoising results. Experiments show clear improvements of LBF over its competitors on both synthetic and real-scanned datasets.

Improving Chest X-Ray Classification by RNN-based Patient Monitoring

Chest X-Ray imaging is one of the most common radiological tools for detection of various pathologies related to the chest area and lung function. In a clinical setting, automated assessment of chest radiographs has the potential of assisting physicians in their decision making process and optimize clinical workflows, for example by prioritizing emergency patients. Most work analyzing the potential of machine learning models to classify chest X-ray images focuses on vision methods processing and predicting pathologies for one image at a time. However, many patients undergo such a procedure multiple times during course of a treatment or during a single hospital stay. The patient history, that is previous images and especially the corresponding diagnosis contain useful information that can aid a classification system in its prediction. In this study, we analyze how information about diagnosis can improve CNN-based image classification models by constructing a novel dataset from the well studied CheXpert dataset of chest X-rays. We show that a model trained on additional patient history information outperforms a model trained without the information by a significant margin. We provide code to replicate the dataset creation and model training.

Task-Driven In-Hand Manipulation of Unknown Objects with Tactile Sensing

Manipulation of objects in-hand without an object model is a foundational skill for many tasks in unstructured environments. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered spaces. In this paper, we introduce a method to reorient unknown objects by incrementally building a probabilistic estimate of the object shape and pose during task-driven manipulation. Our method leverages Bayesian optimization to strategically trade-off exploration of the global object shape with efficient task completion. We demonstrate our approach on a Tactile-Enabled Roller Grasper, a gripper that rolls objects in hand while continuously collecting tactile data. We evaluate our method in simulation on a set of randomly generated objects and find that our method reliably reorients objects while significantly reducing the exploration time needed to do so. On the Roller Grasper hardware, we show successful qualitative reconstruction of the object model. In summary, this work (1) presents a system capable of simultaneously learning unknown 3D object shape and pose using tactile sensing; and (2) demonstrates that task-driven exploration results in more efficient object manipulation than the common paradigm of complete object exploration before task-completion.

LMBAO: A Landmark Map for Bundle Adjustment Odometry in LiDAR SLAM

LiDAR odometry is one of the essential parts of LiDAR simultaneous localization and mapping (SLAM). However, existing LiDAR odometry tends to match a new scan simply iteratively with previous fixed-pose scans, gradually accumulating errors. Furthermore, as an effective joint optimization mechanism, bundle adjustment (BA) cannot be directly introduced into real-time odometry due to the intensive computation of large-scale global landmarks. Therefore, this letter designs a new strategy named a landmark map for bundle adjustment odometry (LMBAO) in LiDAR SLAM to solve these problems. First, BA-based odometry is further developed with an active landmark maintenance strategy for a more accurate local registration and avoiding cumulative errors. Specifically, this paper keeps entire stable landmarks on the map instead of just their feature points in the sliding window and deletes the landmarks according to their active grade. Next, the sliding window length is reduced, and marginalization is performed to retain the scans outside the window but corresponding to active landmarks on the map, greatly simplifying the computation and improving the real-time properties. In addition, experiments on three challenging datasets show that our algorithm achieves real-time performance in outdoor driving and outperforms state-of-the-art LiDAR SLAM algorithms, including Lego-LOAM and VLOM.