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Task and Motion Planning (TAMP) algorithms can generate plans that combine logic and motion aspects for robots. However, these plans are sensitive to interference and control errors. To make TAMP more applicable in real-world, we propose the generalized multi-level replanning TAMP framework(GMRF), blending the probabilistic completeness of sampling-based TAMP algorithm with the robustness of reactive replanning. GMRF generates an nominal plan from the initial state, then dynamically reconstructs this nominal plan in real-time, reorders robot manipulations. Following the logic-level adjustment, GMRF will try to replan a new motion path to ensure the updated plan is feasible at the motion level. Finally, we conducted real-world experiments involving stack and rearrange task domains. The result demonstrate GMRF's ability to swiftly complete tasks in scenarios with varying degrees of interference.

Neural Radiance Fields (NeRFs) have proven to be powerful 3D representations, capable of high quality novel view synthesis of complex scenes. While NeRFs have been applied to graphics, vision, and robotics, problems with slow rendering speed and characteristic visual artifacts prevent adoption in many use cases. In this work, we investigate combining an autoencoder (AE) with a NeRF, in which latent features (instead of colours) are rendered and then convolutionally decoded. The resulting latent-space NeRF can produce novel views with higher quality than standard colour-space NeRFs, as the AE can correct certain visual artifacts, while rendering over three times faster. Our work is orthogonal to other techniques for improving NeRF efficiency. Further, we can control the tradeoff between efficiency and image quality by shrinking the AE architecture, achieving over 13 times faster rendering with only a small drop in performance. We hope that our approach can form the basis of an efficient, yet high-fidelity, 3D scene representation for downstream tasks, especially when retaining differentiability is useful, as in many robotics scenarios requiring continual learning.

Graph generative model evaluation necessitates understanding differences between graphs on the distributional level. This entails being able to harness salient attributes of graphs in an efficient manner. Curvature constitutes one such property that has recently proved its utility in characterising graphs. Its expressive properties, stability, and practical utility in model evaluation remain largely unexplored, however. We combine graph curvature descriptors with emerging methods from topological data analysis to obtain robust, expressive descriptors for evaluating graph generative models.

Visual Relation Extraction (VRE) is a powerful means of discovering relationships between entities within visually-rich documents. Existing methods often focus on manipulating entity features to find pairwise relations, yet neglect the more fundamental structural information that links disparate entity pairs together. The absence of global structure information may make the model struggle to learn long-range relations and easily predict conflicted results. To alleviate such limitations, we propose a \textbf{G}l\textbf{O}bal \textbf{S}tructure knowledge-guided relation \textbf{E}xtraction (\textbf{\model}) framework. {\model} initiates by generating preliminary relation predictions on entity pairs extracted from a scanned image of the document. Subsequently, global structural knowledge is captured from the preceding iterative predictions, which are then incorporated into the representations of the entities. This ``generate-capture-incorporate'' cycle is repeated multiple times, allowing entity representations and global structure knowledge to be mutually reinforced. Extensive experiments validate that {\model} not only outperforms existing methods in the standard fine-tuning setting but also reveals superior cross-lingual learning capabilities; indeed, even yields stronger data-efficient performance in the low-resource setting. The code for GOSE will be available at //github.com/chenxn2020/GOSE.

In recent years, larger and deeper models are springing up and continuously pushing state-of-the-art (SOTA) results across various fields like natural language processing (NLP) and computer vision (CV). However, despite promising results, it needs to be noted that the computations required by SOTA models have been increased at an exponential rate. Massive computations not only have a surprisingly large carbon footprint but also have negative effects on research inclusiveness and deployment on real-world applications. Green deep learning is an increasingly hot research field that appeals to researchers to pay attention to energy usage and carbon emission during model training and inference. The target is to yield novel results with lightweight and efficient technologies. Many technologies can be used to achieve this goal, like model compression and knowledge distillation. This paper focuses on presenting a systematic review of the development of Green deep learning technologies. We classify these approaches into four categories: (1) compact networks, (2) energy-efficient training strategies, (3) energy-efficient inference approaches, and (4) efficient data usage. For each category, we discuss the progress that has been achieved and the unresolved challenges.

Recent contrastive representation learning methods rely on estimating mutual information (MI) between multiple views of an underlying context. E.g., we can derive multiple views of a given image by applying data augmentation, or we can split a sequence into views comprising the past and future of some step in the sequence. Contrastive lower bounds on MI are easy to optimize, but have a strong underestimation bias when estimating large amounts of MI. We propose decomposing the full MI estimation problem into a sum of smaller estimation problems by splitting one of the views into progressively more informed subviews and by applying the chain rule on MI between the decomposed views. This expression contains a sum of unconditional and conditional MI terms, each measuring modest chunks of the total MI, which facilitates approximation via contrastive bounds. To maximize the sum, we formulate a contrastive lower bound on the conditional MI which can be approximated efficiently. We refer to our general approach as Decomposed Estimation of Mutual Information (DEMI). We show that DEMI can capture a larger amount of MI than standard non-decomposed contrastive bounds in a synthetic setting, and learns better representations in a vision domain and for dialogue generation.

We present a large-scale study on unsupervised spatiotemporal representation learning from videos. With a unified perspective on four recent image-based frameworks, we study a simple objective that can easily generalize all these methods to space-time. Our objective encourages temporally-persistent features in the same video, and in spite of its simplicity, it works surprisingly well across: (i) different unsupervised frameworks, (ii) pre-training datasets, (iii) downstream datasets, and (iv) backbone architectures. We draw a series of intriguing observations from this study, e.g., we discover that encouraging long-spanned persistency can be effective even if the timespan is 60 seconds. In addition to state-of-the-art results in multiple benchmarks, we report a few promising cases in which unsupervised pre-training can outperform its supervised counterpart. Code is made available at //github.com/facebookresearch/SlowFast

Few-shot Knowledge Graph (KG) completion is a focus of current research, where each task aims at querying unseen facts of a relation given its few-shot reference entity pairs. Recent attempts solve this problem by learning static representations of entities and references, ignoring their dynamic properties, i.e., entities may exhibit diverse roles within task relations, and references may make different contributions to queries. This work proposes an adaptive attentional network for few-shot KG completion by learning adaptive entity and reference representations. Specifically, entities are modeled by an adaptive neighbor encoder to discern their task-oriented roles, while references are modeled by an adaptive query-aware aggregator to differentiate their contributions. Through the attention mechanism, both entities and references can capture their fine-grained semantic meanings, and thus render more expressive representations. This will be more predictive for knowledge acquisition in the few-shot scenario. Evaluation in link prediction on two public datasets shows that our approach achieves new state-of-the-art results with different few-shot sizes.

The potential of graph convolutional neural networks for the task of zero-shot learning has been demonstrated recently. These models are highly sample efficient as related concepts in the graph structure share statistical strength allowing generalization to new classes when faced with a lack of data. However, knowledge from distant nodes can get diluted when propagating through intermediate nodes, because current approaches to zero-shot learning use graph propagation schemes that perform Laplacian smoothing at each layer. We show that extensive smoothing does not help the task of regressing classifier weights in zero-shot learning. In order to still incorporate information from distant nodes and utilize the graph structure, we propose an Attentive Dense Graph Propagation Module (ADGPM). ADGPM allows us to exploit the hierarchical graph structure of the knowledge graph through additional connections. These connections are added based on a node's relationship to its ancestors and descendants and an attention scheme is further used to weigh their contribution depending on the distance to the node. Finally, we illustrate that finetuning of the feature representation after training the ADGPM leads to considerable improvements. Our method achieves competitive results, outperforming previous zero-shot learning approaches.