This paper presents a new method to describe spatio-temporal relations between objects and hands, to recognize both interactions and activities within video demonstrations of manual tasks. The approach exploits Scene Graphs to extract key interaction features from image sequences while simultaneously encoding motion patterns and context. Additionally, the method introduces event-based automatic video segmentation and clustering, which allow for the grouping of similar events and detect if a monitored activity is executed correctly. The effectiveness of the approach was demonstrated in two multi-subject experiments, showing the ability to recognize and cluster hand-object and object-object interactions without prior knowledge of the activity, as well as matching the same activity performed by different subjects.
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This papers proposes a generic, high-level methodology for generating forecast combinations that would deliver the optimal linearly combined forecast in terms of the mean-squared forecast error if one had access to two population quantities: the mean vector and the covariance matrix of the vector of individual forecast errors. We point out that this problem is identical to a mean-variance portfolio construction problem, in which portfolio weights correspond to forecast combination weights. We allow negative forecast weights and interpret such weights as hedging over and under estimation risks across estimators. This interpretation follows directly as an implication of the portfolio analogy. We demonstrate our method's improved out-of-sample performance relative to standard methods in combining tree forecasts to form weighted random forests in 14 data sets.
This paper jointly considers privacy preservation and Byzantine-robustness in decentralized learning. In a decentralized network, honest-but-curious agents faithfully follow the prescribed algorithm, but expect to infer their neighbors' private data from messages received during the learning process, while dishonest-and-Byzantine agents disobey the prescribed algorithm, and deliberately disseminate wrong messages to their neighbors so as to bias the learning process. For this novel setting, we investigate a generic privacy-preserving and Byzantine-robust decentralized stochastic gradient descent (SGD) framework, in which Gaussian noise is injected to preserve privacy and robust aggregation rules are adopted to counteract Byzantine attacks. We analyze its learning error and privacy guarantee, discovering an essential tradeoff between privacy preservation and Byzantine-robustness in decentralized learning -- the learning error caused by defending against Byzantine attacks is exacerbated by the Gaussian noise added to preserve privacy. Numerical experiments are conducted and corroborate our theoretical findings.
To simplify the generation process, several text-to-speech (TTS) systems implicitly learn intermediate latent representations instead of relying on predefined features (e.g., mel-spectrogram). However, their generation quality is unsatisfactory as these representations lack speech variances. In this paper, we improve TTS performance by adding \emph{prosody embeddings} to the latent representations. During training, we extract reference prosody embeddings from mel-spectrograms, and during inference, we estimate these embeddings from text using generative adversarial networks (GANs). Using GANs, we reliably estimate the prosody embeddings in a fast way, which have complex distributions due to the dynamic nature of speech. We also show that the prosody embeddings work as efficient features for learning a robust alignment between text and acoustic features. Our proposed model surpasses several publicly available models with less parameters and computational complexity in comparative experiments.
This paper studies the discretization of a homogenization and dimension reduction model for the elastic deformation of microstructured thin plates proposed by Hornung, Neukamm, and Vel\v{c}i\'c in 2014. Thereby, a nonlinear bending energy is based on a homogenized quadratic form which acts on the second fundamental form associated with the elastic deformation. Convergence is proven for a multi-affine finite element discretization of the involved three-dimensional microscopic cell problems and a discrete Kirchhoff triangle discretization of the two-dimensional isometry-constrained macroscopic problem. Finally, the convergence properties are numerically verified in selected test cases and qualitatively compared with deformation experiments for microstructured sheets of paper.
Sparse variational approximations are popular methods for scaling up inference and learning in Gaussian processes to larger datasets. For $N$ training points, exact inference has $O(N^3)$ cost; with $M \ll N$ features, state of the art sparse variational methods have $O(NM^2)$ cost. Recently, methods have been proposed using more sophisticated features; these promise $O(M^3)$ cost, with good performance in low dimensional tasks such as spatial modelling, but they only work with a very limited class of kernels, excluding some of the most commonly used. In this work, we propose integrated Fourier features, which extends these performance benefits to a very broad class of stationary covariance functions. We motivate the method and choice of parameters from a convergence analysis and empirical exploration, and show practical speedup in synthetic and real world spatial regression tasks.
This article studies the derivatives in models that flexibly characterize the relationship between a response variable and multiple predictors, with goals of providing both accurate estimation and inference procedures for hypothesis testing. In the setting of tensor product reproducing spaces for nonparametric multivariate functions, we propose a plug-in kernel ridge regression estimator to estimate the derivatives of the underlying multivariate regression function under the smoothing spline ANOVA model. This estimator has an analytical form, making it simple to implement in practice. We first establish $L_\infty$ and $L_2$ convergence rates of the proposed estimator under general random designs. For derivatives with some selected interesting orders, we provide an in-depth analysis establishing the minimax lower bound, which matches the $L_2$ convergence rate. Additionally, motivated by a wide range of applications, we propose a hypothesis testing procedure to examine whether a derivative is zero. Theoretical results demonstrate that the proposed testing procedure achieves the correct size under the null hypothesis and is asymptotically powerful under local alternatives. For ease of use, we also develop an associated bootstrap algorithm to construct the rejection region and calculate the p-value, and the consistency of the proposed algorithm is established. Simulation studies using synthetic data and an application to a real-world dataset confirm the effectiveness of our methods.
Software systems continuously evolve due to new functionalities, requirements, or maintenance activities. In the context of software evolution, software refactoring has gained a strategic relevance. The space of possible software refactoring is usually very large, as it is given by the combinations of different refactoring actions that can produce software system alternatives. Multi-objective algorithms have shown the ability to discover alternatives by pursuing different objectives simultaneously. Performance of such algorithms in the context of software model refactoring is of paramount importance. Therefore, in this paper, we conduct a performance analysis of three genetic algorithms to compare them in terms of performance and quality of solutions. Our results show that there are significant differences in performance among the algorithms (e.g., PESA2 seems to be the fastest one, while NSGA-II shows the least memory usage).
The integration of external personalized context information into document-grounded conversational systems has significant potential business value, but has not been well-studied. Motivated by the concept of personalized context-aware document-grounded conversational systems, we introduce the task of context-aware passage retrieval. We also construct a dataset specifically curated for this purpose. We describe multiple baseline systems to address this task, and propose a novel approach, Personalized Context-Aware Search (PCAS), that effectively harnesses contextual information during passage retrieval. Experimental evaluations conducted on multiple popular dense retrieval systems demonstrate that our proposed approach not only outperforms the baselines in retrieving the most relevant passage but also excels at identifying the pertinent context among all the available contexts. We envision that our contributions will serve as a catalyst for inspiring future research endeavors in this promising direction.
We provide methods which recover planar scene geometry by utilizing the transient histograms captured by a class of close-range time-of-flight (ToF) distance sensor. A transient histogram is a one dimensional temporal waveform which encodes the arrival time of photons incident on the ToF sensor. Typically, a sensor processes the transient histogram using a proprietary algorithm to produce distance estimates, which are commonly used in several robotics applications. Our methods utilize the transient histogram directly to enable recovery of planar geometry more accurately than is possible using only proprietary distance estimates, and consistent recovery of the albedo of the planar surface, which is not possible with proprietary distance estimates alone. This is accomplished via a differentiable rendering pipeline, which simulates the transient imaging process, allowing direct optimization of scene geometry to match observations. To validate our methods, we capture 3,800 measurements of eight planar surfaces from a wide range of viewpoints, and show that our method outperforms the proprietary-distance-estimate baseline by an order of magnitude in most scenarios. We demonstrate a simple robotics application which uses our method to sense the distance to and slope of a planar surface from a sensor mounted on the end effector of a robot arm.
We introduce a multi-task setup of identifying and classifying entities, relations, and coreference clusters in scientific articles. We create SciERC, a dataset that includes annotations for all three tasks and develop a unified framework called Scientific Information Extractor (SciIE) for with shared span representations. The multi-task setup reduces cascading errors between tasks and leverages cross-sentence relations through coreference links. Experiments show that our multi-task model outperforms previous models in scientific information extraction without using any domain-specific features. We further show that the framework supports construction of a scientific knowledge graph, which we use to analyze information in scientific literature.
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