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(Economic) nonlinear model predictive control ((e)NMPC) requires dynamic system models that are sufficiently accurate in all relevant state-space regions. These models must also be computationally cheap enough to ensure real-time tractability. Data-driven surrogate models for mechanistic models can be used to reduce the computational burden of (e)NMPC; however, such models are typically trained by system identification for maximum average prediction accuracy on simulation samples and perform suboptimally as part of actual (e)NMPC. We present a method for end-to-end reinforcement learning of dynamic surrogate models for optimal performance in (e)NMPC applications, resulting in predictive controllers that strike a favorable balance between control performance and computational demand. We validate our method on two applications derived from an established nonlinear continuous stirred-tank reactor model. We compare the controller performance to that of MPCs utilizing models trained by the prevailing maximum prediction accuracy paradigm, and model-free neural network controllers trained using reinforcement learning. We show that our method matches the performance of the model-free neural network controllers while consistently outperforming models derived from system identification. Additionally, we show that the MPC policies can react to changes in the control setting without retraining.

We present CEMA: Causal Explanations in Multi-Agent systems; a general framework to create causal explanations for an agent's decisions in sequential multi-agent systems. The core of CEMA is a novel causal selection method inspired by how humans select causes for explanations. Unlike prior work that assumes a specific causal structure, CEMA is applicable whenever a probabilistic model for predicting future states of the environment is available. Given such a model, CEMA samples counterfactual worlds that inform us about the salient causes behind the agent's decisions. We evaluate CEMA on the task of motion planning for autonomous driving and test it in diverse simulated scenarios. We show that CEMA correctly and robustly identifies the causes behind decisions, even when a large number of agents is present, and show via a user study that CEMA's explanations have a positive effect on participant's trust in AVs and are rated at least as good as high-quality human explanations elicited from other participants.

Human emotion understanding is pivotal in making conversational technology mainstream. We view speech emotion understanding as a perception task which is a more realistic setting. With varying contexts (languages, demographics, etc.) different share of people perceive the same speech segment as a non-unanimous emotion. As part of the ACM Multimedia 2023 Computational Paralinguistics ChallengE (ComParE) in the EMotion Share track, we leverage their rich dataset of multilingual speakers and multi-label regression target of 'emotion share' or perception of that emotion. We demonstrate that the training scheme of different foundation models dictates their effectiveness for tasks beyond speech recognition, especially for non-semantic speech tasks like emotion understanding. This is a very complex task due to multilingual speakers, variability in the target labels, and inherent imbalance in the regression dataset. Our results show that HuBERT-Large with a self-attention-based light-weight sequence model provides 4.6% improvement over the reported baseline.

Recently, the advent of vision Transformer (ViT) has brought substantial advancements in 3D dataset benchmarks, particularly in 3D volumetric medical image segmentation (Vol-MedSeg). Concurrently, multi-layer perceptron (MLP) network has regained popularity among researchers due to their comparable results to ViT, albeit with the exclusion of the resource-intensive self-attention module. In this work, we propose a novel permutable hybrid network for Vol-MedSeg, named PHNet, which capitalizes on the strengths of both convolution neural networks (CNNs) and MLP. PHNet addresses the intrinsic isotropy problem of 3D volumetric data by employing a combination of 2D and 3D CNNs to extract local features. Besides, we propose an efficient multi-layer permute perceptron (MLPP) module that captures long-range dependence while preserving positional information. This is achieved through an axis decomposition operation that permutes the input tensor along different axes, thereby enabling the separate encoding of the positional information. Furthermore, MLPP tackles the resolution sensitivity issue of MLP in Vol-MedSeg with a token segmentation operation, which divides the feature into smaller tokens and processes them individually. Extensive experimental results validate that PHNet outperforms the state-of-the-art methods with lower computational costs on the widely-used yet challenging COVID-19-20 and Synapse benchmarks. The ablation study also demonstrates the effectiveness of PHNet in harnessing the strengths of both CNNs and MLP.

Several earlier studies have shown impressive control performance in complex robotic systems by designing the controller using a neural network and training it with model-free reinforcement learning. However, these outstanding controllers with natural motion style and high task performance are developed through extensive reward engineering, which is a highly laborious and time-consuming process of designing numerous reward terms and determining suitable reward coefficients. In this work, we propose a novel reinforcement learning framework for training neural network controllers for complex robotic systems consisting of both rewards and constraints. To let the engineers appropriately reflect their intent to constraints and handle them with minimal computation overhead, two constraint types and an efficient policy optimization algorithm are suggested. The learning framework is applied to train locomotion controllers for several legged robots with different morphology and physical attributes to traverse challenging terrains. Extensive simulation and real-world experiments demonstrate that performant controllers can be trained with significantly less reward engineering, by tuning only a single reward coefficient. Furthermore, a more straightforward and intuitive engineering process can be utilized, thanks to the interpretability and generalizability of constraints. The summary video is available at //youtu.be/KAlm3yskhvM.

Multi-object tracking (MOT) is a crucial component of situational awareness in military defense applications. With the growing use of unmanned aerial systems (UASs), MOT methods for aerial surveillance is in high demand. Application of MOT in UAS presents specific challenges such as moving sensor, changing zoom levels, dynamic background, illumination changes, obscurations and small objects. In this work, we present a robust object tracking architecture aimed to accommodate for the noise in real-time situations. We propose a kinematic prediction model, called Deep Extended Kalman Filter (DeepEKF), in which a sequence-to-sequence architecture is used to predict entity trajectories in latent space. DeepEKF utilizes a learned image embedding along with an attention mechanism trained to weight the importance of areas in an image to predict future states. For the visual scoring, we experiment with different similarity measures to calculate distance based on entity appearances, including a convolutional neural network (CNN) encoder, pre-trained using Siamese networks. In initial evaluation experiments, we show that our method, combining scoring structure of the kinematic and visual models within a MHT framework, has improved performance especially in edge cases where entity motion is unpredictable, or the data presents frames with significant gaps.

Current models for event causality identification (ECI) mainly adopt a supervised framework, which heavily rely on labeled data for training. Unfortunately, the scale of current annotated datasets is relatively limited, which cannot provide sufficient support for models to capture useful indicators from causal statements, especially for handing those new, unseen cases. To alleviate this problem, we propose a novel approach, shortly named CauSeRL, which leverages external causal statements for event causality identification. First of all, we design a self-supervised framework to learn context-specific causal patterns from external causal statements. Then, we adopt a contrastive transfer strategy to incorporate the learned context-specific causal patterns into the target ECI model. Experimental results show that our method significantly outperforms previous methods on EventStoryLine and Causal-TimeBank (+2.0 and +3.4 points on F1 value respectively).

Spectral clustering (SC) is a popular clustering technique to find strongly connected communities on a graph. SC can be used in Graph Neural Networks (GNNs) to implement pooling operations that aggregate nodes belonging to the same cluster. However, the eigendecomposition of the Laplacian is expensive and, since clustering results are graph-specific, pooling methods based on SC must perform a new optimization for each new sample. In this paper, we propose a graph clustering approach that addresses these limitations of SC. We formulate a continuous relaxation of the normalized minCUT problem and train a GNN to compute cluster assignments that minimize this objective. Our GNN-based implementation is differentiable, does not require to compute the spectral decomposition, and learns a clustering function that can be quickly evaluated on out-of-sample graphs. From the proposed clustering method, we design a graph pooling operator that overcomes some important limitations of state-of-the-art graph pooling techniques and achieves the best performance in several supervised and unsupervised tasks.

For better user experience and business effectiveness, Click-Through Rate (CTR) prediction has been one of the most important tasks in E-commerce. Although extensive CTR prediction models have been proposed, learning good representation of items from multimodal features is still less investigated, considering an item in E-commerce usually contains multiple heterogeneous modalities. Previous works either concatenate the multiple modality features, that is equivalent to giving a fixed importance weight to each modality; or learn dynamic weights of different modalities for different items through technique like attention mechanism. However, a problem is that there usually exists common redundant information across multiple modalities. The dynamic weights of different modalities computed by using the redundant information may not correctly reflect the different importance of each modality. To address this, we explore the complementarity and redundancy of modalities by considering modality-specific and modality-invariant features differently. We propose a novel Multimodal Adversarial Representation Network (MARN) for the CTR prediction task. A multimodal attention network first calculates the weights of multiple modalities for each item according to its modality-specific features. Then a multimodal adversarial network learns modality-invariant representations where a double-discriminators strategy is introduced. Finally, we achieve the multimodal item representations by combining both modality-specific and modality-invariant representations. We conduct extensive experiments on both public and industrial datasets, and the proposed method consistently achieves remarkable improvements to the state-of-the-art methods. Moreover, the approach has been deployed in an operational E-commerce system and online A/B testing further demonstrates the effectiveness.

Object detection is considered as one of the most challenging problems in computer vision, since it requires correct prediction of both classes and locations of objects in images. In this study, we define a more difficult scenario, namely zero-shot object detection (ZSD) where no visual training data is available for some of the target object classes. We present a novel approach to tackle this ZSD problem, where a convex combination of embeddings are used in conjunction with a detection framework. For evaluation of ZSD methods, we propose a simple dataset constructed from Fashion-MNIST images and also a custom zero-shot split for the Pascal VOC detection challenge. The experimental results suggest that our method yields promising results for ZSD.