In the last decade, UAVs have become a widely used technology. As they are used by both professionals and amateurs, there is a need to explore different control modalities to make control intuitive and easier, especially for new users. In this work, we compared the most widely used joystick control with a custom human pose control. We used human pose estimation and arm movements to send UAV commands in the same way that operators use their fingers to send joystick commands. Experiments were conducted in a simulation environment with first-person visual feedback. Participants had to traverse the same maze with joystick and human pose control. Participants' subjective experience was assessed using the raw NASA Task Load Index.
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We set up a formal framework to characterize encompassing of nonparametric models through the L2 distance. We contrast it to previous literature on the comparison of nonparametric regression models. We then develop testing procedures for the encompassing hypothesis that are fully nonparametric. Our test statistics depend on kernel regression, raising the issue of bandwidth's choice. We investigate two alternative approaches to obtain a "small bias property" for our test statistics. We show the validity of a wild bootstrap method. We empirically study the use of a data-driven bandwidth and illustrate the attractive features of our tests for small and moderate samples.
In this paper, we describe a spoken Arabic dialect identification (ADI) model for Arabic that consistently outperforms previously published results on two benchmark datasets: ADI-5 and ADI-17. We explore two architectural variations: ResNet and ECAPA-TDNN, coupled with two types of acoustic features: MFCCs and features exratected from the pre-trained self-supervised model UniSpeech-SAT Large, as well as a fusion of all four variants. We find that individually, ECAPA-TDNN network outperforms ResNet, and models with UniSpeech-SAT features outperform models with MFCCs by a large margin. Furthermore, a fusion of all four variants consistently outperforms individual models. Our best models outperform previously reported results on both datasets, with accuracies of 84.7% and 96.9% on ADI-5 and ADI-17, respectively.
Pre-trained Language Models have emerged as promising tools for predicting molecular properties, yet their development is in its early stages, necessitating further research to enhance their efficacy and address challenges such as generalization and sample efficiency. In this paper, we present a multi-view approach that combines latent spaces derived from state-of-the-art chemical models. Our approach relies on two pivotal elements: the embeddings derived from MHG-GNN, which represent molecular structures as graphs, and MoLFormer embeddings rooted in chemical language. The attention mechanism of MoLFormer is able to identify relations between two atoms even when their distance is far apart, while the GNN of MHG-GNN can more precisely capture relations among multiple atoms closely located. In this work, we demonstrate the superior performance of our proposed multi-view approach compared to existing state-of-the-art methods, including MoLFormer-XL, which was trained on 1.1 billion molecules, particularly in intricate tasks such as predicting clinical trial drug toxicity and inhibiting HIV replication. We assessed our approach using six benchmark datasets from MoleculeNet, where it outperformed competitors in five of them. Our study highlights the potential of latent space fusion and feature integration for advancing molecular property prediction. In this work, we use small versions of MHG-GNN and MoLFormer, which opens up an opportunity for further improvement when our approach uses a larger-scale dataset.
Back translation (BT) is one of the most significant technologies in NMT research fields. Existing attempts on BT share a common characteristic: they employ either beam search or random sampling to generate synthetic data with a backward model but seldom work studies the role of synthetic data in the performance of BT. This motivates us to ask a fundamental question: {\em what kind of synthetic data contributes to BT performance?} Through both theoretical and empirical studies, we identify two key factors on synthetic data controlling the back-translation NMT performance, which are quality and importance. Furthermore, based on our findings, we propose a simple yet effective method to generate synthetic data to better trade off both factors so as to yield a better performance for BT. We run extensive experiments on WMT14 DE-EN, EN-DE, and RU-EN benchmark tasks. By employing our proposed method to generate synthetic data, our BT model significantly outperforms the standard BT baselines (i.e., beam and sampling based methods for data generation), which proves the effectiveness of our proposed methods.
As machine learning models become more capable, they have exhibited increased potential in solving complex tasks. One of the most promising directions uses deep reinforcement learning to train autonomous agents in computer network defense tasks. This work studies the impact of the reward signal that is provided to the agents when training for this task. Due to the nature of cybersecurity tasks, the reward signal is typically 1) in the form of penalties (e.g., when a compromise occurs), and 2) distributed sparsely across each defense episode. Such reward characteristics are atypical of classic reinforcement learning tasks where the agent is regularly rewarded for progress (cf. to getting occasionally penalized for failures). We investigate reward shaping techniques that could bridge this gap so as to enable agents to train more sample-efficiently and potentially converge to a better performance. We first show that deep reinforcement learning algorithms are sensitive to the magnitude of the penalties and their relative size. Then, we combine penalties with positive external rewards and study their effect compared to penalty-only training. Finally, we evaluate intrinsic curiosity as an internal positive reward mechanism and discuss why it might not be as advantageous for high-level network monitoring tasks.
Logs enable the monitoring of infrastructure status and the performance of associated applications. Logs are also invaluable for diagnosing the root causes of any problems that may arise. Log Anomaly Detection (LAD) pipelines automate the detection of anomalies in logs, providing assistance to site reliability engineers (SREs) in system diagnosis. Log patterns change over time, necessitating updates to the LAD model defining the `normal' log activity profile. In this paper, we introduce a Bayes Factor-based drift detection method that identifies when intervention, retraining, and updating of the LAD model are required with human involvement. We illustrate our method using sequences of log activity, both from unaltered data, and simulated activity with controlled levels of anomaly contamination, based on real collected log data.
Relation prediction for knowledge graphs aims at predicting missing relationships between entities. Despite the importance of inductive relation prediction, most previous works are limited to a transductive setting and cannot process previously unseen entities. The recent proposed subgraph-based relation reasoning models provided alternatives to predict links from the subgraph structure surrounding a candidate triplet inductively. However, we observe that these methods often neglect the directed nature of the extracted subgraph and weaken the role of relation information in the subgraph modeling. As a result, they fail to effectively handle the asymmetric/anti-symmetric triplets and produce insufficient embeddings for the target triplets. To this end, we introduce a \textbf{C}\textbf{o}mmunicative \textbf{M}essage \textbf{P}assing neural network for \textbf{I}nductive re\textbf{L}ation r\textbf{E}asoning, \textbf{CoMPILE}, that reasons over local directed subgraph structures and has a vigorous inductive bias to process entity-independent semantic relations. In contrast to existing models, CoMPILE strengthens the message interactions between edges and entitles through a communicative kernel and enables a sufficient flow of relation information. Moreover, we demonstrate that CoMPILE can naturally handle asymmetric/anti-symmetric relations without the need for explosively increasing the number of model parameters by extracting the directed enclosing subgraphs. Extensive experiments show substantial performance gains in comparison to state-of-the-art methods on commonly used benchmark datasets with variant inductive settings.
Text Classification is an important and classical problem in natural language processing. There have been a number of studies that applied convolutional neural networks (convolution on regular grid, e.g., sequence) to classification. However, only a limited number of studies have explored the more flexible graph convolutional neural networks (convolution on non-grid, e.g., arbitrary graph) for the task. In this work, we propose to use graph convolutional networks for text classification. We build a single text graph for a corpus based on word co-occurrence and document word relations, then learn a Text Graph Convolutional Network (Text GCN) for the corpus. Our Text GCN is initialized with one-hot representation for word and document, it then jointly learns the embeddings for both words and documents, as supervised by the known class labels for documents. Our experimental results on multiple benchmark datasets demonstrate that a vanilla Text GCN without any external word embeddings or knowledge outperforms state-of-the-art methods for text classification. On the other hand, Text GCN also learns predictive word and document embeddings. In addition, experimental results show that the improvement of Text GCN over state-of-the-art comparison methods become more prominent as we lower the percentage of training data, suggesting the robustness of Text GCN to less training data in text classification.
In this paper, we introduce the Reinforced Mnemonic Reader for machine reading comprehension tasks, which enhances previous attentive readers in two aspects. First, a reattention mechanism is proposed to refine current attentions by directly accessing to past attentions that are temporally memorized in a multi-round alignment architecture, so as to avoid the problems of attention redundancy and attention deficiency. Second, a new optimization approach, called dynamic-critical reinforcement learning, is introduced to extend the standard supervised method. It always encourages to predict a more acceptable answer so as to address the convergence suppression problem occurred in traditional reinforcement learning algorithms. Extensive experiments on the Stanford Question Answering Dataset (SQuAD) show that our model achieves state-of-the-art results. Meanwhile, our model outperforms previous systems by over 6% in terms of both Exact Match and F1 metrics on two adversarial SQuAD datasets.
Learning from a few examples remains a key challenge in machine learning. Despite recent advances in important domains such as vision and language, the standard supervised deep learning paradigm does not offer a satisfactory solution for learning new concepts rapidly from little data. In this work, we employ ideas from metric learning based on deep neural features and from recent advances that augment neural networks with external memories. Our framework learns a network that maps a small labelled support set and an unlabelled example to its label, obviating the need for fine-tuning to adapt to new class types. We then define one-shot learning problems on vision (using Omniglot, ImageNet) and language tasks. Our algorithm improves one-shot accuracy on ImageNet from 87.6% to 93.2% and from 88.0% to 93.8% on Omniglot compared to competing approaches. We also demonstrate the usefulness of the same model on language modeling by introducing a one-shot task on the Penn Treebank.
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