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Vision-based cooperative motion estimation is an important problem for many multi-robot systems such as cooperative aerial target pursuit. This problem can be formulated as bearing-only cooperative motion estimation, where the visual measurement is modeled as a bearing vector pointing from the camera to the target. The conventional approaches for bearing-only cooperative estimation are mainly based on the framework distributed Kalman filtering (DKF). In this paper, we propose a new optimal bearing-only cooperative estimation algorithm, named spatial-temporal triangulation, based on the method of distributed recursive least squares, which provides a more flexible framework for designing distributed estimators than DKF. The design of the algorithm fully incorporates all the available information and the specific triangulation geometric constraint. As a result, the algorithm has superior estimation performance than the state-of-the-art DKF algorithms in terms of both accuracy and convergence speed as verified by numerical simulation. We rigorously prove the exponential convergence of the proposed algorithm. Moreover, to verify the effectiveness of the proposed algorithm under practical challenging conditions, we develop a vision-based cooperative aerial target pursuit system, which is the first of such fully autonomous systems so far to the best of our knowledge.

The development of artificial intelligence (AI) provides opportunities for the promotion of deep neural network (DNN)-based applications. However, the large amount of parameters and computational complexity of DNN makes it difficult to deploy it on edge devices which are resource-constrained. An efficient method to address this challenge is model partition/splitting, in which DNN is divided into two parts which are deployed on device and server respectively for co-training or co-inference. In this paper, we consider a split federated learning (SFL) framework that combines the parallel model training mechanism of federated learning (FL) and the model splitting structure of split learning (SL). We consider a practical scenario of heterogeneous devices with individual split points of DNN. We formulate a joint problem of split point selection and bandwidth allocation to minimize the system latency. By using alternating optimization, we decompose the problem into two sub-problems and solve them optimally. Experiment results demonstrate the superiority of our work in latency reduction and accuracy improvement.

Adversarial contrastive learning (ACL) is a technique that enhances standard contrastive learning (SCL) by incorporating adversarial data to learn a robust representation that can withstand adversarial attacks and common corruptions without requiring costly annotations. To improve transferability, the existing work introduced the standard invariant regularization (SIR) to impose style-independence property to SCL, which can exempt the impact of nuisance style factors in the standard representation. However, it is unclear how the style-independence property benefits ACL-learned robust representations. In this paper, we leverage the technique of causal reasoning to interpret the ACL and propose adversarial invariant regularization (AIR) to enforce independence from style factors. We regulate the ACL using both SIR and AIR to output the robust representation. Theoretically, we show that AIR implicitly encourages the representational distance between different views of natural data and their adversarial variants to be independent of style factors. Empirically, our experimental results show that invariant regularization significantly improves the performance of state-of-the-art ACL methods in terms of both standard generalization and robustness on downstream tasks. To the best of our knowledge, we are the first to apply causal reasoning to interpret ACL and develop AIR for enhancing ACL-learned robust representations. Our source code is at //github.com/GodXuxilie/Enhancing_ACL_via_AIR.

Automated visual inspection of on-and offshore wind turbines using aerial robots provides several benefits, namely, a safe working environment by circumventing the need for workers to be suspended high above the ground, reduced inspection time, preventive maintenance, and access to hard-to-reach areas. A novel nonlinear model predictive control (NMPC) framework alongside a global wind turbine path planner is proposed to achieve distance-optimal coverage for wind turbine inspection. Unlike traditional MPC formulations, visual tracking NMPC (VT-NMPC) is designed to track an inspection surface, instead of a position and heading trajectory, thereby circumventing the need to provide an accurate predefined trajectory for the drone. An additional capability of the proposed VT-NMPC method is that by incorporating inspection requirements as visual tracking costs to minimize, it naturally achieves the inspection task successfully while respecting the physical constraints of the drone. Multiple simulation runs and real-world tests demonstrate the efficiency and efficacy of the proposed automated inspection framework, which outperforms the traditional MPC designs, by providing full coverage of the target wind turbine blades as well as its robustness to changing wind conditions. The implementation codes are open-sourced.

Constructing responses in task-oriented dialogue systems typically relies on information sources such the current dialogue state or external databases. This paper presents a novel approach to knowledge-grounded response generation that combines retrieval-augmented language models with logical reasoning. The approach revolves around a knowledge graph representing the current dialogue state and background information, and proceeds in three steps. The knowledge graph is first enriched with logically derived facts inferred using probabilistic logical programming. A neural model is then employed at each turn to score the conversational relevance of each node and edge of this extended graph. Finally, the elements with highest relevance scores are converted to a natural language form, and are integrated into the prompt for the neural conversational model employed to generate the system response. We investigate the benefits of the proposed approach on two datasets (KVRET and GraphWOZ) along with a human evaluation. Experimental results show that the combination of (probabilistic) logical reasoning with conversational relevance scoring does increase both the factuality and fluency of the responses.

Topic segmentation is critical for obtaining structured long documents and improving downstream tasks like information retrieval. Due to its ability of automatically exploring clues of topic shift from a large amount of labeled data, recent supervised neural models have greatly promoted the development of long document topic segmentation, but leaving the deeper relationship of semantic coherence and topic segmentation underexplored. Therefore, this paper enhances the supervised model's ability to capture coherence from both structure and similarity perspectives to further improve the topic segmentation performance, including the Topic-aware Sentence Structure Prediction (TSSP) and Contrastive Semantic Similarity Learning (CSSL). Specifically, the TSSP task is proposed to force the model to comprehend structural information by learning the original relations of adjacent sentences in a disarrayed document, which is constructed by jointly disrupting the original document at the topic and sentence levels. In addition, we utilize inter- and intra-topic information to construct contrastive samples and design the CSSL objective to ensure that the sentences representations in the same topic have higher semantic similarity, while those in different topics are less similar. Extensive experiments show that the Longformer with our approach significantly outperforms old state-of-the-art (SOTA) methods. Our approach improves $F_{1}$ of old SOTA by 3.42 (73.74 -> 77.16) and reduces $P_{k}$ by 1.11 points (15.0 -> 13.89) on WIKI-727K and achieves an average reduction of 0.83 points on $P_{k}$ on WikiSection. The average $P_{k}$ drop of 2.82 points on the two out-of-domain datasets also illustrates the robustness of our approach

Graph neural networks (GNNs) is widely used to learn a powerful representation of graph-structured data. Recent work demonstrates that transferring knowledge from self-supervised tasks to downstream tasks could further improve graph representation. However, there is an inherent gap between self-supervised tasks and downstream tasks in terms of optimization objective and training data. Conventional pre-training methods may be not effective enough on knowledge transfer since they do not make any adaptation for downstream tasks. To solve such problems, we propose a new transfer learning paradigm on GNNs which could effectively leverage self-supervised tasks as auxiliary tasks to help the target task. Our methods would adaptively select and combine different auxiliary tasks with the target task in the fine-tuning stage. We design an adaptive auxiliary loss weighting model to learn the weights of auxiliary tasks by quantifying the consistency between auxiliary tasks and the target task. In addition, we learn the weighting model through meta-learning. Our methods can be applied to various transfer learning approaches, it performs well not only in multi-task learning but also in pre-training and fine-tuning. Comprehensive experiments on multiple downstream tasks demonstrate that the proposed methods can effectively combine auxiliary tasks with the target task and significantly improve the performance compared to state-of-the-art methods.

Graph neural networks (GNNs) are a popular class of machine learning models whose major advantage is their ability to incorporate a sparse and discrete dependency structure between data points. Unfortunately, GNNs can only be used when such a graph-structure is available. In practice, however, real-world graphs are often noisy and incomplete or might not be available at all. With this work, we propose to jointly learn the graph structure and the parameters of graph convolutional networks (GCNs) by approximately solving a bilevel program that learns a discrete probability distribution on the edges of the graph. This allows one to apply GCNs not only in scenarios where the given graph is incomplete or corrupted but also in those where a graph is not available. We conduct a series of experiments that analyze the behavior of the proposed method and demonstrate that it outperforms related methods by a significant margin.

High spectral dimensionality and the shortage of annotations make hyperspectral image (HSI) classification a challenging problem. Recent studies suggest that convolutional neural networks can learn discriminative spatial features, which play a paramount role in HSI interpretation. However, most of these methods ignore the distinctive spectral-spatial characteristic of hyperspectral data. In addition, a large amount of unlabeled data remains an unexploited gold mine for efficient data use. Therefore, we proposed an integration of generative adversarial networks (GANs) and probabilistic graphical models for HSI classification. Specifically, we used a spectral-spatial generator and a discriminator to identify land cover categories of hyperspectral cubes. Moreover, to take advantage of a large amount of unlabeled data, we adopted a conditional random field to refine the preliminary classification results generated by GANs. Experimental results obtained using two commonly studied datasets demonstrate that the proposed framework achieved encouraging classification accuracy using a small number of data for training.

Detecting carried objects is one of the requirements for developing systems to reason about activities involving people and objects. We present an approach to detect carried objects from a single video frame with a novel method that incorporates features from multiple scales. Initially, a foreground mask in a video frame is segmented into multi-scale superpixels. Then the human-like regions in the segmented area are identified by matching a set of extracted features from superpixels against learned features in a codebook. A carried object probability map is generated using the complement of the matching probabilities of superpixels to human-like regions and background information. A group of superpixels with high carried object probability and strong edge support is then merged to obtain the shape of the carried object. We applied our method to two challenging datasets, and results show that our method is competitive with or better than the state-of-the-art.