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We introduce uncertainty-aware object instance segmentation (UncOS) and demonstrate its usefulness for embodied interactive segmentation. To deal with uncertainty in robot perception, we propose a method for generating a hypothesis distribution of object segmentation. We obtain a set of region-factored segmentation hypotheses together with confidence estimates by making multiple queries of large pre-trained models. This process can produce segmentation results that achieve state-of-the-art performance on unseen object segmentation problems. The output can also serve as input to a belief-driven process for selecting robot actions to perturb the scene to reduce ambiguity. We demonstrate the effectiveness of this method in real-robot experiments. Website: //sites.google.com/view/embodied-uncertain-seg

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 Processing 是一門開源編程語言和與之配套的集成開發環境(IDE)的名稱。Processing 在電子藝術和視覺設計社區被用來教授編程基礎,并運用于大量的新媒體和互動藝術作品中。

Many optimization problems require balancing multiple conflicting objectives. As gradient descent is limited to single-objective optimization, we introduce its direct generalization: Jacobian descent (JD). This algorithm iteratively updates parameters using the Jacobian matrix of a vector-valued objective function, in which each row is the gradient of an individual objective. While several methods to combine gradients already exist in the literature, they are generally hindered when the objectives conflict. In contrast, we propose projecting gradients to fully resolve conflict while ensuring that they preserve an influence proportional to their norm. We prove significantly stronger convergence guarantees with this approach, supported by our empirical results. Our method also enables instance-wise risk minimization (IWRM), a novel learning paradigm in which the loss of each training example is considered a separate objective. Applied to simple image classification tasks, IWRM exhibits promising results compared to the direct minimization of the average loss. Additionally, we outline an efficient implementation of JD using the Gramian of the Jacobian matrix to reduce time and memory requirements.

Prompt tuning for vision-language models such as CLIP involves optimizing the text prompts used to generate image-text pairs for specific downstream tasks. While hand-crafted or template-based prompts are generally applicable to a wider range of unseen classes, they tend to perform poorly in downstream tasks (i.e., seen classes). Learnable soft prompts, on the other hand, often perform well in downstream tasks but lack generalizability. Additionally, prior research has predominantly concentrated on the textual modality, with very few studies attempting to explore the prompt's generalization potential from the visual modality. Keeping these limitations in mind, we investigate how to prompt tuning to obtain both a competitive downstream performance and generalization. The study shows that by treating soft and hand-crafted prompts as dual views of the textual modality, and maximizing their mutual information, we can better ensemble task-specific and general semantic information. Moreover, to generate more expressive prompts, the study introduces a class-wise augmentation from the visual modality, resulting in significant robustness to a wider range of unseen classes. Extensive evaluations on several benchmarks report that the proposed approach achieves competitive results in terms of both task-specific performance and general abilities.

The vector autoregression (VAR) has been widely used in system identification, econometrics, natural science, and many other areas. However, when the state dimension becomes large the parameter dimension explodes. So rank reduced modelling is attractive and is well developed. But a fundamental requirement in almost all applications is stability of the fitted model. And this has not been addressed in the rank reduced case. Here, we develop, for the first time, a closed-form formula for an estimator of a rank reduced transition matrix which is guaranteed to be stable. We show that our estimator is consistent and asymptotically statistically efficient and illustrate it in comparative simulations.

Deep hashing has been intensively studied and successfully applied in large-scale image retrieval systems due to its efficiency and effectiveness. Recent studies have recognized that the existence of adversarial examples poses a security threat to deep hashing models, that is, adversarial vulnerability. Notably, it is challenging to efficiently distill reliable semantic representatives for deep hashing to guide adversarial learning, and thereby it hinders the enhancement of adversarial robustness of deep hashing-based retrieval models. Moreover, current researches on adversarial training for deep hashing are hard to be formalized into a unified minimax structure. In this paper, we explore Semantic-Aware Adversarial Training (SAAT) for improving the adversarial robustness of deep hashing models. Specifically, we conceive a discriminative mainstay features learning (DMFL) scheme to construct semantic representatives for guiding adversarial learning in deep hashing. Particularly, our DMFL with the strict theoretical guarantee is adaptively optimized in a discriminative learning manner, where both discriminative and semantic properties are jointly considered. Moreover, adversarial examples are fabricated by maximizing the Hamming distance between the hash codes of adversarial samples and mainstay features, the efficacy of which is validated in the adversarial attack trials. Further, we, for the first time, formulate the formalized adversarial training of deep hashing into a unified minimax optimization under the guidance of the generated mainstay codes. Extensive experiments on benchmark datasets show superb attack performance against the state-of-the-art algorithms, meanwhile, the proposed adversarial training can effectively eliminate adversarial perturbations for trustworthy deep hashing-based retrieval. Our code is available at //github.com/xandery-geek/SAAT.

Inverse propensity-score weighted (IPW) estimators are prevalent in causal inference for estimating average treatment effects in observational studies. Under unconfoundedness, given accurate propensity scores and $n$ samples, the size of confidence intervals of IPW estimators scales down with $n$, and, several of their variants improve the rate of scaling. However, neither IPW estimators nor their variants are robust to inaccuracies: even if a single covariate has an $\varepsilon>0$ additive error in the propensity score, the size of confidence intervals of these estimators can increase arbitrarily. Moreover, even without errors, the rate with which the confidence intervals of these estimators go to zero with $n$ can be arbitrarily slow in the presence of extreme propensity scores (those close to 0 or 1). We introduce a family of Coarse IPW (CIPW) estimators that captures existing IPW estimators and their variants. Each CIPW estimator is an IPW estimator on a coarsened covariate space, where certain covariates are merged. Under mild assumptions, e.g., Lipschitzness in expected outcomes and sparsity of extreme propensity scores, we give an efficient algorithm to find a robust estimator: given $\varepsilon$-inaccurate propensity scores and $n$ samples, its confidence interval size scales with $\varepsilon+1/\sqrt{n}$. In contrast, under the same assumptions, existing estimators' confidence interval sizes are $\Omega(1)$ irrespective of $\varepsilon$ and $n$. Crucially, our estimator is data-dependent and we show that no data-independent CIPW estimator can be robust to inaccuracies.

Gradient-free prompt optimization methods have made significant strides in enhancing the performance of closed-source Large Language Models (LLMs) across a wide range of tasks. However, existing approaches make light of the importance of high-quality prompt initialization and the identification of effective optimization directions, thus resulting in substantial optimization steps to obtain satisfactory performance. In this light, we aim to accelerate prompt optimization process to tackle the challenge of low convergence rate. We propose a dual-phase approach which starts with generating high-quality initial prompts by adopting a well-designed meta-instruction to delve into task-specific information, and iteratively optimize the prompts at the sentence level, leveraging previous tuning experience to expand prompt candidates and accept effective ones. Extensive experiments on eight datasets demonstrate the effectiveness of our proposed method, achieving a consistent accuracy gain over baselines with less than five optimization steps.

We propose a conservative algorithm to test the geometrical validity of simplicial (triangles, tetrahedra), tensor product (quadrilaterals, hexahedra), and mixed (prisms) elements of arbitrary polynomial order as they deform over a piecewise-linear trajectory. Our algorithm uses a combination of adaptive B\'ezier refinement and bisection search to determine if, when, and where the Jacobian determinant of an element's polynomial geometric map becomes negative in the transition from one configuration to another. Unlike previous approaches, our method preserves its properties also when implemented using floating point arithmetic: This feature comes at a small additional runtime cost compared to existing inexact methods, making it a drop-in replacement for current validity tests, while providing superior robustness and generality. To prove the practical effectiveness of our algorithm, we demonstrate its use in a high-order Incremental Potential Contact (IPC) elastodynamic simulator, and we experimentally show that it prevents invalid, simulation-breaking configurations that would otherwise occur using inexact methods, without the need for manual parameter tuning.

External knowledge is often useful for natural language understanding tasks. We introduce a contextual text representation model called Conceptual-Contextual (CC) embeddings, which incorporates structured knowledge into text representations. Unlike entity embedding methods, our approach encodes a knowledge graph into a context model. CC embeddings can be easily reused for a wide range of tasks just like pre-trained language models. Our model effectively encodes the huge UMLS database by leveraging semantic generalizability. Experiments on electronic health records (EHRs) and medical text processing benchmarks showed our model gives a major boost to the performance of supervised medical NLP tasks.

External knowledge is often useful for natural language understanding tasks. We introduce a contextual text representation model called Conceptual-Contextual (CC) embeddings, which incorporates structured knowledge into text representations. Unlike entity embedding methods, our approach encodes a knowledge graph into a context model. CC embeddings can be easily reused for a wide range of tasks just like pre-trained language models. Our model effectively encodes the huge UMLS database by leveraging semantic generalizability. Experiments on electronic health records (EHRs) and medical text processing benchmarks showed our model gives a major boost to the performance of supervised medical NLP tasks.

Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis, thereby allowing manual manipulation in predicting the final answer.

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