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Training state-of-the-art Automated Speech Recognition (ASR) models typically requires a substantial amount of transcribed speech. In this work, we demonstrate that a modality-matched joint speech and text model can be leveraged to train a massively multilingual ASR model without any supervised (manually transcribed) speech for some languages. This paper explores the use of jointly learnt speech and text representations in a massively multilingual, zero supervised speech, real-world setting to expand the set of languages covered by ASR with only unlabeled speech and text in the target languages. Using the FLEURS dataset, we define the task to cover $102$ languages, where transcribed speech is available in $52$ of these languages and can be used to improve end-to-end ASR quality on the remaining $50$. First, we show that by combining speech representations with byte-level text representations and use of language embeddings, we can dramatically reduce the Character Error Rate (CER) on languages with no supervised speech from 64.8\% to 30.8\%, a relative reduction of 53\%. Second, using a subset of South Asian languages we show that Maestro-U can promote knowledge transfer from languages with supervised speech even when there is limited to no graphemic overlap. Overall, Maestro-U closes the gap to oracle performance by 68.5\% relative and reduces the CER of 19 languages below 15\%.

The simulation of human neurons and neurotransmission mechanisms has been realized in deep neural networks based on the theoretical implementations of activation functions. However, recent studies have reported that the threshold potential of neurons exhibits different values according to the locations and types of individual neurons, and that the activation functions have limitations in terms of representing this variability. Therefore, this study proposes a simple yet effective activation function that facilitates different thresholds and adaptive activations according to the positions of units and the contexts of inputs. Furthermore, the proposed activation function mathematically exhibits a more generalized form of Swish activation function, and thus we denoted it as Adaptive SwisH (ASH). ASH highlights informative features that exhibit large values in the top percentiles in an input, whereas it rectifies low values. Most importantly, ASH exhibits trainable, adaptive, and context-aware properties compared to other activation functions. Furthermore, ASH represents general formula of the previously studied activation function and provides a reasonable mathematical background for the superior performance. To validate the effectiveness and robustness of ASH, we implemented ASH into many deep learning models for various tasks, including classification, detection, segmentation, and image generation. Experimental analysis demonstrates that our activation function can provide the benefits of more accurate prediction and earlier convergence in many deep learning applications.

In this paper, we present a learning-based approach that allows a robot to quickly follow a reference path defined in joint space without exceeding limits on the position, velocity, acceleration and jerk of each robot joint. Contrary to offline methods for time-optimal path parameterization, the reference path can be changed during motion execution. In addition, our approach can utilize sensory feedback, for instance, to follow a reference path with a bipedal robot without losing balance. With our method, the robot is controlled by a neural network that is trained via reinforcement learning using data generated by a physics simulator. From a mathematical perspective, the problem of tracking a reference path in a time-optimized manner is formalized as a Markov decision process. Each state includes a fixed number of waypoints specifying the next part of the reference path. The action space is designed in such a way that all resulting motions comply with the specified kinematic joint limits. The reward function finally reflects the trade-off between the execution time, the deviation from the desired reference path and optional additional objectives like balancing. We evaluate our approach with and without additional objectives and show that time-optimized path tracking can be successfully learned for both industrial and humanoid robots. In addition, we demonstrate that networks trained in simulation can be successfully transferred to a real robot.

We analyze two Natural Language Inference data sets with respect to their linguistic features. The goal is to identify those syntactic and semantic properties that are particularly hard to comprehend for a machine learning model. To this end, we also investigate the differences between a crowd-sourced, machine-translated data set (SNLI) and a collection of text pairs from internet sources. Our main findings are, that the model has difficulty recognizing the semantic importance of prepositions and verbs, emphasizing the importance of linguistically aware pre-training tasks. Furthermore, it often does not comprehend antonyms and homonyms, especially if those are depending on the context. Incomplete sentences are another problem, as well as longer paragraphs and rare words or phrases. The study shows that automated language understanding requires a more informed approach, utilizing as much external knowledge as possible throughout the training process.

Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their flexibility and enable greater usage in manufacturing and other areas. To ensure safety, cobots are subject to kinematic limits that result in low signal-to-noise ratios (SNR) for velocity, acceleration, and force-torque data. This renders existing inertial parameter identification algorithms prohibitively slow and inaccurate. Motivated by the desire for faster model acquisition, we investigate the use of an approximation of rigid body dynamics to improve the SNR. Additionally, we introduce a mass discretization method that can make use of shape information to quickly identify plausible inertial parameters for a manipulated object. We present extensive simulation studies and real-world experiments demonstrating that our approach complements existing inertial parameter identification methods by specifically targeting the typical cobot operating regime.

We address the problem of mechanism design for two-stage repeated stochastic games -- a novel setting using which many emerging problems in next-generation electricity markets can be readily modeled. Repeated playing affords the players a large class of strategies that adapt a player's actions to all past observations and inferences obtained therefrom. In other settings such as iterative auctions or dynamic games where a large strategy space of this sort manifests, it typically has an important implication for mechanism design: It may be impossible to obtain truth-telling as a dominant strategy equilibrium. Consequently, in such scenarios, it is common to settle for mechanisms that render truth-telling only a Nash equilibrium, or variants thereof, even though Nash equilibria are known to be poor models of real-world behavior. This is owing to each player having to make overly specific assumptions about the behaviors of the other players to employ their Nash equilibrium strategy, which they may not make. In general, the lesser the burden of speculation in an equilibrium, the more plausible it is that it models real-world behavior. Guided by this maxim, we introduce a new notion of equilibrium called Dominant Strategy Non-Bankrupting Equilibrium (DNBE) which requires the players to make very little assumptions about the behavior of the other players to employ their equilibrium strategy. Consequently, a mechanism that renders truth-telling a DNBE as opposed to only a Nash equilibrium could be quite effective in molding real-world behavior along truthful lines. We present a mechanism for two-stage repeated stochastic games that renders truth-telling a Dominant Strategy Non-Bankrupting Equilibrium. The mechanism also guarantees individual rationality and maximizes social welfare. Finally, we describe an application of the mechanism to design demand response markets.

Diffusion models have shown incredible capabilities as generative models; indeed, they power the current state-of-the-art models on text-conditioned image generation such as Imagen and DALL-E 2. In this work we review, demystify, and unify the understanding of diffusion models across both variational and score-based perspectives. We first derive Variational Diffusion Models (VDM) as a special case of a Markovian Hierarchical Variational Autoencoder, where three key assumptions enable tractable computation and scalable optimization of the ELBO. We then prove that optimizing a VDM boils down to learning a neural network to predict one of three potential objectives: the original source input from any arbitrary noisification of it, the original source noise from any arbitrarily noisified input, or the score function of a noisified input at any arbitrary noise level. We then dive deeper into what it means to learn the score function, and connect the variational perspective of a diffusion model explicitly with the Score-based Generative Modeling perspective through Tweedie's Formula. Lastly, we cover how to learn a conditional distribution using diffusion models via guidance.

The conjoining of dynamical systems and deep learning has become a topic of great interest. In particular, neural differential equations (NDEs) demonstrate that neural networks and differential equation are two sides of the same coin. Traditional parameterised differential equations are a special case. Many popular neural network architectures, such as residual networks and recurrent networks, are discretisations. NDEs are suitable for tackling generative problems, dynamical systems, and time series (particularly in physics, finance, ...) and are thus of interest to both modern machine learning and traditional mathematical modelling. NDEs offer high-capacity function approximation, strong priors on model space, the ability to handle irregular data, memory efficiency, and a wealth of available theory on both sides. This doctoral thesis provides an in-depth survey of the field. Topics include: neural ordinary differential equations (e.g. for hybrid neural/mechanistic modelling of physical systems); neural controlled differential equations (e.g. for learning functions of irregular time series); and neural stochastic differential equations (e.g. to produce generative models capable of representing complex stochastic dynamics, or sampling from complex high-dimensional distributions). Further topics include: numerical methods for NDEs (e.g. reversible differential equations solvers, backpropagation through differential equations, Brownian reconstruction); symbolic regression for dynamical systems (e.g. via regularised evolution); and deep implicit models (e.g. deep equilibrium models, differentiable optimisation). We anticipate this thesis will be of interest to anyone interested in the marriage of deep learning with dynamical systems, and hope it will provide a useful reference for the current state of the art.

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.

Behaviors of the synthetic characters in current military simulations are limited since they are generally generated by rule-based and reactive computational models with minimal intelligence. Such computational models cannot adapt to reflect the experience of the characters, resulting in brittle intelligence for even the most effective behavior models devised via costly and labor-intensive processes. Observation-based behavior model adaptation that leverages machine learning and the experience of synthetic entities in combination with appropriate prior knowledge can address the issues in the existing computational behavior models to create a better training experience in military training simulations. In this paper, we introduce a framework that aims to create autonomous synthetic characters that can perform coherent sequences of believable behavior while being aware of human trainees and their needs within a training simulation. This framework brings together three mutually complementary components. The first component is a Unity-based simulation environment - Rapid Integration and Development Environment (RIDE) - supporting One World Terrain (OWT) models and capable of running and supporting machine learning experiments. The second is Shiva, a novel multi-agent reinforcement and imitation learning framework that can interface with a variety of simulation environments, and that can additionally utilize a variety of learning algorithms. The final component is the Sigma Cognitive Architecture that will augment the behavior models with symbolic and probabilistic reasoning capabilities. We have successfully created proof-of-concept behavior models leveraging this framework on realistic terrain as an essential step towards bringing machine learning into military simulations.