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Existing neural field-based SLAM methods typically employ a single monolithic field as their scene representation. This prevents efficient incorporation of loop closure constraints and limits scalability. To address these shortcomings, we propose a neural mapping framework which anchors lightweight neural fields to the pose graph of a sparse visual SLAM system. Our approach shows the ability to integrate large-scale loop closures, while limiting necessary reintegration. Furthermore, we verify the scalability of our approach by demonstrating successful building-scale mapping taking multiple loop closures into account during the optimization, and show that our method outperforms existing state-of-the-art approaches on large scenes in terms of quality and runtime. Our code is available at //kth-rpl.github.io/neural_graph_mapping/.

In this study, we present an implementation strategy for a robot that performs peg transfer tasks in Fundamentals of Laparoscopic Surgery (FLS) via imitation learning, aimed at the development of an autonomous robot for laparoscopic surgery. Robotic laparoscopic surgery presents two main challenges: (1) the need to manipulate forceps using ports established on the body surface as fulcrums, and (2) difficulty in perceiving depth information when working with a monocular camera that displays its images on a monitor. Especially, regarding issue (2), most prior research has assumed the availability of depth images or models of a target to be operated on. Therefore, in this study, we achieve more accurate imitation learning with only monocular images by extracting motion constraints from one exemplary motion of skilled operators, collecting data based on these constraints, and conducting imitation learning based on the collected data. We implemented an overall system using two Franka Emika Panda Robot Arms and validated its effectiveness.

In this paper, we study the partial multi-label (PML) image classification problem, where each image is annotated with a candidate label set consists of multiple relevant labels and other noisy labels. Existing PML methods typically design a disambiguation strategy to filter out noisy labels by utilizing prior knowledge with extra assumptions, which unfortunately is unavailable in many real tasks. Furthermore, because the objective function for disambiguation is usually elaborately designed on the whole training set, it can be hardly optimized in a deep model with SGD on mini-batches. In this paper, for the first time we propose a deep model for PML to enhance the representation and discrimination ability. On one hand, we propose a novel curriculum based disambiguation strategy to progressively identify ground-truth labels by incorporating the varied difficulties of different classes. On the other hand, a consistency regularization is introduced for model retraining to balance fitting identified easy labels and exploiting potential relevant labels. Extensive experimental results on the commonly used benchmark datasets show the proposed method significantly outperforms the SOTA methods.

In this paper, we investigate unsourced random access for massive machine-type communications (mMTC) in the sixth-generation (6G) wireless networks. Firstly, we establish a high-efficiency uncoupled framework for massive unsourced random access without extra parity check bits. Then, we design a low-complexity Bayesian joint decoding algorithm, including codeword detection and stitching. In particular, we present a Bayesian codeword detection approach by exploiting Bayes-optimal divergence-free orthogonal approximate message passing in the case of unknown priors. The output long-term channel statistic information is well leveraged to stitch codewords for recovering the original message. Thus, the spectral efficiency is improved by avoiding the use of parity bits. Moreover, we analyze the performance of the proposed Bayesian joint decoding-based massive uncoupled unsourced random access scheme in terms of computational complexity and error probability of decoding. Furthermore, by asymptotic analysis, we obtain some useful insights for the design of massive unsourced random access. Finally, extensive simulation results confirm the effectiveness of the proposed scheme in 6G wireless networks.

In this paper, we explore an efficient uncoupled unsourced random access (UURA) scheme for 6G massive communication. UURA is a typical framework of unsourced random access that addresses the problems of codeword detection and message stitching, without the use of check bits. Firstly, we establish a framework for UURA, allowing for immediate decoding of sub-messages upon arrival. Thus, the processing delay is effectively reduced due to the decreasing waiting time. Next, we propose an integrated decoding algorithm for sub-messages by leveraging matrix information geometry (MIG) theory. Specifically, MIG is applied to measure the feature similarities of codewords belonging to the same user equipment, and thus sub-message can be stitched once it is received. This enables the timely recovery of a portion of the original message by simultaneously detecting and stitching codewords within the current sub-slot. Furthermore, we analyze the performance of the proposed integrated decoding-based UURA scheme in terms of computational complexity and convergence rate. Finally, we present extensive simulation results to validate the effectiveness of the proposed scheme in 6G wireless networks.

In this paper, we consider two challenging issues in reference-based super-resolution (RefSR) for smartphone, (i) how to choose a proper reference image, and (ii) how to learn RefSR in a self-supervised manner. Particularly, we propose a novel self-supervised learning approach for real-world RefSR from observations at dual and multiple camera zooms. Firstly, considering the popularity of multiple cameras in modern smartphones, the more zoomed (telephoto) image can be naturally leveraged as the reference to guide the super-resolution (SR) of the lesser zoomed (ultra-wide) image, which gives us a chance to learn a deep network that performs SR from the dual zoomed observations (DZSR). Secondly, for self-supervised learning of DZSR, we take the telephoto image instead of an additional high-resolution image as the supervision information, and select a center patch from it as the reference to super-resolve the corresponding ultra-wide image patch. To mitigate the effect of the misalignment between ultra-wide low-resolution (LR) patch and telephoto ground-truth (GT) image during training, we first adopt patch-based optical flow alignment and then design an auxiliary-LR to guide the deforming of the warped LR features. To generate visually pleasing results, we present local overlapped sliced Wasserstein loss to better represent the perceptual difference between GT and output in the feature space. During testing, DZSR can be directly deployed to super-solve the whole ultra-wide image with the reference of the telephoto image. In addition, we further take multiple zoomed observations to explore self-supervised RefSR, and present a progressive fusion scheme for the effective utilization of reference images. Experiments show that our methods achieve better quantitative and qualitative performance against state-of-the-arts. Codes are available at //github.com/cszhilu1998/SelfDZSR_PlusPlus.

The dominating NLP paradigm of training a strong neural predictor to perform one task on a specific dataset has led to state-of-the-art performance in a variety of applications (eg. sentiment classification, span-prediction based question answering or machine translation). However, it builds upon the assumption that the data distribution is stationary, ie. that the data is sampled from a fixed distribution both at training and test time. This way of training is inconsistent with how we as humans are able to learn from and operate within a constantly changing stream of information. Moreover, it is ill-adapted to real-world use cases where the data distribution is expected to shift over the course of a model's lifetime. The first goal of this thesis is to characterize the different forms this shift can take in the context of natural language processing, and propose benchmarks and evaluation metrics to measure its effect on current deep learning architectures. We then proceed to take steps to mitigate the effect of distributional shift on NLP models. To this end, we develop methods based on parametric reformulations of the distributionally robust optimization framework. Empirically, we demonstrate that these approaches yield more robust models as demonstrated on a selection of realistic problems. In the third and final part of this thesis, we explore ways of efficiently adapting existing models to new domains or tasks. Our contribution to this topic takes inspiration from information geometry to derive a new gradient update rule which alleviate catastrophic forgetting issues during adaptation.

In this paper, we propose a novel Feature Decomposition and Reconstruction Learning (FDRL) method for effective facial expression recognition. We view the expression information as the combination of the shared information (expression similarities) across different expressions and the unique information (expression-specific variations) for each expression. More specifically, FDRL mainly consists of two crucial networks: a Feature Decomposition Network (FDN) and a Feature Reconstruction Network (FRN). In particular, FDN first decomposes the basic features extracted from a backbone network into a set of facial action-aware latent features to model expression similarities. Then, FRN captures the intra-feature and inter-feature relationships for latent features to characterize expression-specific variations, and reconstructs the expression feature. To this end, two modules including an intra-feature relation modeling module and an inter-feature relation modeling module are developed in FRN. Experimental results on both the in-the-lab databases (including CK+, MMI, and Oulu-CASIA) and the in-the-wild databases (including RAF-DB and SFEW) show that the proposed FDRL method consistently achieves higher recognition accuracy than several state-of-the-art methods. This clearly highlights the benefit of feature decomposition and reconstruction for classifying expressions.

BERT, a pre-trained Transformer model, has achieved ground-breaking performance on multiple NLP tasks. In this paper, we describe BERTSUM, a simple variant of BERT, for extractive summarization. Our system is the state of the art on the CNN/Dailymail dataset, outperforming the previous best-performed system by 1.65 on ROUGE-L. The codes to reproduce our results are available at //github.com/nlpyang/BertSum

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.