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The potential for deploying autonomous systems can be significantly increased by improving the perception and interpretation of the environment. However, the development of deep learning-based techniques for autonomous systems in unstructured outdoor environments poses challenges due to limited data availability for training and testing. To address this gap, we present the German Outdoor and Offroad Dataset (GOOSE), a comprehensive dataset specifically designed for unstructured outdoor environments. The GOOSE dataset incorporates 10 000 labeled pairs of images and point clouds, which are utilized to train a range of state-of-the-art segmentation models on both image and point cloud data. We open source the dataset, along with an ontology for unstructured terrain, as well as dataset standards and guidelines. This initiative aims to establish a common framework, enabling the seamless inclusion of existing datasets and a fast way to enhance the perception capabilities of various robots operating in unstructured environments. The dataset, pre-trained models for offroad perception, and additional documentation can be found at //goose-dataset.de/.

Path reasoning methods over knowledge graphs have gained popularity for their potential to improve transparency in recommender systems. However, the resulting models still rely on pre-trained knowledge graph embeddings, fail to fully exploit the interdependence between entities and relations in the KG for recommendation, and may generate inaccurate explanations. In this paper, we introduce PEARLM, a novel approach that efficiently captures user behaviour and product-side knowledge through language modelling. With our approach, knowledge graph embeddings are directly learned from paths over the KG by the language model, which also unifies entities and relations in the same optimisation space. Constraints on the sequence decoding additionally guarantee path faithfulness with respect to the KG. Experiments on two datasets show the effectiveness of our approach compared to state-of-the-art baselines. Source code and datasets: AVAILABLE AFTER GETTING ACCEPTED.

This paper proposes a new method for differentiating through optimal trajectories arising from non-convex, constrained discrete-time optimal control (COC) problems using the implicit function theorem (IFT). Previous works solve a differential Karush-Kuhn-Tucker (KKT) system for the trajectory derivative, and achieve this efficiently by solving an auxiliary Linear Quadratic Regulator (LQR) problem. In contrast, we directly evaluate the matrix equations which arise from applying variable elimination on the Lagrange multiplier terms in the (differential) KKT system. By appropriately accounting for the structure of the terms within the resulting equations, we show that the trajectory derivatives scale linearly with the number of timesteps. Furthermore, our approach allows for easy parallelization, significantly improved scalability with model size, direct computation of vector-Jacobian products and improved numerical stability compared to prior works. As an additional contribution, we unify prior works, addressing claims that computing trajectory derivatives using IFT scales quadratically with the number of timesteps. We evaluate our method on a both synthetic benchmark and four challenging, learning from demonstration benchmarks including a 6-DoF maneuvering quadrotor and 6-DoF rocket powered landing.

Creating large-scale and well-annotated datasets to train AI algorithms is crucial for automated tumor detection and localization. However, with limited resources, it is challenging to determine the best type of annotations when annotating massive amounts of unlabeled data. To address this issue, we focus on polyps in colonoscopy videos and pancreatic tumors in abdominal CT scans; both applications require significant effort and time for pixel-wise annotation due to the high dimensional nature of the data, involving either temporary or spatial dimensions. In this paper, we develop a new annotation strategy, termed Drag&Drop, which simplifies the annotation process to drag and drop. This annotation strategy is more efficient, particularly for temporal and volumetric imaging, than other types of weak annotations, such as per-pixel, bounding boxes, scribbles, ellipses, and points. Furthermore, to exploit our Drag&Drop annotations, we develop a novel weakly supervised learning method based on the watershed algorithm. Experimental results show that our method achieves better detection and localization performance than alternative weak annotations and, more importantly, achieves similar performance to that trained on detailed per-pixel annotations. Interestingly, we find that, with limited resources, allocating weak annotations from a diverse patient population can foster models more robust to unseen images than allocating per-pixel annotations for a small set of images. In summary, this research proposes an efficient annotation strategy for tumor detection and localization that is less accurate than per-pixel annotations but useful for creating large-scale datasets for screening tumors in various medical modalities.

Current approaches in paraphrase generation and detection heavily rely on a single general similarity score, ignoring the intricate linguistic properties of language. This paper introduces two new tasks to address this shortcoming by considering paraphrase types - specific linguistic perturbations at particular text positions. We name these tasks Paraphrase Type Generation and Paraphrase Type Detection. Our results suggest that while current techniques perform well in a binary classification scenario, i.e., paraphrased or not, the inclusion of fine-grained paraphrase types poses a significant challenge. While most approaches are good at generating and detecting general semantic similar content, they fail to understand the intrinsic linguistic variables they manipulate. Models trained in generating and identifying paraphrase types also show improvements in tasks without them. In addition, scaling these models further improves their ability to understand paraphrase types. We believe paraphrase types can unlock a new paradigm for developing paraphrase models and solving tasks in the future.

Integrated sensing and communications (ISAC) systems have gained significant interest because of their ability to jointly and efficiently access, utilize, and manage the scarce electromagnetic spectrum. The co-existence approach toward ISAC focuses on the receiver processing of overlaid radar and communications signals coming from independent transmitters. A specific ISAC coexistence problem is dual-blind deconvolution (DBD), wherein the transmit signals and channels of both radar and communications are unknown to the receiver. Prior DBD works ignore the evolution of the signal model over time. In this work, we consider a dynamic DBD scenario using a linear state space model (LSSM) such that, apart from the transmit signals and channels of both systems, the LSSM parameters are also unknown. We employ a factor graph representation to model these unknown variables. We avoid the conventional matrix inversion approach to estimate the unknown variables by using an efficient expectation-maximization algorithm, where each iteration employs a Gaussian message passing over the factor graph structure. Numerical experiments demonstrate the accurate estimation of radar and communications channels, including in the presence of noise.

Reliable and efficient trajectory optimization methods are a fundamental need for autonomous dynamical systems, effectively enabling applications including rocket landing, hypersonic reentry, spacecraft rendezvous, and docking. Within such safety-critical application areas, the complexity of the emerging trajectory optimization problems has motivated the application of AI-based techniques to enhance the performance of traditional approaches. However, current AI-based methods either attempt to fully replace traditional control algorithms, thus lacking constraint satisfaction guarantees and incurring in expensive simulation, or aim to solely imitate the behavior of traditional methods via supervised learning. To address these limitations, this paper proposes the Autonomous Rendezvous Transformer (ART) and assesses the capability of modern generative models to solve complex trajectory optimization problems, both from a forecasting and control standpoint. Specifically, this work assesses the capabilities of Transformers to (i) learn near-optimal policies from previously collected data, and (ii) warm-start a sequential optimizer for the solution of non-convex optimal control problems, thus guaranteeing hard constraint satisfaction. From a forecasting perspective, results highlight how ART outperforms other learning-based architectures at predicting known fuel-optimal trajectories. From a control perspective, empirical analyses show how policies learned through Transformers are able to generate near-optimal warm-starts, achieving trajectories that are (i) more fuel-efficient, (ii) obtained in fewer sequential optimizer iterations, and (iii) computed with an overall runtime comparable to benchmarks based on convex optimization.

With the emergence of powerful representations of continuous data in the form of neural fields, there is a need for discretization invariant learning: an approach for learning maps between functions on continuous domains without being sensitive to how the function is sampled. We present a new framework for understanding and designing discretization invariant neural networks (DI-Nets), which generalizes many discrete networks such as convolutional neural networks as well as continuous networks such as neural operators. Our analysis establishes upper bounds on the deviation in model outputs under different finite discretizations, and highlights the central role of point set discrepancy in characterizing such bounds. This insight leads to the design of a family of neural networks driven by numerical integration via quasi-Monte Carlo sampling with discretizations of low discrepancy. We prove by construction that DI-Nets universally approximate a large class of maps between integrable function spaces, and show that discretization invariance also describes backpropagation through such models. Applied to neural fields, convolutional DI-Nets can learn to classify and segment visual data under various discretizations, and sometimes generalize to new types of discretizations at test time. Code: //github.com/clintonjwang/DI-net.

The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.

As soon as abstract mathematical computations were adapted to computation on digital computers, the problem of efficient representation, manipulation, and communication of the numerical values in those computations arose. Strongly related to the problem of numerical representation is the problem of quantization: in what manner should a set of continuous real-valued numbers be distributed over a fixed discrete set of numbers to minimize the number of bits required and also to maximize the accuracy of the attendant computations? This perennial problem of quantization is particularly relevant whenever memory and/or computational resources are severely restricted, and it has come to the forefront in recent years due to the remarkable performance of Neural Network models in computer vision, natural language processing, and related areas. Moving from floating-point representations to low-precision fixed integer values represented in four bits or less holds the potential to reduce the memory footprint and latency by a factor of 16x; and, in fact, reductions of 4x to 8x are often realized in practice in these applications. Thus, it is not surprising that quantization has emerged recently as an important and very active sub-area of research in the efficient implementation of computations associated with Neural Networks. In this article, we survey approaches to the problem of quantizing the numerical values in deep Neural Network computations, covering the advantages/disadvantages of current methods. With this survey and its organization, we hope to have presented a useful snapshot of the current research in quantization for Neural Networks and to have given an intelligent organization to ease the evaluation of future research in this area.