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Deep neural networks (DNN) usually come with a significant computational burden. While approaches such as structured pruning and mobile-specific DNNs have been proposed, they incur drastic accuracy loss. In this paper we leverage the intrinsic redundancy in latent representations to reduce the computational load with limited loss in performance. We show that semantically similar inputs share many filters, especially in the earlier layers. Thus, semantically similar classes can be clustered to create cluster-specific subgraphs. To this end, we propose a new framework called Semantic Inference (SINF). In short, SINF (i) identifies the semantic cluster the object belongs to using a small additional classifier and (ii) executes the subgraph extracted from the base DNN related to that semantic cluster for inference. To extract each cluster-specific subgraph, we propose a new approach named Discriminative Capability Score (DCS) that finds the subgraph with the capability to discriminate among the members of a specific semantic cluster. DCS is independent from SINF and can be applied to any DNN. We benchmark the performance of DCS on the VGG16, VGG19, and ResNet50 DNNs trained on the CIFAR100 dataset against 6 state-of-the-art pruning approaches. Our results show that (i) SINF reduces the inference time of VGG19, VGG16, and ResNet50 respectively by up to 35%, 29% and 15% with only 0.17%, 3.75%, and 6.75% accuracy loss (ii) DCS achieves respectively up to 3.65%, 4.25%, and 2.36% better accuracy with VGG16, VGG19, and ResNet50 with respect to existing discriminative scores (iii) when used as a pruning criterion, DCS achieves up to 8.13% accuracy gain with 5.82% less parameters than the existing state of the art work published at ICLR 2023 (iv) when considering per-cluster accuracy, SINF performs on average 5.73%, 8.38% and 6.36% better than the base VGG16, VGG19, and ResNet50.

Pre-trained large language models (LLMs) have recently achieved better generalization and sample efficiency in autonomous web automation. However, the performance on real-world websites has still suffered from (1) open domainness, (2) limited context length, and (3) lack of inductive bias on HTML. We introduce WebAgent, an LLM-driven agent that learns from self-experience to complete tasks on real websites following natural language instructions. WebAgent plans ahead by decomposing instructions into canonical sub-instructions, summarizes long HTML documents into task-relevant snippets, and acts on websites via Python programs generated from those. We design WebAgent with Flan-U-PaLM, for grounded code generation, and HTML-T5, new pre-trained LLMs for long HTML documents using local and global attention mechanisms and a mixture of long-span denoising objectives, for planning and summarization. We empirically demonstrate that our modular recipe improves the success on real websites by over 50%, and that HTML-T5 is the best model to solve various HTML understanding tasks; achieving 18.7% higher success rate than the prior method on MiniWoB web automation benchmark, and SoTA performance on Mind2Web, an offline task planning evaluation.

Intelligent transportation systems (ITS) have gained significant attention from various communities, driven by rapid advancements in informational technology. Within the realm of ITS, navigational recommendation systems (RS) play a pivotal role, as users often face diverse path (route) options in such complex urban environments. However, RS is not immune to vulnerabilities, especially when confronted with potential information-based attacks. This study aims to explore the impacts of these cyber threats on RS, explicitly focusing on local targeted information attacks in which the attacker favors certain groups or businesses. We study human behaviors and propose the coordinated incentive-compatible RS that guides users toward a mixed Nash equilibrium, under which each user has no incentive to deviate from the recommendation. Then, we delve into the vulnerabilities within the recommendation process, focusing on scenarios involving misinformed demands. In such cases, the attacker can fabricate fake users to mislead the RS's recommendations. Using the Stackelberg game approach, the analytical results and the numerical case study reveal that RS is susceptible to informational attacks. This study highlights the need to consider informational attacks for a more resilient and effective navigational recommendation.

Modern agile software projects are subject to constant change, making it essential to re-asses overall delay risk throughout the project life cycle. Existing effort estimation models are static and not able to incorporate changes occurring during project execution. In this paper, we propose a dynamic model for continuously predicting overall delay using delay patterns and Bayesian modeling. The model incorporates the context of the project phase and learns from changes in team performance over time. We apply the approach to real-world data from 4,040 epics and 270 teams at ING. An empirical evaluation of our approach and comparison to the state-of-the-art demonstrate significant improvements in predictive accuracy. The dynamic model consistently outperforms static approaches and the state-of-the-art, even during early project phases.

Given fruitful works in the image monitoring, there is a lack of data-driven tools guiding the practitioners to select proper monitoring procedures. The potential model mismatch caused by the arbitrary selection could deviate the empirical detection delay from their theoretical analysis and bias the prognosis. In the image monitoring, the sparsity of the underlying anomaly is one of the attributes on which the development of many monitoring procedures is highly based. This paper proposes a computational-friendly sparsity index, the corrected Hoyer index, to estimate the sparsity of the underlying anomaly interrupted by noise. We theoretically prove the consistency of the constructed sparsity index. We use simulations to validate the consistency and demonstrate the robustness against the noise. We also provide the insights on how to guide the real applications with the proposed sparsity index.

Currently, truss tomato weighing and packaging require significant manual work. The main obstacle to automation lies in the difficulty of developing a reliable robotic grasping system for already harvested trusses. We propose a method to grasp trusses that are stacked in a crate with considerable clutter, which is how they are commonly stored and transported after harvest. The method consists of a deep learning-based vision system to first identify the individual trusses in the crate and then determine a suitable grasping location on the stem. To this end, we have introduced a grasp pose ranking algorithm with online learning capabilities. After selecting the most promising grasp pose, the robot executes a pinch grasp without needing touch sensors or geometric models. Lab experiments with a robotic manipulator equipped with an eye-in-hand RGB-D camera showed a 100% clearance rate when tasked to pick all trusses from a pile. 93% of the trusses were successfully grasped on the first try, while the remaining 7% required more attempts.

Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab environment. Existing scene transfer end-to-end policy learning approaches often suffer from poor sample efficiency or limited generalization capabilities, making them unsuitable for mobile robotics applications. This work proposes an adaptive multi-pair contrastive learning strategy for visual representation learning that enables zero-shot scene transfer and real-world deployment. Control policies relying on the embedding are able to operate in unseen environments without the need for finetuning in the deployment environment. We demonstrate the performance of our approach on the task of agile, vision-based quadrotor flight. Extensive simulation and real-world experiments demonstrate that our approach successfully generalizes beyond the training domain and outperforms all baselines.

In this work we introduce the CitrusFarm dataset, a comprehensive multimodal sensory dataset collected by a wheeled mobile robot operating in agricultural fields. The dataset offers stereo RGB images with depth information, as well as monochrome, near-infrared and thermal images, presenting diverse spectral responses crucial for agricultural research. Furthermore, it provides a range of navigational sensor data encompassing wheel odometry, LiDAR, inertial measurement unit (IMU), and GNSS with Real-Time Kinematic (RTK) as the centimeter-level positioning ground truth. The dataset comprises seven sequences collected in three fields of citrus trees, featuring various tree species at different growth stages, distinctive planting patterns, as well as varying daylight conditions. It spans a total operation time of 1.7 hours, covers a distance of 7.5 km, and constitutes 1.3 TB of data. We anticipate that this dataset can facilitate the development of autonomous robot systems operating in agricultural tree environments, especially for localization, mapping and crop monitoring tasks. Moreover, the rich sensing modalities offered in this dataset can also support research in a range of robotics and computer vision tasks, such as place recognition, scene understanding, object detection and segmentation, and multimodal learning. The dataset, in conjunction with related tools and resources, is made publicly available at //github.com/UCR-Robotics/Citrus-Farm-Dataset.

We introduce a class of generic spike-and-slab priors for high-dimensional linear regression with grouped variables and present a Coordinate-ascent Variational Inference (CAVI) algorithm for obtaining an optimal variational Bayes approximation. Using parameter expansion for a specific, yet comprehensive, family of slab distributions, we obtain a further gain in computational efficiency. The method can be easily extended to fitting additive models. Theoretically, we present general conditions on the generic spike-and-slab priors that enable us to derive the contraction rates for both the true posterior and the VB posterior for linear regression and additive models, of which some previous theoretical results can be viewed as special cases. Our simulation studies and real data application demonstrate that the proposed method is superior to existing methods in both variable selection and parameter estimation. Our algorithm is implemented in the R package GVSSB.

Conventional methods for object detection typically require a substantial amount of training data and preparing such high-quality training data is very labor-intensive. In this paper, we propose a novel few-shot object detection network that aims at detecting objects of unseen categories with only a few annotated examples. Central to our method are our Attention-RPN, Multi-Relation Detector and Contrastive Training strategy, which exploit the similarity between the few shot support set and query set to detect novel objects while suppressing false detection in the background. To train our network, we contribute a new dataset that contains 1000 categories of various objects with high-quality annotations. To the best of our knowledge, this is one of the first datasets specifically designed for few-shot object detection. Once our few-shot network is trained, it can detect objects of unseen categories without further training or fine-tuning. Our method is general and has a wide range of potential applications. We produce a new state-of-the-art performance on different datasets in the few-shot setting. The dataset link is //github.com/fanq15/Few-Shot-Object-Detection-Dataset.