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We present a novel scalable, fully distributed, and online method for simultaneous localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot poses are probabilistically inferred as robots sense each other while simultaneously calibrating their sensors and markers extrinsic using Gaussian Belief Propagation. In the presented experiments, we show how our method not only yields accurate robot localisation and auto-calibration but also is able to perform under challenging circumstances such as highly noisy measurements, significant communication failures or limited communication range.

Recent semantic communication methods explore effective ways to expand the communication paradigm and improve the system performance of the communication systems. Nonetheless, the common problem of these methods is that the essence of semantics is not explicitly pointed out and directly utilized. A new epistemology suggests that synonymy, which is revealed as the fundamental feature of semantics, guides the establishment of the semantic information theory from a novel viewpoint. Building on this theoretical basis, this paper proposes a semantic arithmetic coding (SAC) method for semantic lossless compression using intuitive semantic synonymy. By constructing reasonable synonymous mappings and performing arithmetic coding procedures over synonymous sets, SAC can achieve higher compression efficiency for meaning-contained source sequences at the semantic level and thereby approximate the semantic entropy limits. Experimental results on edge texture map compression show an evident improvement in coding efficiency using SAC without semantic losses, compared to traditional arithmetic coding, which demonstrates its effectiveness.

In proof-theoretic semantics, meaning is based on inference. It may seen as the mathematical expression of the inferentialist interpretation of logic. Much recent work has focused on base-extension semantics, in which the validity of formulas is given by an inductive definition generated by provability in a `base' of atomic rules. Base-extension semantics for classical and intuitionistic propositional logic have been explored by several authors. In this paper, we develop base-extension semantics for the classical propositional modal systems K, KT , K4, and S4, with $\square$ as the primary modal operator. We establish appropriate soundness and completeness theorems and establish the duality between $\square$ and a natural presentation of $\lozenge$. We also show that our semantics is in its current form not complete with respect to euclidean modal logics. Our formulation makes essential use of relational structures on bases.

Pre-trained Language Models (PLMs) which are trained on large text corpus via self-supervised learning method, have yielded promising performance on various tasks in Natural Language Processing (NLP). However, though PLMs with huge parameters can effectively possess rich knowledge learned from massive training text and benefit downstream tasks at the fine-tuning stage, they still have some limitations such as poor reasoning ability due to the lack of external knowledge. Research has been dedicated to incorporating knowledge into PLMs to tackle these issues. In this paper, we present a comprehensive review of Knowledge-Enhanced Pre-trained Language Models (KE-PLMs) to provide a clear insight into this thriving field. We introduce appropriate taxonomies respectively for Natural Language Understanding (NLU) and Natural Language Generation (NLG) to highlight these two main tasks of NLP. For NLU, we divide the types of knowledge into four categories: linguistic knowledge, text knowledge, knowledge graph (KG), and rule knowledge. The KE-PLMs for NLG are categorized into KG-based and retrieval-based methods. Finally, we point out some promising future directions of KE-PLMs.

Recent contrastive representation learning methods rely on estimating mutual information (MI) between multiple views of an underlying context. E.g., we can derive multiple views of a given image by applying data augmentation, or we can split a sequence into views comprising the past and future of some step in the sequence. Contrastive lower bounds on MI are easy to optimize, but have a strong underestimation bias when estimating large amounts of MI. We propose decomposing the full MI estimation problem into a sum of smaller estimation problems by splitting one of the views into progressively more informed subviews and by applying the chain rule on MI between the decomposed views. This expression contains a sum of unconditional and conditional MI terms, each measuring modest chunks of the total MI, which facilitates approximation via contrastive bounds. To maximize the sum, we formulate a contrastive lower bound on the conditional MI which can be approximated efficiently. We refer to our general approach as Decomposed Estimation of Mutual Information (DEMI). We show that DEMI can capture a larger amount of MI than standard non-decomposed contrastive bounds in a synthetic setting, and learns better representations in a vision domain and for dialogue generation.

To retrieve more relevant, appropriate and useful documents given a query, finding clues about that query through the text is crucial. Recent deep learning models regard the task as a term-level matching problem, which seeks exact or similar query patterns in the document. However, we argue that they are inherently based on local interactions and do not generalise to ubiquitous, non-consecutive contextual relationships.In this work, we propose a novel relevance matching model based on graph neural networks to leverage the document-level word relationships for ad-hoc retrieval. In addition to the local interactions, we explicitly incorporate all contexts of a term through the graph-of-word text format. Matching patterns can be revealed accordingly to provide a more accurate relevance score. Our approach significantly outperforms strong baselines on two ad-hoc benchmarks. We also experimentally compare our model with BERT and show our ad-vantages on long documents.

Due to their inherent capability in semantic alignment of aspects and their context words, attention mechanism and Convolutional Neural Networks (CNNs) are widely applied for aspect-based sentiment classification. However, these models lack a mechanism to account for relevant syntactical constraints and long-range word dependencies, and hence may mistakenly recognize syntactically irrelevant contextual words as clues for judging aspect sentiment. To tackle this problem, we propose to build a Graph Convolutional Network (GCN) over the dependency tree of a sentence to exploit syntactical information and word dependencies. Based on it, a novel aspect-specific sentiment classification framework is raised. Experiments on three benchmarking collections illustrate that our proposed model has comparable effectiveness to a range of state-of-the-art models, and further demonstrate that both syntactical information and long-range word dependencies are properly captured by the graph convolution structure.

Deep reinforcement learning has recently shown many impressive successes. However, one major obstacle towards applying such methods to real-world problems is their lack of data-efficiency. To this end, we propose the Bottleneck Simulator: a model-based reinforcement learning method which combines a learned, factorized transition model of the environment with rollout simulations to learn an effective policy from few examples. The learned transition model employs an abstract, discrete (bottleneck) state, which increases sample efficiency by reducing the number of model parameters and by exploiting structural properties of the environment. We provide a mathematical analysis of the Bottleneck Simulator in terms of fixed points of the learned policy, which reveals how performance is affected by four distinct sources of error: an error related to the abstract space structure, an error related to the transition model estimation variance, an error related to the transition model estimation bias, and an error related to the transition model class bias. Finally, we evaluate the Bottleneck Simulator on two natural language processing tasks: a text adventure game and a real-world, complex dialogue response selection task. On both tasks, the Bottleneck Simulator yields excellent performance beating competing approaches.

Recently, ensemble has been applied to deep metric learning to yield state-of-the-art results. Deep metric learning aims to learn deep neural networks for feature embeddings, distances of which satisfy given constraint. In deep metric learning, ensemble takes average of distances learned by multiple learners. As one important aspect of ensemble, the learners should be diverse in their feature embeddings. To this end, we propose an attention-based ensemble, which uses multiple attention masks, so that each learner can attend to different parts of the object. We also propose a divergence loss, which encourages diversity among the learners. The proposed method is applied to the standard benchmarks of deep metric learning and experimental results show that it outperforms the state-of-the-art methods by a significant margin on image retrieval tasks.

Deep learning (DL) based semantic segmentation methods have been providing state-of-the-art performance in the last few years. More specifically, these techniques have been successfully applied to medical image classification, segmentation, and detection tasks. One deep learning technique, U-Net, has become one of the most popular for these applications. In this paper, we propose a Recurrent Convolutional Neural Network (RCNN) based on U-Net as well as a Recurrent Residual Convolutional Neural Network (RRCNN) based on U-Net models, which are named RU-Net and R2U-Net respectively. The proposed models utilize the power of U-Net, Residual Network, as well as RCNN. There are several advantages of these proposed architectures for segmentation tasks. First, a residual unit helps when training deep architecture. Second, feature accumulation with recurrent residual convolutional layers ensures better feature representation for segmentation tasks. Third, it allows us to design better U-Net architecture with same number of network parameters with better performance for medical image segmentation. The proposed models are tested on three benchmark datasets such as blood vessel segmentation in retina images, skin cancer segmentation, and lung lesion segmentation. The experimental results show superior performance on segmentation tasks compared to equivalent models including U-Net and residual U-Net (ResU-Net).