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For model-free deep reinforcement learning of quadruped locomotion, the initialization of robot configurations is crucial for data efficiency and robustness. This work focuses on algorithmic improvements of data efficiency and robustness simultaneously through automatic discovery of initial states, which is achieved by our proposed K-Access algorithm based on accessibility metrics. Specifically, we formulated accessibility metrics to measure the difficulty of transitions between two arbitrary states, and proposed a novel K-Access algorithm for state-space clustering that automatically discovers the centroids of the static-pose clusters based on the accessibility metrics. By using the discovered centroidal static poses as the initial states, we can improve data efficiency by reducing redundant explorations, and enhance the robustness by more effective explorations from the centroids to sampled poses. Focusing on fall recovery as a very hard set of locomotion skills, we validated our method extensively using an 8-DoF quadrupedal robot Bittle. Compared to the baselines, the learning curve of our method converges much faster, requiring only 60% of training episodes. With our method, the robot can successfully recover to standing poses within 3 seconds in 99.4% of the test cases. Moreover, the method can generalize to other difficult skills successfully, such as backflipping.

The key challenge of image manipulation detection is how to learn generalizable features that are sensitive to manipulations in novel data, whilst specific to prevent false alarms on authentic images. Current research emphasizes the sensitivity, with the specificity overlooked. In this paper we address both aspects by multi-view feature learning and multi-scale supervision. By exploiting noise distribution and boundary artifact surrounding tampered regions, the former aims to learn semantic-agnostic and thus more generalizable features. The latter allows us to learn from authentic images which are nontrivial to be taken into account by current semantic segmentation network based methods. Our thoughts are realized by a new network which we term MVSS-Net. Extensive experiments on five benchmark sets justify the viability of MVSS-Net for both pixel-level and image-level manipulation detection.

A goal-oriented visual dialogue involves multi-turn interactions between two agents, Questioner and Oracle. During which, the answer given by Oracle is of great significance, as it provides golden response to what Questioner concerns. Based on the answer, Questioner updates its belief on target visual content and further raises another question. Notably, different answers drive into different visual beliefs and future questions. However, existing methods always indiscriminately encode answers after much longer questions, resulting in a weak utilization of answers. In this paper, we propose an Answer-Driven Visual State Estimator (ADVSE) to impose the effects of different answers on visual states. First, we propose an Answer-Driven Focusing Attention (ADFA) to capture the answer-driven effect on visual attention by sharpening question-related attention and adjusting it by answer-based logical operation at each turn. Then based on the focusing attention, we get the visual state estimation by Conditional Visual Information Fusion (CVIF), where overall information and difference information are fused conditioning on the question-answer state. We evaluate the proposed ADVSE to both question generator and guesser tasks on the large-scale GuessWhat?! dataset and achieve the state-of-the-art performances on both tasks. The qualitative results indicate that the ADVSE boosts the agent to generate highly efficient questions and obtains reliable visual attentions during the reasonable question generation and guess processes.

Meta-reinforcement learning algorithms can enable robots to acquire new skills much more quickly, by leveraging prior experience to learn how to learn. However, much of the current research on meta-reinforcement learning focuses on task distributions that are very narrow. For example, a commonly used meta-reinforcement learning benchmark uses different running velocities for a simulated robot as different tasks. When policies are meta-trained on such narrow task distributions, they cannot possibly generalize to more quickly acquire entirely new tasks. Therefore, if the aim of these methods is to enable faster acquisition of entirely new behaviors, we must evaluate them on task distributions that are sufficiently broad to enable generalization to new behaviors. In this paper, we propose an open-source simulated benchmark for meta-reinforcement learning and multi-task learning consisting of 50 distinct robotic manipulation tasks. Our aim is to make it possible to develop algorithms that generalize to accelerate the acquisition of entirely new, held-out tasks. We evaluate 6 state-of-the-art meta-reinforcement learning and multi-task learning algorithms on these tasks. Surprisingly, while each task and its variations (e.g., with different object positions) can be learned with reasonable success, these algorithms struggle to learn with multiple tasks at the same time, even with as few as ten distinct training tasks. Our analysis and open-source environments pave the way for future research in multi-task learning and meta-learning that can enable meaningful generalization, thereby unlocking the full potential of these methods.

Highlight detection has the potential to significantly ease video browsing, but existing methods often suffer from expensive supervision requirements, where human viewers must manually identify highlights in training videos. We propose a scalable unsupervised solution that exploits video duration as an implicit supervision signal. Our key insight is that video segments from shorter user-generated videos are more likely to be highlights than those from longer videos, since users tend to be more selective about the content when capturing shorter videos. Leveraging this insight, we introduce a novel ranking framework that prefers segments from shorter videos, while properly accounting for the inherent noise in the (unlabeled) training data. We use it to train a highlight detector with 10M hashtagged Instagram videos. In experiments on two challenging public video highlight detection benchmarks, our method substantially improves the state-of-the-art for unsupervised highlight detection.

Deep learning based object detectors require thousands of diversified bounding box and class annotated examples. Though image object detectors have shown rapid progress in recent years with the release of multiple large-scale static image datasets, object detection on videos still remains an open problem due to scarcity of annotated video frames. Having a robust video object detector is an essential component for video understanding and curating large-scale automated annotations in videos. Domain difference between images and videos makes the transferability of image object detectors to videos sub-optimal. The most common solution is to use weakly supervised annotations where a video frame has to be tagged for presence/absence of object categories. This still takes up manual effort. In this paper we take a step forward by adapting the concept of unsupervised adversarial image-to-image translation to perturb static high quality images to be visually indistinguishable from a set of video frames. We assume the presence of a fully annotated static image dataset and an unannotated video dataset. Object detector is trained on adversarially transformed image dataset using the annotations of the original dataset. Experiments on Youtube-Objects and Youtube-Objects-Subset datasets with two contemporary baseline object detectors reveal that such unsupervised pixel level domain adaptation boosts the generalization performance on video frames compared to direct application of original image object detector. Also, we achieve competitive performance compared to recent baselines of weakly supervised methods. This paper can be seen as an application of image translation for cross domain object detection.

Multilingual topic models enable document analysis across languages through coherent multilingual summaries of the data. However, there is no standard and effective metric to evaluate the quality of multilingual topics. We introduce a new intrinsic evaluation of multilingual topic models that correlates well with human judgments of multilingual topic coherence as well as performance in downstream applications. Importantly, we also study evaluation for low-resource languages. Because standard metrics fail to accurately measure topic quality when robust external resources are unavailable, we propose an adaptation model that improves the accuracy and reliability of these metrics in low-resource settings.

This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of external sensors nor with human supervision. The robot learns to focus its attention onto groups of people from its own audio-visual experiences, independently of the number of people, of their positions and of their physical appearances. In particular, we use a recurrent neural network architecture in combination with Q-learning to find an optimal action-selection policy; we pre-train the network using a simulated environment that mimics realistic scenarios that involve speaking/silent participants, thus avoiding the need of tedious sessions of a robot interacting with people. Our experimental evaluation suggests that the proposed method is robust against parameter estimation, i.e. the parameter values yielded by the method do not have a decisive impact on the performance. The best results are obtained when both audio and visual information is jointly used. Experiments with the Nao robot indicate that our framework is a step forward towards the autonomous learning of socially acceptable gaze behavior.

When a recurrent neural network language model is used for caption generation, the image information can be fed to the neural network either by directly incorporating it in the RNN -- conditioning the language model by `injecting' image features -- or in a layer following the RNN -- conditioning the language model by `merging' image features. While both options are attested in the literature, there is as yet no systematic comparison between the two. In this paper we empirically show that it is not especially detrimental to performance whether one architecture is used or another. The merge architecture does have practical advantages, as conditioning by merging allows the RNN's hidden state vector to shrink in size by up to four times. Our results suggest that the visual and linguistic modalities for caption generation need not be jointly encoded by the RNN as that yields large, memory-intensive models with few tangible advantages in performance; rather, the multimodal integration should be delayed to a subsequent stage.

Video caption refers to generating a descriptive sentence for a specific short video clip automatically, which has achieved remarkable success recently. However, most of the existing methods focus more on visual information while ignoring the synchronized audio cues. We propose three multimodal deep fusion strategies to maximize the benefits of visual-audio resonance information. The first one explores the impact on cross-modalities feature fusion from low to high order. The second establishes the visual-audio short-term dependency by sharing weights of corresponding front-end networks. The third extends the temporal dependency to long-term through sharing multimodal memory across visual and audio modalities. Extensive experiments have validated the effectiveness of our three cross-modalities fusion strategies on two benchmark datasets, including Microsoft Research Video to Text (MSRVTT) and Microsoft Video Description (MSVD). It is worth mentioning that sharing weight can coordinate visual-audio feature fusion effectively and achieve the state-of-art performance on both BELU and METEOR metrics. Furthermore, we first propose a dynamic multimodal feature fusion framework to deal with the part modalities missing case. Experimental results demonstrate that even in the audio absence mode, we can still obtain comparable results with the aid of the additional audio modality inference module.