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Attention-based encoder-decoder models with autoregressive (AR) decoding have proven to be the dominant approach for automatic speech recognition (ASR) due to their superior accuracy. However, they often suffer from slow inference. This is primarily attributed to the incremental calculation of the decoder. This work proposes a partially AR framework, which employs segment-level vectorized beam search for improving the inference speed of an ASR model based on the hybrid connectionist temporal classification (CTC) attention-based architecture. It first generates an initial hypothesis using greedy CTC decoding, identifying low-confidence tokens based on their output probabilities. We then utilize the decoder to perform segment-level vectorized beam search on these tokens, re-predicting in parallel with minimal decoder calculations. Experimental results show that our method is 12 to 13 times faster in inference on the LibriSpeech corpus over AR decoding whilst preserving high accuracy.

We present Direct Reward Fine-Tuning (DRaFT), a simple and effective method for fine-tuning diffusion models to maximize differentiable reward functions, such as scores from human preference models. We first show that it is possible to backpropagate the reward function gradient through the full sampling procedure, and that doing so achieves strong performance on a variety of rewards, outperforming reinforcement learning-based approaches. We then propose more efficient variants of DRaFT: DRaFT-K, which truncates backpropagation to only the last K steps of sampling, and DRaFT-LV, which obtains lower-variance gradient estimates for the case when K=1. We show that our methods work well for a variety of reward functions and can be used to substantially improve the aesthetic quality of images generated by Stable Diffusion 1.4. Finally, we draw connections between our approach and prior work, providing a unifying perspective on the design space of gradient-based fine-tuning algorithms.

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.

Learned image compression possesses a unique challenge when incorporating non-differentiable quantization into the gradient-based training of the networks. Several quantization surrogates have been proposed to fulfill the training, but they were not systematically justified from a theoretical perspective. We fill this gap by contrasting uniform scalar quantization, the most widely used category with rounding being its simplest case, and its training surrogates. In principle, we find two factors crucial: one is the discrepancy between the surrogate and rounding, leading to train-test mismatch; the other is gradient estimation risk due to the surrogate, which consists of bias and variance of the gradient estimation. Our analyses and simulations imply that there is a tradeoff between the train-test mismatch and the gradient estimation risk, and the tradeoff varies across different network structures. Motivated by these analyses, we present a method based on stochastic uniform annealing, which has an adjustable temperature coefficient to control the tradeoff. Moreover, our analyses enlighten us as to two subtle tricks: one is to set an appropriate lower bound for the variance parameter of the estimated quantized latent distribution, which effectively reduces the train-test mismatch; the other is to use zero-center quantization with partial stop-gradient, which reduces the gradient estimation variance and thus stabilize the training. Our method with the tricks is verified to outperform the existing practices of quantization surrogates on a variety of representative image compression networks.

Zero-shot translation (ZST), which is generally based on a multilingual neural machine translation model, aims to translate between unseen language pairs in training data. The common practice to guide the zero-shot language mapping during inference is to deliberately insert the source and target language IDs, e.g., <EN> for English and <DE> for German. Recent studies have shown that language IDs sometimes fail to navigate the ZST task, making them suffer from the off-target problem (non-target language words exist in the generated translation) and, therefore, difficult to apply the current multilingual translation model to a broad range of zero-shot language scenarios. To understand when and why the navigation capabilities of language IDs are weakened, we compare two extreme decoder input cases in the ZST directions: Off-Target (OFF) and On-Target (ON) cases. By contrastively visualizing the contextual word representations (CWRs) of these cases with teacher forcing, we show that 1) the CWRs of different languages are effectively distributed in separate regions when the sentence and ID are matched (ON setting), and 2) if the sentence and ID are unmatched (OFF setting), the CWRs of different languages are chaotically distributed. Our analyses suggest that although they work well in ideal ON settings, language IDs become fragile and lose their navigation ability when faced with off-target tokens, which commonly exist during inference but are rare in training scenarios. In response, we employ unlikelihood tuning on the negative (OFF) samples to minimize their probability such that the language IDs can discriminate between the on- and off-target tokens during training. Experiments spanning 40 ZST directions show that our method reduces the off-target ratio by -48.0% on average, leading to a +9.1 BLEU improvement with only an extra +0.3% tuning cost.

Currently, low-resolution image recognition is confronted with a significant challenge in the field of intelligent traffic perception. Compared to high-resolution images, low-resolution images suffer from small size, low quality, and lack of detail, leading to a notable decrease in the accuracy of traditional neural network recognition algorithms. The key to low-resolution image recognition lies in effective feature extraction. Therefore, this paper delves into the fundamental dimensions of residual modules and their impact on feature extraction and computational efficiency. Based on experiments, we introduce a dual-branch residual network structure that leverages the basic architecture of residual networks and a common feature subspace algorithm. Additionally, it incorporates the utilization of intermediate-layer features to enhance the accuracy of low-resolution image recognition. Furthermore, we employ knowledge distillation to reduce network parameters and computational overhead. Experimental results validate the effectiveness of this algorithm for low-resolution image recognition in traffic environments.

The demand for efficient processing of deep neural networks (DNNs) on embedded devices is a significant challenge limiting their deployment. Exploiting sparsity in the network's feature maps is one of the ways to reduce its inference latency. It is known that unstructured sparsity results in lower accuracy degradation with respect to structured sparsity but the former needs extensive inference engine changes to get latency benefits. To tackle this challenge, we propose a solution to induce semi-structured activation sparsity exploitable through minor runtime modifications. To attain high speedup levels at inference time, we design a sparse training procedure with awareness of the final position of the activations while computing the General Matrix Multiplication (GEMM). We extensively evaluate the proposed solution across various models for image classification and object detection tasks. Remarkably, our approach yields a speed improvement of $1.25 \times$ with a minimal accuracy drop of $1.1\%$ for the ResNet18 model on the ImageNet dataset. Furthermore, when combined with a state-of-the-art structured pruning method, the resulting models provide a good latency-accuracy trade-off, outperforming models that solely employ structured pruning techniques.

Self-driving software pipelines include components that are learned from a significant number of training examples, yet it remains challenging to evaluate the overall system's safety and generalization performance. Together with scaling up the real-world deployment of autonomous vehicles, it is of critical importance to automatically find simulation scenarios where the driving policies will fail. We propose a method that efficiently generates adversarial simulation scenarios for autonomous driving by solving an optimal control problem that aims to maximally perturb the policy from its nominal trajectory. Given an image-based driving policy, we show that we can inject new objects in a neural rendering representation of the deployment scene, and optimize their texture in order to generate adversarial sensor inputs to the policy. We demonstrate that adversarial scenarios discovered purely in the neural renderer (surrogate scene) can often be successfully transferred to the deployment scene, without further optimization. We demonstrate this transfer occurs both in simulated and real environments, provided the learned surrogate scene is sufficiently close to the deployment scene.

Recent state-of-the-art semi-supervised Video Object Segmentation (VOS) methods have shown significant improvements in target object segmentation accuracy when information from preceding frames is used in undertaking segmentation on the current frame. In particular, such memory-based approaches can help a model to more effectively handle appearance changes (representation drift) or occlusions. Ideally, for maximum performance, online VOS methods would need all or most of the preceding frames (or their extracted information) to be stored in memory and be used for online learning in consecutive frames. Such a solution is not feasible for long videos, as the required memory size would grow without bound. On the other hand, these methods can fail when memory is limited and a target object experiences repeated representation drifts throughout a video. We propose two novel techniques to reduce the memory requirement of online VOS methods while improving modeling accuracy and generalization on long videos. Motivated by the success of continual learning techniques in preserving previously-learned knowledge, here we propose Gated-Regularizer Continual Learning (GRCL), which improves the performance of any online VOS subject to limited memory, and a Reconstruction-based Memory Selection Continual Learning (RMSCL) which empowers online VOS methods to efficiently benefit from stored information in memory. Experimental results show that the proposed methods improve the performance of online VOS models up to 10 %, and boosts their robustness on long-video datasets while maintaining comparable performance on short-video datasets DAVIS16 and DAVIS17.

High spectral dimensionality and the shortage of annotations make hyperspectral image (HSI) classification a challenging problem. Recent studies suggest that convolutional neural networks can learn discriminative spatial features, which play a paramount role in HSI interpretation. However, most of these methods ignore the distinctive spectral-spatial characteristic of hyperspectral data. In addition, a large amount of unlabeled data remains an unexploited gold mine for efficient data use. Therefore, we proposed an integration of generative adversarial networks (GANs) and probabilistic graphical models for HSI classification. Specifically, we used a spectral-spatial generator and a discriminator to identify land cover categories of hyperspectral cubes. Moreover, to take advantage of a large amount of unlabeled data, we adopted a conditional random field to refine the preliminary classification results generated by GANs. Experimental results obtained using two commonly studied datasets demonstrate that the proposed framework achieved encouraging classification accuracy using a small number of data for training.