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The prevailing noise-resistant and reverberation-resistant localization algorithms primarily emphasize separating and providing directional output for each speaker in multi-speaker scenarios, without association with the identity of speakers. In this paper, we present a target speaker localization algorithm with a selective hearing mechanism. Given a reference speech of the target speaker, we first produce a speaker-dependent spectrogram mask to eliminate interfering speakers' speech. Subsequently, a Long short-term memory (LSTM) network is employed to extract the target speaker's location from the filtered spectrogram. Experiments validate the superiority of our proposed method over the existing algorithms for different scale invariant signal-to-noise ratios (SNR) conditions. Specifically, at SNR = -10 dB, our proposed network LocSelect achieves a mean absolute error (MAE) of 3.55 and an accuracy (ACC) of 87.40%.

We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them -- known as the waiter's problem -- and move to a desired location while avoiding static and dynamic obstacles. In constrast to existing approaches, our focus is on fast online planning in response to new and changing environments. Our main contribution is a whole-body constrained model predictive controller (MPC) for a mobile manipulator that balances objects and avoids collisions. Furthermore, we propose planning using the minimum statically-feasible friction coefficients, which provides robustness to frictional uncertainty and other force disturbances while also substantially reducing the compute time required to update the MPC policy. Simulations and hardware experiments on a velocity-controlled mobile manipulator with up to seven balanced objects, stacked objects, and various obstacles show that our approach can handle a variety of conditions that have not been previously demonstrated, with end effector speeds and accelerations up to 2.0 m/s and 7.9 m/s$^2$, respectively. Notably, we demonstrate a projectile avoidance task in which the robot avoids a thrown ball while balancing a tall bottle.

We introduce Deceptive-NeRF, a novel methodology for few-shot NeRF reconstruction, which leverages diffusion models to synthesize plausible pseudo-observations to improve the reconstruction. This approach unfolds through three key steps: 1) reconstructing a coarse NeRF from sparse input data; 2) utilizing the coarse NeRF to render images and subsequently generating pseudo-observations based on them; 3) training a refined NeRF model utilizing input images augmented with pseudo-observations. We develop a deceptive diffusion model that adeptly transitions RGB images and depth maps from coarse NeRFs into photo-realistic pseudo-observations, all while preserving scene semantics for reconstruction. Furthermore, we propose a progressive strategy for training the Deceptive-NeRF, using the current NeRF renderings to create pseudo-observations that enhance the next iteration's NeRF. Extensive experiments demonstrate that our approach is capable of synthesizing photo-realistic novel views, even for highly complex scenes with very sparse inputs. Codes will be released.

Multipliers are widely-used arithmetic operators in digital signal processing and machine learning circuits. Due to their relatively high complexity, they can have high latency and be a significant source of power consumption. One strategy to alleviate these limitations is to use approximate computing. This paper thus introduces an original FPGA-based approximate multiplier specifically optimized for machine learning computations. It utilizes dynamically reconfigurable lookup table (LUT) primitives in AMD-Xilinx technology to realize the core part of the computations. The paper provides an in-depth analysis of the hardware architecture, implementation outcomes, and accuracy evaluations of the multiplier proposed in INT8 precision. Implementation results on an AMD-Xilinx Kintex Ultrascale+ FPGA demonstrate remarkable savings of 64% and 67% in LUT utilization for signed multiplication and multiply-and-accumulation configurations, respectively, when compared to the standard Xilinx multiplier core. Accuracy measurements on four popular deep learning (DL) benchmarks indicate a minimal average accuracy decrease of less than 0.29% during post-training deployment, with the maximum reduction staying less than 0.33%. The source code of this work is available on GitHub.

Large Language Models (LLMs) have shown promise in the autonomous driving sector, particularly in generalization and interpretability. We introduce a unique object-level multimodal LLM architecture that merges vectorized numeric modalities with a pre-trained LLM to improve context understanding in driving situations. We also present a new dataset of 160k QA pairs derived from 10k driving scenarios, paired with high quality control commands collected with RL agent and question answer pairs generated by teacher LLM (GPT-3.5). A distinct pretraining strategy is devised to align numeric vector modalities with static LLM representations using vector captioning language data. We also introduce an evaluation metric for Driving QA and demonstrate our LLM-driver's proficiency in interpreting driving scenarios, answering questions, and decision-making. Our findings highlight the potential of LLM-based driving action generation in comparison to traditional behavioral cloning. We make our benchmark, datasets, and model available for further exploration.

Traditional recommender systems have heavily relied on identity representations (IDs) to model users and items, while the ascendancy of pre-trained language model (PLM) encoders has enriched the modeling of contextual item descriptions. However, PLMs, although effective in addressing few-shot, zero-shot, or unified modeling scenarios, often neglect the crucial collaborative filtering signal. This neglect gives rise to two pressing challenges: (1) Collaborative Contextualization, the seamless integration of collaborative signals with contextual representations. (2) the imperative to bridge the representation gap between ID-based representations and contextual representations while preserving their contextual semantics. In this paper, we propose CollabContext, a novel model that adeptly combines collaborative filtering signals with contextual representations and aligns these representations within the contextual space, preserving essential contextual semantics. Experimental results across three real-world datasets demonstrate substantial improvements. Leveraging collaborative contextualization, CollabContext can also be effectively applied to cold-start scenarios, achieving remarkable enhancements in recommendation performance. The code is available after the conference accepts the paper.

We propose an extremely simple and highly effective approach to faithfully combine different object detectors to obtain a Mixture of Experts (MoE) that has a superior accuracy to the individual experts in the mixture. We find that naively combining these experts in a similar way to the well-known Deep Ensembles (DEs), does not result in an effective MoE. We identify the incompatibility between the confidence score distribution of different detectors to be the primary reason for such failure cases. Therefore, to construct the MoE, our proposal is to first calibrate each individual detector against a target calibration function. Then, filter and refine all the predictions from different detectors in the mixture. We term this approach as MoCaE and demonstrate its effectiveness through extensive experiments on object detection, instance segmentation and rotated object detection tasks. Specifically, MoCaE improves (i) three strong object detectors on COCO test-dev by $2.4$ $\mathrm{AP}$ by reaching $59.0$ $\mathrm{AP}$; (ii) instance segmentation methods on the challenging long-tailed LVIS dataset by $2.3$ $\mathrm{AP}$; and (iii) all existing rotated object detectors by reaching $82.62$ $\mathrm{AP_{50}}$ on DOTA dataset, establishing a new state-of-the-art (SOTA). Code will be made public.

Large language models (LLMs) have been used for diverse tasks in natural language processing (NLP), yet remain under-explored for task-oriented dialogue systems (TODS), especially for end-to-end TODS. We present InstructTODS, a novel off-the-shelf framework for zero-shot end-to-end task-oriented dialogue systems that can adapt to diverse domains without fine-tuning. By leveraging LLMs, InstructTODS generates a proxy belief state that seamlessly translates user intentions into dynamic queries for efficient interaction with any KB. Our extensive experiments demonstrate that InstructTODS achieves comparable performance to fully fine-tuned TODS in guiding dialogues to successful completion without prior knowledge or task-specific data. Furthermore, a rigorous human evaluation of end-to-end TODS shows that InstructTODS produces dialogue responses that notably outperform both the gold responses and the state-of-the-art TODS in terms of helpfulness, informativeness, and humanness. Moreover, the effectiveness of LLMs in TODS is further supported by our comprehensive evaluations on TODS subtasks: dialogue state tracking, intent classification, and response generation. Code and implementations could be found here //github.com/WillyHC22/InstructTODS/

These are self-contained lecture notes for spectral independence. For an $n$-vertex graph, the spectral independence condition is a bound on the maximum eigenvalue of the $n\times n$ influence matrix whose entries capture the influence between pairs of vertices, it is closely related to the covariance matrix. We will present recent results showing that spectral independence implies the mixing time of the Glauber dynamics is polynomial (where the degree of the polynomial depends on certain parameters). The proof utilizes local-to-global theorems which we will detail in these notes. Finally, we will present more recent results showing that spectral independence implies an optimal bound on the relaxation time (inverse spectral gap) and with some additional conditions implies an optimal mixing time bound of $O(n\log{n})$ for the Glauber dynamics. We also present the results of Anari, Liu, Oveis Gharan, and Vinzant (2019) for generating a random basis of a matroid. The analysis of the associated bases-exchange walk utilizes the local-to-global theorems used for spectral independence with the Trickle-Down Theorem of Oppenheim (2018) to analyze the local walks. Our focus in these notes is on the analysis of the spectral gap of the associated Markov chains from a functional analysis perspective, and we present proofs of the associated local-to-global theorems from this same Markov chain perspective.

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.