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We investigate the impact of pre-defined keypoints for pose estimation, and found that accuracy and efficiency can be improved by training a graph network to select a set of disperse keypoints with similarly distributed votes. These votes, learned by a regression network to accumulate evidence for the keypoint locations, can be regressed more accurately compared to previous heuristic keypoint algorithms. The proposed KeyGNet, supervised by a combined loss measuring both Wassserstein distance and dispersion, learns the color and geometry features of the target objects to estimate optimal keypoint locations. Experiments demonstrate the keypoints selected by KeyGNet improved the accuracy for all evaluation metrics of all seven datasets tested, for three keypoint voting methods. The challenging Occlusion LINEMOD dataset notably improved ADD(S) by +16.4% on PVN3D, and all core BOP datasets showed an AR improvement for all objects, of between +1% and +21.5%. There was also a notable increase in performance when transitioning from single object to multiple object training using KeyGNet keypoints, essentially eliminating the SISO-MIMO gap for Occlusion LINEMOD.

In a traditional Gaussian graphical model, data homogeneity is routinely assumed with no extra variables affecting the conditional independence. In modern genomic datasets, there is an abundance of auxiliary information, which often gets under-utilized in determining the joint dependency structure. In this article, we consider a Bayesian approach to model undirected graphs underlying heterogeneous multivariate observations with additional assistance from covariates. Building on product partition models, we propose a novel covariate-dependent Gaussian graphical model that allows graphs to vary with covariates so that observations whose covariates are similar share a similar undirected graph. To efficiently embed Gaussian graphical models into our proposed framework, we explore both Gaussian likelihood and pseudo-likelihood functions. For Gaussian likelihood, a G-Wishart distribution is used as a natural conjugate prior, and for the pseudo-likelihood, a product of Gaussian-conditionals is used. Moreover, the proposed model has large prior support and is flexible to approximate any $\nu$-H\"{o}lder conditional variance-covariance matrices with $\nu\in(0,1]$. We further show that based on the theory of fractional likelihood, the rate of posterior contraction is minimax optimal assuming the true density to be a Gaussian mixture with a known number of components. The efficacy of the approach is demonstrated via simulation studies and an analysis of a protein network for a breast cancer dataset assisted by mRNA gene expression as covariates.

In this paper, we investigate space-time tradeoffs for answering Boolean conjunctive queries. The goal is to create a data structure in an initial preprocessing phase and use it for answering (multiple) queries. Previous work has developed data structures that trade off space usage for answering time and has proved conditional space lower bounds for queries of practical interest such as the path and triangle query. However, most of these results cater to only those queries, lack a comprehensive framework, and are not generalizable. The isolated treatment of these queries also fails to utilize the connections with extensive research on related problems within the database community. The key insight in this work is to exploit the formalism of relational algebra by casting the problems as answering join queries over a relational database. Using the notion of boolean {\em adorned queries} and {\em access patterns}, we propose a unified framework that captures several widely studied algorithmic problems. Our main contribution is three-fold. First, we present an algorithm that recovers existing space-time tradeoffs for several problems. The algorithm is based on an application of the {\em join size bound} to capture the space usage of our data structure. We combine our data structure with {\em query decomposition} techniques to further improve the tradeoffs and show that it is readily extensible to queries with negation. Second, we falsify two proposed conjectures in the existing literature related to the space-time lower bound for path queries and triangle detection for which we show unexpectedly better algorithms. This result opens a new avenue for improving several algorithmic results that have so far been assumed to be (conditionally) optimal. Finally, we prove new conditional space-time lower bounds for star and path queries.

When labeled data is insufficient, semi-supervised learning with the pseudo-labeling technique can significantly improve the performance of automatic speech recognition. However, pseudo-labels are often noisy, containing numerous incorrect tokens. Taking noisy labels as ground-truth in the loss function results in suboptimal performance. Previous works attempted to mitigate this issue by either filtering out the nosiest pseudo-labels or improving the overall quality of pseudo-labels. While these methods are effective to some extent, it is unrealistic to entirely eliminate incorrect tokens in pseudo-labels. In this work, we propose a novel framework named alternative pseudo-labeling to tackle the issue of noisy pseudo-labels from the perspective of the training objective. The framework comprises several components. Firstly, a generalized CTC loss function is introduced to handle noisy pseudo-labels by accepting alternative tokens in the positions of incorrect tokens. Applying this loss function in pseudo-labeling requires detecting incorrect tokens in the predicted pseudo-labels. In this work, we adopt a confidence-based error detection method that identifies the incorrect tokens by comparing their confidence scores with a given threshold, thus necessitating the confidence score to be discriminative. Hence, the second proposed technique is the contrastive CTC loss function that widens the confidence gap between the correctly and incorrectly predicted tokens, thereby improving the error detection ability. Additionally, obtaining satisfactory performance with confidence-based error detection typically requires extensive threshold tuning. Instead, we propose an automatic thresholding method that uses labeled data as a proxy for determining the threshold, thus saving the pain of manual tuning.

The last year has seen astonishing progress in text-prompted image generation premised on the idea of a cross-modal representation space in which the text and image domains are represented jointly. In ASR, this idea has found application as joint speech-text encoders that can scale to the capacities of very large parameter models by being trained on both unpaired speech and text. While these methods show promise, they have required special treatment of the sequence-length mismatch inherent in speech and text, either by up-sampling heuristics or an explicit alignment model. In this work, we offer evidence that joint speech-text encoders naturally achieve consistent representations across modalities by disregarding sequence length, and argue that consistency losses could forgive length differences and simply assume the best alignment. We show that such a loss improves downstream WER in both a large-parameter monolingual and multilingual system.

Multi-object tracking (MOT) at low frame rates can reduce computational, storage and power overhead to better meet the constraints of edge devices. Many existing MOT methods suffer from significant performance degradation in low-frame-rate videos due to significant location and appearance changes between adjacent frames. To this end, we propose to explore collaborative tracking learning (ColTrack) for frame-rate-insensitive MOT in a query-based end-to-end manner. Multiple historical queries of the same target jointly track it with richer temporal descriptions. Meanwhile, we insert an information refinement module between every two temporal blocking decoders to better fuse temporal clues and refine features. Moreover, a tracking object consistency loss is proposed to guide the interaction between historical queries. Extensive experimental results demonstrate that in high-frame-rate videos, ColTrack obtains higher performance than state-of-the-art methods on large-scale datasets Dancetrack and BDD100K, and outperforms the existing end-to-end methods on MOT17. More importantly, ColTrack has a significant advantage over state-of-the-art methods in low-frame-rate videos, which allows it to obtain faster processing speeds by reducing frame-rate requirements while maintaining higher performance. Code will be released at //github.com/yolomax/ColTrack

Advances in artificial intelligence often stem from the development of new environments that abstract real-world situations into a form where research can be done conveniently. This paper contributes such an environment based on ideas inspired by elementary Microeconomics. Agents learn to produce resources in a spatially complex world, trade them with one another, and consume those that they prefer. We show that the emergent production, consumption, and pricing behaviors respond to environmental conditions in the directions predicted by supply and demand shifts in Microeconomics. We also demonstrate settings where the agents' emergent prices for goods vary over space, reflecting the local abundance of goods. After the price disparities emerge, some agents then discover a niche of transporting goods between regions with different prevailing prices -- a profitable strategy because they can buy goods where they are cheap and sell them where they are expensive. Finally, in a series of ablation experiments, we investigate how choices in the environmental rewards, bartering actions, agent architecture, and ability to consume tradable goods can either aid or inhibit the emergence of this economic behavior. This work is part of the environment development branch of a research program that aims to build human-like artificial general intelligence through multi-agent interactions in simulated societies. By exploring which environment features are needed for the basic phenomena of elementary microeconomics to emerge automatically from learning, we arrive at an environment that differs from those studied in prior multi-agent reinforcement learning work along several dimensions. For example, the model incorporates heterogeneous tastes and physical abilities, and agents negotiate with one another as a grounded form of communication.

Knowledge graph embedding, which aims to represent entities and relations as low dimensional vectors (or matrices, tensors, etc.), has been shown to be a powerful technique for predicting missing links in knowledge graphs. Existing knowledge graph embedding models mainly focus on modeling relation patterns such as symmetry/antisymmetry, inversion, and composition. However, many existing approaches fail to model semantic hierarchies, which are common in real-world applications. To address this challenge, we propose a novel knowledge graph embedding model---namely, Hierarchy-Aware Knowledge Graph Embedding (HAKE)---which maps entities into the polar coordinate system. HAKE is inspired by the fact that concentric circles in the polar coordinate system can naturally reflect the hierarchy. Specifically, the radial coordinate aims to model entities at different levels of the hierarchy, and entities with smaller radii are expected to be at higher levels; the angular coordinate aims to distinguish entities at the same level of the hierarchy, and these entities are expected to have roughly the same radii but different angles. Experiments demonstrate that HAKE can effectively model the semantic hierarchies in knowledge graphs, and significantly outperforms existing state-of-the-art methods on benchmark datasets for the link prediction task.

Graphs, which describe pairwise relations between objects, are essential representations of many real-world data such as social networks. In recent years, graph neural networks, which extend the neural network models to graph data, have attracted increasing attention. Graph neural networks have been applied to advance many different graph related tasks such as reasoning dynamics of the physical system, graph classification, and node classification. Most of the existing graph neural network models have been designed for static graphs, while many real-world graphs are inherently dynamic. For example, social networks are naturally evolving as new users joining and new relations being created. Current graph neural network models cannot utilize the dynamic information in dynamic graphs. However, the dynamic information has been proven to enhance the performance of many graph analytical tasks such as community detection and link prediction. Hence, it is necessary to design dedicated graph neural networks for dynamic graphs. In this paper, we propose DGNN, a new {\bf D}ynamic {\bf G}raph {\bf N}eural {\bf N}etwork model, which can model the dynamic information as the graph evolving. In particular, the proposed framework can keep updating node information by capturing the sequential information of edges, the time intervals between edges and information propagation coherently. Experimental results on various dynamic graphs demonstrate the effectiveness of the proposed framework.

Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis, thereby allowing manual manipulation in predicting the final answer.