Denoisers play a central role in many applications, from noise suppression in low-grade imaging sensors, to empowering score-based generative models. The latter category of methods makes use of Tweedie's formula, which links the posterior mean in Gaussian denoising (i.e., the minimum MSE denoiser) with the score of the data distribution. Here, we derive a fundamental relation between the higher-order central moments of the posterior distribution, and the higher-order derivatives of the posterior mean. We harness this result for uncertainty quantification of pre-trained denoisers. Particularly, we show how to efficiently compute the principal components of the posterior distribution for any desired region of an image, as well as to approximate the full marginal distribution along those (or any other) one-dimensional directions. Our method is fast and memory efficient, as it does not explicitly compute or store the high-order moment tensors and it requires no training or fine tuning of the denoiser. Code and examples are available on the project's webpage in //hilamanor.github.io/GaussianDenoisingPosterior/
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When training a neural network, it will quickly memorise some source-target mappings from your dataset but never learn some others. Yet, memorisation is not easily expressed as a binary feature that is good or bad: individual datapoints lie on a memorisation-generalisation continuum. What determines a datapoint's position on that spectrum, and how does that spectrum influence neural models' performance? We address these two questions for neural machine translation (NMT) models. We use the counterfactual memorisation metric to (1) build a resource that places 5M NMT datapoints on a memorisation-generalisation map, (2) illustrate how the datapoints' surface-level characteristics and a models' per-datum training signals are predictive of memorisation in NMT, (3) and describe the influence that subsets of that map have on NMT systems' performance.
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature, there is an increasing trend toward designing soft-rigid hybrids with intrinsically coupled elasticity between various degrees of freedom. In this work, we seek to address the issues of modeling and controlling such structures, particularly when underactuated. We introduce several simple models for elastic coupling, typical of those seen in these systems. We then propose a controller that compensates for the elasticity, and we prove its stability with Lyapunov methods without relying on the elastic dominance assumption. This controller is applicable to the general class of underactuated soft robots. After evaluating the controller in simulated cases, we then develop a simple hardware platform to evaluate both the models and the controller. Finally, using the hardware, we demonstrate a novel use case for underactuated, elastically coupled systems in "sensorless" force control.
The pursuit of autonomous driving technology hinges on the sophisticated integration of perception, decision-making, and control systems. Traditional approaches, both data-driven and rule-based, have been hindered by their inability to grasp the nuance of complex driving environments and the intentions of other road users. This has been a significant bottleneck, particularly in the development of common sense reasoning and nuanced scene understanding necessary for safe and reliable autonomous driving. The advent of Visual Language Models (VLM) represents a novel frontier in realizing fully autonomous vehicle driving. This report provides an exhaustive evaluation of the latest state-of-the-art VLM, \modelnamefull, and its application in autonomous driving scenarios. We explore the model's abilities to understand and reason about driving scenes, make decisions, and ultimately act in the capacity of a driver. Our comprehensive tests span from basic scene recognition to complex causal reasoning and real-time decision-making under varying conditions. Our findings reveal that \modelname demonstrates superior performance in scene understanding and causal reasoning compared to existing autonomous systems. It showcases the potential to handle out-of-distribution scenarios, recognize intentions, and make informed decisions in real driving contexts. However, challenges remain, particularly in direction discernment, traffic light recognition, vision grounding, and spatial reasoning tasks. These limitations underscore the need for further research and development. Project is now available on GitHub for interested parties to access and utilize: \url{//github.com/PJLab-ADG/GPT4V-AD-Exploration}
In recent years, advancements in the field of speech processing have led to cutting-edge deep learning algorithms with immense potential for real-world applications. The automated identification of stuttered speech is one of such applications that the researchers are addressing by employing deep learning techniques. Recently, researchers have utilized Wav2vec2.0, a speech recognition model to classify disfluency types in stuttered speech. Although Wav2vec2.0 has shown commendable results, its ability to generalize across all disfluency types is limited. In addition, since its base model uses 12 encoder layers, it is considered a resource-intensive model. Our study unravels the capabilities of Whisper for the classification of disfluency types in stuttered speech. We have made notable contributions in three pivotal areas: enhancing the quality of SEP28-k benchmark dataset, exploration of Whisper for classification, and introducing an efficient encoder layer freezing strategy. The optimized Whisper model has achieved the average F1-score of 0.81, which proffers its abilities. This study also unwinds the significance of deeper encoder layers in the identification of disfluency types, as the results demonstrate their greater contribution compared to initial layers. This research represents substantial contributions, shifting the emphasis towards an efficient solution, thereby thriving towards prospective innovation.
Artificial Intelligence (AI) has achieved significant advancements in technology and research with the development over several decades, and is widely used in many areas including computing vision, natural language processing, time-series analysis, speech synthesis, etc. During the age of deep learning, especially with the arise of Large Language Models, a large majority of researchers' attention is paid on pursuing new state-of-the-art (SOTA) results, resulting in ever increasing of model size and computational complexity. The needs for high computing power brings higher carbon emission and undermines research fairness by preventing small or medium-sized research institutions and companies with limited funding in participating in research. To tackle the challenges of computing resources and environmental impact of AI, Green Computing has become a hot research topic. In this survey, we give a systematic overview of the technologies used in Green Computing. We propose the framework of Green Computing and devide it into four key components: (1) Measures of Greenness, (2) Energy-Efficient AI, (3) Energy-Efficient Computing Systems and (4) AI Use Cases for Sustainability. For each components, we discuss the research progress made and the commonly used techniques to optimize the AI efficiency. We conclude that this new research direction has the potential to address the conflicts between resource constraints and AI development. We encourage more researchers to put attention on this direction and make AI more environmental friendly.
Interpersonal trust plays a crucial role in facilitating collaborative tasks, such as software development. While previous research recognizes the significance of trust in an organizational setting, there is a lack of understanding in how trust is exhibited in OSS distributed teams, where there is an absence of direct, in-person communications. To foster trust and collaboration in OSS teams, we need to understand what trust is and how it is exhibited in written developer communications (e.g., pull requests, chats). In this paper, we first investigate various dimensions of trust to identify the ways trusting behavior can be observed in OSS. Next, we sample a set of 100 GitHub pull requests from Apache Software Foundation (ASF) projects, to analyze and demonstrate how each dimension of trust can be exhibited. Our findings provide preliminary insights into cues that might be helpful to automatically assess team dynamics and establish interpersonal trust in OSS teams, leading to successful and sustainable OSS.
Humans tend to strongly agree on ratings on a scale for extreme cases (e.g., a CAT is judged as very concrete), but judgements on mid-scale words exhibit more disagreement. Yet, collected rating norms are heavily exploited across disciplines. Our study focuses on concreteness ratings and (i) implements correlations and supervised classification to identify salient multi-modal characteristics of mid-scale words, and (ii) applies a hard clustering to identify patterns of systematic disagreement across raters. Our results suggest to either fine-tune or filter mid-scale target words before utilising them.
Graph signal processing benefits significantly from the direct and highly adaptable supplementary techniques offered by partition of unity methods (PUMs) on graphs. In our approach, we demonstrate the generation of a partition of unity solely based on the underlying graph structure, employing an algorithm that relies exclusively on centrality measures and modularity, without requiring the input of the number of subdomains. Subsequently, we integrate PUMs with a local graph basis function (GBF) approximation method to develop cost-effective global interpolation schemes. We also discuss numerical experiments conducted on both synthetic and real datasets to assess the performance of this presented technique.
Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.
Object detection typically assumes that training and test data are drawn from an identical distribution, which, however, does not always hold in practice. Such a distribution mismatch will lead to a significant performance drop. In this work, we aim to improve the cross-domain robustness of object detection. We tackle the domain shift on two levels: 1) the image-level shift, such as image style, illumination, etc, and 2) the instance-level shift, such as object appearance, size, etc. We build our approach based on the recent state-of-the-art Faster R-CNN model, and design two domain adaptation components, on image level and instance level, to reduce the domain discrepancy. The two domain adaptation components are based on H-divergence theory, and are implemented by learning a domain classifier in adversarial training manner. The domain classifiers on different levels are further reinforced with a consistency regularization to learn a domain-invariant region proposal network (RPN) in the Faster R-CNN model. We evaluate our newly proposed approach using multiple datasets including Cityscapes, KITTI, SIM10K, etc. The results demonstrate the effectiveness of our proposed approach for robust object detection in various domain shift scenarios.
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