The bi-encoder architecture provides a framework for understanding machine-learned retrieval models based on dense and sparse vector representations. Although these representations capture parametric realizations of the same underlying conceptual framework, their respective implementations of top-$k$ similarity search require the coordination of different software components (e.g., inverted indexes, HNSW indexes, and toolkits for neural inference), often knitted together in complex architectures. In this work, we ask the following question: What's the simplest design, in terms of requiring the fewest changes to existing infrastructure, that can support end-to-end retrieval with modern dense and sparse representations? The answer appears to be that Lucene is sufficient, as we demonstrate in Anserini, a toolkit for reproducible information retrieval research. That is, effective retrieval with modern single-vector neural models can be efficiently performed directly in Java on the CPU. We examine the implications of this design for information retrieval researchers pushing the state of the art as well as for software engineers building production search systems.
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The manipulation of deformable objects by robotic systems presents a significant challenge due to their complex and infinite-dimensional configuration spaces. This paper introduces a novel approach to Deformable Object Manipulation (DOM) by emphasizing the identification and manipulation of Structures of Interest (SOIs) in deformable fabric bags. We propose a bimanual manipulation framework that leverages a Graph Neural Network (GNN)-based latent dynamics model to succinctly represent and predict the behavior of these SOIs. Our approach involves constructing a graph representation from partial point cloud data of the object and learning the latent dynamics model that effectively captures the essential deformations of the fabric bag within a reduced computational space. By integrating this latent dynamics model with Model Predictive Control (MPC), we empower robotic manipulators to perform precise and stable manipulation tasks focused on the SOIs. We have validated our framework through various empirical experiments demonstrating its efficacy in bimanual manipulation of fabric bags. Our contributions not only address the complexities inherent in DOM but also provide new perspectives and methodologies for enhancing robotic interactions with deformable objects by concentrating on their critical structural elements. Experimental videos can be obtained from //sites.google.com/view/bagbot.
Integrating different functionalities, conventionally implemented as dedicated systems, into a single platform allows utilising the available resources more efficiently. We consider an integrated sensing and power transfer (ISAPT) system and propose the joint optimisation of the rectangular pulse-shaped transmit signal and the beamforming vector to combine sensing and wireless power transfer (WPT) functionalities efficiently. In contrast to prior works, we adopt an accurate non-linear circuit-based energy harvesting (EH) model. We formulate and solve a non-convex optimisation problem for a general number of EH receivers to maximise a weighted sum of the average harvested powers at the EH receivers while ensuring the received echo signal reflected by a sensing target (ST) has sufficient power for estimating the range to the ST with a prescribed accuracy within the considered coverage region. The average harvested power is shown to monotonically increase with the pulse duration when the average transmit power budget is sufficiently large. We discuss the trade-off between sensing performance and power transfer for the considered ISAPT system. The proposed approach significantly outperforms a heuristic baseline scheme based on a linear EH model, which linearly combines energy beamforming with the beamsteering vector in the direction to the ST as its transmit strategy.
Recent advancements in deep learning-based image compression are notable. However, prevalent schemes that employ a serial context-adaptive entropy model to enhance rate-distortion (R-D) performance are markedly slow. Furthermore, the complexities of the encoding and decoding networks are substantially high, rendering them unsuitable for some practical applications. In this paper, we propose two techniques to balance the trade-off between complexity and performance. First, we introduce two branching coding networks to independently learn a low-resolution latent representation and a high-resolution latent representation of the input image, discriminatively representing the global and local information therein. Second, we utilize the high-resolution latent representation as conditional information for the low-resolution latent representation, furnishing it with global information, thus aiding in the reduction of redundancy between low-resolution information. We do not utilize any serial entropy models. Instead, we employ a parallel channel-wise auto-regressive entropy model for encoding and decoding low-resolution and high-resolution latent representations. Experiments demonstrate that our method is approximately twice as fast in both encoding and decoding compared to the parallelizable checkerboard context model, and it also achieves a 1.2% improvement in R-D performance compared to state-of-the-art learned image compression schemes. Our method also outperforms classical image codecs including H.266/VVC-intra (4:4:4) and some recent learned methods in rate-distortion performance, as validated by both PSNR and MS-SSIM metrics on the Kodak dataset.
Pseudorange errors are the root cause of localization inaccuracy in GPS. Previous data-driven methods regress and eliminate pseudorange errors using handcrafted intermediate labels. Unlike them, we propose an end-to-end GPS localization framework, E2E-PrNet, to train a neural network for pseudorange correction (PrNet) directly using the final task loss calculated with the ground truth of GPS receiver states. The gradients of the loss with respect to learnable parameters are backpropagated through a differentiable nonlinear least squares optimizer to PrNet. The feasibility is verified with GPS data collected by Android phones, showing that E2E-PrNet outperforms the state-of-the-art end-to-end GPS localization methods.
Panoptic and instance segmentation networks are often trained with specialized object detection modules, complex loss functions, and ad-hoc post-processing steps to handle the permutation-invariance of the instance masks. This work builds upon Stable Diffusion and proposes a latent diffusion approach for panoptic segmentation, resulting in a simple architecture which omits these complexities. Our training process consists of two steps: (1) training a shallow autoencoder to project the segmentation masks to latent space; (2) training a diffusion model to allow image-conditioned sampling in latent space. The use of a generative model unlocks the exploration of mask completion or inpainting, which has applications in interactive segmentation. The experimental validation yields promising results for both panoptic segmentation and mask inpainting. While not setting a new state-of-the-art, our model's simplicity, generality, and mask completion capability are desirable properties.
The branch-and-bound algorithm based on decision diagrams introduced by Bergman et al. in 2016 is a framework for solving discrete optimization problems with a dynamic programming formulation. It works by compiling a series of bounded-width decision diagrams that can provide lower and upper bounds for any given subproblem. Eventually, every part of the search space will be either explored or pruned by the algorithm, thus proving optimality. This paper presents new ingredients to speed up the search by exploiting the structure of dynamic programming models. The key idea is to prevent the repeated expansion of nodes corresponding to the same dynamic programming states by querying expansion thresholds cached throughout the search. These thresholds are based on dominance relations between partial solutions previously found and on the pruning inequalities of the filtering techniques introduced by Gillard et al. in 2021. Computational experiments show that the pruning brought by this caching mechanism allows significantly reducing the number of nodes expanded by the algorithm. This results in more benchmark instances of difficult optimization problems being solved in less time while using narrower decision diagrams.
We address a key challenge for neuro-symbolic (NeSy) systems by leveraging convex and bilevel optimization techniques to develop a general gradient-based framework for end-to-end neural and symbolic parameter learning. The applicability of our framework is demonstrated with NeuPSL, a state-of-the-art NeSy architecture. To achieve this, we propose a smooth primal and dual formulation of NeuPSL inference and show learning gradients are functions of the optimal dual variables. Additionally, we develop a dual block coordinate descent algorithm for the new formulation that naturally exploits warm-starts. This leads to over 100x learning runtime improvements over the current best NeuPSL inference method. Finally, we provide extensive empirical evaluations across $8$ datasets covering a range of tasks and demonstrate our learning framework achieves up to a 16% point prediction performance improvement over alternative learning methods.
Current models for event causality identification (ECI) mainly adopt a supervised framework, which heavily rely on labeled data for training. Unfortunately, the scale of current annotated datasets is relatively limited, which cannot provide sufficient support for models to capture useful indicators from causal statements, especially for handing those new, unseen cases. To alleviate this problem, we propose a novel approach, shortly named CauSeRL, which leverages external causal statements for event causality identification. First of all, we design a self-supervised framework to learn context-specific causal patterns from external causal statements. Then, we adopt a contrastive transfer strategy to incorporate the learned context-specific causal patterns into the target ECI model. Experimental results show that our method significantly outperforms previous methods on EventStoryLine and Causal-TimeBank (+2.0 and +3.4 points on F1 value respectively).
Conventional methods for object detection typically require a substantial amount of training data and preparing such high-quality training data is very labor-intensive. In this paper, we propose a novel few-shot object detection network that aims at detecting objects of unseen categories with only a few annotated examples. Central to our method are our Attention-RPN, Multi-Relation Detector and Contrastive Training strategy, which exploit the similarity between the few shot support set and query set to detect novel objects while suppressing false detection in the background. To train our network, we contribute a new dataset that contains 1000 categories of various objects with high-quality annotations. To the best of our knowledge, this is one of the first datasets specifically designed for few-shot object detection. Once our few-shot network is trained, it can detect objects of unseen categories without further training or fine-tuning. Our method is general and has a wide range of potential applications. We produce a new state-of-the-art performance on different datasets in the few-shot setting. The dataset link is //github.com/fanq15/Few-Shot-Object-Detection-Dataset.
This paper introduces an online model for object detection in videos designed to run in real-time on low-powered mobile and embedded devices. Our approach combines fast single-image object detection with convolutional long short term memory (LSTM) layers to create an interweaved recurrent-convolutional architecture. Additionally, we propose an efficient Bottleneck-LSTM layer that significantly reduces computational cost compared to regular LSTMs. Our network achieves temporal awareness by using Bottleneck-LSTMs to refine and propagate feature maps across frames. This approach is substantially faster than existing detection methods in video, outperforming the fastest single-frame models in model size and computational cost while attaining accuracy comparable to much more expensive single-frame models on the Imagenet VID 2015 dataset. Our model reaches a real-time inference speed of up to 15 FPS on a mobile CPU.
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