DNN-based speaker verification (SV) models demonstrate significant performance at relatively high computation costs. Model compression can be applied to reduce the model size for lower resource consumption. The present study exploits weight quantization to compress two widely-used SV models, namely ECAPA-TDNN and ResNet. Experimental results on VoxCeleb show that weight quantization is effective for compressing SV models. The model size can be reduced multiple times without noticeable degradation in performance. Compression of ResNet shows more robust results than ECAPA-TDNN with lower-bitwidth quantization. Analysis of the layer weights suggests that the smooth weight distribution of ResNet may be related to its better robustness. The generalization ability of the quantized model is validated via a language-mismatched SV task. Furthermore, analysis by information probing reveals that the quantized models can retain most of the speaker-relevant knowledge learned by the original models.
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Tucker decomposition is a powerful tensor model to handle multi-aspect data. It demonstrates the low-rank property by decomposing the grid-structured data as interactions between a core tensor and a set of object representations (factors). A fundamental assumption of such decomposition is that there were finite objects in each aspect or mode, corresponding to discrete indexes of data entries. However, many real-world data are not naturally posed in the setting. For example, geographic data is represented as continuous indexes of latitude and longitude coordinates, and cannot fit tensor models directly. To generalize Tucker decomposition to such scenarios, we propose Functional Bayesian Tucker Decomposition (FunBaT). We treat the continuous-indexed data as the interaction between the Tucker core and a group of latent functions. We use Gaussian processes (GP) as functional priors to model the latent functions, and then convert the GPs into a state-space prior by constructing an equivalent stochastic differential equation (SDE) to reduce computational cost. An efficient inference algorithm is further developed for scalable posterior approximation based on advanced message-passing techniques. The advantage of our method is shown in both synthetic data and several real-world applications.
Visual object navigation using learning methods is one of the key tasks in mobile robotics. This paper introduces a new representation of a scene semantic map formed during the embodied agent interaction with the indoor environment. It is based on a neural network method that adjusts the weights of the segmentation model with backpropagation of the predicted fusion loss values during inference on a regular (backward) or delayed (forward) image sequence. We have implemented this representation into a full-fledged navigation approach called SkillTron, which can select robot skills from end-to-end policies based on reinforcement learning and classic map-based planning methods. The proposed approach makes it possible to form both intermediate goals for robot exploration and the final goal for object navigation. We conducted intensive experiments with the proposed approach in the Habitat environment, which showed a significant superiority in navigation quality metrics compared to state-of-the-art approaches. The developed code and used custom datasets are publicly available at github.com/AIRI-Institute/skill-fusion.
Large language models(LLMs) exhibit excellent performance across a variety of tasks, but they come with significant computational and storage costs. Quantizing these models is an effective way to alleviate this issue. However, existing methods struggle to strike a balance between model accuracy and hardware efficiency. This is where we introduce AWEQ, a post-training method that requires no additional training overhead. AWEQ excels in both ultra-low-bit quantization and 8-bit weight and activation (W8A8) quantization. There is an observation that weight quantization is less challenging than activation quantization. AWEQ transfers the difficulty of activation quantization to weights using channel equalization, achieving a balance between the quantization difficulties of both, and thereby maximizing performance. We have further refined the equalization method to mitigate quantization bias error, ensuring the robustness of the model. Extensive experiments on popular models such as LLaMA and OPT demonstrate that AWEQ outperforms all existing post-training quantization methods for large models.
We consider two popular approaches to Knowledge Graph Completion (KGC): textual models that rely on textual entity descriptions, and structure-based models that exploit the connectivity structure of the Knowledge Graph (KG). Preliminary experiments show that these approaches have complementary strengths: structure-based models perform well when the gold answer is easily reachable from the query head in the KG, while textual models exploit descriptions to give good performance even when the gold answer is not reachable. In response, we explore ensembling as a way of combining the best of both approaches. We propose a novel method for learning query-dependent ensemble weights by using the distributions of scores assigned by individual models to all candidate entities. Our ensemble baseline achieves state-of-the-art results on three standard KGC datasets, with up to 6.8 pt MRR and 8.3 pt Hits@1 gains over best individual models.
We designed and tested a system for real-time control of a user interface by extracting surface electromyographic (sEMG) activity from eight electrodes in a wrist-band configuration. sEMG data were streamed into a machine-learning algorithm that classified hand gestures in real-time. After an initial model calibration, participants were presented with one of three types of feedback during a human-learning stage: veridical feedback, in which predicted probabilities from the gesture classification algorithm were displayed without alteration, modified feedback, in which we applied a hidden augmentation of error to these probabilities, and no feedback. User performance was then evaluated in a series of minigames, in which subjects were required to use eight gestures to manipulate their game avatar to complete a task. Experimental results indicated that, relative to baseline, the modified feedback condition led to significantly improved accuracy and improved gesture class separation. These findings suggest that real-time feedback in a gamified user interface with manipulation of feedback may enable intuitive, rapid, and accurate task acquisition for sEMG-based gesture recognition applications.
Accurately modeling soft robots remains a challenge due to their inherent nonlinear behavior and parameter variations. This paper presents a novel approach to modeling soft pneumatic actuators using a nonlinear parameter-varying framework. The research begins by introducing Ludwick's Law, providing a more accurate representation of the complex mechanical behavior exhibited by soft materials. Three key material properties, namely Young's modulus, tensile stress, and mixed viscosity, are utilized to estimate the parameter inside the nonlinear model using the least squares method. Subsequently, a nonlinear dynamic model for soft actuators is constructed by applying Ludwick's Law. To validate the accuracy and effectiveness of the proposed method, experimental validations are performed. We perform several experiments, demonstrating the model's capabilities in predicting the dynamical behavior of soft pneumatic actuators. In conclusion, this work contributes to the advancement of soft pneumatic actuator modeling that represents their nonlinear behavior.
Existing knowledge graph (KG) embedding models have primarily focused on static KGs. However, real-world KGs do not remain static, but rather evolve and grow in tandem with the development of KG applications. Consequently, new facts and previously unseen entities and relations continually emerge, necessitating an embedding model that can quickly learn and transfer new knowledge through growth. Motivated by this, we delve into an expanding field of KG embedding in this paper, i.e., lifelong KG embedding. We consider knowledge transfer and retention of the learning on growing snapshots of a KG without having to learn embeddings from scratch. The proposed model includes a masked KG autoencoder for embedding learning and update, with an embedding transfer strategy to inject the learned knowledge into the new entity and relation embeddings, and an embedding regularization method to avoid catastrophic forgetting. To investigate the impacts of different aspects of KG growth, we construct four datasets to evaluate the performance of lifelong KG embedding. Experimental results show that the proposed model outperforms the state-of-the-art inductive and lifelong embedding baselines.
The recent proliferation of knowledge graphs (KGs) coupled with incomplete or partial information, in the form of missing relations (links) between entities, has fueled a lot of research on knowledge base completion (also known as relation prediction). Several recent works suggest that convolutional neural network (CNN) based models generate richer and more expressive feature embeddings and hence also perform well on relation prediction. However, we observe that these KG embeddings treat triples independently and thus fail to cover the complex and hidden information that is inherently implicit in the local neighborhood surrounding a triple. To this effect, our paper proposes a novel attention based feature embedding that captures both entity and relation features in any given entity's neighborhood. Additionally, we also encapsulate relation clusters and multihop relations in our model. Our empirical study offers insights into the efficacy of our attention based model and we show marked performance gains in comparison to state of the art methods on all datasets.
Learning with limited data is a key challenge for visual recognition. Few-shot learning methods address this challenge by learning an instance embedding function from seen classes and apply the function to instances from unseen classes with limited labels. This style of transfer learning is task-agnostic: the embedding function is not learned optimally discriminative with respect to the unseen classes, where discerning among them is the target task. In this paper, we propose a novel approach to adapt the embedding model to the target classification task, yielding embeddings that are task-specific and are discriminative. To this end, we employ a type of self-attention mechanism called Transformer to transform the embeddings from task-agnostic to task-specific by focusing on relating instances from the test instances to the training instances in both seen and unseen classes. Our approach also extends to both transductive and generalized few-shot classification, two important settings that have essential use cases. We verify the effectiveness of our model on two standard benchmark few-shot classification datasets --- MiniImageNet and CUB, where our approach demonstrates state-of-the-art empirical performance.
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.
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