When solving a problem, human beings have the adaptive ability in terms of the type of information they use, the procedure they take, and the amount of time they spend approaching and solving the problem. However, most standard neural networks have the same function type and fixed computation budget on different samples regardless of their nature and difficulty. Adaptivity is a powerful paradigm as it not only imbues practitioners with flexibility pertaining to the downstream usage of these models but can also serve as a powerful inductive bias for solving certain challenging classes of problems. In this work, we propose a new strategy, AdaTape, that enables dynamic computation in neural networks via adaptive tape tokens. AdaTape employs an elastic input sequence by equipping an existing architecture with a dynamic read-and-write tape. Specifically, we adaptively generate input sequences using tape tokens obtained from a tape bank that can either be trainable or generated from input data. We analyze the challenges and requirements to obtain dynamic sequence content and length, and propose the Adaptive Tape Reader (ATR) algorithm to achieve both objectives. Via extensive experiments on image recognition tasks, we show that AdaTape can achieve better performance while maintaining the computational cost.
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Networking：IFIP International Conferences on Networking。
Explanation：國際網絡會議。
Publisher：IFIP。
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Recent progress on vision-language foundation models have brought significant advancement to building general-purpose robots. By using the pre-trained models to encode the scene and instructions as inputs for decision making, the instruction-conditioned policy can generalize across different objects and tasks. While this is encouraging, the policy still fails in most cases given an unseen task or environment. In this work, we propose Policy Adaptation from Foundation model Feedback (PAFF). When deploying the trained policy to a new task or a new environment, we first let the policy play with randomly generated instructions to record the demonstrations. While the execution could be wrong, we can use the pre-trained foundation models to provide feedback to relabel the demonstrations. This automatically provides new pairs of demonstration-instruction data for policy fine-tuning. We evaluate our method on a broad range of experiments with the focus on generalization on unseen objects, unseen tasks, unseen environments, and sim-to-real transfer. We show PAFF improves baselines by a large margin in all cases. Our project page is available at //geyuying.github.io/PAFF/
Adaptive network pruning approach has recently drawn significant attention due to its excellent capability to identify the importance and redundancy of layers and filters and customize a suitable pruning solution. However, it remains unsatisfactory since current adaptive pruning methods rely mostly on an additional monitor to score layer and filter importance, and thus faces high complexity and weak interpretability. To tackle these issues, we have deeply researched the weight reconstruction process in iterative prune-train process and propose a Protective Self-Adaptive Pruning (PSAP) method. First of all, PSAP can utilize its own information, weight sparsity ratio, to adaptively adjust pruning ratio of layers before each pruning step. Moreover, we propose a protective reconstruction mechanism to prevent important filters from being pruned through supervising gradients and to avoid unrecoverable information loss as well. Our PSAP is handy and explicit because it merely depends on weights and gradients of model itself, instead of requiring an additional monitor as in early works. Experiments on ImageNet and CIFAR-10 also demonstrate its superiority to current works in both accuracy and compression ratio, especially for compressing with a high ratio or pruning from scratch.
Personalized TTS is an exciting and highly desired application that allows users to train their TTS voice using only a few recordings. However, TTS training typically requires many hours of recording and a large model, making it unsuitable for deployment on mobile devices. To overcome this limitation, related works typically require fine-tuning a pre-trained TTS model to preserve its ability to generate high-quality audio samples while adapting to the target speaker's voice. This process is commonly referred to as ``voice cloning.'' Although related works have achieved significant success in changing the TTS model's voice, they are still required to fine-tune from a large pre-trained model, resulting in a significant size for the voice-cloned model. In this paper, we propose applying trainable structured pruning to voice cloning. By training the structured pruning masks with voice-cloning data, we can produce a unique pruned model for each target speaker. Our experiments demonstrate that using learnable structured pruning, we can compress the model size to 7 times smaller while achieving comparable voice-cloning performance.
This paper considers the problem of managing single or multiple robots and proposes a cloud-based robot fleet manager, Adaptive Goal Management (AGM) System, for teams of unmanned mobile robots. The AGM system uses an adaptive goal execution approach and provides a restful API for communication between single or multiple robots, enabling real-time monitoring and control. The overarching goal of AGM is to coordinate single or multiple robots to productively complete tasks in an environment. There are some existing works that provide various solutions for managing single or multiple robots, but the proposed AGM system is designed to be adaptable and scalable, making it suitable for managing multiple heterogeneous robots in diverse environments with dynamic changes. The proposed AGM system presents a versatile and efficient solution for managing single or multiple robots across multiple industries, such as healthcare, agriculture, airports, manufacturing, and logistics. By enhancing the capabilities of these robots and enabling seamless task execution, the AGM system offers a powerful tool for facilitating complex operations. The effectiveness of the proposed AGM system is demonstrated through simulation experiments in diverse environments using ROS1 with Gazebo. The results show that the AGM system efficiently manages the allocated tasks and missions. Tests conducted in the manufacturing industry have shown promising results in task and mission management for both a single Mobile Industrial Robot and multiple Turtlebot3 robots. To provide further insights, a supplementary video showcasing the experiments can be found at //github.com/mukmalone/ AdaptiveGoalManagement.
The advent of sparsity inducing techniques in neural networks has been of a great help in the last few years. Indeed, those methods allowed to find lighter and faster networks, able to perform more efficiently in resource-constrained environment such as mobile devices or highly requested servers. Such a sparsity is generally imposed on the weights of neural networks, reducing the footprint of the architecture. In this work, we go one step further by imposing sparsity jointly on the weights and on the input data. This can be achieved following a three-step process: 1) impose a certain structured sparsity on the weights of the network; 2) track back input features corresponding to zeroed blocks of weight; 3) remove useless weights and input features and retrain the network. Performing pruning both on the network and on input data not only allows for extreme reduction in terms of parameters and operations but can also serve as an interpretation process. Indeed, with the help of data pruning, we now have information about which input feature is useful for the network to keep its performance. Experiments conducted on a variety of architectures and datasets: MLP validated on MNIST, CIFAR10/100 and ConvNets (VGG16 and ResNet18), validated on CIFAR10/100 and CALTECH101 respectively, show that it is possible to achieve additional gains in terms of total parameters and in FLOPs by performing pruning on input data, while also increasing accuracy.
Autonomous Underwater Vehicles (AUVs) conduct regular visual surveys of marine environments to characterise and monitor the composition and diversity of the benthos. The use of machine learning classifiers for this task is limited by the low numbers of annotations available and the many fine-grained classes involved. In addition to these challenges, there are domain shifts between image sets acquired during different AUV surveys due to changes in camera systems, imaging altitude, illumination and water column properties leading to a drop in classification performance for images from a different survey where some or all these elements may have changed. This paper proposes a framework to improve the performance of a benthic morphospecies classifier when used to classify images from a different survey compared to the training data. We adapt the SymmNet state-of-the-art Unsupervised Domain Adaptation method with an efficient bilinear pooling layer and image scaling to normalise spatial resolution, and show improved classification accuracy. We test our approach on two datasets with images from AUV surveys with different imaging payloads and locations. The results show that generic domain adaptation can be enhanced to produce a significant increase in accuracy for images from an AUV survey that differs from the training images.
High-performance deep neural network (DNN)-based systems are in high demand in edge environments. Due to its high computational complexity, it is challenging to deploy DNNs on edge devices with strict limitations on computational resources. In this paper, we derive a compact while highly-accurate DNN model, termed dsODENet, by combining recently-proposed parameter reduction techniques: Neural ODE (Ordinary Differential Equation) and DSC (Depthwise Separable Convolution). Neural ODE exploits a similarity between ResNet and ODE, and shares most of weight parameters among multiple layers, which greatly reduces the memory consumption. We apply dsODENet to a domain adaptation as a practical use case with image classification datasets. We also propose a resource-efficient FPGA-based design for dsODENet, where all the parameters and feature maps except for pre- and post-processing layers can be mapped onto on-chip memories. It is implemented on Xilinx ZCU104 board and evaluated in terms of domain adaptation accuracy, inference speed, FPGA resource utilization, and speedup rate compared to a software counterpart. The results demonstrate that dsODENet achieves comparable or slightly better domain adaptation accuracy compared to our baseline Neural ODE implementation, while the total parameter size without pre- and post-processing layers is reduced by 54.2% to 79.8%. Our FPGA implementation accelerates the inference speed by 23.8 times.
In this paper, we efficiently transfer the surpassing representation power of the vision foundation models, such as ViT and Swin, for video understanding with only a few trainable parameters. Previous adaptation methods have simultaneously considered spatial and temporal modeling with a unified learnable module but still suffered from fully leveraging the representative capabilities of image transformers. We argue that the popular dual-path (two-stream) architecture in video models can mitigate this problem. We propose a novel DualPath adaptation separated into spatial and temporal adaptation paths, where a lightweight bottleneck adapter is employed in each transformer block. Especially for temporal dynamic modeling, we incorporate consecutive frames into a grid-like frameset to precisely imitate vision transformers' capability that extrapolates relationships between tokens. In addition, we extensively investigate the multiple baselines from a unified perspective in video understanding and compare them with DualPath. Experimental results on four action recognition benchmarks prove that pretrained image transformers with DualPath can be effectively generalized beyond the data domain.
Unsupervised domain adaptation has recently emerged as an effective paradigm for generalizing deep neural networks to new target domains. However, there is still enormous potential to be tapped to reach the fully supervised performance. In this paper, we present a novel active learning strategy to assist knowledge transfer in the target domain, dubbed active domain adaptation. We start from an observation that energy-based models exhibit free energy biases when training (source) and test (target) data come from different distributions. Inspired by this inherent mechanism, we empirically reveal that a simple yet efficient energy-based sampling strategy sheds light on selecting the most valuable target samples than existing approaches requiring particular architectures or computation of the distances. Our algorithm, Energy-based Active Domain Adaptation (EADA), queries groups of targe data that incorporate both domain characteristic and instance uncertainty into every selection round. Meanwhile, by aligning the free energy of target data compact around the source domain via a regularization term, domain gap can be implicitly diminished. Through extensive experiments, we show that EADA surpasses state-of-the-art methods on well-known challenging benchmarks with substantial improvements, making it a useful option in the open world. Code is available at //github.com/BIT-DA/EADA.
Existing few-shot learning (FSL) methods assume that there exist sufficient training samples from source classes for knowledge transfer to target classes with few training samples. However, this assumption is often invalid, especially when it comes to fine-grained recognition. In this work, we define a new FSL setting termed few-shot fewshot learning (FSFSL), under which both the source and target classes have limited training samples. To overcome the source class data scarcity problem, a natural option is to crawl images from the web with class names as search keywords. However, the crawled images are inevitably corrupted by large amount of noise (irrelevant images) and thus may harm the performance. To address this problem, we propose a graph convolutional network (GCN)-based label denoising (LDN) method to remove the irrelevant images. Further, with the cleaned web images as well as the original clean training images, we propose a GCN-based FSL method. For both the LDN and FSL tasks, a novel adaptive aggregation GCN (AdarGCN) model is proposed, which differs from existing GCN models in that adaptive aggregation is performed based on a multi-head multi-level aggregation module. With AdarGCN, how much and how far information carried by each graph node is propagated in the graph structure can be determined automatically, therefore alleviating the effects of both noisy and outlying training samples. Extensive experiments show the superior performance of our AdarGCN under both the new FSFSL and the conventional FSL settings.
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