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In this paper, we present a novel approach towards feasible dynamic grasping by leveraging Gaussian Process Distance Fields (GPDF), SE(3) equivariance, and Riemannian Mixture Models. We seek to improve the grasping capabilities of robots in dynamic tasks where objects may be moving. The proposed method combines object shape reconstruction, grasp sampling, and grasp pose selection to enable effective grasping in such scenarios. By utilizing GPDF, the approach accurately models the shape and physical properties of objects, allowing for precise grasp planning. SE(3) equivariance ensures that the sampled grasp poses are equivariant to the object's pose. Additionally, Riemannian Gaussian Mixture Models are employed to test reachability, providing a feasible and adaptable grasping strategy. The sampled feasible grasp poses are used as targets for novel task or joint space reactive controllers formulated by Gaussian Mixture Models and Gaussian Processes, respectively. Experimental results demonstrate the effectiveness of the proposed approach in generating feasible grasp poses and successful grasping in dynamic environments. (Video: //www.youtube.com/watch?v=wjIVrwTzTOc&t=70s)

We present a novel self-supervised approach for representation learning, particularly for the task of Visual Relationship Detection (VRD). Motivated by the effectiveness of Masked Image Modeling (MIM), we propose Masked Bounding Box Reconstruction (MBBR), a variation of MIM where a percentage of the entities/objects within a scene are masked and subsequently reconstructed based on the unmasked objects. The core idea is that, through object-level masked modeling, the network learns context-aware representations that capture the interaction of objects within a scene and thus are highly predictive of visual object relationships. We extensively evaluate learned representations, both qualitatively and quantitatively, in a few-shot setting and demonstrate the efficacy of MBBR for learning robust visual representations, particularly tailored for VRD. The proposed method is able to surpass state-of-the-art VRD methods on the Predicate Detection (PredDet) evaluation setting, using only a few annotated samples. We make our code available at //github.com/deeplab-ai/SelfSupervisedVRD.

In this paper, we propose to develop a new Cram\'er-Rao Bound (CRB) when the parameter to estimate lies in a manifold and follows a prior distribution. This derivation leads to a natural inequality between an error criteria based on geometrical properties and this new bound. This main contribution is illustrated in the problem of covariance estimation when the data follow a Gaussian distribution and the prior distribution is an inverse Wishart. Numerical simulation shows new results where the proposed CRB allows to exhibit interesting properties of the MAP estimator which are not observed with the classical Bayesian CRB.

In this paper, a discriminator-free adversarial-based Unsupervised Domain Adaptation (UDA) for Multi-Label Image Classification (MLIC) referred to as DDA-MLIC is proposed. Recently, some attempts have been made for introducing adversarial-based UDA methods in the context of MLIC. However, these methods which rely on an additional discriminator subnet present one major shortcoming. The learning of domain-invariant features may harm their task-specific discriminative power, since the classification and discrimination tasks are decoupled. Herein, we propose to overcome this issue by introducing a novel adversarial critic that is directly deduced from the task-specific classifier. Specifically, a two-component Gaussian Mixture Model (GMM) is fitted on the source and target predictions in order to distinguish between two clusters. This allows extracting a Gaussian distribution for each component. The resulting Gaussian distributions are then used for formulating an adversarial loss based on a Frechet distance. The proposed method is evaluated on several multi-label image datasets covering three different types of domain shift. The obtained results demonstrate that DDA-MLIC outperforms existing state-of-the-art methods in terms of precision while requiring a lower number of parameters. The code is publicly available at github.com/cvi2snt/DDA-MLIC.

In this paper, we present a Deep Reinforcement Learning (RL)-driven Adaptive Stochastic Nonlinear Model Predictive Control (SNMPC) to optimize uncertainty handling, constraints robustification, feasibility, and closed-loop performance. To this end, we conceive an RL agent to proactively anticipate upcoming control tasks and to dynamically determine the most suitable combination of key SNMPC parameters - foremost the robustification factor $\kappa$ and the Uncertainty Propagation Horizon (UPH) $T_u$. We analyze the trained RL agent's decision-making process and highlight its ability to learn context-dependent optimal parameters. One key finding is that adapting the constraints robustification factor with the learned policy reduces conservatism and improves closed-loop performance while adapting UPH renders previously infeasible SNMPC problems feasible when faced with severe disturbances. We showcase the enhanced robustness and feasibility of our Adaptive SNMPC (aSNMPC) through the real-time motion control task of an autonomous passenger vehicle to follow an optimal race line when confronted with significant time-variant disturbances. Experimental findings demonstrate that our look-ahead RL-driven aSNMPC outperforms its Static SNMPC (sSNMPC) counterpart in minimizing the lateral deviation both with accurate and inaccurate disturbance assumptions and even when driving in previously unexplored environments.

This paper introduces a novel method for translating Business Process Model and Notation (BPMN) diagrams into executable X-Klaim code for Multi-Robot Systems (MRSs). Merging the clarity of BPMN with the operational strength of X-Klaim, we enable the design and execution of complex robotic interactions without requiring in-depth knowledge of the underlying programming language from the users. Our approach maintains the BPMN model's core design principles and logic in the translation to X-Klaim, thus enhancing the readability and maintainability of MRS applications. We offer a series of translated examples, address optimization strategies, and introduce the B2XKLAIM tool, which automates the conversion process. This method aims to streamline MRS programming and improve collaboration between roboticists and domain experts throughout the design and implementation stages.

Unified Sequence Labeling that articulates different sequence labeling problems such as Named Entity Recognition, Relation Extraction, Semantic Role Labeling, etc. in a generalized sequence-to-sequence format opens up the opportunity to make the maximum utilization of large language model knowledge toward structured prediction. Unfortunately, this requires formatting them into specialized augmented format unknown to the base pretrained language model (PLMs) necessitating finetuning to the target format. This significantly bounds its usefulness in data-limited settings where finetuning large models cannot properly generalize to the target format. To address this challenge and leverage PLM knowledge effectively, we propose FISH-DIP, a sample-aware dynamic sparse finetuning strategy that selectively focuses on a fraction of parameters, informed by feedback from highly regressing examples, during the fine-tuning process. By leveraging the dynamism of sparsity, our approach mitigates the impact of well-learned samples and prioritizes underperforming instances for improvement in generalization. Across five tasks of sequence labeling, we demonstrate that FISH-DIP can smoothly optimize the model in low resource settings offering upto 40% performance improvements over full fine-tuning depending on target evaluation settings. Also, compared to in-context learning and other parameter-efficient fine-tuning approaches, FISH-DIP performs comparably or better, notably in extreme low-resource settings.

In this paper, we propose a novel Feature Decomposition and Reconstruction Learning (FDRL) method for effective facial expression recognition. We view the expression information as the combination of the shared information (expression similarities) across different expressions and the unique information (expression-specific variations) for each expression. More specifically, FDRL mainly consists of two crucial networks: a Feature Decomposition Network (FDN) and a Feature Reconstruction Network (FRN). In particular, FDN first decomposes the basic features extracted from a backbone network into a set of facial action-aware latent features to model expression similarities. Then, FRN captures the intra-feature and inter-feature relationships for latent features to characterize expression-specific variations, and reconstructs the expression feature. To this end, two modules including an intra-feature relation modeling module and an inter-feature relation modeling module are developed in FRN. Experimental results on both the in-the-lab databases (including CK+, MMI, and Oulu-CASIA) and the in-the-wild databases (including RAF-DB and SFEW) show that the proposed FDRL method consistently achieves higher recognition accuracy than several state-of-the-art methods. This clearly highlights the benefit of feature decomposition and reconstruction for classifying expressions.

Bidirectional Encoder Representations from Transformers (BERT) has shown marvelous improvements across various NLP tasks. Recently, an upgraded version of BERT has been released with Whole Word Masking (WWM), which mitigate the drawbacks of masking partial WordPiece tokens in pre-training BERT. In this technical report, we adapt whole word masking in Chinese text, that masking the whole word instead of masking Chinese characters, which could bring another challenge in Masked Language Model (MLM) pre-training task. The model was trained on the latest Chinese Wikipedia dump. We aim to provide easy extensibility and better performance for Chinese BERT without changing any neural architecture or even hyper-parameters. The model is verified on various NLP tasks, across sentence-level to document-level, including sentiment classification (ChnSentiCorp, Sina Weibo), named entity recognition (People Daily, MSRA-NER), natural language inference (XNLI), sentence pair matching (LCQMC, BQ Corpus), and machine reading comprehension (CMRC 2018, DRCD, CAIL RC). Experimental results on these datasets show that the whole word masking could bring another significant gain. Moreover, we also examine the effectiveness of Chinese pre-trained models: BERT, ERNIE, BERT-wwm. We release the pre-trained model (both TensorFlow and PyTorch) on GitHub: //github.com/ymcui/Chinese-BERT-wwm

We propose a novel single shot object detection network named Detection with Enriched Semantics (DES). Our motivation is to enrich the semantics of object detection features within a typical deep detector, by a semantic segmentation branch and a global activation module. The segmentation branch is supervised by weak segmentation ground-truth, i.e., no extra annotation is required. In conjunction with that, we employ a global activation module which learns relationship between channels and object classes in a self-supervised manner. Comprehensive experimental results on both PASCAL VOC and MS COCO detection datasets demonstrate the effectiveness of the proposed method. In particular, with a VGG16 based DES, we achieve an mAP of 81.7 on VOC2007 test and an mAP of 32.8 on COCO test-dev with an inference speed of 31.5 milliseconds per image on a Titan Xp GPU. With a lower resolution version, we achieve an mAP of 79.7 on VOC2007 with an inference speed of 13.0 milliseconds per image.