An important problem of the sequence-to-sequence neural models widely used in abstractive summarization is exposure bias. To alleviate this problem, re-ranking systems have been applied in recent years. Despite some performance improvements, this approach remains underexplored. Previous works have mostly specified the rank through the ROUGE score and aligned candidate summaries, but there can be quite a large gap between the lexical overlap metric and semantic similarity. In this paper, we propose a novel training method in which a re-ranker balances the lexical and semantic quality. We further newly define false positives in ranking and present a strategy to reduce their influence. Experiments on the CNN/DailyMail and XSum datasets show that our method can estimate the meaning of summaries without seriously degrading the lexical aspect. More specifically, it achieves an 89.67 BERTScore on the CNN/DailyMail dataset, reaching new state-of-the-art performance. Our code is publicly available at //github.com/jeewoo1025/BalSum.
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Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be able to comprehend the contextual information of its surroundings. This work focuses on classifying and localising objects within a map, which is under construction (SLAM) or already built. To further explore this direction, we propose a framework that can autonomously detect and localize predefined objects in a known environment using a multi-modal sensor fusion approach (combining RGB and depth data from an RGB-D camera and a lidar). The framework consists of three key elements: understanding the environment through RGB data, estimating depth through multi-modal sensor fusion, and managing artifacts (i.e., filtering and stabilizing measurements). The experiments show that the proposed framework can accurately detect 98% of the objects in the real sample environment, without post-processing, while 85% and 80% of the objects were mapped using the single RGBD camera or RGB + lidar setup respectively. The comparison with single-sensor (camera or lidar) experiments is performed to show that sensor fusion allows the robot to accurately detect near and far obstacles, which would have been noisy or imprecise in a purely visual or laser-based approach.
Large Language Models work quite well with general-purpose data and many tasks in Natural Language Processing. However, they show several limitations when used for a task such as domain-specific abstractive text summarization. This paper identifies three of those limitations as research problems in the context of abstractive text summarization: 1) Quadratic complexity of transformer-based models with respect to the input text length; 2) Model Hallucination, which is a model's ability to generate factually incorrect text; and 3) Domain Shift, which happens when the distribution of the model's training and test corpus is not the same. Along with a discussion of the open research questions, this paper also provides an assessment of existing state-of-the-art techniques relevant to domain-specific text summarization to address the research gaps.
We propose a novel visual SLAM method that integrates text objects tightly by treating them as semantic features via fully exploring their geometric and semantic prior. The text object is modeled as a texture-rich planar patch whose semantic meaning is extracted and updated on the fly for better data association. With the full exploration of locally planar characteristics and semantic meaning of text objects, the SLAM system becomes more accurate and robust even under challenging conditions such as image blurring, large viewpoint changes, and significant illumination variations (day and night). We tested our method in various scenes with the ground truth data. The results show that integrating texture features leads to a more superior SLAM system that can match images across day and night. The reconstructed semantic 3D text map could be useful for navigation and scene understanding in robotic and mixed reality applications. Our project page: //github.com/SJTU-ViSYS/TextSLAM .
We present LLM-Blender, an ensembling framework designed to attain consistently superior performance by leveraging the diverse strengths of multiple open-source large language models (LLMs). Our framework consists of two modules: PairRanker and GenFuser, addressing the observation that optimal LLMs for different examples can significantly vary. PairRanker employs a specialized pairwise comparison method to distinguish subtle differences between candidate outputs. It jointly encodes the input text and a pair of candidates, using cross-attention encoders to determine the superior one. Our results demonstrate that PairRanker exhibits the highest correlation with ChatGPT-based ranking. Then, GenFuser aims to merge the top-ranked candidates, generating an improved output by capitalizing on their strengths and mitigating their weaknesses. To facilitate large-scale evaluation, we introduce a benchmark dataset, MixInstruct, which is a mixture of multiple instruction datasets featuring oracle pairwise comparisons. Our LLM-Blender significantly outperform individual LLMs and baseline methods across various metrics, establishing a substantial performance gap.
Contrastive learning models have achieved great success in unsupervised visual representation learning, which maximize the similarities between feature representations of different views of the same image, while minimize the similarities between feature representations of views of different images. In text summarization, the output summary is a shorter form of the input document and they have similar meanings. In this paper, we propose a contrastive learning model for supervised abstractive text summarization, where we view a document, its gold summary and its model generated summaries as different views of the same mean representation and maximize the similarities between them during training. We improve over a strong sequence-to-sequence text generation model (i.e., BART) on three different summarization datasets. Human evaluation also shows that our model achieves better faithfulness ratings compared to its counterpart without contrastive objectives.
Search engine has become a fundamental component in various web and mobile applications. Retrieving relevant documents from the massive datasets is challenging for a search engine system, especially when faced with verbose or tail queries. In this paper, we explore a vector space search framework for document retrieval. Specifically, we trained a deep semantic matching model so that each query and document can be encoded as a low dimensional embedding. Our model was trained based on BERT architecture. We deployed a fast k-nearest-neighbor index service for online serving. Both offline and online metrics demonstrate that our method improved retrieval performance and search quality considerably, particularly for tail
Recent work pre-training Transformers with self-supervised objectives on large text corpora has shown great success when fine-tuned on downstream NLP tasks including text summarization. However, pre-training objectives tailored for abstractive text summarization have not been explored. Furthermore there is a lack of systematic evaluation across diverse domains. In this work, we propose pre-training large Transformer-based encoder-decoder models on massive text corpora with a new self-supervised objective. In PEGASUS, important sentences are removed/masked from an input document and are generated together as one output sequence from the remaining sentences, similar to an extractive summary. We evaluated our best PEGASUS model on 12 downstream summarization tasks spanning news, science, stories, instructions, emails, patents, and legislative bills. Experiments demonstrate it achieves state-of-the-art performance on all 12 downstream datasets measured by ROUGE scores. Our model also shows surprising performance on low-resource summarization, surpassing previous state-of-the-art results on 6 datasets with only 1000 examples. Finally we validated our results using human evaluation and show that our model summaries achieve human performance on multiple datasets.
BERT, a pre-trained Transformer model, has achieved ground-breaking performance on multiple NLP tasks. In this paper, we describe BERTSUM, a simple variant of BERT, for extractive summarization. Our system is the state of the art on the CNN/Dailymail dataset, outperforming the previous best-performed system by 1.65 on ROUGE-L. The codes to reproduce our results are available at //github.com/nlpyang/BertSum
We present a monocular Simultaneous Localization and Mapping (SLAM) using high level object and plane landmarks, in addition to points. The resulting map is denser, more compact and meaningful compared to point only SLAM. We first propose a high order graphical model to jointly infer the 3D object and layout planes from single image considering occlusions and semantic constraints. The extracted cuboid object and layout planes are further optimized in a unified SLAM framework. Objects and planes can provide more semantic constraints such as Manhattan and object supporting relationships compared to points. Experiments on various public and collected datasets including ICL NUIM and TUM mono show that our algorithm can improve camera localization accuracy compared to state-of-the-art SLAM and also generate dense maps in many structured environments.
Current state-of-the-art semantic role labeling (SRL) uses a deep neural network with no explicit linguistic features. However, prior work has shown that gold syntax trees can dramatically improve SRL decoding, suggesting the possibility of increased accuracy from explicit modeling of syntax. In this work, we present linguistically-informed self-attention (LISA): a neural network model that combines multi-head self-attention with multi-task learning across dependency parsing, part-of-speech tagging, predicate detection and SRL. Unlike previous models which require significant pre-processing to prepare linguistic features, LISA can incorporate syntax using merely raw tokens as input, encoding the sequence only once to simultaneously perform parsing, predicate detection and role labeling for all predicates. Syntax is incorporated by training one attention head to attend to syntactic parents for each token. Moreover, if a high-quality syntactic parse is already available, it can be beneficially injected at test time without re-training our SRL model. In experiments on CoNLL-2005 SRL, LISA achieves new state-of-the-art performance for a model using predicted predicates and standard word embeddings, attaining 2.5 F1 absolute higher than the previous state-of-the-art on newswire and more than 3.5 F1 on out-of-domain data, nearly 10% reduction in error. On ConLL-2012 English SRL we also show an improvement of more than 2.5 F1. LISA also out-performs the state-of-the-art with contextually-encoded (ELMo) word representations, by nearly 1.0 F1 on news and more than 2.0 F1 on out-of-domain text.
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