The flexibility of Simultaneous Localization and Mapping (SLAM) algorithms in various environments has consistently been a significant challenge. To address the issue of LiDAR odometry drift in high-noise settings, integrating clustering methods to filter out unstable features has become an effective module of SLAM frameworks. However, reducing the amount of point cloud data can lead to potential loss of information and possible degeneration. As a result, this research proposes a LiDAR odometry that can dynamically assess the point cloud's reliability. The algorithm aims to improve adaptability in diverse settings by selecting important feature points with sensitivity to the level of environmental degeneration. Firstly, a fast adaptive Euclidean clustering algorithm based on range image is proposed, which, combined with depth clustering, extracts the primary structural points of the environment defined as ambient skeleton points. Then, the environmental degeneration level is computed through the dense normal features of the skeleton points, and the point cloud cleaning is dynamically adjusted accordingly. The algorithm is validated on the KITTI benchmark and real environments, demonstrating higher accuracy and robustness in different environments.
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Visual commonsense reasoning (VCR) is a challenging multi-modal task, which requires high-level cognition and commonsense reasoning ability about the real world. In recent years, large-scale pre-training approaches have been developed and promoted the state-of-the-art performance of VCR. However, the existing approaches almost employ the BERT-like objectives to learn multi-modal representations. These objectives motivated from the text-domain are insufficient for the excavation on the complex scenario of visual modality. Most importantly, the spatial distribution of the visual objects is basically neglected. To address the above issue, we propose to construct the spatial relation graph based on the given visual scenario. Further, we design two pre-training tasks named object position regression (OPR) and spatial relation classification (SRC) to learn to reconstruct the spatial relation graph respectively. Quantitative analysis suggests that the proposed method can guide the representations to maintain more spatial context and facilitate the attention on the essential visual regions for reasoning. We achieve the state-of-the-art results on VCR and two other vision-and-language reasoning tasks VQA, and NLVR.
Significant progress in the development of highly adaptable and reusable Artificial Intelligence (AI) models is expected to have a significant impact on Earth science and remote sensing. Foundation models are pre-trained on large unlabeled datasets through self-supervision, and then fine-tuned for various downstream tasks with small labeled datasets. This paper introduces a first-of-a-kind framework for the efficient pre-training and fine-tuning of foundational models on extensive geospatial data. We have utilized this framework to create Prithvi, a transformer-based geospatial foundational model pre-trained on more than 1TB of multispectral satellite imagery from the Harmonized Landsat-Sentinel 2 (HLS) dataset. Our study demonstrates the efficacy of our framework in successfully fine-tuning Prithvi to a range of Earth observation tasks that have not been tackled by previous work on foundation models involving multi-temporal cloud gap imputation, flood mapping, wildfire scar segmentation, and multi-temporal crop segmentation. Our experiments show that the pre-trained model accelerates the fine-tuning process compared to leveraging randomly initialized weights. In addition, pre-trained Prithvi compares well against the state-of-the-art, e.g., outperforming a conditional GAN model in multi-temporal cloud imputation by up to 5pp (or 5.7%) in the structural similarity index. Finally, due to the limited availability of labeled data in the field of Earth observation, we gradually reduce the quantity of available labeled data for refining the model to evaluate data efficiency and demonstrate that data can be decreased significantly without affecting the model's accuracy. The pre-trained 100 million parameter model and corresponding fine-tuning workflows have been released publicly as open source contributions to the global Earth sciences community through Hugging Face.
Policy-Space Response Oracles (PSRO) is an influential algorithm framework for approximating a Nash Equilibrium (NE) in multi-agent non-transitive games. Many previous studies have been trying to promote policy diversity in PSRO. A major weakness in existing diversity metrics is that a more diverse (according to their diversity metrics) population does not necessarily mean (as we proved in the paper) a better approximation to a NE. To alleviate this problem, we propose a new diversity metric, the improvement of which guarantees a better approximation to a NE. Meanwhile, we develop a practical and well-justified method to optimize our diversity metric using only state-action samples. By incorporating our diversity regularization into the best response solving in PSRO, we obtain a new PSRO variant, Policy Space Diversity PSRO (PSD-PSRO). We present the convergence property of PSD-PSRO. Empirically, extensive experiments on various games demonstrate that PSD-PSRO is more effective in producing significantly less exploitable policies than state-of-the-art PSRO variants.
Semantic communication (SC) aims to communicate reliably with minimal data transfer while simultaneously providing seamless connectivity to heterogeneous services and users. In this paper, a novel emergent SC (ESC) system framework is proposed and is composed of a signaling game for emergent language design and a neuro-symbolic (NeSy) artificial intelligence (AI) approach for causal reasoning. In order to design the language, the signaling game is solved using an alternating maximization between the communicating node's utilities. The emergent language helps create a context-aware transmit vocabulary (minimal semantic representation) and aids the reasoning process (enabling generalization to unseen scenarios) by splitting complex messages into simpler reasoning tasks for the receiver. The causal description at the transmitter is then modeled (a neural component) as a posterior distribution of the relevant attributes present in the data. Using the reconstructed causal state, the receiver evaluates a set of logical formulas (symbolic part) to execute its task. The nodes NeSy reasoning components are implemented by the recently proposed AI tool called Generative Flow Networks, and they are optimized for higher semantic reliability. The ESC system is designed to enhance the novel metrics of semantic information, reliability, distortion and similarity that are designed using rigorous algebraic properties from category theory thereby generalizing the metrics beyond Shannon's notion of uncertainty. Simulation results validate the ability of ESC to communicate efficiently (with reduced bits) and achieve better semantic reliability than conventional wireless and state-of-the-art systems that do not exploit causal reasoning capabilities.
We propose a metaphor detection architecture that is structured around two main modules: an expectation component that estimates representations of literal word expectations given a context, and a realization component that computes representations of actual word meanings in context. The overall architecture is trained to learn expectation-realization (ER) patterns that characterize metaphorical uses of words. When evaluated on three metaphor datasets for within distribution, out of distribution, and novel metaphor generalization, the proposed method is shown to obtain results that are competitive or better than state-of-the art. Further increases in metaphor detection accuracy are obtained through ensembling of ER models.
Functional quantile regression (FQR) is a useful alternative to mean regression for functional data as it provides a comprehensive understanding of how scalar predictors influence the conditional distribution of functional responses. In this article, we study the FQR model for densely sampled, high-dimensional functional data without relying on parametric error or independent stochastic process assumptions, with the focus on statistical inference under this challenging regime along with scalable implementation. This is achieved by a simple but powerful distributed strategy, in which we first perform separate quantile regression to compute $M$-estimators at each sampling location, and then carry out estimation and inference for the entire coefficient functions by properly exploiting the uncertainty quantification and dependence structure of $M$-estimators. We derive a uniform Bahadur representation and a strong Gaussian approximation result for the $M$-estimators on the discrete sampling grid, leading to dimension reduction and serving as the basis for inference. An interpolation-based estimator with minimax optimality is proposed, and large sample properties for point and simultaneous interval estimators are established. The obtained minimax optimal rate under the FQR model shows an interesting phase transition phenomenon that has been previously observed in functional mean regression. The proposed methods are illustrated via simulations and an application to a mass spectrometry proteomics dataset.
Advances in artificial intelligence often stem from the development of new environments that abstract real-world situations into a form where research can be done conveniently. This paper contributes such an environment based on ideas inspired by elementary Microeconomics. Agents learn to produce resources in a spatially complex world, trade them with one another, and consume those that they prefer. We show that the emergent production, consumption, and pricing behaviors respond to environmental conditions in the directions predicted by supply and demand shifts in Microeconomics. We also demonstrate settings where the agents' emergent prices for goods vary over space, reflecting the local abundance of goods. After the price disparities emerge, some agents then discover a niche of transporting goods between regions with different prevailing prices -- a profitable strategy because they can buy goods where they are cheap and sell them where they are expensive. Finally, in a series of ablation experiments, we investigate how choices in the environmental rewards, bartering actions, agent architecture, and ability to consume tradable goods can either aid or inhibit the emergence of this economic behavior. This work is part of the environment development branch of a research program that aims to build human-like artificial general intelligence through multi-agent interactions in simulated societies. By exploring which environment features are needed for the basic phenomena of elementary microeconomics to emerge automatically from learning, we arrive at an environment that differs from those studied in prior multi-agent reinforcement learning work along several dimensions. For example, the model incorporates heterogeneous tastes and physical abilities, and agents negotiate with one another as a grounded form of communication.
Emotion recognition in conversation (ERC) aims to detect the emotion label for each utterance. Motivated by recent studies which have proven that feeding training examples in a meaningful order rather than considering them randomly can boost the performance of models, we propose an ERC-oriented hybrid curriculum learning framework. Our framework consists of two curricula: (1) conversation-level curriculum (CC); and (2) utterance-level curriculum (UC). In CC, we construct a difficulty measurer based on "emotion shift" frequency within a conversation, then the conversations are scheduled in an "easy to hard" schema according to the difficulty score returned by the difficulty measurer. For UC, it is implemented from an emotion-similarity perspective, which progressively strengthens the model's ability in identifying the confusing emotions. With the proposed model-agnostic hybrid curriculum learning strategy, we observe significant performance boosts over a wide range of existing ERC models and we are able to achieve new state-of-the-art results on four public ERC datasets.
Knowledge graph embedding, which aims to represent entities and relations as low dimensional vectors (or matrices, tensors, etc.), has been shown to be a powerful technique for predicting missing links in knowledge graphs. Existing knowledge graph embedding models mainly focus on modeling relation patterns such as symmetry/antisymmetry, inversion, and composition. However, many existing approaches fail to model semantic hierarchies, which are common in real-world applications. To address this challenge, we propose a novel knowledge graph embedding model---namely, Hierarchy-Aware Knowledge Graph Embedding (HAKE)---which maps entities into the polar coordinate system. HAKE is inspired by the fact that concentric circles in the polar coordinate system can naturally reflect the hierarchy. Specifically, the radial coordinate aims to model entities at different levels of the hierarchy, and entities with smaller radii are expected to be at higher levels; the angular coordinate aims to distinguish entities at the same level of the hierarchy, and these entities are expected to have roughly the same radii but different angles. Experiments demonstrate that HAKE can effectively model the semantic hierarchies in knowledge graphs, and significantly outperforms existing state-of-the-art methods on benchmark datasets for the link prediction task.
Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis.
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