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Data augmentation serves as a popular regularization technique to combat overfitting challenges in neural networks. While automatic augmentation has demonstrated success in image classification tasks, its application to time-series problems, particularly in long-term forecasting, has received comparatively less attention. To address this gap, we introduce a time-series automatic augmentation approach named TSAA, which is both efficient and easy to implement. The solution involves tackling the associated bilevel optimization problem through a two-step process: initially training a non-augmented model for a limited number of epochs, followed by an iterative split procedure. During this iterative process, we alternate between identifying a robust augmentation policy through Bayesian optimization and refining the model while discarding suboptimal runs. Extensive evaluations on challenging univariate and multivariate forecasting benchmark problems demonstrate that TSAA consistently outperforms several robust baselines, suggesting its potential integration into prediction pipelines.

Collaborative robots must effectively communicate their internal state to humans to enable a smooth interaction. Nonverbal communication is widely used to communicate information during human-robot interaction, however, such methods may also be misunderstood, leading to communication errors. In this work, we explore modulating the acoustic parameter values (pitch bend, beats per minute, beats per loop) of nonverbal auditory expressions to convey functional robot states (accomplished, progressing, stuck). We propose a reinforcement learning (RL) algorithm based on noisy human feedback to produce accurately interpreted nonverbal auditory expressions. The proposed approach was evaluated through a user study with 24 participants. The results demonstrate that: 1. Our proposed RL-based approach is able to learn suitable acoustic parameter values which improve the users' ability to correctly identify the state of the robot. 2. Algorithm initialization informed by previous user data can be used to significantly speed up the learning process. 3. The method used for algorithm initialization strongly influences whether participants converge to similar sounds for each robot state. 4. Modulation of pitch bend has the largest influence on user association between sounds and robotic states.

Topological consistency plays a crucial role in the task of boundary segmentation for reticular images, such as cell membrane segmentation in neuron electron microscopic images, grain boundary segmentation in material microscopic images and road segmentation in aerial images. In these fields, topological changes in segmentation results have a serious impact on the downstream tasks, which can even exceed the misalignment of the boundary itself. To enhance the topology accuracy in segmentation results, we propose the Skea-Topo Aware loss, which is a novel loss function that takes into account the shape of each object and topological significance of the pixels. It consists of two components. First, the skeleton-aware weighted loss improves the segmentation accuracy by better modeling the object geometry with skeletons. Second, a boundary rectified term effectively identifies and emphasizes topological critical pixels in the prediction errors using both foreground and background skeletons in the ground truth and predictions. Experiments prove that our method improves topological consistency by up to 7 points in VI compared to 13 state-of-art methods, based on objective and subjective assessments across three different boundary segmentation datasets. The code is available at //github.com/clovermini/Skea_topo.

State estimation for legged robots is challenging due to their highly dynamic motion and limitations imposed by sensor accuracy. By integrating Kalman filtering, optimization, and learning-based modalities, we propose a hybrid solution that combines proprioception and exteroceptive information for estimating the state of the robot's trunk. Leveraging joint encoder and IMU measurements, our Kalman filter is enhanced through a single-rigid body model that incorporates ground reaction force control outputs from convex Model Predictive Control optimization. The estimation is further refined through Gated Recurrent Units, which also considers semantic insights and robot height from a Vision Transformer autoencoder applied on depth images. This framework not only furnishes accurate robot state estimates, including uncertainty evaluations, but can minimize the nonlinear errors that arise from sensor measurements and model simplifications through learning. The proposed methodology is evaluated in hardware using a quadruped robot on various terrains, yielding a 65% improvement on the Root Mean Squared Error compared to our VIO SLAM baseline. Code example: //github.com/AlexS28/OptiState

Winter conditions pose several challenges for automated driving applications. A key challenge during winter is accurate assessment of road surface condition, as its impact on friction is a critical parameter for safely and reliably controlling a vehicle. This paper proposes a deep learning regression model, SIWNet, capable of estimating road surface friction properties from camera images. SIWNet extends state of the art by including an uncertainty estimation mechanism in the architecture. This is achieved by including an additional head in the network, which estimates a prediction interval. The prediction interval head is trained with a maximum likelihood loss function. The model was trained and tested with the SeeingThroughFog dataset, which features corresponding road friction sensor readings and images from an instrumented vehicle. Acquired results highlight the functionality of the prediction interval estimation of SIWNet, while the network also achieved similar point estimate accuracy as the previous state of the art. Furthermore, the SIWNet architecture is several times more lightweight than the previously applied state-of-the-art model, resulting in more practical and efficient deployment.

Ensembles over neural network weights trained from different random initialization, known as deep ensembles, achieve state-of-the-art accuracy and calibration. The recently introduced batch ensembles provide a drop-in replacement that is more parameter efficient. In this paper, we design ensembles not only over weights, but over hyperparameters to improve the state of the art in both settings. For best performance independent of budget, we propose hyper-deep ensembles, a simple procedure that involves a random search over different hyperparameters, themselves stratified across multiple random initializations. Its strong performance highlights the benefit of combining models with both weight and hyperparameter diversity. We further propose a parameter efficient version, hyper-batch ensembles, which builds on the layer structure of batch ensembles and self-tuning networks. The computational and memory costs of our method are notably lower than typical ensembles. On image classification tasks, with MLP, LeNet, and Wide ResNet 28-10 architectures, our methodology improves upon both deep and batch ensembles.

Deep neural networks (DNNs) are successful in many computer vision tasks. However, the most accurate DNNs require millions of parameters and operations, making them energy, computation and memory intensive. This impedes the deployment of large DNNs in low-power devices with limited compute resources. Recent research improves DNN models by reducing the memory requirement, energy consumption, and number of operations without significantly decreasing the accuracy. This paper surveys the progress of low-power deep learning and computer vision, specifically in regards to inference, and discusses the methods for compacting and accelerating DNN models. The techniques can be divided into four major categories: (1) parameter quantization and pruning, (2) compressed convolutional filters and matrix factorization, (3) network architecture search, and (4) knowledge distillation. We analyze the accuracy, advantages, disadvantages, and potential solutions to the problems with the techniques in each category. We also discuss new evaluation metrics as a guideline for future research.

Pre-trained deep neural network language models such as ELMo, GPT, BERT and XLNet have recently achieved state-of-the-art performance on a variety of language understanding tasks. However, their size makes them impractical for a number of scenarios, especially on mobile and edge devices. In particular, the input word embedding matrix accounts for a significant proportion of the model's memory footprint, due to the large input vocabulary and embedding dimensions. Knowledge distillation techniques have had success at compressing large neural network models, but they are ineffective at yielding student models with vocabularies different from the original teacher models. We introduce a novel knowledge distillation technique for training a student model with a significantly smaller vocabulary as well as lower embedding and hidden state dimensions. Specifically, we employ a dual-training mechanism that trains the teacher and student models simultaneously to obtain optimal word embeddings for the student vocabulary. We combine this approach with learning shared projection matrices that transfer layer-wise knowledge from the teacher model to the student model. Our method is able to compress the BERT_BASE model by more than 60x, with only a minor drop in downstream task metrics, resulting in a language model with a footprint of under 7MB. Experimental results also demonstrate higher compression efficiency and accuracy when compared with other state-of-the-art compression techniques.

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.

Recently, ensemble has been applied to deep metric learning to yield state-of-the-art results. Deep metric learning aims to learn deep neural networks for feature embeddings, distances of which satisfy given constraint. In deep metric learning, ensemble takes average of distances learned by multiple learners. As one important aspect of ensemble, the learners should be diverse in their feature embeddings. To this end, we propose an attention-based ensemble, which uses multiple attention masks, so that each learner can attend to different parts of the object. We also propose a divergence loss, which encourages diversity among the learners. The proposed method is applied to the standard benchmarks of deep metric learning and experimental results show that it outperforms the state-of-the-art methods by a significant margin on image retrieval tasks.