Despite significant research effort in the development of automatic dialogue evaluation metrics, little thought is given to evaluating dialogues other than in English. At the same time, ensuring metrics are invariant to semantically similar responses is also an overlooked topic. In order to achieve the desired properties of robustness and multilinguality for dialogue evaluation metrics, we propose a novel framework that takes advantage of the strengths of current evaluation models with the newly-established paradigm of prompting Large Language Models (LLMs). Empirical results show our framework achieves state of the art results in terms of mean Spearman correlation scores across several benchmarks and ranks first place on both the Robust and Multilingual tasks of the DSTC11 Track 4 "Automatic Evaluation Metrics for Open-Domain Dialogue Systems", proving the evaluation capabilities of prompted LLMs.
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Imitation learning from human demonstrations can teach robots complex manipulation skills, but is time-consuming and labor intensive. In contrast, Task and Motion Planning (TAMP) systems are automated and excel at solving long-horizon tasks, but they are difficult to apply to contact-rich tasks. In this paper, we present Human-in-the-Loop Task and Motion Planning (HITL-TAMP), a novel system that leverages the benefits of both approaches. The system employs a TAMP-gated control mechanism, which selectively gives and takes control to and from a human teleoperator. This enables the human teleoperator to manage a fleet of robots, maximizing data collection efficiency. The collected human data is then combined with an imitation learning framework to train a TAMP-gated policy, leading to superior performance compared to training on full task demonstrations. We compared HITL-TAMP to a conventional teleoperation system -- users gathered more than 3x the number of demos given the same time budget. Furthermore, proficient agents (75\%+ success) could be trained from just 10 minutes of non-expert teleoperation data. Finally, we collected 2.1K demos with HITL-TAMP across 12 contact-rich, long-horizon tasks and show that the system often produces near-perfect agents. Videos and additional results at //hitltamp.github.io .
Image scaling is an integral part of machine learning and computer vision systems. Unfortunately, this preprocessing step is vulnerable to so-called image-scaling attacks where an attacker makes unnoticeable changes to an image so that it becomes a new image after scaling. This opens up new ways for attackers to control the prediction or to improve poisoning and backdoor attacks. While effective techniques exist to prevent scaling attacks, their detection has not been rigorously studied yet. Consequently, it is currently not possible to reliably spot these attacks in practice. This paper presents the first in-depth systematization and analysis of detection methods for image-scaling attacks. We identify two general detection paradigms and derive novel methods from them that are simple in design yet significantly outperform previous work. We demonstrate the efficacy of these methods in a comprehensive evaluation with all major learning platforms and scaling algorithms. First, we show that image-scaling attacks modifying the entire scaled image can be reliably detected even under an adaptive adversary. Second, we find that our methods provide strong detection performance even if only minor parts of the image are manipulated. As a result, we can introduce a novel protection layer against image-scaling attacks.
We introduce fluctuating hydrodynamics approaches on surfaces for capturing the drift-diffusion dynamics of particles and microstructures immersed within curved fluid interfaces of spherical shape. We take into account the interfacial hydrodynamic coupling, traction coupling with the surrounding bulk fluid, and thermal fluctuations. For fluid-structure interactions, we introduce Immersed Boundary Methods (IBM) and related Stochastic Eulerian-Lagrangian Methods (SELM) for curved surfaces. We use these approaches to investigate the statistics of surface fluctuating hydrodynamics and microstructures. For velocity autocorrelations, we find characteristic power-law scalings $\tau^{-1}$, $\tau^{-2}$, and plateaus can emerge. This depends on the physical regime associated with the geometry, surface viscosity, and bulk viscosity. This differs from the characteristic $\tau^{-3/2}$ scaling for bulk three dimensional fluids. We develop theory explaining these observed power-laws associated with time-scales for dissipation within the fluid interface and coupling to the surrounding fluid. We then use our introduced methods to investigate a few example systems and roles of hydrodynamic coupling and thermal fluctuations including for the kinetics of passive particles and active microswimmers in curved fluid interfaces.
Reliable and efficient trajectory optimization methods are a fundamental need for autonomous dynamical systems, effectively enabling applications including rocket landing, hypersonic reentry, spacecraft rendezvous, and docking. Within such safety-critical application areas, the complexity of the emerging trajectory optimization problems has motivated the application of AI-based techniques to enhance the performance of traditional approaches. However, current AI-based methods either attempt to fully replace traditional control algorithms, thus lacking constraint satisfaction guarantees and incurring in expensive simulation, or aim to solely imitate the behavior of traditional methods via supervised learning. To address these limitations, this paper proposes the Autonomous Rendezvous Transformer (ART) and assesses the capability of modern generative models to solve complex trajectory optimization problems, both from a forecasting and control standpoint. Specifically, this work assesses the capabilities of Transformers to (i) learn near-optimal policies from previously collected data, and (ii) warm-start a sequential optimizer for the solution of non-convex optimal control problems, thus guaranteeing hard constraint satisfaction. From a forecasting perspective, results highlight how ART outperforms other learning-based architectures at predicting known fuel-optimal trajectories. From a control perspective, empirical analyses show how policies learned through Transformers are able to generate near-optimal warm-starts, achieving trajectories that are (i) more fuel-efficient, (ii) obtained in fewer sequential optimizer iterations, and (iii) computed with an overall runtime comparable to benchmarks based on convex optimization.
Most multilingual vision-and-language (V&L) research aims to accomplish multilingual and multimodal capabilities within one model. However, the scarcity of multilingual captions for images has hindered the development. To overcome this obstacle, we propose ICU, Image Caption Understanding, which divides a V&L task into two stages: a V&L model performs image captioning in English, and a multilingual language model (mLM), in turn, takes the caption as the alt text and performs crosslingual language understanding. The burden of multilingual processing is lifted off V&L model and placed on mLM. Since the multilingual text data is relatively of higher abundance and quality, ICU can facilitate the conquering of language barriers for V&L models. In experiments on two tasks across 9 languages in the IGLUE benchmark, we show that ICU can achieve new state-of-the-art results for five languages, and comparable results for the rest.
Contrastive loss has been increasingly used in learning representations from multiple modalities. In the limit, the nature of the contrastive loss encourages modalities to exactly match each other in the latent space. Yet it remains an open question how the modality alignment affects the downstream task performance. In this paper, based on an information-theoretic argument, we first prove that exact modality alignment is sub-optimal in general for downstream prediction tasks. Hence we advocate that the key of better performance lies in meaningful latent modality structures instead of perfect modality alignment. To this end, we propose three general approaches to construct latent modality structures. Specifically, we design 1) a deep feature separation loss for intra-modality regularization; 2) a Brownian-bridge loss for inter-modality regularization; and 3) a geometric consistency loss for both intra- and inter-modality regularization. Extensive experiments are conducted on two popular multi-modal representation learning frameworks: the CLIP-based two-tower model and the ALBEF-based fusion model. We test our model on a variety of tasks including zero/few-shot image classification, image-text retrieval, visual question answering, visual reasoning, and visual entailment. Our method achieves consistent improvements over existing methods, demonstrating the effectiveness and generalizability of our proposed approach on latent modality structure regularization.
The rapid development of deep learning has made a great progress in segmentation, one of the fundamental tasks of computer vision. However, the current segmentation algorithms mostly rely on the availability of pixel-level annotations, which are often expensive, tedious, and laborious. To alleviate this burden, the past years have witnessed an increasing attention in building label-efficient, deep-learning-based segmentation algorithms. This paper offers a comprehensive review on label-efficient segmentation methods. To this end, we first develop a taxonomy to organize these methods according to the supervision provided by different types of weak labels (including no supervision, coarse supervision, incomplete supervision and noisy supervision) and supplemented by the types of segmentation problems (including semantic segmentation, instance segmentation and panoptic segmentation). Next, we summarize the existing label-efficient segmentation methods from a unified perspective that discusses an important question: how to bridge the gap between weak supervision and dense prediction -- the current methods are mostly based on heuristic priors, such as cross-pixel similarity, cross-label constraint, cross-view consistency, cross-image relation, etc. Finally, we share our opinions about the future research directions for label-efficient deep segmentation.
The incredible development of federated learning (FL) has benefited various tasks in the domains of computer vision and natural language processing, and the existing frameworks such as TFF and FATE has made the deployment easy in real-world applications. However, federated graph learning (FGL), even though graph data are prevalent, has not been well supported due to its unique characteristics and requirements. The lack of FGL-related framework increases the efforts for accomplishing reproducible research and deploying in real-world applications. Motivated by such strong demand, in this paper, we first discuss the challenges in creating an easy-to-use FGL package and accordingly present our implemented package FederatedScope-GNN (FS-G), which provides (1) a unified view for modularizing and expressing FGL algorithms; (2) comprehensive DataZoo and ModelZoo for out-of-the-box FGL capability; (3) an efficient model auto-tuning component; and (4) off-the-shelf privacy attack and defense abilities. We validate the effectiveness of FS-G by conducting extensive experiments, which simultaneously gains many valuable insights about FGL for the community. Moreover, we employ FS-G to serve the FGL application in real-world E-commerce scenarios, where the attained improvements indicate great potential business benefits. We publicly release FS-G, as submodules of FederatedScope, at //github.com/alibaba/FederatedScope to promote FGL's research and enable broad applications that would otherwise be infeasible due to the lack of a dedicated package.
Deep neural networks have revolutionized many machine learning tasks in power systems, ranging from pattern recognition to signal processing. The data in these tasks is typically represented in Euclidean domains. Nevertheless, there is an increasing number of applications in power systems, where data are collected from non-Euclidean domains and represented as the graph-structured data with high dimensional features and interdependency among nodes. The complexity of graph-structured data has brought significant challenges to the existing deep neural networks defined in Euclidean domains. Recently, many studies on extending deep neural networks for graph-structured data in power systems have emerged. In this paper, a comprehensive overview of graph neural networks (GNNs) in power systems is proposed. Specifically, several classical paradigms of GNNs structures (e.g., graph convolutional networks, graph recurrent neural networks, graph attention networks, graph generative networks, spatial-temporal graph convolutional networks, and hybrid forms of GNNs) are summarized, and key applications in power systems such as fault diagnosis, power prediction, power flow calculation, and data generation are reviewed in detail. Furthermore, main issues and some research trends about the applications of GNNs in power systems are discussed.
Due to the significance and value in human-computer interaction and natural language processing, task-oriented dialog systems are attracting more and more attention in both academic and industrial communities. In this paper, we survey recent advances and challenges in an issue-specific manner. We discuss three critical topics for task-oriented dialog systems: (1) improving data efficiency to facilitate dialog system modeling in low-resource settings, (2) modeling multi-turn dynamics for dialog policy learning to achieve better task-completion performance, and (3) integrating domain ontology knowledge into the dialog model in both pipeline and end-to-end models. We also review the recent progresses in dialog evaluation and some widely-used corpora. We believe that this survey can shed a light on future research in task-oriented dialog systems.
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