This paper describes a novel semi-autonomous mobile robot system designed to assist search and rescue (SAR) first responders in disaster scenarios. While robots offer significant potential in SAR missions, current solutions are limited in their ability to handle a diverse range of tasks. This gap is addressed by presenting a system capable of (1) autonomous navigation and mapping, allowing the robot to autonomously explore and map areas affected by catastrophic events, (2) radiation mapping, enabling the system to triangulate a radiation map from discrete radiation measurements to aid in identifying hazardous areas, (3) semi-autonomous substance sampling, allowing the robot to collect samples of suspicious substances and analyze them onboard with immediate classification, and (4) valve manipulation, enabling teleoperated closing of valves that control hazardous material flow. This semi-autonomous approach balances human control over critical tasks like substance sampling with efficient robot navigation in low-risk areas. The system is evaluated during three trials that simulate possible disaster scenarios, two of which have been recorded during the European Robotics Hackathon (EnRicH). Furthermore, we provide recorded sensor data as well as the implemented software system as supplemental material through a GitHub repository: //github.com/TW-Robotics/search-and-rescue-robot-IROS2024.
This paper surveys research works in the quickly advancing field of instruction tuning (IT), a crucial technique to enhance the capabilities and controllability of large language models (LLMs). Instruction tuning refers to the process of further training LLMs on a dataset consisting of \textsc{(instruction, output)} pairs in a supervised fashion, which bridges the gap between the next-word prediction objective of LLMs and the users' objective of having LLMs adhere to human instructions. In this work, we make a systematic review of the literature, including the general methodology of IT, the construction of IT datasets, the training of IT models, and applications to different modalities, domains and applications, along with an analysis on aspects that influence the outcome of IT (e.g., generation of instruction outputs, size of the instruction dataset, etc). We also review the potential pitfalls of IT along with criticism against it, along with efforts pointing out current deficiencies of existing strategies and suggest some avenues for fruitful research.
Existing knowledge graph (KG) embedding models have primarily focused on static KGs. However, real-world KGs do not remain static, but rather evolve and grow in tandem with the development of KG applications. Consequently, new facts and previously unseen entities and relations continually emerge, necessitating an embedding model that can quickly learn and transfer new knowledge through growth. Motivated by this, we delve into an expanding field of KG embedding in this paper, i.e., lifelong KG embedding. We consider knowledge transfer and retention of the learning on growing snapshots of a KG without having to learn embeddings from scratch. The proposed model includes a masked KG autoencoder for embedding learning and update, with an embedding transfer strategy to inject the learned knowledge into the new entity and relation embeddings, and an embedding regularization method to avoid catastrophic forgetting. To investigate the impacts of different aspects of KG growth, we construct four datasets to evaluate the performance of lifelong KG embedding. Experimental results show that the proposed model outperforms the state-of-the-art inductive and lifelong embedding baselines.
Image-level weakly supervised semantic segmentation (WSSS) is a fundamental yet challenging computer vision task facilitating scene understanding and automatic driving. Most existing methods resort to classification-based Class Activation Maps (CAMs) to play as the initial pseudo labels, which tend to focus on the discriminative image regions and lack customized characteristics for the segmentation task. To alleviate this issue, we propose a novel activation modulation and recalibration (AMR) scheme, which leverages a spotlight branch and a compensation branch to obtain weighted CAMs that can provide recalibration supervision and task-specific concepts. Specifically, an attention modulation module (AMM) is employed to rearrange the distribution of feature importance from the channel-spatial sequential perspective, which helps to explicitly model channel-wise interdependencies and spatial encodings to adaptively modulate segmentation-oriented activation responses. Furthermore, we introduce a cross pseudo supervision for dual branches, which can be regarded as a semantic similar regularization to mutually refine two branches. Extensive experiments show that AMR establishes a new state-of-the-art performance on the PASCAL VOC 2012 dataset, surpassing not only current methods trained with the image-level of supervision but also some methods relying on stronger supervision, such as saliency label. Experiments also reveal that our scheme is plug-and-play and can be incorporated with other approaches to boost their performance.
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.
Recent advancements in deep neural networks for graph-structured data have led to state-of-the-art performance on recommender system benchmarks. However, making these methods practical and scalable to web-scale recommendation tasks with billions of items and hundreds of millions of users remains a challenge. Here we describe a large-scale deep recommendation engine that we developed and deployed at Pinterest. We develop a data-efficient Graph Convolutional Network (GCN) algorithm PinSage, which combines efficient random walks and graph convolutions to generate embeddings of nodes (i.e., items) that incorporate both graph structure as well as node feature information. Compared to prior GCN approaches, we develop a novel method based on highly efficient random walks to structure the convolutions and design a novel training strategy that relies on harder-and-harder training examples to improve robustness and convergence of the model. We also develop an efficient MapReduce model inference algorithm to generate embeddings using a trained model. We deploy PinSage at Pinterest and train it on 7.5 billion examples on a graph with 3 billion nodes representing pins and boards, and 18 billion edges. According to offline metrics, user studies and A/B tests, PinSage generates higher-quality recommendations than comparable deep learning and graph-based alternatives. To our knowledge, this is the largest application of deep graph embeddings to date and paves the way for a new generation of web-scale recommender systems based on graph convolutional architectures.
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.
This paper introduces an online model for object detection in videos designed to run in real-time on low-powered mobile and embedded devices. Our approach combines fast single-image object detection with convolutional long short term memory (LSTM) layers to create an interweaved recurrent-convolutional architecture. Additionally, we propose an efficient Bottleneck-LSTM layer that significantly reduces computational cost compared to regular LSTMs. Our network achieves temporal awareness by using Bottleneck-LSTMs to refine and propagate feature maps across frames. This approach is substantially faster than existing detection methods in video, outperforming the fastest single-frame models in model size and computational cost while attaining accuracy comparable to much more expensive single-frame models on the Imagenet VID 2015 dataset. Our model reaches a real-time inference speed of up to 15 FPS on a mobile CPU.
High spectral dimensionality and the shortage of annotations make hyperspectral image (HSI) classification a challenging problem. Recent studies suggest that convolutional neural networks can learn discriminative spatial features, which play a paramount role in HSI interpretation. However, most of these methods ignore the distinctive spectral-spatial characteristic of hyperspectral data. In addition, a large amount of unlabeled data remains an unexploited gold mine for efficient data use. Therefore, we proposed an integration of generative adversarial networks (GANs) and probabilistic graphical models for HSI classification. Specifically, we used a spectral-spatial generator and a discriminator to identify land cover categories of hyperspectral cubes. Moreover, to take advantage of a large amount of unlabeled data, we adopted a conditional random field to refine the preliminary classification results generated by GANs. Experimental results obtained using two commonly studied datasets demonstrate that the proposed framework achieved encouraging classification accuracy using a small number of data for training.
Many recent state-of-the-art recommender systems such as D-ATT, TransNet and DeepCoNN exploit reviews for representation learning. This paper proposes a new neural architecture for recommendation with reviews. Our model operates on a multi-hierarchical paradigm and is based on the intuition that not all reviews are created equal, i.e., only a select few are important. The importance, however, should be dynamically inferred depending on the current target. To this end, we propose a review-by-review pointer-based learning scheme that extracts important reviews, subsequently matching them in a word-by-word fashion. This enables not only the most informative reviews to be utilized for prediction but also a deeper word-level interaction. Our pointer-based method operates with a novel gumbel-softmax based pointer mechanism that enables the incorporation of discrete vectors within differentiable neural architectures. Our pointer mechanism is co-attentive in nature, learning pointers which are co-dependent on user-item relationships. Finally, we propose a multi-pointer learning scheme that learns to combine multiple views of interactions between user and item. Overall, we demonstrate the effectiveness of our proposed model via extensive experiments on \textbf{24} benchmark datasets from Amazon and Yelp. Empirical results show that our approach significantly outperforms existing state-of-the-art, with up to 19% and 71% relative improvement when compared to TransNet and DeepCoNN respectively. We study the behavior of our multi-pointer learning mechanism, shedding light on evidence aggregation patterns in review-based recommender systems.
In this paper, we propose the joint learning attention and recurrent neural network (RNN) models for multi-label classification. While approaches based on the use of either model exist (e.g., for the task of image captioning), training such existing network architectures typically require pre-defined label sequences. For multi-label classification, it would be desirable to have a robust inference process, so that the prediction error would not propagate and thus affect the performance. Our proposed model uniquely integrates attention and Long Short Term Memory (LSTM) models, which not only addresses the above problem but also allows one to identify visual objects of interests with varying sizes without the prior knowledge of particular label ordering. More importantly, label co-occurrence information can be jointly exploited by our LSTM model. Finally, by advancing the technique of beam search, prediction of multiple labels can be efficiently achieved by our proposed network model.