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Understanding the world in terms of objects and the possible interplays with them is an important cognition ability, especially in robotics manipulation, where many tasks require robot-object interactions. However, learning such a structured world model, which specifically captures entities and relationships, remains a challenging and underexplored problem. To address this, we propose FOCUS, a model-based agent that learns an object-centric world model. Thanks to a novel exploration bonus that stems from the object-centric representation, FOCUS can be deployed on robotics manipulation tasks to explore object interactions more easily. Evaluating our approach on manipulation tasks across different settings, we show that object-centric world models allow the agent to solve tasks more efficiently and enable consistent exploration of robot-object interactions. Using a Franka Emika robot arm, we also showcase how FOCUS could be adopted in real-world settings.

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ACM/IEEE第23屆模型驅動工程語言和系統國際會議,是模型驅動軟件和系統工程的首要會議系列,由ACM-SIGSOFT和IEEE-TCSE支持組織。自1998年以來,模型涵蓋了建模的各個方面,從語言和方法到工具和應用程序。模特的參加者來自不同的背景,包括研究人員、學者、工程師和工業專業人士。MODELS 2019是一個論壇,參與者可以圍繞建模和模型驅動的軟件和系統交流前沿研究成果和創新實踐經驗。今年的版本將為建模社區提供進一步推進建模基礎的機會,并在網絡物理系統、嵌入式系統、社會技術系統、云計算、大數據、機器學習、安全、開源等新興領域提出建模的創新應用以及可持續性。 官網鏈接: · 語音識別 · CASES · 自動語音識別 · INFORMS ·
2023 年 8 月 30 日

The popularity of automatic speech recognition (ASR) systems nowadays leads to an increasing need for improving their accessibility. Handling stuttering speech is an important feature for accessible ASR systems. To improve the accessibility of ASR systems for stutterers, we need to expose and analyze the failures of ASR systems on stuttering speech. The speech datasets recorded from stutterers are not diverse enough to expose most of the failures. Furthermore, these datasets lack ground truth information about the non-stuttered text, rendering them unsuitable as comprehensive test suites. Therefore, a methodology for generating stuttering speech as test inputs to test and analyze the performance of ASR systems is needed. However, generating valid test inputs in this scenario is challenging. The reason is that although the generated test inputs should mimic how stutterers speak, they should also be diverse enough to trigger more failures. To address the challenge, we propose ASTER, a technique for automatically testing the accessibility of ASR systems. ASTER can generate valid test cases by injecting five different types of stuttering. The generated test cases can both simulate realistic stuttering speech and expose failures in ASR systems. Moreover, ASTER can further enhance the quality of the test cases with a multi-objective optimization-based seed updating algorithm. We implemented ASTER as a framework and evaluated it on four open-source ASR models and three commercial ASR systems. We conduct a comprehensive evaluation of ASTER and find that it significantly increases the word error rate, match error rate, and word information loss in the evaluated ASR systems. Additionally, our user study demonstrates that the generated stuttering audio is indistinguishable from real-world stuttering audio clips.

Until recently, the Video Instance Segmentation (VIS) community operated under the common belief that offline methods are generally superior to a frame by frame online processing. However, the recent success of online methods questions this belief, in particular, for challenging and long video sequences. We understand this work as a rebuttal of those recent observations and an appeal to the community to focus on dedicated near-online VIS approaches. To support our argument, we present a detailed analysis on different processing paradigms and the new end-to-end trainable NOVIS (Near-Online Video Instance Segmentation) method. Our transformer-based model directly predicts spatio-temporal mask volumes for clips of frames and performs instance tracking between clips via overlap embeddings. NOVIS represents the first near-online VIS approach which avoids any handcrafted tracking heuristics. We outperform all existing VIS methods by large margins and provide new state-of-the-art results on both YouTube-VIS (2019/2021) and the OVIS benchmarks.

Benefiting from the powerful capabilities of large language models (LLMs), agents based on LLMs have shown the potential to address domain-specific tasks and emulate human behaviors. However, the content generated by these agents remains somewhat superficial, owing to their limited domain expertise and the absence of an effective cognitive architecture. To address this, we present the Configurable General Multi-Agent Interaction (CGMI) framework, designed to replicate human interactions in real-world scenarios. Specifically, we propose a tree-structured methodology for the assignment, detection, and maintenance of agent personality. Additionally, we designed a cognitive architecture equipped with a skill library based on the ACT* model, which contains memory, reflection, and planning modules. We have also integrated general agents to augment the virtual environment's realism. Using the CGMI framework, we simulated numerous classroom interactions between teacher and students. The experiments indicate that aspects such as the teaching methodology, curriculum, and student performance closely mirror real classroom settings. We will open source our work.

Transparent objects are encountered frequently in our daily lives, yet recognizing them poses challenges for conventional vision sensors due to their unique material properties, not being well perceived from RGB or depth cameras. Overcoming this limitation, thermal infrared cameras have emerged as a solution, offering improved visibility and shape information for transparent objects. In this paper, we present TRansPose, the first large-scale multispectral dataset that combines stereo RGB-D, thermal infrared (TIR) images, and object poses to promote transparent object research. The dataset includes 99 transparent objects, encompassing 43 household items, 27 recyclable trashes, 29 chemical laboratory equivalents, and 12 non-transparent objects. It comprises a vast collection of 333,819 images and 4,000,056 annotations, providing instance-level segmentation masks, ground-truth poses, and completed depth information. The data was acquired using a FLIR A65 thermal infrared (TIR) camera, two Intel RealSense L515 RGB-D cameras, and a Franka Emika Panda robot manipulator. Spanning 87 sequences, TRansPose covers various challenging real-life scenarios, including objects filled with water, diverse lighting conditions, heavy clutter, non-transparent or translucent containers, objects in plastic bags, and multi-stacked objects. TRansPose dataset can be accessed from the following link: //sites.google.com/view/transpose-dataset

Geographic regression models of various descriptions are often applied to identify patterns and anomalies in the determinants of spatially distributed observations. These types of analyses focus on answering why questions about underlying spatial phenomena, e.g., why is crime higher in this locale, why do children in one school district outperform those in another, etc.? Answers to these questions require explanations of the model structure, the choice of parameters, and contextualization of the findings with respect to their geographic context. This is particularly true for local forms of regression models which are focused on the role of locational context in determining human behavior. In this paper, we present GeoExplainer, a visual analytics framework designed to support analysts in creating explanative documentation that summarizes and contextualizes their spatial analyses. As analysts create their spatial models, our framework flags potential issues with model parameter selections, utilizes template-based text generation to summarize model outputs, and links with external knowledge repositories to provide annotations that help to explain the model results. As analysts explore the model results, all visualizations and annotations can be captured in an interactive report generation widget. We demonstrate our framework using a case study modeling the determinants of voting in the 2016 US Presidential Election.

There has been rapid growth in biomedical literature, yet capturing the heterogeneity of the bibliographic information of these articles remains relatively understudied. Although graph mining research via heterogeneous graph neural networks has taken center stage, it remains unclear whether these approaches capture the heterogeneity of the PubMed database, a vast digital repository containing over 33 million articles. We introduce PubMed Graph Benchmark (PGB), a new benchmark dataset for evaluating heterogeneous graph embeddings for biomedical literature. The benchmark contains rich metadata including abstract, authors, citations, MeSH terms, MeSH hierarchy, and some other information. The benchmark contains three different evaluation tasks encompassing systematic reviews, node classification, and node clustering. In PGB, we aggregate the metadata associated with the biomedical articles from PubMed into a unified source and make the benchmark publicly available for any future works.

Model Checking is widely applied in verifying the correctness of complex and concurrent systems against a specification. Pure symbolic approaches while popular, suffer from the state space explosion problem due to cross product operations required that make them prohibitively expensive for large-scale systems and/or specifications. In this paper, we propose to use graph representation learning (GRL) for solving linear temporal logic (LTL) model checking, where the system and the specification are expressed by a B{\"u}chi automaton and an LTL formula, respectively. A novel GRL-based framework \model, is designed to learn the representation of the graph-structured system and specification, which reduces the model checking problem to binary classification. Empirical experiments on two model checking scenarios show that \model achieves promising accuracy, with up to $11\times$ overall speedup against canonical SOTA model checkers and $31\times$ for satisfiability checking alone.

Conventionally, spatiotemporal modeling network and its complexity are the two most concentrated research topics in video action recognition. Existing state-of-the-art methods have achieved excellent accuracy regardless of the complexity meanwhile efficient spatiotemporal modeling solutions are slightly inferior in performance. In this paper, we attempt to acquire both efficiency and effectiveness simultaneously. First of all, besides traditionally treating H x W x T video frames as space-time signal (viewing from the Height-Width spatial plane), we propose to also model video from the other two Height-Time and Width-Time planes, to capture the dynamics of video thoroughly. Secondly, our model is designed based on 2D CNN backbones and model complexity is well kept in mind by design. Specifically, we introduce a novel multi-view fusion (MVF) module to exploit video dynamics using separable convolution for efficiency. It is a plug-and-play module and can be inserted into off-the-shelf 2D CNNs to form a simple yet effective model called MVFNet. Moreover, MVFNet can be thought of as a generalized video modeling framework and it can specialize to be existing methods such as C2D, SlowOnly, and TSM under different settings. Extensive experiments are conducted on popular benchmarks (i.e., Something-Something V1 & V2, Kinetics, UCF-101, and HMDB-51) to show its superiority. The proposed MVFNet can achieve state-of-the-art performance with 2D CNN's complexity.

Knowledge graphs are important resources for many artificial intelligence tasks but often suffer from incompleteness. In this work, we propose to use pre-trained language models for knowledge graph completion. We treat triples in knowledge graphs as textual sequences and propose a novel framework named Knowledge Graph Bidirectional Encoder Representations from Transformer (KG-BERT) to model these triples. Our method takes entity and relation descriptions of a triple as input and computes scoring function of the triple with the KG-BERT language model. Experimental results on multiple benchmark knowledge graphs show that our method can achieve state-of-the-art performance in triple classification, link prediction and relation prediction tasks.

Distant supervision can effectively label data for relation extraction, but suffers from the noise labeling problem. Recent works mainly perform soft bag-level noise reduction strategies to find the relatively better samples in a sentence bag, which is suboptimal compared with making a hard decision of false positive samples in sentence level. In this paper, we introduce an adversarial learning framework, which we named DSGAN, to learn a sentence-level true-positive generator. Inspired by Generative Adversarial Networks, we regard the positive samples generated by the generator as the negative samples to train the discriminator. The optimal generator is obtained until the discrimination ability of the discriminator has the greatest decline. We adopt the generator to filter distant supervision training dataset and redistribute the false positive instances into the negative set, in which way to provide a cleaned dataset for relation classification. The experimental results show that the proposed strategy significantly improves the performance of distant supervision relation extraction comparing to state-of-the-art systems.

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