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Relationships among time series can be exploited as inductive biases in learning effective forecasting models. In hierarchical time series, relationships among subsets of sequences induce hard constraints (hierarchical inductive biases) on the predicted values. In this paper, we propose a graph-based methodology to unify relational and hierarchical inductive biases in the context of deep learning for time series forecasting. In particular, we model both types of relationships as dependencies in a pyramidal graph structure, with each pyramidal layer corresponding to a level of the hierarchy. By exploiting modern - trainable - graph pooling operators we show that the hierarchical structure, if not available as a prior, can be learned directly from data, thus obtaining cluster assignments aligned with the forecasting objective. A differentiable reconciliation stage is incorporated into the processing architecture, allowing hierarchical constraints to act both as an architectural bias as well as a regularization element for predictions. Simulation results on representative datasets show that the proposed method compares favorably against the state of the art.

Multimodal Relation Extraction is crucial for constructing flexible and realistic knowledge graphs. Recent studies focus on extracting the relation type with entity pairs present in different modalities, such as one entity in the text and another in the image. However, existing approaches require entities and objects given beforehand, which is costly and impractical. To address the limitation, we propose a novel task, Multimodal Entity-Object Relational Triple Extraction, which aims to extract all triples (entity span, relation, object region) from image-text pairs. To facilitate this study, we modified a multimodal relation extraction dataset MORE, which includes 21 relation types, to create a new dataset containing 20,264 triples, averaging 5.75 triples per image-text pair. Moreover, we propose QEOT, a query-based model with a selective attention mechanism, to dynamically explore the interaction and fusion of textual and visual information. In particular, the proposed method can simultaneously accomplish entity extraction, relation classification, and object detection with a set of queries. Our method is suitable for downstream applications and reduces error accumulation due to the pipeline-style approaches. Extensive experimental results demonstrate that our proposed method outperforms the existing baselines by 8.06% and achieves state-of-the-art performance.

In SLAM (Simultaneous localization and mapping) problems, Pose Graph Optimization (PGO) is a technique to refine an initial estimate of a set of poses (positions and orientations) from a set of pairwise relative measurements. The optimization procedure can be negatively affected even by a single outlier measurement, with possible catastrophic and meaningless results. Although recent works on robust optimization aim to mitigate the presence of outlier measurements, robust solutions capable of handling large numbers of outliers are yet to come. This paper presents IPC, acronym for Incremental Probabilistic Consensus, a method that approximates the solution to the combinatorial problem of finding the maximally consistent set of measurements in an incremental fashion. It evaluates the consistency of each loop closure measurement through a consensus-based procedure, possibly applied to a subset of the global problem, where all previously integrated inlier measurements have veto power. We evaluated IPC on standard benchmarks against several state-of-the-art methods. Although it is simple and relatively easy to implement, IPC competes with or outperforms the other tested methods in handling outliers while providing online performances. We release with this paper an open-source implementation of the proposed method.

Optical tactile sensors have recently become popular. They provide high spatial resolution, but struggle to offer fine temporal resolutions. To overcome this shortcoming, we study the idea of replacing the RGB camera with an event-based camera and introduce a new event-based optical tactile sensor called Evetac. Along with hardware design, we develop touch processing algorithms to process its measurements online at 1000 Hz. We devise an efficient algorithm to track the elastomer's deformation through the imprinted markers despite the sensor's sparse output. Benchmarking experiments demonstrate Evetac's capabilities of sensing vibrations up to 498 Hz, reconstructing shear forces, and significantly reducing data rates compared to RGB optical tactile sensors. Moreover, Evetac's output and the marker tracking provide meaningful features for learning data-driven slip detection and prediction models. The learned models form the basis for a robust and adaptive closed-loop grasp controller capable of handling a wide range of objects. We believe that fast and efficient event-based tactile sensors like Evetac will be essential for bringing human-like manipulation capabilities to robotics. The sensor design is open-sourced at //sites.google.com/view/evetac .

Recently, increasing attention has been paid to LLM-based recommender systems, but their deployment is still under exploration in the industry. Most deployments utilize LLMs as feature enhancers, generating augmentation knowledge in the offline stage. However, in recommendation scenarios, involving numerous users and items, even offline generation with LLMs consumes considerable time and resources. This generation inefficiency stems from the autoregressive nature of LLMs, and a promising direction for acceleration is speculative decoding, a Draft-then-Verify paradigm that increases the number of generated tokens per decoding step. In this paper, we first identify that recommendation knowledge generation is suitable for retrieval-based speculative decoding. Then, we discern two characteristics: (1) extensive items and users in RSs bring retrieval inefficiency, and (2) RSs exhibit high diversity tolerance for text generated by LLMs. Based on the above insights, we propose a Decoding Acceleration Framework for LLM-based Recommendation (dubbed DARE), with Customized Retrieval Pool to improve retrieval efficiency and Relaxed Verification to increase the acceptance rate of draft tokens, respectively. Extensive experiments demonstrate that DARE achieves a 3-5x speedup and is compatible with various frameworks and backbone LLMs. DARE has also been deployed to online advertising scenarios within a large-scale commercial environment, achieving a 3.45x speedup while maintaining the downstream performance.

WiFi Channel State Information (CSI)-based activity recognition has sparked numerous studies due to its widespread availability and privacy protection. However, when applied in practical applications, general CSI-based recognition models may face challenges related to the limited generalization capability, since individuals with different behavior habits will cause various fluctuations in CSI data and it is difficult to gather enough training data to cover all kinds of motion habits. To tackle this problem, we design a diffusion model-based Contrastive Learning framework for human Activity Recognition (CLAR) using WiFi CSI. On the basis of the contrastive learning framework, we primarily introduce two components for CLAR to enhance CSI-based activity recognition. To generate diverse augmented data and complement limited training data, we propose a diffusion model-based time series-specific augmentation model. In contrast to typical diffusion models that directly apply conditions to the generative process, potentially resulting in distorted CSI data, our tailored model dissects these condition into the high-frequency and low-frequency components, and then applies these conditions to the generative process with varying weights. This can alleviate data distortion and yield high-quality augmented data. To efficiently capture the difference of the sample importance, we present an adaptive weight algorithm. Different from typical contrastive learning methods which equally consider all the training samples, this algorithm adaptively adjusts the weights of positive sample pairs for learning better data representations. The experiments suggest that CLAR achieves significant gains compared to state-of-the-art methods.

Technological advances facilitate the ability to acquire multimodal data, posing a challenge for recognition systems while also providing an opportunity to use the heterogeneous nature of the information to increase the generalization capability of models. An often overlooked issue is the cost of the labeling process, which is typically high due to the need for a significant investment in time and money associated with human experts. Existing semi-supervised learning methods often focus on operating in the feature space created by the fusion of available modalities, neglecting the potential for cross-utilizing complementary information available in each modality. To address this problem, we propose Cross-Modality Clustering-based Self-Labeling (CMCSL). Based on a small set of pre-labeled data, CMCSL groups instances belonging to each modality in the deep feature space and then propagates known labels within the resulting clusters. Next, information about the instances' class membership in each modality is exchanged based on the Euclidean distance to ensure more accurate labeling. Experimental evaluation conducted on 20 datasets derived from the MM-IMDb dataset indicates that cross-propagation of labels between modalities -- especially when the number of pre-labeled instances is small -- can allow for more reliable labeling and thus increase the classification performance in each modality.

Defensive deception is a promising approach for cyberdefense. Although defensive deception is increasingly popular in the research community, there has not been a systematic investigation of its key components, the underlying principles, and its tradeoffs in various problem settings. This survey paper focuses on defensive deception research centered on game theory and machine learning, since these are prominent families of artificial intelligence approaches that are widely employed in defensive deception. This paper brings forth insights, lessons, and limitations from prior work. It closes with an outline of some research directions to tackle major gaps in current defensive deception research.

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.