We present DEF-oriCORN, a framework for language-directed manipulation tasks. By leveraging a novel object-based scene representation and diffusion-model-based state estimation algorithm, our framework enables efficient and robust manipulation planning in response to verbal commands, even in tightly packed environments with sparse camera views without any demonstrations. Unlike traditional representations, our representation affords efficient collision checking and language grounding. Compared to state-of-the-art baselines, our framework achieves superior estimation and motion planning performance from sparse RGB images and zero-shot generalizes to real-world scenarios with diverse materials, including transparent and reflective objects, despite being trained exclusively in simulation. Our code for data generation, training, inference, and pre-trained weights are publicly available at: //sites.google.com/view/def-oricorn/home.
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Few-shot learning (FSL) methods typically assume clean support sets with accurately labeled samples when training on novel classes. This assumption can often be unrealistic: support sets, no matter how small, can still include mislabeled samples. Robustness to label noise is therefore essential for FSL methods to be practical, but this problem surprisingly remains largely unexplored. To address mislabeled samples in FSL settings, we make several technical contributions. (1) We offer simple, yet effective, feature aggregation methods, improving the prototypes used by ProtoNet, a popular FSL technique. (2) We describe a novel Transformer model for Noisy Few-Shot Learning (TraNFS). TraNFS leverages a transformer's attention mechanism to weigh mislabeled versus correct samples. (3) Finally, we extensively test these methods on noisy versions of MiniImageNet and TieredImageNet. Our results show that TraNFS is on-par with leading FSL methods on clean support sets, yet outperforms them, by far, in the presence of label noise.
We present ResMLP, an architecture built entirely upon multi-layer perceptrons for image classification. It is a simple residual network that alternates (i) a linear layer in which image patches interact, independently and identically across channels, and (ii) a two-layer feed-forward network in which channels interact independently per patch. When trained with a modern training strategy using heavy data-augmentation and optionally distillation, it attains surprisingly good accuracy/complexity trade-offs on ImageNet. We will share our code based on the Timm library and pre-trained models.
To retrieve more relevant, appropriate and useful documents given a query, finding clues about that query through the text is crucial. Recent deep learning models regard the task as a term-level matching problem, which seeks exact or similar query patterns in the document. However, we argue that they are inherently based on local interactions and do not generalise to ubiquitous, non-consecutive contextual relationships.In this work, we propose a novel relevance matching model based on graph neural networks to leverage the document-level word relationships for ad-hoc retrieval. In addition to the local interactions, we explicitly incorporate all contexts of a term through the graph-of-word text format. Matching patterns can be revealed accordingly to provide a more accurate relevance score. Our approach significantly outperforms strong baselines on two ad-hoc benchmarks. We also experimentally compare our model with BERT and show our ad-vantages on long documents.
Object detection with transformers (DETR) reaches competitive performance with Faster R-CNN via a transformer encoder-decoder architecture. Inspired by the great success of pre-training transformers in natural language processing, we propose a pretext task named random query patch detection to unsupervisedly pre-train DETR (UP-DETR) for object detection. Specifically, we randomly crop patches from the given image and then feed them as queries to the decoder. The model is pre-trained to detect these query patches from the original image. During the pre-training, we address two critical issues: multi-task learning and multi-query localization. (1) To trade-off multi-task learning of classification and localization in the pretext task, we freeze the CNN backbone and propose a patch feature reconstruction branch which is jointly optimized with patch detection. (2) To perform multi-query localization, we introduce UP-DETR from single-query patch and extend it to multi-query patches with object query shuffle and attention mask. In our experiments, UP-DETR significantly boosts the performance of DETR with faster convergence and higher precision on PASCAL VOC and COCO datasets. The code will be available soon.
Recently pre-trained language representation models such as BERT have shown great success when fine-tuned on downstream tasks including information retrieval (IR). However, pre-training objectives tailored for ad-hoc retrieval have not been well explored. In this paper, we propose Pre-training with Representative wOrds Prediction (PROP) for ad-hoc retrieval. PROP is inspired by the classical statistical language model for IR, specifically the query likelihood model, which assumes that the query is generated as the piece of text representative of the "ideal" document. Based on this idea, we construct the representative words prediction (ROP) task for pre-training. Given an input document, we sample a pair of word sets according to the document language model, where the set with higher likelihood is deemed as more representative of the document. We then pre-train the Transformer model to predict the pairwise preference between the two word sets, jointly with the Masked Language Model (MLM) objective. By further fine-tuning on a variety of representative downstream ad-hoc retrieval tasks, PROP achieves significant improvements over baselines without pre-training or with other pre-training methods. We also show that PROP can achieve exciting performance under both the zero- and low-resource IR settings. The code and pre-trained models are available at //github.com/Albert-Ma/PROP.
Recent work pre-training Transformers with self-supervised objectives on large text corpora has shown great success when fine-tuned on downstream NLP tasks including text summarization. However, pre-training objectives tailored for abstractive text summarization have not been explored. Furthermore there is a lack of systematic evaluation across diverse domains. In this work, we propose pre-training large Transformer-based encoder-decoder models on massive text corpora with a new self-supervised objective. In PEGASUS, important sentences are removed/masked from an input document and are generated together as one output sequence from the remaining sentences, similar to an extractive summary. We evaluated our best PEGASUS model on 12 downstream summarization tasks spanning news, science, stories, instructions, emails, patents, and legislative bills. Experiments demonstrate it achieves state-of-the-art performance on all 12 downstream datasets measured by ROUGE scores. Our model also shows surprising performance on low-resource summarization, surpassing previous state-of-the-art results on 6 datasets with only 1000 examples. Finally we validated our results using human evaluation and show that our model summaries achieve human performance on multiple datasets.
Most object recognition approaches predominantly focus on learning discriminative visual patterns while overlooking the holistic object structure. Though important, structure modeling usually requires significant manual annotations and therefore is labor-intensive. In this paper, we propose to "look into object" (explicitly yet intrinsically model the object structure) through incorporating self-supervisions into the traditional framework. We show the recognition backbone can be substantially enhanced for more robust representation learning, without any cost of extra annotation and inference speed. Specifically, we first propose an object-extent learning module for localizing the object according to the visual patterns shared among the instances in the same category. We then design a spatial context learning module for modeling the internal structures of the object, through predicting the relative positions within the extent. These two modules can be easily plugged into any backbone networks during training and detached at inference time. Extensive experiments show that our look-into-object approach (LIO) achieves large performance gain on a number of benchmarks, including generic object recognition (ImageNet) and fine-grained object recognition tasks (CUB, Cars, Aircraft). We also show that this learning paradigm is highly generalizable to other tasks such as object detection and segmentation (MS COCO). Project page: //github.com/JDAI-CV/LIO.
Extreme multi-label text classification (XMC) aims to tag each input text with the most relevant labels from an extremely large label set, such as those that arise in product categorization and e-commerce recommendation. Recently, pretrained language representation models such as BERT achieve remarkable state-of-the-art performance across a wide range of NLP tasks including sentence classification among small label sets (typically fewer than thousands). Indeed, there are several challenges in applying BERT to the XMC problem. The main challenges are: (i) the difficulty of capturing dependencies and correlations among labels, whose features may come from heterogeneous sources, and (ii) the tractability to scale to the extreme label setting as the model size can be very large and scale linearly with the size of the output space. To overcome these challenges, we propose X-BERT, the first feasible attempt to finetune BERT models for a scalable solution to the XMC problem. Specifically, X-BERT leverages both the label and document text to build label representations, which induces semantic label clusters in order to better model label dependencies. At the heart of X-BERT is finetuning BERT models to capture the contextual relations between input text and the induced label clusters. Finally, an ensemble of the different BERT models trained on heterogeneous label clusters leads to our best final model. Empirically, on a Wiki dataset with around 0.5 million labels, X-BERT achieves new state-of-the-art results where the precision@1 reaches 67:80%, a substantial improvement over 32.58%/60.91% of deep learning baseline fastText and competing XMC approach Parabel, respectively. This amounts to a 11.31% relative improvement over Parabel, which is indeed significant since the recent approach SLICE only has 5.53% relative improvement.
Previous cross-lingual knowledge graph (KG) alignment studies rely on entity embeddings derived only from monolingual KG structural information, which may fail at matching entities that have different facts in two KGs. In this paper, we introduce the topic entity graph, a local sub-graph of an entity, to represent entities with their contextual information in KG. From this view, the KB-alignment task can be formulated as a graph matching problem; and we further propose a graph-attention based solution, which first matches all entities in two topic entity graphs, and then jointly model the local matching information to derive a graph-level matching vector. Experiments show that our model outperforms previous state-of-the-art methods by a large margin.
We propose a novel two-layered attention network based on Bidirectional Long Short-Term Memory for sentiment analysis. The novel two-layered attention network takes advantage of the external knowledge bases to improve the sentiment prediction. It uses the Knowledge Graph Embedding generated using the WordNet. We build our model by combining the two-layered attention network with the supervised model based on Support Vector Regression using a Multilayer Perceptron network for sentiment analysis. We evaluate our model on the benchmark dataset of SemEval 2017 Task 5. Experimental results show that the proposed model surpasses the top system of SemEval 2017 Task 5. The model performs significantly better by improving the state-of-the-art system at SemEval 2017 Task 5 by 1.7 and 3.7 points for sub-tracks 1 and 2 respectively.
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