As robots become increasingly capable of manipulation and long-term autonomy, long-horizon task and motion planning problems are becoming increasingly important. A key challenge in such problems is that early actions in the plan may make future actions infeasible. When reaching a dead-end in the search, most existing planners use backtracking, which exhaustively reevaluates motion-level actions, often resulting in inefficient planning, especially when the search depth is large. In this paper, we propose to learn backjumping heuristics which identify the culprit action directly using supervised learning models to guide the task-level search. Based on evaluations on two different tasks, we find that our method significantly improves planning efficiency compared to backtracking and also generalizes to problems with novel numbers of objects.

Census and Household Travel Survey datasets are regularly collected from households and individuals and provide information on their daily travel behavior with demographic and economic characteristics. These datasets have important applications ranging from travel demand estimation to agent-based modeling. However, they often represent a limited sample of the population due to privacy concerns or are given aggregated. Synthetic data augmentation is a promising avenue in addressing these challenges. In this paper, we propose a framework to generate a synthetic population that includes both socioeconomic features (e.g., age, sex, industry) and trip chains (i.e., activity locations). Our model is tested and compared with other recently proposed models on multiple assessment metrics.

Recently, powerful Transformer architectures have proven superior in generating high-quality sentences. Nevertheless, these models tend to produce dull high-frequency phrases, severely hurting the diversity and novelty of generated text. In this work, we dig into the intrinsic mechanism of this problem and found that sparser attention values in Transformer could improve diversity. To understand such a phenomenon, we first conduct both empirical and theoretical analysis and then attribute it to representation degeneration caused by the attentive mixture of the hidden states during training. We term this process the Trap of Mediocrity. To escape from such a trap, we introduce a novel attention regularization loss to control the sharpness of the attention distribution, which is transparent to model structures and can be easily implemented within 20 lines of python code. We prove that this method could be mathematically regarded as learning a Bayesian approximation of posterior attention. Experiments show that our method improved the diversity and novelty of the generated text while maintaining comparable quality on a variety of conditional and unconditional generation tasks.

Animals are capable of precise and agile locomotion using vision. Replicating this ability has been a long-standing goal in robotics. The traditional approach has been to decompose this problem into elevation mapping and foothold planning phases. The elevation mapping, however, is susceptible to failure and large noise artifacts, requires specialized hardware, and is biologically implausible. In this paper, we present the first end-to-end locomotion system capable of traversing stairs, curbs, stepping stones, and gaps. We show this result on a medium-sized quadruped robot using a single front-facing depth camera. The small size of the robot necessitates discovering specialized gait patterns not seen elsewhere. The egocentric camera requires the policy to remember past information to estimate the terrain under its hind feet. We train our policy in simulation. Training has two phases - first, we train a policy using reinforcement learning with a cheap-to-compute variant of depth image and then in phase 2 distill it into the final policy that uses depth using supervised learning. The resulting policy transfers to the real world and is able to run in real-time on the limited compute of the robot. It can traverse a large variety of terrain while being robust to perturbations like pushes, slippery surfaces, and rocky terrain. Videos are at https://vision-locomotion.github.io

Indoor localization systems often fuse inertial odometry with map information via hand-defined methods to reduce odometry drift, but such methods are sensitive to noise and struggle to generalize across odometry sources. To address the robustness problem in map utilization, we propose a data-driven prior on possible user locations in a map by combining learned spatial map embeddings and temporal odometry embeddings. Our prior learns to encode which map regions are feasible locations for a user more accurately than previous hand-defined methods. This prior leads to a 49% improvement in inertial-only localization accuracy when used in a particle filter. This result is significant, as it shows that our relative positioning method can match the performance of absolute positioning using bluetooth beacons. To show the generalizability of our method, we also show similar improvements using wheel encoder odometry.

Children's speech recognition is a vital, yet largely overlooked domain when building inclusive speech technologies. The major challenge impeding progress in this domain is the lack of adequate child speech corpora; however, recent advances in self-supervised learning have created a new opportunity for overcoming this problem of data scarcity. In this paper, we leverage self-supervised adult speech representations and use three well-known child speech corpora to build models for children's speech recognition. We assess the performance of fine-tuning on both native and non-native children's speech, examine the effect of cross-domain child corpora, and investigate the minimum amount of child speech required to fine-tune a model which outperforms a state-of-the-art adult model. We also analyze speech recognition performance across children's ages. Our results demonstrate that fine-tuning with cross-domain child corpora leads to relative improvements of up to 46.08% and 45.53% for native and non-native child speech respectively, and absolute improvements of 14.70% and 31.10%. We also show that with as little as 5 hours of transcribed children's speech, it is possible to fine-tune a children's speech recognition system that outperforms a state-of-the-art adult model fine-tuned on 960 hours of adult speech.

Enabled by the increasing availability of sensor data monitored from production machinery, condition monitoring and predictive maintenance methods are key pillars for an efficient and robust manufacturing production cycle in the Industrial Internet of Things. The employment of machine learning models to detect and predict deteriorating behavior by analyzing a variety of data collected across several industrial environments shows promising results in recent works, yet also often requires transferring the sensor data to centralized servers located in the cloud. Moreover, although collaborating and sharing knowledge between industry sites yields large benefits, especially in the area of condition monitoring, it is often prohibited due to data privacy issues. To tackle this situation, we propose an Autoencoder-based Federated Learning method utilizing vibration sensor data from rotating machines, that allows for a distributed training on edge devices, located on-premise and close to the monitored machines. Preserving data privacy and at the same time exonerating possibly unreliable network connections of remote sites, our approach enables knowledge transfer across organizational boundaries, without sharing the monitored data. We conducted an evaluation utilizing two real-world datasets as well as multiple testbeds and the results indicate that our method enables a competitive performance compared to previous results, while significantly reducing the resource and network utilization.

Open domain question answering (ODQA) is a longstanding task aimed at answering factual questions from a large knowledge corpus without any explicit evidence in natural language processing (NLP). Recent works have predominantly focused on improving the answering accuracy and achieved promising progress. However, higher accuracy often comes with more memory consumption and inference latency, which might not necessarily be efficient enough for direct deployment in the real world. Thus, a trade-off between accuracy, memory consumption and processing speed is pursued. In this paper, we provide a survey of recent advances in the efficiency of ODQA models. We walk through the ODQA models and conclude the core techniques on efficiency. Quantitative analysis on memory cost, processing speed, accuracy and overall comparison are given. We hope that this work would keep interested scholars informed of the advances and open challenges in ODQA efficiency research, and thus contribute to the further development of ODQA efficiency.

Probing has become a go-to methodology for interpreting and analyzing deep neural models in natural language processing. However, there is still a lack of understanding of the limitations and weaknesses of various types of probes. In this work, we suggest a strategy for input-level intervention on naturalistic sentences. Using our approach, we intervene on the morpho-syntactic features of a sentence, while keeping the rest of the sentence unchanged. Such an intervention allows us to causally probe pre-trained models. We apply our naturalistic causal probing framework to analyze the effects of grammatical gender and number on contextualized representations extracted from three pre-trained models in Spanish: the multilingual versions of BERT, RoBERTa, and GPT-2. Our experiments suggest that naturalistic interventions lead to stable estimates of the causal effects of various linguistic properties. Moreover, our experiments demonstrate the importance of naturalistic causal probing when analyzing pre-trained models.

While there is increasing concern about the interpretability of neural models, the evaluation of interpretability remains an open problem, due to the lack of proper evaluation datasets and metrics. In this paper, we present a novel benchmark to evaluate the interpretability of both neural models and saliency methods. This benchmark covers three representative NLP tasks: sentiment analysis, textual similarity and reading comprehension, each provided with both English and Chinese annotated data. In order to precisely evaluate the interpretability, we provide token-level rationales that are carefully annotated to be sufficient, compact and comprehensive. We also design a new metric, i.e., the consistency between the rationales before and after perturbations, to uniformly evaluate the interpretability on different types of tasks. Based on this benchmark, we conduct experiments on three typical models with three saliency methods, and unveil their strengths and weakness in terms of interpretability. We will release this benchmark https://www.luge.ai/#/luge/task/taskDetail?taskId=15 and hope it can facilitate the research in building trustworthy systems.