This paper provides the system description of "Silo NLP's" submission to the Workshop on Asian Translation (WAT2022). We have participated in the Indic Multimodal tasks (English->Hindi, English->Malayalam, and English->Bengali Multimodal Translation). For text-only translation, we trained Transformers from scratch and fine-tuned mBART-50 models. For multimodal translation, we used the same mBART architecture and extracted object tags from the images to use as visual features concatenated with the text sequence. Our submission tops many tasks including English->Hindi multimodal translation (evaluation test), English->Malayalam text-only and multimodal translation (evaluation test), English->Bengali multimodal translation (challenge test), and English->Bengali text-only translation (evaluation test).

Our goal is to enable robots to perform functional tasks in emotive ways, be it in response to their users' emotional states, or expressive of their confidence levels. Prior work has proposed learning independent cost functions from user feedback for each target emotion, so that the robot may optimize it alongside task and environment specific objectives for any situation it encounters. However, this approach is inefficient when modeling multiple emotions and unable to generalize to new ones. In this work, we leverage the fact that emotions are not independent of each other: they are related through a latent space of Valence-Arousal-Dominance (VAD). Our key idea is to learn a model for how trajectories map onto VAD with user labels. Considering the distance between a trajectory's mapping and a target VAD allows this single model to represent cost functions for all emotions. As a result 1) all user feedback can contribute to learning about every emotion; 2) the robot can generate trajectories for any emotion in the space instead of only a few predefined ones; and 3) the robot can respond emotively to user-generated natural language by mapping it to a target VAD. We introduce a method that interactively learns to map trajectories to this latent space and test it in simulation and in a user study. In experiments, we use a simple vacuum robot as well as the Cassie biped.

Internal cluster validity measures (such as the Calinski-Harabasz, Dunn, or Davies-Bouldin indices) are frequently used for selecting the appropriate number of partitions a dataset should be split into. In this paper we consider what happens if we treat such indices as objective functions in unsupervised learning activities. Is the optimal grouping with regards to, say, the Silhouette index really meaningful? It turns out that many cluster (in)validity indices promote clusterings that match expert knowledge quite poorly. We also introduce a new, well-performing variant of the Dunn index that is built upon OWA operators and the near-neighbour graph so that subspaces of higher density, regardless of their shapes, can be separated from each other better.

Machine Reading Comprehension with Unanswerable Questions is a difficult NLP task, challenged by the questions which can not be answered from passages. It is observed that subtle literal changes often make an answerable question unanswerable, however, most MRC models fail to recognize such changes. To address this problem, in this paper, we propose a span-based method of Contrastive Learning (spanCL) which explicitly contrast answerable questions with their answerable and unanswerable counterparts at the answer span level. With spanCL, MRC models are forced to perceive crucial semantic changes from slight literal differences. Experiments on SQuAD 2.0 dataset show that spanCL can improve baselines significantly, yielding 0.86-2.14 absolute EM improvements. Additional experiments also show that spanCL is an effective way to utilize generated questions.

Wide Area Networks (WAN) are a key infrastructure in today's society. During the last years, WANs have seen a considerable increase in network's traffic and network applications, imposing new requirements on existing network technologies (e.g., low latency and high throughput). Consequently, Internet Service Providers (ISP) are under pressure to ensure the customer's Quality of Service and fulfill Service Level Agreements. Network operators leverage Traffic Engineering (TE) techniques to efficiently manage network's resources. However, WAN's traffic can drastically change during time and the connectivity can be affected due to external factors (e.g., link failures). Therefore, TE solutions must be able to adapt to dynamic scenarios in real-time. In this paper we propose Enero, an efficient real-time TE solution based on a two-stage optimization process. In the first one, Enero leverages Deep Reinforcement Learning (DRL) to optimize the routing configuration by generating a long-term TE strategy. To enable efficient operation over dynamic network scenarios (e.g., when link failures occur), we integrated a Graph Neural Network into the DRL agent. In the second stage, Enero uses a Local Search algorithm to improve DRL's solution without adding computational overhead to the optimization process. The experimental results indicate that Enero is able to operate in real-world dynamic network topologies in 4.5 seconds on average for topologies up to 100 edges.

This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT competition. In particular, the paper has four main goals. First, we review the algorithms, architectures, and systems adopted by the teams; particular emphasis is put on lidar-centric SLAM solutions (the go-to approach for virtually all teams in the competition), heterogeneous multi-robot operation (including both aerial and ground robots), and real-world underground operation (from the presence of obscurants to the need to handle tight computational constraints). We do not shy away from discussing the dirty details behind the different SubT SLAM systems, which are often omitted from technical papers. Second, we discuss the maturity of the field by highlighting what is possible with the current SLAM systems and what we believe is within reach with some good systems engineering. Third, we outline what we believe are fundamental open problems, that are likely to require further research to break through. Finally, we provide a list of open-source SLAM implementations and datasets that have been produced during the SubT challenge and related efforts, and constitute a useful resource for researchers and practitioners.

With recent improvements in natural language generation (NLG) models for various applications, it has become imperative to have the means to identify and evaluate whether NLG output is only sharing verifiable information about the external world. In this work, we present a new evaluation framework entitled Attributable to Identified Sources (AIS) for assessing the output of natural language generation models, when such output pertains to the external world. We first define AIS and introduce a two-stage annotation pipeline for allowing annotators to appropriately evaluate model output according to AIS guidelines. We empirically validate this approach on generation datasets spanning three tasks (two conversational QA datasets, a summarization dataset, and a table-to-text dataset) via human evaluation studies that suggest that AIS could serve as a common framework for measuring whether model-generated statements are supported by underlying sources. We release guidelines for the human evaluation studies.

Event cameras are bio-inspired dynamic vision sensors that respond to changes in image intensity with a high temporal resolution, high dynamic range and low latency. These sensor characteristics are ideally suited to enable visual target tracking in concert with a broadcast visual communication channel for smart visual beacons with applications in distributed robotics. Visual beacons can be constructed by high-frequency modulation of Light Emitting Diodes (LEDs) such as vehicle headlights, Internet of Things (IoT) LEDs, smart building lights, etc., that are already present in many real-world scenarios. The high temporal resolution characteristic of the event cameras allows them to capture visual signals at far higher data rates compared to classical frame-based cameras. In this paper, we propose a novel smart visual beacon architecture with both LED modulation and event camera demodulation algorithms. We quantitatively evaluate the relationship between LED transmission rate, communication distance and the message transmission accuracy for the smart visual beacon communication system that we prototyped. The proposed method achieves up to 4 kbps in an indoor environment and lossless transmission over a distance of 100 meters, at a transmission rate of 500 bps, in full sunlight, demonstrating the potential of the technology in an outdoor environment.

Sockeye 3 is the latest version of the Sockeye toolkit for Neural Machine Translation (NMT). Now based on PyTorch, Sockeye 3 provides faster model implementations and more advanced features with a further streamlined codebase. This enables broader experimentation with faster iteration, efficient training of stronger and faster models, and the flexibility to move new ideas quickly from research to production. When running comparable models, Sockeye 3 is up to 126% faster than other PyTorch implementations on GPUs and up to 292% faster on CPUs. Sockeye 3 is open source software released under the Apache 2.0 license.

Such a claim requires empirical support, but consideration Modern NLP is dominated by large pre-trained of common practice can also be offered models, systems which are large, complex, and to challenge it: for one, pre-tokenization such as costly to train. As a result, much research effort is punctuation separation and accent normalization is put into questions of tuning and configuring the not always applied consistently when moving on to various layers and training regimes for improving a downstream text. A model that was trained on untreated prediction quality on a growing number of text may find it difficult to process an NER tasks (Rogers et al., 2020). Unfortunately, not as dataset (for example) where punctuation is separated much research asks questions about the decisions from preceding words, rendering a word-finalmarking made at the most upstream parts of the models, tokenizer more robust to change; some tokenizers those that deal with input tokenization and subword like BERT's Wordpiece (Devlin et al., 2019) vocabulary creation. "mark" a class of tokens by omission, i.e. marking In this exploratory work, we isolate a single decision the non-initial pieces rather than initial ones. This point which appears to be resolved arbitrarily discrepancy surfaces edge case effects when compared by existing model developers, with no consensus with a seemingly-equivalent tokenizer like but also no underlying theory: should subword GPT-2's (Radford et al., 2019), which marks initial tokenizers mark word boundaries at the pieces but only if they are prepended by a space beginning or the end?