We propose a novel approach for automatic chaptering of TV newscast videos, addressing the challenge of structuring and organizing large collections of unsegmented broadcast content. Our method integrates both audio and visual cues through a two-stage process involving frozen neural networks and a trained LSTM network. The first stage extracts essential features from separate modalities, while the LSTM effectively fuses these features to generate accurate segment boundaries. Our proposed model has been evaluated on a diverse dataset comprising over 500 TV newscast videos of an average of 41 minutes gathered from TF1, a French TV channel, with varying lengths and topics. Experimental results demonstrate that this innovative fusion strategy achieves state of the art performance, yielding a high precision rate of 82% at IoU of 90%. Consequently, this approach significantly enhances analysis, indexing and storage capabilities for TV newscast archives, paving the way towards efficient management and utilization of vast audiovisual resources.

We develop Polaris, the first safety-focused LLM constellation for real-time patient-AI healthcare conversations. Unlike prior LLM works in healthcare focusing on tasks like question answering, our work specifically focuses on long multi-turn voice conversations. Our one-trillion parameter constellation system is composed of several multibillion parameter LLMs as co-operative agents: a stateful primary agent that focuses on driving an engaging conversation and several specialist support agents focused on healthcare tasks performed by nurses to increase safety and reduce hallucinations. We develop a sophisticated training protocol for iterative co-training of the agents that optimize for diverse objectives. We train our models on proprietary data, clinical care plans, healthcare regulatory documents, medical manuals, and other medical reasoning documents. We align our models to speak like medical professionals, using organic healthcare conversations and simulated ones between patient actors and experienced nurses. This allows our system to express unique capabilities such as rapport building, trust building, empathy and bedside manner. Finally, we present the first comprehensive clinician evaluation of an LLM system for healthcare. We recruited over 1100 U.S. licensed nurses and over 130 U.S. licensed physicians to perform end-to-end conversational evaluations of our system by posing as patients and rating the system on several measures. We demonstrate Polaris performs on par with human nurses on aggregate across dimensions such as medical safety, clinical readiness, conversational quality, and bedside manner. Additionally, we conduct a challenging task-based evaluation of the individual specialist support agents, where we demonstrate our LLM agents significantly outperform a much larger general-purpose LLM (GPT-4) as well as from its own medium-size class (LLaMA-2 70B).

Previous work in phonologically and phonetically grounded language generation has mainly focused on domains such as puns and poetry. In this article, we present new work on the generation of tongue-twisters - a form of language that is required to be conditioned on a phoneme level to maximize sound overlap, whilst maintaining semantic consistency with an input topic and still being grammatically correct. We present TwisterLister, a pipeline for generating phonologically informed tongue-twisters from Large Language Models (LLMs) that we use to generate TwistList 2.0, the largest annotated dataset of tongue-twisters to date, consisting of 17K+ examples from a combination of human and LLM authors. Our generation pipeline involves the use of a phonologically constrained vocabulary alongside LLM prompting to generate novel, non-derivative tongue-twister examples. We additionally present the results of automatic and human evaluation of smaller models trained on our generated dataset to demonstrate the extent to which phonologically motivated language types can be generated without explicit injection of phonological knowledge. Additionally, we introduce a Phoneme-Aware Constrained Decoding module (PACD) that can be integrated into any causal language model and demonstrate that this method generates good quality tongue-twisters both with and without fine-tuning the underlying language model. We also design and implement a range of automatic metrics for the task of tongue-twister generation that is phonologically motivated and captures the unique essence of tongue-twisters based on Phonemic Edit Distance (PED).

A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in urban environments, the process of generating navigation maps has become of particular interest, being a labor intensive step of the deployment process. Automating this step is challenging and becomes even more arduous when the perception capabilities are limited by cost considerations. This paper proposes an algorithm to automatically generate navigation maps using a typical navigation-oriented sensor setup: a single top-mounted 3D LiDAR sensor. The proposed method is designed and validated with the urban environment as the main use case: it is shown to be able to produce accurate maps featuring different terrain types, positive obstacles of different heights as well as negative obstacles. The algorithm is applied to data collected in a typical urban environment with a wheeled inverted pendulum robot, showing its robustness against localization, perception and dynamic uncertainties. The generated map is validated against a human-made map.

The paper focuses on modeling and experimental evaluation of a quadcopter team configurable coordination guided by a single quadruped robot. We consider the quadcopter team as particles of a two-dimensional deformable body and propose a two-dimensional affine transformation model for safe and collision-free configurable coordination of this heterogeneous robotic system. The proposed affine transformation is decomposed into translation, that is specified by the quadruped global position, and configurable motion of the quadcopters, which is determined by a nonsingular Jacobian matrix so that the quadcopter team can safely navigate a constrained environment while avoiding collision. We propose two methods to experimentally evaluate the proposed heterogeneous robot coordination model. The first method measures real positions of quadcopters, quadruped, and environmental objects all with respect to the global coordinate system. On the other hand, the second method measures position with respect to the local coordinate system fixed on the dog robot which in turn enables safe planning the Jacobian matrix of the quadcopter team while the world is virtually approached the robotic system.

In this article we present Enhanced Rhetorical Structure Theory (eRST), a new theoretical framework for computational discourse analysis, based on an expansion of Rhetorical Structure Theory (RST). The framework encompasses discourse relation graphs with tree-breaking, nonprojective and concurrent relations, as well as implicit and explicit signals which give explainable rationales to our analyses. We survey shortcomings of RST and other existing frameworks, such as Segmented Discourse Representation Theory (SDRT), the Penn Discourse Treebank (PDTB) and Discourse Dependencies, and address these using constructs in the proposed theory. We provide annotation, search and visualization tools for data, and present and evaluate a freely available corpus of English annotated according to our framework, encompassing 12 spoken and written genres with over 200K tokens. Finally, we discuss automatic parsing, evaluation metrics and applications for data in our framework.

The NeurIPS 2023 Machine Learning for Audio Workshop brings together machine learning (ML) experts from various audio domains. There are several valuable audio-driven ML tasks, from speech emotion recognition to audio event detection, but the community is sparse compared to other ML areas, e.g., computer vision or natural language processing. A major limitation with audio is the available data; with audio being a time-dependent modality, high-quality data collection is time-consuming and costly, making it challenging for academic groups to apply their often state-of-the-art strategies to a larger, more generalizable dataset. In this short white paper, to encourage researchers with limited access to large-datasets, the organizers first outline several open-source datasets that are available to the community, and for the duration of the workshop are making several propriety datasets available. Namely, three vocal datasets, Hume-Prosody, Hume-VocalBurst, an acted emotional speech dataset Modulate-Sonata, and an in-game streamer dataset Modulate-Stream. We outline the current baselines on these datasets but encourage researchers from across audio to utilize them outside of the initial baseline tasks.

We present a general framework for applying learning algorithms and heuristical guidance to the verification of Markov decision processes (MDPs). The primary goal of our techniques is to improve performance by avoiding an exhaustive exploration of the state space, instead focussing on particularly relevant areas of the system, guided by heuristics. Our work builds on the previous results of Br{\'{a}}zdil et al., significantly extending it as well as refining several details and fixing errors. The presented framework focuses on probabilistic reachability, which is a core problem in verification, and is instantiated in two distinct scenarios. The first assumes that full knowledge of the MDP is available, in particular precise transition probabilities. It performs a heuristic-driven partial exploration of the model, yielding precise lower and upper bounds on the required probability. The second tackles the case where we may only sample the MDP without knowing the exact transition dynamics. Here, we obtain probabilistic guarantees, again in terms of both the lower and upper bounds, which provides efficient stopping criteria for the approximation. In particular, the latter is an extension of statistical model-checking (SMC) for unbounded properties in MDPs. In contrast to other related approaches, we do not restrict our attention to time-bounded (finite-horizon) or discounted properties, nor assume any particular structural properties of the MDP.

Automatic extraction of medical information from these data poses several challenges: high costs of required clinical expertise, restricted computational resources, strict privacy regulations, and limited interpretability of model predictions. Recent domain adaptation and prompting methods using lightweight masked language models showed promising results with minimal training data and allow for application of well-established interpretability methods. We are first to present a systematic evaluation of advanced domain adaptation and prompting methods in a low-resource medical domain task, performing multiclass section classification on German doctor's letters. We evaluate a variety of models, model sizes, (further-pre)training and task settings, and conduct extensive class-wise evaluations supported by Shapley values to validate the quality of small-scale training data, and to ensure interpretability of model predictions. We show that in few-shot learning scenarios, a lightweight, domain-adapted pretrained language model, prompted with just 20 shots per section class, outperforms a traditional classification model, by increasing accuracy from 48.6% to 79.1%.

Medical image segmentation plays a vital role in clinic disease diagnosis and medical image analysis. However, labeling medical images for segmentation task is tough due to the indispensable domain expertise of radiologists. Furthermore, considering the privacy and sensitivity of medical images, it is impractical to build a centralized segmentation dataset from different medical institutions. Federated learning aims to train a shared model of isolated clients without local data exchange which aligns well with the scarcity and privacy characteristics of medical data. To solve the problem of labeling hard, many advanced semi-supervised methods have been proposed in a centralized data setting. As for federated learning, how to conduct semi-supervised learning under this distributed scenario is worth investigating. In this work, we propose a novel federated semi-supervised learning framework for medical image segmentation. The intra-client and inter-client consistency learning are introduced to smooth predictions at the data level and avoid confirmation bias of local models. They are achieved with the assistance of a Variational Autoencoder (VAE) trained collaboratively by clients. The added VAE model plays three roles: 1) extracting latent low-dimensional features of all labeled and unlabeled data; 2) performing a novel type of data augmentation in calculating intra-client consistency loss; 3) utilizing the generative ability of itself to conduct inter-client consistency distillation. The proposed framework is compared with other federated semi-supervised or self-supervised learning methods. The experimental results illustrate that our method outperforms the state-of-the-art method while avoiding a lot of computation and communication overhead.