Large Language Models (LLMs) have been widely adopted in commercial code completion engines, significantly enhancing coding efficiency and productivity. However, LLMs may generate code with quality issues that violate coding standards and best practices, such as poor code style and maintainability, even when the code is functionally correct. This necessitates additional effort from developers to improve the code, potentially negating the efficiency gains provided by LLMs. To address this problem, we propose a novel comparative prefix-tuning method for controllable high-quality code generation. Our method introduces a single, property-specific prefix that is prepended to the activations of the LLM, serving as a lightweight alternative to fine-tuning. Unlike existing methods that require training multiple prefixes, our approach trains only one prefix and leverages pairs of high-quality and low-quality code samples, introducing a sequence-level ranking loss to guide the model's training. This comparative approach enables the model to better understand the differences between high-quality and low-quality code, focusing on aspects that impact code quality. Additionally, we design a data construction pipeline to collect and annotate pairs of high-quality and low-quality code, facilitating effective training. Extensive experiments on the Code Llama 7B model demonstrate that our method improves code quality by over 100% in certain task categories, while maintaining functional correctness. We also conduct ablation studies and generalization experiments, confirming the effectiveness of our method's components and its strong generalization capability.

Current exploration methods struggle to search for shops in unknown open-world environments due to a lack of prior knowledge and text recognition capabilities. Venue maps offer valuable information that can aid exploration planning by correlating scene signage with map data. However, the arbitrary shapes and styles of the text on signage, along with multi-view inconsistencies, pose significant challenges for accurate recognition by robots. Additionally, the discrepancies between real-world environments and venue maps hinder the incorporation of text information into planners. This paper introduces a novel signage-aware exploration system to address these challenges, enabling the robot to utilize venue maps effectively. We propose a signage understanding method that accurately detects and recognizes the text on signage using a diffusion-based text instance retrieval method combined with a 2D-to-3D semantic fusion strategy. Furthermore, we design a venue map-guided exploration-exploitation planner that balances exploration in unknown regions using a directional heuristic derived from venue maps with exploitation to get close and adjust orientation for better recognition. Experiments in large-scale shopping malls demonstrate our method's superior signage recognition accuracy and coverage efficiency, outperforming state-of-the-art scene text spotting methods and traditional exploration methods.

Existing work implementing comparative reconstruction of ancestral languages (proto-languages) has usually required full supervision. However, historical reconstruction models are only of practical value if they can be trained with a limited amount of labeled data. We propose a semisupervised historical reconstruction task in which the model is trained on only a small amount of labeled data (cognate sets with proto-forms) and a large amount of unlabeled data (cognate sets without proto-forms). We propose a neural architecture for comparative reconstruction (DPD-BiReconstructor) incorporating an essential insight from linguists' comparative method: that reconstructed words should not only be reconstructable from their daughter words, but also deterministically transformable back into their daughter words. We show that this architecture is able to leverage unlabeled cognate sets to outperform strong semisupervised baselines on this novel task.

Protolanguage reconstruction is central to historical linguistics. The comparative method, one of the most influential theoretical and methodological frameworks in the history of the language sciences, allows linguists to infer protoforms (reconstructed ancestral words) from their reflexes (related modern words) based on the assumption of regular sound change. Not surprisingly, numerous computational linguists have attempted to operationalize comparative reconstruction through various computational models, the most successful of which have been supervised encoder-decoder models, which treat the problem of predicting protoforms given sets of reflexes as a sequence-to-sequence problem. We argue that this framework ignores one of the most important aspects of the comparative method: not only should protoforms be inferable from cognate sets (sets of related reflexes) but the reflexes should also be inferable from the protoforms. Leveraging another line of research -- reflex prediction -- we propose a system in which candidate protoforms from a reconstruction model are reranked by a reflex prediction model. We show that this more complete implementation of the comparative method allows us to surpass state-of-the-art protoform reconstruction methods on three of four Chinese and Romance datasets.

Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work investigates a control scheme for ATCR subjecting to severe environmental interference. A kinematics model based adaptive sliding mode disturbance observer with fast convergence is first proposed to estimate the lumped disturbances. On this basis, a robust controller with prescribed performance is proposed using a backstepping technique, which improves the transient performance and guarantees fast convergence. Simulation outcomes have been provided to illustrate the effectiveness of the proposed control scheme.

Integrating external language models (LMs) into end-to-end (E2E) models remains a challenging task for domain-adaptive speech recognition. Recently, internal language model estimation (ILME)-based LM fusion has shown significant word error rate (WER) reduction from Shallow Fusion by subtracting a weighted internal LM score from an interpolation of E2E model and external LM scores during beam search. However, on different test sets, the optimal LM interpolation weights vary over a wide range and have to be tuned extensively on well-matched validation sets. In this work, we perform LM fusion in the minimum WER (MWER) training of an E2E model to obviate the need for LM weights tuning during inference. Besides MWER training with Shallow Fusion (MWER-SF), we propose a novel MWER training with ILME (MWER-ILME) where the ILME-based fusion is conducted to generate N-best hypotheses and their posteriors. Additional gradient is induced when internal LM is engaged in MWER-ILME loss computation. During inference, LM weights pre-determined in MWER training enable robust LM integrations on test sets from different domains. Experimented with 30K-hour trained transformer transducers, MWER-ILME achieves on average 8.8% and 5.8% relative WER reductions from MWER and MWER-SF training, respectively, on 6 different test sets

The efficacy of external language model (LM) integration with existing end-to-end (E2E) automatic speech recognition (ASR) systems can be improved significantly using the internal language model estimation (ILME) method. In this method, the internal LM score is subtracted from the score obtained by interpolating the E2E score with the external LM score, during inference. To improve the ILME-based inference, we propose an internal LM training (ILMT) method to minimize an additional internal LM loss by updating only the E2E model components that affect the internal LM estimation. ILMT encourages the E2E model to form a standalone LM inside its existing components, without sacrificing ASR accuracy. After ILMT, the more modular E2E model with matched training and inference criteria enables a more thorough elimination of the source-domain internal LM, and therefore leads to a more effective integration of the target-domain external LM. Experimented with 30K-hour trained recurrent neural network transducer and attention-based encoder-decoder models, ILMT with ILME-based inference achieves up to 31.5% and 11.4% relative word error rate reductions from standard E2E training with Shallow Fusion on out-of-domain LibriSpeech and in-domain Microsoft production test sets, respectively.

ABSTRACT Transformer with self-attention has achieved great success in the area of nature language processing. Recently, there have been a few studies on transformer for end-to-end speech recognition, while its application for hybrid acoustic model is still very limited. In this paper, we revisit the transformer-based hybrid acoustic model, and propose a model structure with interleaved self-attention and 1D convolution, which is proven to have faster convergence and higher recognition accuracy. We also study several aspects of the transformer model, including the impact of the positional encoding feature, dropout regularization, as well as training with and without time restriction. We show competitive recognition results on the public Librispeech dataset when compared to the Kaldi baseline at both cross entropy training and sequence training stages. For reproducible research, we release our source code and recipe within the PyKaldi2 toolbox.

We propose self-teaching networks to improve the generalization capacity of deep neural networks. The idea is to generate soft supervision labels using the output layer for training the lower layers of the network. During the network training, we seek an auxiliary loss that drives the lower layer to mimic the behavior of the output layer. The connection between the two network layers through the auxiliary loss can help the gradient flow, which works similar to the residual networks. Furthermore, the auxiliary loss also works as a regularizer, which improves the generalization capacity of the network. We evaluated the self-teaching network with deep recurrent neural networks on speech recognition tasks, where we trained the acoustic model using 30 thousand hours of data. We tested the acoustic model using data collected from 4 scenarios. We show that the self-teaching network can achieve consistent improvements and outperform existing methods such as label smoothing and confidence penalization.

We introduce multiplicative LSTM (mLSTM), a recurrent neural network architecture for sequence modelling that combines the long short-term memory (LSTM) and multiplicative recurrent neural network architectures. mLSTM is characterised by its ability to have different recurrent transition functions for each possible input, which we argue makes it more expressive for autoregressive density estimation. We demonstrate empirically that mLSTM outperforms standard LSTM and its deep variants for a range of character level language modelling tasks. In this version of the paper, we regularise mLSTM to achieve 1.27 bits/char on text8 and 1.24 bits/char on Hutter Prize. We also apply a purely byte-level mLSTM on the WikiText-2 dataset to achieve a character level entropy of 1.26 bits/char, corresponding to a word level perplexity of 88.8, which is comparable to word level LSTMs regularised in similar ways on the same task.