对具有复杂空间关系的几何结构的视觉理解是人类智力的基本组成部分。作为孩子，我们不仅从观察中，而且通过与周围的世界互动来学习如何推理结构 - 通过将事物拆开并将它们重新放回原处。理解结构和组成性的能力不仅使我们不仅可以构建事物，还可以理解和反向工程复合系统。为了推进基于部分几何理解的互动推理研究，我们提出了一个充满挑战的新组装问题，它使用我们称之为中断和制造的乐高积木。在此问题中，给代理人获得了一个乐高模型，并试图通过交互检查和拆卸它来理解其结构。在此检查期之后，代理必须通过使用低级动作原始素从头开始重建模型来证明其理解。为了促进有关此问题的研究，我们构建了Ltron，这是一种完全交互的3D模拟器，允许学习代理组装，拆卸和操纵乐高模型。我们将此模拟器与一个新的粉丝乐高创作的数据集配对，该数据集已上传到Internet，以提供包含一千多种独特砖头的复杂场景。我们使用序列到序列模型迈出了解决此问题的第一步，这些模型为如何在这个具有挑战性的问题上取得进展提供指导。我们的模拟器和数据可在github.com/aaronwalsman/ltron上获得。可以在github.com/aaronwalsman/ltron-torch-eccv22上获得其他培训代码和Pytorch示例。

顺序操纵任务需要机器人识别环境的状态，并计划导致期望目标状态的一系列动作，其中来自原始传感器输入的对象实体之间的空间关系的能力至关重要。之前的作品依赖于明确的状态估计或与新的对象或新任务的结束学习斗争。在这项工作中，我们提出了SARNET（空间对象形式的表示网络），其从RGB图像中提取了以RGB图像的对象形式，根据感兴趣对象的规范视图。我们展示了Sornet学习的对象嵌入，在三个空间推理任务上概括了零射击到未知对象实体：空间关系分类，技能前提分类和相对方向回归，显着优于基线。此外，我们提出了现实世界的机器人实验，证明了学习对象嵌入在任务规划中的使用进行了连续操作。

对于机器人来说，了解人类指令并在不久的将来执行有意义的任务，重要的是开发学习的模型，了解了参考语言，以识别现实世界3D场景中的共同对象。在本文中，我们介绍了一种用于3D视觉接地问题的空间语言模型。具体地，给定具有潜在对象候选的3D边界框的点云形式的重建的3D场景，以及参考场景中的目标对象的语言话语，我们的模型成功地将目标对象从一组潜在的候选者识别。具体而言，Languagrefer使用基于变压器的架构，该架构将空间嵌入与边界框中的空间嵌入与来自Distilbert的微调语言嵌入式的绑定框相结合，以预测目标对象。我们表明它竞争地表现在引用3D提出的Visio-linguistic数据集上。此外，我们分析其空间推理任务性能与感知噪声分离，视图依赖性话语的准确性，以及用于潜在机器人应用的观点注释。

Quadruped robots are currently used in industrial robotics as mechanical aid to automate several routine tasks. However, presently, the usage of such a robot in a domestic setting is still very much a part of the research. This paper discusses the understanding and virtual simulation of such a robot capable of detecting and understanding human emotions, generating its gait, and responding via sounds and expression on a screen. To this end, we use a combination of reinforcement learning and software engineering concepts to simulate a quadruped robot that can understand emotions, navigate through various terrains and detect sound sources, and respond to emotions using audio-visual feedback. This paper aims to establish the framework of simulating a quadruped robot that is emotionally intelligent and can primarily respond to audio-visual stimuli using motor or audio response. The emotion detection from the speech was not as performant as ERANNs or Zeta Policy learning, still managing an accuracy of 63.5%. The video emotion detection system produced results that are almost at par with the state of the art, with an accuracy of 99.66%. Due to its "on-policy" learning process, the PPO algorithm was extremely rapid to learn, allowing the simulated dog to demonstrate a remarkably seamless gait across the different cadences and variations. This enabled the quadruped robot to respond to generated stimuli, allowing us to conclude that it functions as predicted and satisfies the aim of this work.

Text-to-text generation models have increasingly become the go-to solution for a wide variety of sequence labeling tasks (e.g., entity extraction and dialog slot filling). While most research has focused on the labeling accuracy, a key aspect -- of vital practical importance -- has slipped through the cracks: understanding model confidence. More specifically, we lack a principled understanding of how to reliably gauge the confidence of a model in its predictions for each labeled span. This paper aims to provide some empirical insights on estimating model confidence for generative sequence labeling. Most notably, we find that simply using the decoder's output probabilities is not the best in realizing well-calibrated confidence estimates. As verified over six public datasets of different tasks, we show that our proposed approach -- which leverages statistics from top-$k$ predictions by a beam search -- significantly reduces calibration errors of the predictions of a generative sequence labeling model.

We consider the task of text generation in language models with constraints specified in natural language. To this end, we first create a challenging benchmark Cognac that provides as input to the model a topic with example text, along with a constraint on text to be avoided. Unlike prior work, our benchmark contains knowledge-intensive constraints sourced from databases like Wordnet and Wikidata, which allows for straightforward evaluation while striking a balance between broad attribute-level and narrow lexical-level controls. We find that even state-of-the-art language models like GPT-3 fail often on this task, and propose a solution to leverage a language model's own internal knowledge to guide generation. Our method, called CognacGen, first queries the language model to generate guidance terms for a specified topic or constraint, and uses the guidance to modify the model's token generation probabilities. We propose three forms of guidance (binary verifier, top-k tokens, textual example), and employ prefix-tuning approaches to distill the guidance to tackle diverse natural language constraints. Through extensive empirical evaluations, we demonstrate that CognacGen can successfully generalize to unseen instructions and outperform competitive baselines in generating constraint conforming text.

Language models have been shown to perform better with an increase in scale on a wide variety of tasks via the in-context learning paradigm. In this paper, we investigate the hypothesis that the ability of a large language model to in-context learn-perform a task is not uniformly spread across all of its underlying components. Using a 66 billion parameter language model (OPT-66B) across a diverse set of 14 downstream tasks, we find this is indeed the case: $\sim$70% of attention heads and $\sim$20% of feed forward networks can be removed with minimal decline in task performance. We find substantial overlap in the set of attention heads (un)important for in-context learning across tasks and number of in-context examples. We also address our hypothesis through a task-agnostic lens, finding that a small set of attention heads in OPT-66B score highly on their ability to perform primitive induction operations associated with in-context learning, namely, prefix matching and copying. These induction heads overlap with task-specific important heads, suggesting that induction heads are among the heads capable of more sophisticated behaviors associated with in-context learning. Overall, our study provides several insights that indicate large language models may be under-trained to perform in-context learning and opens up questions on how to pre-train language models to more effectively perform in-context learning.

The number of international benchmarking competitions is steadily increasing in various fields of machine learning (ML) research and practice. So far, however, little is known about the common practice as well as bottlenecks faced by the community in tackling the research questions posed. To shed light on the status quo of algorithm development in the specific field of biomedical imaging analysis, we designed an international survey that was issued to all participants of challenges conducted in conjunction with the IEEE ISBI 2021 and MICCAI 2021 conferences (80 competitions in total). The survey covered participants' expertise and working environments, their chosen strategies, as well as algorithm characteristics. A median of 72% challenge participants took part in the survey. According to our results, knowledge exchange was the primary incentive (70%) for participation, while the reception of prize money played only a minor role (16%). While a median of 80 working hours was spent on method development, a large portion of participants stated that they did not have enough time for method development (32%). 25% perceived the infrastructure to be a bottleneck. Overall, 94% of all solutions were deep learning-based. Of these, 84% were based on standard architectures. 43% of the respondents reported that the data samples (e.g., images) were too large to be processed at once. This was most commonly addressed by patch-based training (69%), downsampling (37%), and solving 3D analysis tasks as a series of 2D tasks. K-fold cross-validation on the training set was performed by only 37% of the participants and only 50% of the participants performed ensembling based on multiple identical models (61%) or heterogeneous models (39%). 48% of the respondents applied postprocessing steps.

Fine-tuning pre-trained language models (PLMs) achieves impressive performance on a range of downstream tasks, and their sizes have consequently been getting bigger. Since a different copy of the model is required for each task, this paradigm is infeasible for storage-constrained edge devices like mobile phones. In this paper, we propose SPARTAN, a parameter efficient (PE) and computationally fast architecture for edge devices that adds hierarchically organized sparse memory after each Transformer layer. SPARTAN freezes the PLM parameters and fine-tunes only its memory, thus significantly reducing storage costs by re-using the PLM backbone for different tasks. SPARTAN contains two levels of memory, with only a sparse subset of parents being chosen in the first level for each input, and children cells corresponding to those parents being used to compute an output representation. This sparsity combined with other architecture optimizations improves SPARTAN's throughput by over 90% during inference on a Raspberry Pi 4 when compared to PE baselines (adapters) while also outperforming the latter by 0.1 points on the GLUE benchmark. Further, it can be trained 34% faster in a few-shot setting, while performing within 0.9 points of adapters. Qualitative analysis shows that different parent cells in SPARTAN specialize in different topics, thus dividing responsibility efficiently.

Deep learning based text-to-speech (TTS) systems have been evolving rapidly with advances in model architectures, training methodologies, and generalization across speakers and languages. However, these advances have not been thoroughly investigated for Indian language speech synthesis. Such investigation is computationally expensive given the number and diversity of Indian languages, relatively lower resource availability, and the diverse set of advances in neural TTS that remain untested. In this paper, we evaluate the choice of acoustic models, vocoders, supplementary loss functions, training schedules, and speaker and language diversity for Dravidian and Indo-Aryan languages. Based on this, we identify monolingual models with FastPitch and HiFi-GAN V1, trained jointly on male and female speakers to perform the best. With this setup, we train and evaluate TTS models for 13 languages and find our models to significantly improve upon existing models in all languages as measured by mean opinion scores. We open-source all models on the Bhashini platform.