Despite recent progress in Natural Language Understanding (NLU), the creation of multilingual NLU systems remains a challenge. It is common to have NLU systems limited to a subset of languages due to lack of available data. They also often vary widely in performance. We launch a three-phase approach to address the limitations in NLU and help propel NLU technology to new heights. We release a 52 language dataset called the Multilingual Amazon SLU resource package (SLURP) for Slot-filling, Intent classification, and Virtual assistant Evaluation, or MASSIVE, in an effort to address parallel data availability for voice assistants. We organize the Massively Multilingual NLU 2022 Challenge to provide a competitive environment and push the state-of-the art in the transferability of models into other languages. Finally, we host the first Massively Multilingual NLU workshop which brings these components together. The MMNLU workshop seeks to advance the science behind multilingual NLU by providing a platform for the presentation of new research in the field and connecting teams working on this research direction. This paper summarizes the dataset, workshop and the competition and the findings of each phase.

我们介绍了用于插槽，意图分类和虚拟助手评估的大规模数据集 - 数字亚马逊SLU资源包（SLURP）。大规模包含1M现实，平行，标记为虚拟助手的话语，涵盖51种语言，18个域，60个意图和55个插槽。通过任务专业翻译人员将仅英文slurp数据集定位为29属的50种类型多样性的语言来创建大规模。我们还介绍了XLM-R和MT5上的建模结果，包括精确的匹配精度，意图分类精度和插槽填充F1分数。我们已经公开发布了数据集，建模代码和模型。

Vision transformers have emerged as powerful tools for many computer vision tasks. It has been shown that their features and class tokens can be used for salient object segmentation. However, the properties of segmentation transformers remain largely unstudied. In this work we conduct an in-depth study of the spatial attentions of different backbone layers of semantic segmentation transformers and uncover interesting properties. The spatial attentions of a patch intersecting with an object tend to concentrate within the object, whereas the attentions of larger, more uniform image areas rather follow a diffusive behavior. In other words, vision transformers trained to segment a fixed set of object classes generalize to objects well beyond this set. We exploit this by extracting heatmaps that can be used to segment unknown objects within diverse backgrounds, such as obstacles in traffic scenes. Our method is training-free and its computational overhead negligible. We use off-the-shelf transformers trained for street-scene segmentation to process other scene types.

Deep neural networks (DNNs) are found to be vulnerable to adversarial attacks, and various methods have been proposed for the defense. Among these methods, adversarial training has been drawing increasing attention because of its simplicity and effectiveness. However, the performance of the adversarial training is greatly limited by the architectures of target DNNs, which often makes the resulting DNNs with poor accuracy and unsatisfactory robustness. To address this problem, we propose DSARA to automatically search for the neural architectures that are accurate and robust after adversarial training. In particular, we design a novel cell-based search space specially for adversarial training, which improves the accuracy and the robustness upper bound of the searched architectures by carefully designing the placement of the cells and the proportional relationship of the filter numbers. Then we propose a two-stage search strategy to search for both accurate and robust neural architectures. At the first stage, the architecture parameters are optimized to minimize the adversarial loss, which makes full use of the effectiveness of the adversarial training in enhancing the robustness. At the second stage, the architecture parameters are optimized to minimize both the natural loss and the adversarial loss utilizing the proposed multi-objective adversarial training method, so that the searched neural architectures are both accurate and robust. We evaluate the proposed algorithm under natural data and various adversarial attacks, which reveals the superiority of the proposed method in terms of both accurate and robust architectures. We also conclude that accurate and robust neural architectures tend to deploy very different structures near the input and the output, which has great practical significance on both hand-crafting and automatically designing of accurate and robust neural architectures.

Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of tactile sensors makes them a perfect match for haptic feedback applications. In this paper, we propose a contact force estimation method using the vision-based tactile sensor DIGIT, and apply it to a position-force teleoperation architecture for force feedback. The force estimation is done by building a depth map for DIGIT gel surface deformation measurement and applying a regression algorithm on estimated depth data and ground truth force data to get the depth-force relationship. The experiment is performed by constructing a grasping force feedback system with a haptic device as a leader robot and a parallel robot gripper as a follower robot, where the DIGIT sensor is attached to the tip of the robot gripper to estimate the contact force. The preliminary results show the capability of using the low-cost vision-based sensor for force feedback applications.

Active learning as a paradigm in deep learning is especially important in applications involving intricate perception tasks such as object detection where labels are difficult and expensive to acquire. Development of active learning methods in such fields is highly computationally expensive and time consuming which obstructs the progression of research and leads to a lack of comparability between methods. In this work, we propose and investigate a sandbox setup for rapid development and transparent evaluation of active learning in deep object detection. Our experiments with commonly used configurations of datasets and detection architectures found in the literature show that results obtained in our sandbox environment are representative of results on standard configurations. The total compute time to obtain results and assess the learning behavior can thereby be reduced by factors of up to 14 when comparing with Pascal VOC and up to 32 when comparing with BDD100k. This allows for testing and evaluating data acquisition and labeling strategies in under half a day and contributes to the transparency and development speed in the field of active learning for object detection.

Recently, evolutionary multitasking (EMT) has been successfully used in the field of high-dimensional classification. However, the generation of multiple tasks in the existing EMT-based feature selection (FS) methods is relatively simple, using only the Relief-F method to collect related features with similar importance into one task, which cannot provide more diversified tasks for knowledge transfer. Thus, this paper devises a new EMT algorithm for FS in high-dimensional classification, which first adopts different filtering methods to produce multiple tasks and then modifies a competitive swarm optimizer to efficiently solve these related tasks via knowledge transfer. First, a diversified multiple task generation method is designed based on multiple filtering methods, which generates several relevant low-dimensional FS tasks by eliminating irrelevant features. In this way, useful knowledge for solving simple and relevant tasks can be transferred to simplify and speed up the solution of the original high-dimensional FS task. Then, a competitive swarm optimizer is modified to simultaneously solve these relevant FS tasks by transferring useful knowledge among them. Numerous empirical results demonstrate that the proposed EMT-based FS method can obtain a better feature subset than several state-of-the-art FS methods on eighteen high-dimensional datasets.

We present hierarchical policy blending as optimal transport (HiPBOT). This hierarchical framework adapts the weights of low-level reactive expert policies, adding a look-ahead planning layer on the parameter space of a product of expert policies and agents. Our high-level planner realizes a policy blending via unbalanced optimal transport, consolidating the scaling of underlying Riemannian motion policies, effectively adjusting their Riemannian matrix, and deciding over the priorities between experts and agents, guaranteeing safety and task success. Our experimental results in a range of application scenarios from low-dimensional navigation to high-dimensional whole-body control showcase the efficacy and efficiency of HiPBOT, which outperforms state-of-the-art baselines that either perform probabilistic inference or define a tree structure of experts, paving the way for new applications of optimal transport to robot control. More material at https://sites.google.com/view/hipobot

Current state-of-the-art deep neural networks for image classification are made up of 10 - 100 million learnable weights and are therefore inherently prone to overfitting. The complexity of the weight count can be seen as a function of the number of channels, the spatial extent of the input and the number of layers of the network. Due to the use of convolutional layers the scaling of weight complexity is usually linear with regards to the resolution dimensions, but remains quadratic with respect to the number of channels. Active research in recent years in terms of using multigrid inspired ideas in deep neural networks have shown that on one hand a significant number of weights can be saved by appropriate weight sharing and on the other that a hierarchical structure in the channel dimension can improve the weight complexity to linear. In this work, we combine these multigrid ideas to introduce a joint framework of multigrid inspired architectures, that exploit multigrid structures in all relevant dimensions to achieve linear weight complexity scaling and drastically reduced weight counts. Our experiments show that this structured reduction in weight count is able to reduce overfitting and thus shows improved performance over state-of-the-art ResNet architectures on typical image classification benchmarks at lower network complexity.

解释视觉场景的含义不仅需要识别其成分对象，还需要对象相互关系的丰富语义表征。在这里，我们通过将现代计算技术应用于复杂自然场景引起的人类脑反应的大规模7T fMRI数据集，研究视觉语义转换的神经机制。使用通过将语言深度学习模型应用于人类生成的场景描述获得的语义嵌入，我们确定了编码语义场景描述的大脑区域的广泛分布网络。重要的是，这些语义嵌入比传统对象类别标签更好地解释了这些区域的活动。此外，尽管参与者没有积极从事语义任务，但它们还是活动的有效预测指标，这表明Visuo-Semantic转换是默认的视觉方式。为了支持这种观点，我们表明，可以直接通过大脑活动模式直接将场景字幕的高度精确重建。最后，经过语义嵌入训练的经常性卷积神经网络进一步超过了语义嵌入在预测大脑活动时的语义嵌入，从而提供了大脑视觉语义转换的机械模型。这些实验和计算结果在一起表明，将视觉输入转换为丰富的语义场景描述可能是视觉系统的核心目标，并且将重点放在这一新目标上可能会导致改进人类大脑中视觉信息处理的模型。