In this paper, we present the Circular Accessible Depth (CAD), a robust traversability representation for an unmanned ground vehicle (UGV) to learn traversability in various scenarios containing irregular obstacles. To predict CAD, we propose a neural network, namely CADNet, with an attention-based multi-frame point cloud fusion module, Stability-Attention Module (SAM), to encode the spatial features from point clouds captured by LiDAR. CAD is designed based on the polar coordinate system and focuses on predicting the border of traversable area. Since it encodes the spatial information of the surrounding environment, which enables a semi-supervised learning for the CADNet, and thus desirably avoids annotating a large amount of data. Extensive experiments demonstrate that CAD outperforms baselines in terms of robustness and precision. We also implement our method on a real UGV and show that it performs well in real-world scenarios.

This paper presents a simple and effective visual prompting method for adapting pre-trained models to downstream recognition tasks. Our method includes two key designs. First, rather than directly adding together the prompt and the image, we treat the prompt as an extra and independent learnable component. We show that the strategy of reconciling the prompt and the image matters, and find that warping the prompt around a properly shrinked image empirically works the best. Second, we re-introduce two "old tricks" commonly used in building transferable adversarial examples, i.e., input diversity and gradient normalization, into visual prompting. These techniques improve optimization and enable the prompt to generalize better. We provide extensive experimental results to demonstrate the effectiveness of our method. Using a CLIP model, our prompting method sets a new record of 82.8% average accuracy across 12 popular classification datasets, substantially surpassing the prior art by +5.6%. It is worth noting that this prompting performance already outperforms linear probing by +2.1% and can even match fully fine-tuning in certain datasets. In addition, our prompting method shows competitive performance across different data scales and against distribution shifts. The code is publicly available at https://github.com/UCSC-VLAA/EVP.

Pre-trained language models for programming languages have shown a powerful ability on processing many Software Engineering (SE) tasks, e.g., program synthesis, code completion, and code search. However, it remains to be seen what is behind their success. Recent studies have examined how pre-trained models can effectively learn syntax information based on Abstract Syntax Trees. In this paper, we figure out what role the self-attention mechanism plays in understanding code syntax and semantics based on AST and static analysis. We focus on a well-known representative code model, CodeBERT, and study how it can learn code syntax and semantics by the self-attention mechanism and Masked Language Modelling (MLM) at the token level. We propose a group of probing tasks to analyze CodeBERT. Based on AST and static analysis, we establish the relationships among the code tokens. First, Our results show that CodeBERT can acquire syntax and semantics knowledge through self-attention and MLM. Second, we demonstrate that the self-attention mechanism pays more attention to dependence-relationship tokens than to other tokens. Different attention heads play different roles in learning code semantics; we show that some of them are weak at encoding code semantics. Different layers have different competencies to represent different code properties. Deep CodeBERT layers can encode the semantic information that requires some complex inference in the code context. More importantly, we show that our analysis is helpful and leverage our conclusions to improve CodeBERT. We show an alternative approach for pre-training models, which makes fully use of the current pre-training strategy, i.e, MLM, to learn code syntax and semantics, instead of combining features from different code data formats, e.g., data-flow, running-time states, and program outputs.

Unsupervised pre-training on millions of digital-born or scanned documents has shown promising advances in visual document understanding~(VDU). While various vision-language pre-training objectives are studied in existing solutions, the document textline, as an intrinsic granularity in VDU, has seldom been explored so far. A document textline usually contains words that are spatially and semantically correlated, which can be easily obtained from OCR engines. In this paper, we propose Wukong-Reader, trained with new pre-training objectives to leverage the structural knowledge nested in document textlines. We introduce textline-region contrastive learning to achieve fine-grained alignment between the visual regions and texts of document textlines. Furthermore, masked region modeling and textline-grid matching are also designed to enhance the visual and layout representations of textlines. Experiments show that our Wukong-Reader has superior performance on various VDU tasks such as information extraction. The fine-grained alignment over textlines also empowers Wukong-Reader with promising localization ability.

Hierarchical semantic structures, naturally existing in real-world datasets, can assist in capturing the latent distribution of data to learn robust hash codes for retrieval systems. Although hierarchical semantic structures can be simply expressed by integrating semantically relevant data into a high-level taxon with coarser-grained semantics, the construction, embedding, and exploitation of the structures remain tricky for unsupervised hash learning. To tackle these problems, we propose a novel unsupervised hashing method named Hyperbolic Hierarchical Contrastive Hashing (HHCH). We propose to embed continuous hash codes into hyperbolic space for accurate semantic expression since embedding hierarchies in hyperbolic space generates less distortion than in hyper-sphere space and Euclidean space. In addition, we extend the K-Means algorithm to hyperbolic space and perform the proposed hierarchical hyperbolic K-Means algorithm to construct hierarchical semantic structures adaptively. To exploit the hierarchical semantic structures in hyperbolic space, we designed the hierarchical contrastive learning algorithm, including hierarchical instance-wise and hierarchical prototype-wise contrastive learning. Extensive experiments on four benchmark datasets demonstrate that the proposed method outperforms the state-of-the-art unsupervised hashing methods. Codes will be released.

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.

We propose an interactive editing method that allows humans to help deep neural networks (DNNs) learn a latent space more consistent with human knowledge, thereby improving classification accuracy on indistinguishable ambiguous data. Firstly, we visualize high-dimensional data features through dimensionality reduction methods and design an interactive system \textit{SpaceEditing} to display the visualized data. \textit{SpaceEditing} provides a 2D workspace based on the idea of spatial layout. In this workspace, the user can move the projection data in it according to the system guidance. Then, \textit{SpaceEditing} will find the corresponding high-dimensional features according to the projection data moved by the user, and feed the high-dimensional features back to the network for retraining, therefore achieving the purpose of interactively modifying the high-dimensional latent space for the user. Secondly, to more rationally incorporate human knowledge into the training process of neural networks, we design a new loss function that enables the network to learn user-modified information. Finally, We demonstrate how \textit{SpaceEditing} meets user needs through three case studies while evaluating our proposed new method, and the results confirm the effectiveness of our method.

In the presence of noisy labels, designing robust loss functions is critical for securing the generalization performance of deep neural networks. Cross Entropy (CE) loss has been shown to be not robust to noisy labels due to its unboundedness. To alleviate this issue, existing works typically design specialized robust losses with the symmetric condition, which usually lead to the underfitting issue. In this paper, our key idea is to induce a loss bound at the logit level, thus universally enhancing the noise robustness of existing losses. Specifically, we propose logit clipping (LogitClip), which clamps the norm of the logit vector to ensure that it is upper bounded by a constant. In this manner, CE loss equipped with our LogitClip method is effectively bounded, mitigating the overfitting to examples with noisy labels. Moreover, we present theoretical analyses to certify the noise-tolerant ability of LogitClip. Extensive experiments show that LogitClip not only significantly improves the noise robustness of CE loss, but also broadly enhances the generalization performance of popular robust losses.

Recently, spoken dialogue systems have been widely deployed in a variety of applications, serving a huge number of end-users. A common issue is that the errors resulting from noisy utterances, semantic misunderstandings, or lack of knowledge make it hard for a real system to respond properly, possibly leading to an unsatisfactory user experience. To avoid such a case, we consider a proactive interaction mechanism where the system predicts the user satisfaction with the candidate response before giving it to the user. If the user is not likely to be satisfied according to the prediction, the system will ask the user a suitable question to determine the real intent of the user instead of providing the response directly. With such an interaction with the user, the system can give a better response to the user. Previous models that predict the user satisfaction are not applicable to DuerOS which is a large-scale commercial dialogue system. They are based on hand-crafted features and thus can hardly learn the complex patterns lying behind millions of conversations and temporal dependency in multiple turns of the conversation. Moreover, they are trained and evaluated on the benchmark datasets with adequate labels, which are expensive to obtain in a commercial dialogue system. To face these challenges, we propose a pipeline to predict the user satisfaction to help DuerOS decide whether to ask for clarification in each turn. Specifically, we propose to first generate a large number of weak labels and then train a transformer-based model to predict the user satisfaction with these weak labels. Empirically, we deploy and evaluate our model on DuerOS, and observe a 19% relative improvement on the accuracy of user satisfaction prediction and 2.3% relative improvement on user experience.

Multi-modal named entity recognition (NER) and relation extraction (RE) aim to leverage relevant image information to improve the performance of NER and RE. Most existing efforts largely focused on directly extracting potentially useful information from images (such as pixel-level features, identified objects, and associated captions). However, such extraction processes may not be knowledge aware, resulting in information that may not be highly relevant. In this paper, we propose a novel Multi-modal Retrieval based framework (MoRe). MoRe contains a text retrieval module and an image-based retrieval module, which retrieve related knowledge of the input text and image in the knowledge corpus respectively. Next, the retrieval results are sent to the textual and visual models respectively for predictions. Finally, a Mixture of Experts (MoE) module combines the predictions from the two models to make the final decision. Our experiments show that both our textual model and visual model can achieve state-of-the-art performance on four multi-modal NER datasets and one multi-modal RE dataset. With MoE, the model performance can be further improved and our analysis demonstrates the benefits of integrating both textual and visual cues for such tasks.