在交互环境中学习操纵3D对象一直是强化学习（RL）的挑战性问题。特别是，很难训练可以概括具有不同语义类别，多样形状几何形状和多功能功能的对象的策略。最近，视觉负担能力的技术在提供有效的可操作语义方面提供了以对象为中心的信息先验的前景。因此，可以通过知道如何在手柄上施加力来训练有效的政策来打开门。但是，要学习负担能力，它通常需要人为定义的动作基础，这限制了适用的任务范围。在这项研究中，我们通过使用RL训练过程中生成的联系信息来预测感兴趣的接触图，利用视觉负担。然后，这种联系预测过程会导致一个端到端的负担能力学习框架，该框架可以概括不同类型的操纵任务。令人惊讶的是，这种框架的有效性即使在多阶段和多代理场景下也具有。我们对八种类型的操纵任务进行了测试。结果表明，我们的方法优于基线算法，包括基于视觉的负担方法和RL方法，其成功率很大。演示可以在https://sites.google.com/view/rlafford/上找到。

As natural language processing (NLP) for gender bias becomes a significant interdisciplinary topic, the prevalent data-driven techniques such as large-scale language models suffer from data inadequacy and biased corpus, especially for languages with insufficient resources such as Chinese. To this end, we propose a Chinese cOrpus foR Gender bIas Probing and Mitigation CORGI-PM, which contains 32.9k sentences with high-quality labels derived by following an annotation scheme specifically developed for gender bias in the Chinese context. Moreover, we address three challenges for automatic textual gender bias mitigation, which requires the models to detect, classify, and mitigate textual gender bias. We also conduct experiments with state-of-the-art language models to provide baselines. To our best knowledge, CORGI-PM is the first sentence-level Chinese corpus for gender bias probing and mitigation.

Advances in computer vision and machine learning techniques have led to significant development in 2D and 3D human pose estimation from RGB cameras, LiDAR, and radars. However, human pose estimation from images is adversely affected by occlusion and lighting, which are common in many scenarios of interest. Radar and LiDAR technologies, on the other hand, need specialized hardware that is expensive and power-intensive. Furthermore, placing these sensors in non-public areas raises significant privacy concerns. To address these limitations, recent research has explored the use of WiFi antennas (1D sensors) for body segmentation and key-point body detection. This paper further expands on the use of the WiFi signal in combination with deep learning architectures, commonly used in computer vision, to estimate dense human pose correspondence. We developed a deep neural network that maps the phase and amplitude of WiFi signals to UV coordinates within 24 human regions. The results of the study reveal that our model can estimate the dense pose of multiple subjects, with comparable performance to image-based approaches, by utilizing WiFi signals as the only input. This paves the way for low-cost, broadly accessible, and privacy-preserving algorithms for human sensing.

As an important variant of entity alignment (EA), multi-modal entity alignment (MMEA) aims to discover identical entities across different knowledge graphs (KGs) with multiple modalities like images. However, current MMEA algorithms all adopt KG-level modality fusion strategies but ignore modality differences among individual entities, hurting the robustness to potential noise involved in modalities (e.g., unidentifiable images and relations). In this paper we present MEAformer, a multi-modal entity alignment transformer approach for meta modality hybrid, to dynamically predict the mutual correlation coefficients among modalities for instance-level feature fusion. A modal-aware hard entity replay strategy is also proposed for addressing vague entity details. Extensive experimental results show that our model not only achieves SOTA performance on multiple training scenarios including supervised, unsupervised, iterative, and low resource, but also has limited parameters, optimistic speed, and good interpretability. Our code will be available soon.

With an ever-growing number of parameters defining increasingly complex networks, Deep Learning has led to several breakthroughs surpassing human performance. As a result, data movement for these millions of model parameters causes a growing imbalance known as the memory wall. Neuromorphic computing is an emerging paradigm that confronts this imbalance by performing computations directly in analog memories. On the software side, the sequential Backpropagation algorithm prevents efficient parallelization and thus fast convergence. A novel method, Direct Feedback Alignment, resolves inherent layer dependencies by directly passing the error from the output to each layer. At the intersection of hardware/software co-design, there is a demand for developing algorithms that are tolerable to hardware nonidealities. Therefore, this work explores the interrelationship of implementing bio-plausible learning in-situ on neuromorphic hardware, emphasizing energy, area, and latency constraints. Using the benchmarking framework DNN+NeuroSim, we investigate the impact of hardware nonidealities and quantization on algorithm performance, as well as how network topologies and algorithm-level design choices can scale latency, energy and area consumption of a chip. To the best of our knowledge, this work is the first to compare the impact of different learning algorithms on Compute-In-Memory-based hardware and vice versa. The best results achieved for accuracy remain Backpropagation-based, notably when facing hardware imperfections. Direct Feedback Alignment, on the other hand, allows for significant speedup due to parallelization, reducing training time by a factor approaching N for N-layered networks.

Long document retrieval aims to fetch query-relevant documents from a large-scale collection, where knowledge distillation has become de facto to improve a retriever by mimicking a heterogeneous yet powerful cross-encoder. However, in contrast to passages or sentences, retrieval on long documents suffers from the scope hypothesis that a long document may cover multiple topics. This maximizes their structure heterogeneity and poses a granular-mismatch issue, leading to an inferior distillation efficacy. In this work, we propose a new learning framework, fine-grained distillation (FGD), for long-document retrievers. While preserving the conventional dense retrieval paradigm, it first produces global-consistent representations crossing different fine granularity and then applies multi-granular aligned distillation merely during training. In experiments, we evaluate our framework on two long-document retrieval benchmarks, which show state-of-the-art performance.

To improve the performance of the dual-encoder retriever, one effective approach is knowledge distillation from the cross-encoder ranker. Existing works construct the candidate passages following the supervised learning setting where a query is paired with a positive passage and a batch of negatives. However, through empirical observation, we find that even the hard negatives from advanced methods are still too trivial for the teacher to distinguish, preventing the teacher from transferring abundant dark knowledge to the student through its soft label. To alleviate this issue, we propose ADAM, a knowledge distillation framework that can better transfer the dark knowledge held in the teacher with Adaptive Dark exAMples. Different from previous works that only rely on one positive and hard negatives as candidate passages, we create dark examples that all have moderate relevance to the query through mixing-up and masking in discrete space. Furthermore, as the quality of knowledge held in different training instances varies as measured by the teacher's confidence score, we propose a self-paced distillation strategy that adaptively concentrates on a subset of high-quality instances to conduct our dark-example-based knowledge distillation to help the student learn better. We conduct experiments on two widely-used benchmarks and verify the effectiveness of our method.

Pretrained large-scale vision-language models like CLIP have exhibited strong generalization over unseen tasks. Yet imperceptible adversarial perturbations can significantly reduce CLIP's performance on new tasks. In this work, we identify and explore the problem of \emph{adapting large-scale models for zero-shot adversarial robustness}. We first identify two key factors during model adaption -- training losses and adaptation methods -- that affect the model's zero-shot adversarial robustness. We then propose a text-guided contrastive adversarial training loss, which aligns the text embeddings and the adversarial visual features with contrastive learning on a small set of training data. We apply this training loss to two adaption methods, model finetuning and visual prompt tuning. We find that visual prompt tuning is more effective in the absence of texts, while finetuning wins in the existence of text guidance. Overall, our approach significantly improves the zero-shot adversarial robustness over CLIP, seeing an average improvement of over 31 points over ImageNet and 15 zero-shot datasets. We hope this work can shed light on understanding the zero-shot adversarial robustness of large-scale models.

The fifth generation of the Radio Access Network (RAN) has brought new services, technologies, and paradigms with the corresponding societal benefits. However, the energy consumption of 5G networks is today a concern. In recent years, the design of new methods for decreasing the RAN power consumption has attracted interest from both the research community and standardization bodies, and many energy savings solutions have been proposed. However, there is still a need to understand the power consumption behavior of state-ofthe-art base station architectures, such as multi-carrier active antenna units (AAUs), as well as the impact of different network parameters. In this paper, we present a power consumption model for 5G AAUs based on artificial neural networks. We demonstrate that this model achieves good estimation performance, and it is able to capture the benefits of energy saving when dealing with the complexity of multi-carrier base stations architectures. Importantly, multiple experiments are carried out to show the advantage of designing a general model able to capture the power consumption behaviors of different types of AAUs. Finally, we provide an analysis of the model scalability and the training data requirements.

The input and output of most text generation tasks can be transformed to two sequences of tokens and they can be modeled using sequence-to-sequence learning modeling tools such as Transformers. These models are usually trained by maximizing the likelihood the output text sequence and assumes the input sequence and all gold preceding tokens are given during training, while during inference the model suffers from the exposure bias problem (i.e., it only has access to its previously predicted tokens rather gold tokens during beam search). In this paper, we propose MoCa ({\bf Mo}mentum {\bf Ca}libration) for text generation. MoCa is an online method that dynamically generates slowly evolving (but consistent) samples using a momentum moving average generator with beam search and MoCa learns to align its model scores of these samples with their actual qualities. Experiments on four text generation datasets (i.e., CNN/DailyMail, XSum, SAMSum and Gigaword) show MoCa consistently improves strong pre-trained transformers using vanilla fine-tuning and we achieve the state-of-the-art results on CNN/DailyMail and SAMSum datasets.