服务机器人安全有礼貌的机器人需要坚强地跟踪周围人，尤其是对于旅游指南机器人（TGR）。但是，由于以下原因，现有的多对象跟踪（MOT）或多人跟踪（MPT）方法不适用于TGR：1。缺乏相关的大型数据集；2.缺少适用的指标来评估跟踪器。在这项工作中，我们针对TGR的视觉感知任务，并介绍TGRDB数据集，TGRDB数据集是一种新颖的大型多人跟踪数据集，其中包含大约5.6小时的带注释视频和超过450个长期轨迹。此外，我们提出了一个更适合使用数据集评估跟踪器的指标。作为我们工作的一部分，我们提出了TGRMPT，这是一种新型的MPT系统，它结合了头部肩膀和全身的信息，并实现了最先进的性能。我们已经在https://github.com/wenwenzju/tgrmpt中发布了代码和数据集。

移动机器人的指导任务不仅需要人类感知导航，还需要适当但及时交互以获得活动指令。最先进的导游模型限制了他们的社会知识的考虑，以适应用户的运动，忽略互动行为计划以满足交际需求。我们提出了一种基于Monte Carlo树搜索的多行为规划框架，以更好地帮助用户了解令人困惑的场景上下文，选择正确的路径并及时到达目的地。为了提供主动指导，我们构建了一种基于采样的人类运动概率模型，以考虑机器人和人类之间的相互关联的影响。我们在模拟和现实世界实验中验证了我们的方法以及与最先进模型的性能比较。

The ability to jointly learn from multiple modalities, such as text, audio, and visual data, is a defining feature of intelligent systems. While there have been promising advances in designing neural networks to harness multimodal data, the enormous success of data augmentation currently remains limited to single-modality tasks like image classification. Indeed, it is particularly difficult to augment each modality while preserving the overall semantic structure of the data; for example, a caption may no longer be a good description of an image after standard augmentations have been applied, such as translation. Moreover, it is challenging to specify reasonable transformations that are not tailored to a particular modality. In this paper, we introduce LeMDA, Learning Multimodal Data Augmentation, an easy-to-use method that automatically learns to jointly augment multimodal data in feature space, with no constraints on the identities of the modalities or the relationship between modalities. We show that LeMDA can (1) profoundly improve the performance of multimodal deep learning architectures, (2) apply to combinations of modalities that have not been previously considered, and (3) achieve state-of-the-art results on a wide range of applications comprised of image, text, and tabular data.

The current optical communication systems minimize bit or symbol errors without considering the semantic meaning behind digital bits, thus transmitting a lot of unnecessary information. We propose and experimentally demonstrate a semantic optical fiber communication (SOFC) system. Instead of encoding information into bits for transmission, semantic information is extracted from the source using deep learning. The generated semantic symbols are then directly transmitted through an optical fiber. Compared with the bit-based structure, the SOFC system achieved higher information compression and a more stable performance, especially in the low received optical power regime, and enhanced the robustness against optical link impairments. This work introduces an intelligent optical communication system at the human analytical thinking level, which is a significant step toward a breakthrough in the current optical communication architecture.

In this paper, we study the use of deep Transformer translation model for the CCMT 2022 Chinese-Thai low-resource machine translation task. We first explore the experiment settings (including the number of BPE merge operations, dropout probability, embedding size, etc.) for the low-resource scenario with the 6-layer Transformer. Considering that increasing the number of layers also increases the regularization on new model parameters (dropout modules are also introduced when using more layers), we adopt the highest performance setting but increase the depth of the Transformer to 24 layers to obtain improved translation quality. Our work obtains the SOTA performance in the Chinese-to-Thai translation in the constrained evaluation.

In this paper, we propose PanoViT, a panorama vision transformer to estimate the room layout from a single panoramic image. Compared to CNN models, our PanoViT is more proficient in learning global information from the panoramic image for the estimation of complex room layouts. Considering the difference between a perspective image and an equirectangular image, we design a novel recurrent position embedding and a patch sampling method for the processing of panoramic images. In addition to extracting global information, PanoViT also includes a frequency-domain edge enhancement module and a 3D loss to extract local geometric features in a panoramic image. Experimental results on several datasets demonstrate that our method outperforms state-of-the-art solutions in room layout prediction accuracy.

Cooperative multi-agent reinforcement learning (c-MARL) is widely applied in safety-critical scenarios, thus the analysis of robustness for c-MARL models is profoundly important. However, robustness certification for c-MARLs has not yet been explored in the community. In this paper, we propose a novel certification method, which is the first work to leverage a scalable approach for c-MARLs to determine actions with guaranteed certified bounds. c-MARL certification poses two key challenges compared with single-agent systems: (i) the accumulated uncertainty as the number of agents increases; (ii) the potential lack of impact when changing the action of a single agent into a global team reward. These challenges prevent us from directly using existing algorithms. Hence, we employ the false discovery rate (FDR) controlling procedure considering the importance of each agent to certify per-state robustness and propose a tree-search-based algorithm to find a lower bound of the global reward under the minimal certified perturbation. As our method is general, it can also be applied in single-agent environments. We empirically show that our certification bounds are much tighter than state-of-the-art RL certification solutions. We also run experiments on two popular c-MARL algorithms: QMIX and VDN, in two different environments, with two and four agents. The experimental results show that our method produces meaningful guaranteed robustness for all models and environments. Our tool CertifyCMARL is available at https://github.com/TrustAI/CertifyCMA

The architecture of transformers, which recently witness booming applications in vision tasks, has pivoted against the widespread convolutional paradigm. Relying on the tokenization process that splits inputs into multiple tokens, transformers are capable of extracting their pairwise relationships using self-attention. While being the stemming building block of transformers, what makes for a good tokenizer has not been well understood in computer vision. In this work, we investigate this uncharted problem from an information trade-off perspective. In addition to unifying and understanding existing structural modifications, our derivation leads to better design strategies for vision tokenizers. The proposed Modulation across Tokens (MoTo) incorporates inter-token modeling capability through normalization. Furthermore, a regularization objective TokenProp is embraced in the standard training regime. Through extensive experiments on various transformer architectures, we observe both improved performance and intriguing properties of these two plug-and-play designs with negligible computational overhead. These observations further indicate the importance of the commonly-omitted designs of tokenizers in vision transformer.

Pre-trained large language models can efficiently interpolate human-written prompts in a natural way. Multitask prompted learning can help generalization through a diverse set of tasks at once, thus enhancing the potential for more effective downstream fine-tuning. To perform efficient multitask-inference in the same batch, parameter-efficient fine-tuning methods such as prompt tuning have been proposed. However, the existing prompt tuning methods may lack generalization. We propose SPT, a semi-parametric prompt tuning method for multitask prompted learning. The novel component of SPT is a memory bank from where memory prompts are retrieved based on discrete prompts. Extensive experiments, such as (i) fine-tuning a full language model with SPT on 31 different tasks from 8 different domains and evaluating zero-shot generalization on 9 heldout datasets under 5 NLP task categories and (ii) pretraining SPT on the GLUE datasets and evaluating fine-tuning on the SuperGLUE datasets, demonstrate effectiveness of SPT.

We propose an extrinsic Bayesian optimization (eBO) framework for general optimization problems on manifolds. Bayesian optimization algorithms build a surrogate of the objective function by employing Gaussian processes and quantify the uncertainty in that surrogate by deriving an acquisition function. This acquisition function represents the probability of improvement based on the kernel of the Gaussian process, which guides the search in the optimization process. The critical challenge for designing Bayesian optimization algorithms on manifolds lies in the difficulty of constructing valid covariance kernels for Gaussian processes on general manifolds. Our approach is to employ extrinsic Gaussian processes by first embedding the manifold onto some higher dimensional Euclidean space via equivariant embeddings and then constructing a valid covariance kernel on the image manifold after the embedding. This leads to efficient and scalable algorithms for optimization over complex manifolds. Simulation study and real data analysis are carried out to demonstrate the utilities of our eBO framework by applying the eBO to various optimization problems over manifolds such as the sphere, the Grassmannian, and the manifold of positive definite matrices.