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Comprehensive Solution Program Centric Pretraining for Table-and-Text Hybrid Numerical Reasoning
May 12, 2023
Numerical reasoning over table-and-text hybrid passages, such as financial reports, poses significant challenges and has numerous potential applications. Noise and irrelevant variables in the model input have been a hindrance to its performance. Additionally, coarse-grained supervision of the whole solution program has impeded the model's ability to learn the underlying numerical reasoning process. In this paper, we propose three pretraining tasks that operate at both the whole program and sub-program level: Variable Integrity Ranking, which guides the model to focus on useful variables; Variable Operator Prediction, which decomposes the supervision into fine-grained single operator prediction; and Variable Keyphrase Masking, which encourages the model to identify key evidence that sub-programs are derived from. Experimental results demonstrate the effectiveness of our proposed methods, surpassing transformer-based model baselines.
Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives
Mar 29, 2023
Thanks to the augmented convenience, safety advantages, and potential commercial value, Intelligent vehicles (IVs) have attracted wide attention throughout the world. Although a few autonomous driving unicorns assert that IVs will be commercially deployable by 2025, their implementation is still restricted to small-scale validation due to various issues, among which precise computation of control commands or trajectories by planning methods remains a prerequisite for IVs. This paper aims to review state-of-the-art planning methods, including pipeline planning and end-to-end planning methods. In terms of pipeline methods, a survey of selecting algorithms is provided along with a discussion of the expansion and optimization mechanisms, whereas in end-to-end methods, the training approaches and verification scenarios of driving tasks are points of concern. Experimental platforms are reviewed to facilitate readers in selecting suitable training and validation methods. Finally, the current challenges and future directions are discussed. The side-by-side comparison presented in this survey not only helps to gain insights into the strengths and limitations of the reviewed methods but also assists with system-level design choices.
Optimizing Facial Expressions of an Android Robot Effectively: a Bayesian Optimization Approach
Jan 13, 2023
Expressing various facial emotions is an important social ability for efficient communication between humans. A key challenge in human-robot interaction research is providing androids with the ability to make various human-like facial expressions for efficient communication with humans. The android Nikola, we have developed, is equipped with many actuators for facial muscle control. While this enables Nikola to simulate various human expressions, it also complicates identification of the optimal parameters for producing desired expressions. Here, we propose a novel method that automatically optimizes the facial expressions of our android. We use a machine vision algorithm to evaluate the magnitudes of seven basic emotions, and employ the Bayesian Optimization algorithm to identify the parameters that produce the most convincing facial expressions. Evaluations by naive human participants demonstrate that our method improves the rated strength of the android's facial expressions of anger, disgust, sadness, and surprise compared with the previous method that relied on Ekman's theory and parameter adjustments by a human expert.