The Latest Papers about AI
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A Rubric for Human-like Agents and NeuroAI
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Researchers across cognitive, neuro-, and computer sciences increasingly reference human-like artificial intelligence and neuroAI. However, the scope and use of the terms are often inconsistent. Contributed research ranges widely from mimicking behaviour, to testing machine learning methods as neurally plausible hypotheses at the cellular or functional levels, or solving engineering problems. However, it cannot be assumed nor expected that progress on one of these three goals will automatically translate to progress in others. Here a simple rubric is proposed to clarify the scope of individual contributions, grounded in their commitments to human-like behaviour, neural plausibility, or benchmark/engineering goals. This is clarified using examples of weak and strong neuroAI and human-like agents, and discussing the generative, corroborate, and corrective ways in which the three dimensions interact with one another. The author maintains that future progress in artificial intelligence will need strong interactions across the disciplines, with iterative feedback loops and meticulous validity tests, leading to both known and yet-unknown advances that may span decades to come.
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https://arxiv.org/abs/2212.04401
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Multi-View Mesh Reconstruction with Neural Deferred Shading
2022-12-08 16:29:46Markus Worchel, Rodrigo Diaz, Weiwen Hu, Oliver Schreer, Ingo Feldmann, Peter EisertAbstract
We propose an analysis-by-synthesis method for fast multi-view 3D reconstruction of opaque objects with arbitrary materials and illumination. State-of-the-art methods use both neural surface representations and neural rendering. While flexible, neural surface representations are a significant bottleneck in optimization runtime. Instead, we represent surfaces as triangle meshes and build a differentiable rendering pipeline around triangle rasterization and neural shading. The renderer is used in a gradient descent optimization where both a triangle mesh and a neural shader are jointly optimized to reproduce the multi-view images. We evaluate our method on a public 3D reconstruction dataset and show that it can match the reconstruction accuracy of traditional baselines and neural approaches while surpassing them in optimization runtime. Additionally, we investigate the shader and find that it learns an interpretable representation of appearance, enabling applications such as 3D material editing.
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https://arxiv.org/abs/2212.04386
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BEVBert: Topo-Metric Map Pre-training for Language-guided Navigation
2022-12-08 16:27:54Dong An, Yuankai Qi, Yangguang Li, Yan Huang, Liang Wang, Tieniu Tan, Jing ShaoAbstract
Existing approaches for vision-and-language navigation (VLN) are mainly based on cross-modal reasoning over discrete views. However, this scheme may hamper an agent's spatial and numerical reasoning because of incomplete objects within a single view and duplicate observations across views. A potential solution is mapping discrete views into a unified birds's-eye view, which can aggregate partial and duplicate observations. Existing metric maps could achieve this goal, but they suffer from less expressive semantics (e.g. usually predefined labels) and limited map size, which weakens an agent's language grounding and long-term planning ability. Inspired by the robotics community, we introduce hybrid topo-metric maps into VLN, where a topological map is used for long-term planning and a metric map for short-term reasoning. Beyond mapping with more expressive deep features, we further design a pre-training framework via the hybrid map to learn language-informed map representations, which enhances cross-modal grounding and facilitates the final language-guided navigation goal. Extensive experiments demonstrate the effectiveness of the map-based route for VLN, and the proposed method sets the new state-of-the-art on three VLN benchmarks.
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https://arxiv.org/abs/2212.04385
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Models Developed for Spiking Neural Networks
2022-12-08 16:18:53Shahriar Rezghi Shirsavar, Abdol-Hossein Vahabie, Mohammad-Reza A. DehaqaniAbstract
Emergence of deep neural networks (DNNs) has raised enormous attention towards artificial neural networks (ANNs) once again. They have become the state-of-the-art models and have won different machine learning challenges. Although these networks are inspired by the brain, they lack biological plausibility, and they have structural differences compared to the brain. Spiking neural networks (SNNs) have been around for a long time, and they have been investigated to understand the dynamics of the brain. However, their application in real-world and complicated machine learning tasks were limited. Recently, they have shown great potential in solving such tasks. Due to their energy efficiency and temporal dynamics there are many promises in their future development. In this work, we reviewed the structures and performances of SNNs on image classification tasks. The comparisons illustrate that these networks show great capabilities for more complicated problems. Furthermore, the simple learning rules developed for SNNs, such as STDP and R-STDP, can be a potential alternative to replace the backpropagation algorithm used in DNNs.
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https://arxiv.org/abs/2212.04377
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Monocular Camera and Single-Beam Sonar-Based Underwater Collision-Free Navigation with Domain Randomization
2022-12-08 16:15:04Pengzhi Yang, Haowen Liu, Monika Roznere, Alberto Quattrini LiAbstract
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater robots are scant and costly; and many sensors like RGB-D cameras and LiDAR only work in-air. To enable reliable mapless underwater navigation despite these challenges, we propose a low-cost end-to-end navigation system, based on a monocular camera and a fixed single-beam echo-sounder, that efficiently navigates an underwater robot to waypoints while avoiding nearby obstacles. Our proposed method is based on Proximal Policy Optimization (PPO), which takes as input current relative goal information, estimated depth images, echo-sounder readings, and previous executed actions, and outputs 3D robot actions in a normalized scale. End-to-end training was done in simulation, where we adopted domain randomization (varying underwater conditions and visibility) to learn a robust policy against noise and changes in visibility conditions. The experiments in simulation and real-world demonstrated that our proposed method is successful and resilient in navigating a low-cost underwater robot in unknown underwater environments. The implementation is made publicly available at this https URL.
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https://arxiv.org/abs/2212.04373
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Alleviating neighbor bias: augmenting graph self-supervise learning with structural equivalent positive samples
2022-12-08 16:04:06Jiawei Zhu, Mei Hong, Ronghua Du, Haifeng LiAbstract
In recent years, using a self-supervised learning framework to learn the general characteristics of graphs has been considered a promising paradigm for graph representation learning. The core of self-supervised learning strategies for graph neural networks lies in constructing suitable positive sample selection strategies. However, existing GNNs typically aggregate information from neighboring nodes to update node representations, leading to an over-reliance on neighboring positive samples, i.e., homophilous samples; while ignoring long-range positive samples, i.e., positive samples that are far apart on the graph but structurally equivalent samples, a problem we call "neighbor bias." This neighbor bias can reduce the generalization performance of GNNs. In this paper, we argue that the generalization properties of GNNs should be determined by combining homogeneous samples and structurally equivalent samples, which we call the "GC combination hypothesis." Therefore, we propose a topological signal-driven self-supervised method. It uses a topological information-guided structural equivalence sampling strategy. First, we extract multiscale topological features using persistent homology. Then we compute the structural equivalence of node pairs based on their topological features. In particular, we design a topological loss function to pull in non-neighboring node pairs with high structural equivalence in the representation space to alleviate neighbor bias. Finally, we use the joint training mechanism to adjust the effect of structural equivalence on the model to fit datasets with different characteristics. We conducted experiments on the node classification task across seven graph datasets. The results show that the model performance can be effectively improved using a strategy of topological signal enhancement.
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https://arxiv.org/abs/2212.04365
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CiaoSR: Continuous Implicit Attention-in-Attention Network for Arbitrary-Scale Image Super-Resolution
2022-12-08 15:57:46Jiezhang Cao, Qin Wang, Yongqin Xian, Yawei Li, Bingbing Ni, Zhiming Pi, Kai Zhang, Yulun Zhang, Radu Timofte, Luc Van GoolAbstract
Learning continuous image representations is recently gaining popularity for image super-resolution (SR) because of its ability to reconstruct high-resolution images with arbitrary scales from low-resolution inputs. Existing methods mostly ensemble nearby features to predict the new pixel at any queried coordinate in the SR image. Such a local ensemble suffers from some limitations: i) it has no learnable parameters and it neglects the similarity of the visual features; ii) it has a limited receptive field and cannot ensemble relevant features in a large field which are important in an image; iii) it inherently has a gap with real camera imaging since it only depends on the coordinate. To address these issues, this paper proposes a continuous implicit attention-in-attention network, called CiaoSR. We explicitly design an implicit attention network to learn the ensemble weights for the nearby local features. Furthermore, we embed a scale-aware attention in this implicit attention network to exploit additional non-local information. Extensive experiments on benchmark datasets demonstrate CiaoSR significantly outperforms the existing single image super resolution (SISR) methods with the same backbone. In addition, the proposed method also achieves the state-of-the-art performance on the arbitrary-scale SR task. The effectiveness of the method is also demonstrated on the real-world SR setting. More importantly, CiaoSR can be flexibly integrated into any backbone to improve the SR performance.
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https://arxiv.org/abs/2212.04362
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MIME: Human-Aware 3D Scene Generation
2022-12-08 15:56:17Hongwei Yi, Chun-Hao P. Huang, Shashank Tripathi, Lea Hering, Justus Thies, Michael J. BlackAbstract
Generating realistic 3D worlds occupied by moving humans has many applications in games, architecture, and synthetic data creation. But generating such scenes is expensive and labor intensive. Recent work generates human poses and motions given a 3D scene. Here, we take the opposite approach and generate 3D indoor scenes given 3D human motion. Such motions can come from archival motion capture or from IMU sensors worn on the body, effectively turning human movement in a "scanner" of the 3D world. Intuitively, human movement indicates the free-space in a room and human contact indicates surfaces or objects that support activities such as sitting, lying or touching. We propose MIME (Mining Interaction and Movement to infer 3D Environments), which is a generative model of indoor scenes that produces furniture layouts that are consistent with the human movement. MIME uses an auto-regressive transformer architecture that takes the already generated objects in the scene as well as the human motion as input, and outputs the next plausible object. To train MIME, we build a dataset by populating the 3D FRONT scene dataset with 3D humans. Our experiments show that MIME produces more diverse and plausible 3D scenes than a recent generative scene method that does not know about human movement. Code and data will be available for research at this https URL.
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https://arxiv.org/abs/2212.04360
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HERD: Continuous Human-to-Robot Evolution for Learning from Human Demonstration
2022-12-08 15:56:13Xingyu Liu, Deepak Pathak, Kris M. KitaniAbstract
The ability to learn from human demonstration endows robots with the ability to automate various tasks. However, directly learning from human demonstration is challenging since the structure of the human hand can be very different from the desired robot gripper. In this work, we show that manipulation skills can be transferred from a human to a robot through the use of micro-evolutionary reinforcement learning, where a five-finger human dexterous hand robot gradually evolves into a commercial robot, while repeated interacting in a physics simulator to continuously update the policy that is first learned from human demonstration. To deal with the high dimensions of robot parameters, we propose an algorithm for multi-dimensional evolution path searching that allows joint optimization of both the robot evolution path and the policy. Through experiments on human object manipulation datasets, we show that our framework can efficiently transfer the expert human agent policy trained from human demonstrations in diverse modalities to target commercial robots.
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https://arxiv.org/abs/2212.04359
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Implicit causality in GPT-2: a case study
2022-12-08 15:42:38Hien Huynh, Tomas O. Lentz, Emiel van MiltenburgAbstract
This case study investigates the extent to which a language model (GPT-2) is able to capture native speakers' intuitions about implicit causality in a sentence completion task. We first reproduce earlier results (showing lower surprisal values for pronouns that are congruent with either the subject or object, depending on which one corresponds to the implicit causality bias of the verb), and then examine the effects of gender and verb frequency on model performance. Our second study examines the reasoning ability of GPT-2: is the model able to produce more sensible motivations for why the subject VERBed the object if the verbs have stronger causality biases? We also developed a methodology to avoid human raters being biased by obscenities and disfluencies generated by the model.
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https://arxiv.org/abs/2212.04348
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E-TRoll: Tactile Sensing and Classification via A Simple Robotic Gripper for Extended Rolling Manipulations
2022-12-08 15:42:15Xin Zhou, Adam J. SpiersAbstract
Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the also-human-inspired technique of in-hand-manipulation can glean rich data in a fraction of the time of EPs. We propose a simple 3-DOF robotic hand design, optimized for object rolling tasks via a variable-width palm and associated control system. This system dynamically adjusts the distance between the finger bases in response to object behavior. Compared to fixed finger bases, this technique significantly increases the area of the object that is exposed to finger-mounted tactile arrays during a single rolling motion (an increase of over 60% was observed for a cylinder with a 30-millimeter diameter). In addition, this paper presents a feature extraction algorithm for the collected spatiotemporal dataset, which focuses on object corner identification, analysis, and compact representation. This technique drastically reduces the dimensionality of each data sample from 10 x 1500 time series data to 80 features, which was further reduced by Principal Component Analysis (PCA) to 22 components. An ensemble subspace k-nearest neighbors (KNN) classification model was trained with 90 observations on rolling three different geometric objects, resulting in a three-fold cross-validation accuracy of 95.6% for object shape recognition.
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https://arxiv.org/abs/2212.04347
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On the Robustness of Normalizing Flows for Inverse Problems in Imaging
2022-12-08 15:18:28Seongmin Hong, Inbum Park, Se Young ChunAbstract
Conditional normalizing flows can generate diverse image samples for solving inverse problems. Most normalizing flows for inverse problems in imaging employ the conditional affine coupling layer that can generate diverse images quickly. However, unintended severe artifacts are occasionally observed in the output of them. In this work, we address this critical issue by investigating the origins of these artifacts and proposing the conditions to avoid them. First of all, we empirically and theoretically reveal that these problems are caused by ``exploding variance'' in the conditional affine coupling layer for certain out-of-distribution (OOD) conditional inputs. Then, we further validated that the probability of causing erroneous artifacts in pixels is highly correlated with a Mahalanobis distance-based OOD score for inverse problems in imaging. Lastly, based on our investigations, we propose a remark to avoid exploding variance and then based on it, we suggest a simple remedy that substitutes the affine coupling layers with the modified rational quadratic spline coupling layers in normalizing flows, to encourage the robustness of generated image samples. Our experimental results demonstrated that our suggested methods effectively suppressed critical artifacts occurring in normalizing flows for super-resolution space generation and low-light image enhancement without compromising performance.
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https://arxiv.org/abs/2212.04319
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Bio-Inspired, Task-Free Continual Learning through Activity Regularization
2022-12-08 15:14:20Francesco Lässig, Pau Vilimelis Aceituno, Martino Sorbaro, Benjamin F. GreweAbstract
The ability to sequentially learn multiple tasks without forgetting is a key skill of biological brains, whereas it represents a major challenge to the field of deep learning. To avoid catastrophic forgetting, various continual learning (CL) approaches have been devised. However, these usually require discrete task boundaries. This requirement seems biologically implausible and often limits the application of CL methods in the real world where tasks are not always well defined. Here, we take inspiration from neuroscience, where sparse, non-overlapping neuronal representations have been suggested to prevent catastrophic forgetting. As in the brain, we argue that these sparse representations should be chosen on the basis of feed forward (stimulus-specific) as well as top-down (context-specific) information. To implement such selective sparsity, we use a bio-plausible form of hierarchical credit assignment known as Deep Feedback Control (DFC) and combine it with a winner-take-all sparsity mechanism. In addition to sparsity, we introduce lateral recurrent connections within each layer to further protect previously learned representations. We evaluate the new sparse-recurrent version of DFC on the split-MNIST computer vision benchmark and show that only the combination of sparsity and intra-layer recurrent connections improves CL performance with respect to standard backpropagation. Our method achieves similar performance to well-known CL methods, such as Elastic Weight Consolidation and Synaptic Intelligence, without requiring information about task boundaries. Overall, we showcase the idea of adopting computational principles from the brain to derive new, task-free learning algorithms for CL.
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https://arxiv.org/abs/2212.04316
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A Scale-Arbitrary Image Super-Resolution Network Using Frequency-domain Information
2022-12-08 15:10:49Jing Fang, Yinbo Yu, Zhongyuan Wang, Xin Ding, Ruimin HuAbstract
Image super-resolution (SR) is a technique to recover lost high-frequency information in low-resolution (LR) images. Spatial-domain information has been widely exploited to implement image SR, so a new trend is to involve frequency-domain information in SR tasks. Besides, image SR is typically application-oriented and various computer vision tasks call for image arbitrary magnification. Therefore, in this paper, we study image features in the frequency domain to design a novel scale-arbitrary image SR network. First, we statistically analyze LR-HR image pairs of several datasets under different scale factors and find that the high-frequency spectra of different images under different scale factors suffer from different degrees of degradation, but the valid low-frequency spectra tend to be retained within a certain distribution range. Then, based on this finding, we devise an adaptive scale-aware feature division mechanism using deep reinforcement learning, which can accurately and adaptively divide the frequency spectrum into the low-frequency part to be retained and the high-frequency one to be recovered. Finally, we design a scale-aware feature recovery module to capture and fuse multi-level features for reconstructing the high-frequency spectrum at arbitrary scale factors. Extensive experiments on public datasets show the superiority of our method compared with state-of-the-art methods.
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https://arxiv.org/abs/2212.04314
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Real-time Sampling-based Model Predictive Control based on Reverse Kullback-Leibler Divergence and Its Adaptive Acceleration
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Sampling-based model predictive control (MPC) can be applied to versatile robotic systems. However, the real-time control with it is a big challenge due to its unstable updates and poor convergence. This paper tackles this challenge with a novel derivation from reverse Kullback-Leibler divergence, which has a mode-seeking behavior and is likely to find one of the sub-optimal solutions early. With this derivation, a weighted maximum likelihood estimation with positive/negative weights is obtained, solving by mirror descent (MD) algorithm. While the negative weights eliminate unnecessary actions, that requires to develop a practical implementation that avoids the interference with positive/negative updates based on rejection sampling. In addition, although the convergence of MD can be accelerated with Nesterov's acceleration method, it is modified for the proposed MPC with a heuristic of a step size adaptive to the noise estimated in update amounts. In the real-time simulations, the proposed method can solve more tasks statistically than the conventional method and accomplish more complex tasks only with a CPU due to the improved acceleration. In addition, its applicability is also demonstrated in a variable impedance control of a force-driven mobile robot. this https URL
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https://arxiv.org/abs/2212.04298
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On The Relevance Of The Differences Between HRTF Measurement Setups For Machine Learning
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As spatial audio is enjoying a surge in popularity, data-driven machine learning techniques that have been proven successful in other domains are increasingly used to process head-related transfer function measurements. However, these techniques require much data, whereas the existing datasets are ranging from tens to the low hundreds of datapoints. It therefore becomes attractive to combine multiple of these datasets, although they are measured under different conditions. In this paper, we first establish the common ground between a number of datasets, then we investigate potential pitfalls of mixing datasets. We perform a simple experiment to test the relevance of the remaining differences between datasets when applying machine learning techniques. Finally, we pinpoint the most relevant differences.
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https://arxiv.org/abs/2212.04283
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Simulation of Attacker Defender Interaction in a Noisy Security Game
2022-12-08 14:18:44Erick Galinkin, Emmanouil Pountourakis, John Carter, Spiros MancoridisAbstract
In the cybersecurity setting, defenders are often at the mercy of their detection technologies and subject to the information and experiences that individual analysts have. In order to give defenders an advantage, it is important to understand an attacker's motivation and their likely next best action. As a first step in modeling this behavior, we introduce a security game framework that simulates interplay between attackers and defenders in a noisy environment, focusing on the factors that drive decision making for attackers and defenders in the variants of the game with full knowledge and observability, knowledge of the parameters but no observability of the state (``partial knowledge''), and zero knowledge or observability (``zero knowledge''). We demonstrate the importance of making the right assumptions about attackers, given significant differences in outcomes. Furthermore, there is a measurable trade-off between false-positives and true-positives in terms of attacker outcomes, suggesting that a more false-positive prone environment may be acceptable under conditions where true-positives are also higher.
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https://arxiv.org/abs/2212.04281
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Lie detection algorithms attract few users but vastly increase accusation rates
2022-12-08 14:07:21Alicia von Schenk, Victor Klockmann, Jean-François Bonnefon, Iyad Rahwan, Nils KöbisAbstract
People are not very good at detecting lies, which may explain why they refrain from accusing others of lying, given the social costs attached to false accusations - both for the accuser and the accused. Here we consider how this social balance might be disrupted by the availability of lie-detection algorithms powered by Artificial Intelligence. Will people elect to use lie detection algorithms that perform better than humans, and if so, will they show less restraint in their accusations? We built a machine learning classifier whose accuracy (67\%) was significantly better than human accuracy (50\%) in a lie-detection task and conducted an incentivized lie-detection experiment in which we measured participants' propensity to use the algorithm, as well as the impact of that use on accusation rates. We find that the few people (33\%) who elect to use the algorithm drastically increase their accusation rates (from 25\% in the baseline condition up to 86% when the algorithm flags a statement as a lie). They make more false accusations (18pp increase), but at the same time, the probability of a lie remaining undetected is much lower in this group (36pp decrease). We consider individual motivations for using lie detection algorithms and the social implications of these algorithms.
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https://arxiv.org/abs/2212.04277
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A Modality-level Explainable Framework for Misinformation Checking in Social Networks
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The widespread of false information is a rising concern worldwide with critical social impact, inspiring the emergence of fact-checking organizations to mitigate misinformation dissemination. However, human-driven verification leads to a time-consuming task and a bottleneck to have checked trustworthy information at the same pace they emerge. Since misinformation relates not only to the content itself but also to other social features, this paper addresses automatic misinformation checking in social networks from a multimodal perspective. Moreover, as simply naming a piece of news as incorrect may not convince the citizen and, even worse, strengthen confirmation bias, the proposal is a modality-level explainable-prone misinformation classifier framework. Our framework comprises a misinformation classifier assisted by explainable methods to generate modality-oriented explainable inferences. Preliminary findings show that the misinformation classifier does benefit from multimodal information encoding and the modality-oriented explainable mechanism increases both inferences' interpretability and completeness.
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https://arxiv.org/abs/2212.04272
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Structured Vision-Language Pretraining for Computational Cooking
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Vision-Language Pretraining (VLP) and Foundation models have been the go-to recipe for achieving SoTA performance on general benchmarks. However, leveraging these powerful techniques for more complex vision-language tasks, such as cooking applications, with more structured input data, is still little investigated. In this work, we propose to leverage these techniques for structured-text based computational cuisine tasks. Our strategy, dubbed VLPCook (Structured Vision-Language Pretraining for Computational Cooking), first transforms existing image-text pairs to image and structured-text pairs. This allows to pretrain our VLPCook model using VLP objectives adapted to the strutured data of the resulting datasets, then finetuning it on downstream computational cooking tasks. During finetuning, we also enrich the visual encoder, leveraging pretrained foundation models (e.g. CLIP) to provide local and global textual context. VLPCook outperforms current SoTA by a significant margin (+3.3 Recall@1 absolute improvement) on the task of Cross-Modal Food Retrieval on the large Recipe1M dataset. Finally, we conduct further experiments on VLP to validate their importance, especially on the Recipe1M+ dataset. The code will be made publicly available.
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https://arxiv.org/abs/2212.04267
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