360-degree cameras provide rich geometries, and can provide viewpoint (orientation)-invariant place recognition, but are sensitive to appearance changes and dynamic objects.

Radar has 360-degree-view and not sensitive to both appearance and extreme weather conditions, but it has very low resolution inputs and noise cluster observations.

Joint sensors can cover the shortages of individual sensors, and the shared geometric property also make cross-modal place recognition methods possible.

i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions

Abstract: We present a method for localizing a single camera with respect to a point cloud map in indoor and outdoor scenes. The problem is challenging because correspondences of local invariant features are inconsistent across the domains between image and 3D. The problem is even more challenging as the method must handle various environmental conditions such as illumination, weather, and seasonal changes. Our method can match equirectangular images to the 3D range projections by extracting cross-domain symmetric place descriptors. Our key insight is to retain condition-invariant 3D geometry features from limited data samples while eliminating the condition-related features by a designed Generative Adversarial Network. Based on such features, we further design a spherical convolution network to learn viewpoint-invariant symmetric place descriptors. We evaluate our method on extensive self-collected datasets, which involve \textit{Long-term} (variant appearance conditions), \textit{Large-scale} (up to $2km$ structure/unstructured environment), and \textit{Multistory} (four-floor confined space). Our method surpasses other current state-of-the-arts by achieving around $3$ times higher place retrievals to inconsistent environments, and above $3$ times accuracy on online localization. To highlight our method's generalization capabilities, we also evaluate the recognition across different datasets. With a single trained model, i3dLoc can demonstrate reliable visual localization in random conditions.

Look Around You: Sequence-based Radar Place Recognition with Learned Rotational Invariance

Abstract: This paper details an application which yields significant improvements to the adeptness of place recognition with Frequency-Modulated Continuous-Wave scanning, 360-degrees field of view radar - a commercially promising sensor poised for exploitation in mobile autonomy. We show how a rotationally-invariant metric embedding for radar scans can be integrated into sequence-based trajectory matching systems typically applied to videos taken by visual sensors. Due to the complete horizontal field of view inherent to the radar scan formation process, we show how this off-the-shelf sequence-based trajectory matching system can be manipulated to detect place matches when the vehicle is travelling down a previously visited stretch of road in the opposite direction. We demonstrate the efficacy of the approach on 26 km of challenging urban driving taken from the largest radar-focused urban autonomy dataset released to date - showing a boost of 30 % in recall at high levels of precision over a nearest neighbour approach.

Visual Place Recognition using LiDAR Intensity Information

Abstract: Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM system, robots need to re-recognize places to find loop closure and reduce the odometry drift. Image-based place recognition received a lot of attention in computer vision, and in this work, we investigate how such approaches can be used for 3D LiDAR data. Recent LiDAR sensors produce high-resolution 3D scans in combination with comparably stable intensity measurements. Through a cylindrical projection, we can turn this information into a panoramic image. As a result, we can apply techniques from visual place recognition to LiDAR intensity data. The question of how well this approach works in practice has not been answered so far. This paper provides an analysis of how such visual techniques can be with LiDAR data, and we provide an evaluation on different datasets. Our results suggest that this form of place recognition is possible and an effective means for determining loop closures.

Different Types of Camera Modalities

The first essential module for real-world robot localization is the appropriate sensor for the relative place recognition tasks.
Since different sensors have their own unique properties, place recognition performance depends highly on the adaptability of various sensors.
The critical considerations for sensor selection include 1) field of view, 2) geometric richness, and 3) robustness to environmental noise.
This section will look at place recognition methods based on different sensor setups.
And in Table. {{table:9a2df57e-b09e-4d84-8331-434ae8989ffe}} , we list the relative works for different sensor modalities and analyze their properties.

As we summarized in Table. {{table:9a2df57e-b09e-4d84-8331-434ae8989ffe}} :
vision sensors can provide rich texture and semantic information but are sensitive to illuminations and environmental condition differences;
LiDAR devices are robust to the above appearance changes but have low-resolution data outputs and are sensitive to occlusions;
Radar devices give even longer detections than LiDAR and are robust to extreme weather conditions but contain lots of measurement noise.
Each sensor modality has unique adaptive properties (i.e., long-range in visual sensor, illumination-invariant in LiDAR sensor, and dust-invariant in Radar sensor), distinguishes abilities under different environmental conditions, and shares commonalities.
Based on the properties mentioned above, there mainly exits two kinds of multi-modality place recognition approaches:
1) for the purpose of robust general place recognition, the combination of multi sensor modalities provides enhanced Joint place recognition methods {{cite:367c3d2}}, {{cite:0456c2e}}, {{cite:94bfef6}}.
2) based on the commonality of different modalities on the same geometric structures, the Cross place recognition methods provide efficient and low-cost re-localization over existing maps {{cite:bdfbac7}}, {{cite:29944ea}}, {{cite:7348b8f}}, {{cite:24e67bf}}.


Pitfalls of Graph Neural Network Evaluation

Abstract: Semi-supervised node classification in graphs is a fundamental problem in graph mining, and the recently proposed graph neural networks (GNNs) have achieved unparalleled results on this task. Due to their massive success, GNNs have attracted a lot of attention, and many novel architectures have been put forward. In this paper we show that existing evaluation strategies for GNN models have serious shortcomings. We show that using the same train/validation/test splits of the same datasets, as well as making significant changes to the training procedure (e.g. early stopping criteria) precludes a fair comparison of different architectures. We perform a thorough empirical evaluation of four prominent GNN models and show that considering different splits of the data leads to dramatically different rankings of models. Even more importantly, our findings suggest that simpler GNN architectures are able to outperform the more sophisticated ones if the hyperparameters and the training procedure are tuned fairly for all models.

Semi-Supervised Classification with Graph Convolutional Networks

Abstract: We present a scalable approach for semi-supervised learning on graph-structured data that is based on an efficient variant of convolutional neural networks which operate directly on graphs. We motivate the choice of our convolutional architecture via a localized first-order approximation of spectral graph convolutions. Our model scales linearly in the number of graph edges and learns hidden layer representations that encode both local graph structure and features of nodes. In a number of experiments on citation networks and on a knowledge graph dataset we demonstrate that our approach outperforms related methods by a significant margin.

An overview of popular datasets detailing statistics and how they are built

Pytorch Geometric python library provides a standard interface on top of Pytorch to allow for the development of graph based machine learning. The library also provides a sample of datasets from previous papers published in this field. A brief overview of popular graph-connected datasets, their task and embeddings is available in table {{table:ef08b151-38ec-4d66-991d-39e949508d25}} .


based on ten datasets (e.g., HotpotQA & DROP)

only for comparison about Date information

based on ARC, SCONE, GSM8K, AQUA-RAT, and AR-LSAT

Constructing A Multi-hop QA Dataset for Comprehensive Evaluation of Reasoning Steps

Abstract: A multi-hop question answering (QA) dataset aims to test reasoning and inference skills by requiring a model to read multiple paragraphs to answer a given question. However, current datasets do not provide a complete explanation for the reasoning process from the question to the answer. Further, previous studies revealed that many examples in existing multi-hop datasets do not require multi-hop reasoning to answer a question. In this study, we present a new multi-hop QA dataset, called 2WikiMultiHopQA, which uses structured and unstructured data. In our dataset, we introduce the evidence information containing a reasoning path for multi-hop questions. The evidence information has two benefits: (i) providing a comprehensive explanation for predictions and (ii) evaluating the reasoning skills of a model. We carefully design a pipeline and a set of templates when generating a question-answer pair that guarantees the multi-hop steps and the quality of the questions. We also exploit the structured format in Wikidata and use logical rules to create questions that are natural but still require multi-hop reasoning. Through experiments, we demonstrate that our dataset is challenging for multi-hop models and it ensures that multi-hop reasoning is required.

Break It Down: A Question Understanding Benchmark

Abstract: Understanding natural language questions entails the ability to break down a question into the requisite steps for computing its answer. In this work, we introduce a Question Decomposition Meaning Representation (QDMR) for questions. QDMR constitutes the ordered list of steps, expressed through natural language, that are necessary for answering a question. We develop a crowdsourcing pipeline, showing that quality QDMRs can be annotated at scale, and release the Break dataset, containing over 83K pairs of questions and their QDMRs. We demonstrate the utility of QDMR by showing that (a) it can be used to improve open-domain question answering on the HotpotQA dataset, (b) it can be deterministically converted to a pseudo-SQL formal language, which can alleviate annotation in semantic parsing applications. Last, we use Break to train a sequence-to-sequence model with copying that parses questions into QDMR structures, and show that it substantially outperforms several natural baselines.

Do Multi-Hop Question Answering Systems Know How to Answer the Single-Hop Sub-Questions?

Abstract: Multi-hop question answering (QA) requires a model to retrieve and integrate information from different parts of a long text to answer a question. Humans answer this kind of complex questions via a divide-and-conquer approach. In this paper, we investigate whether top-performing models for multi-hop questions understand the underlying sub-questions like humans. We adopt a neural decomposition model to generate sub-questions for a multi-hop complex question, followed by extracting the corresponding sub-answers. We show that multiple state-of-the-art multi-hop QA models fail to correctly answer a large portion of sub-questions, although their corresponding multi-hop questions are correctly answered. This indicates that these models manage to answer the multi-hop questions using some partial clues, instead of truly understanding the reasoning paths. We also propose a new model which significantly improves the performance on answering the sub-questions. Our work takes a step forward towards building a more explainable multi-hop QA system.

Did Aristotle Use a Laptop? A Question Answering Benchmark with Implicit Reasoning Strategies

Abstract: A key limitation in current datasets for multi-hop reasoning is that the required steps for answering the question are mentioned in it explicitly. In this work, we introduce StrategyQA, a question answering (QA) benchmark where the required reasoning steps are implicit in the question, and should be inferred using a strategy. A fundamental challenge in this setup is how to elicit such creative questions from crowdsourcing workers, while covering a broad range of potential strategies. We propose a data collection procedure that combines term-based priming to inspire annotators, careful control over the annotator population, and adversarial filtering for eliminating reasoning shortcuts. Moreover, we annotate each question with (1) a decomposition into reasoning steps for answering it, and (2) Wikipedia paragraphs that contain the answers to each step. Overall, StrategyQA includes 2,780 examples, each consisting of a strategy question, its decomposition, and evidence paragraphs. Analysis shows that questions in StrategyQA are short, topic-diverse, and cover a wide range of strategies. Empirically, we show that humans perform well (87%) on this task, while our best baseline reaches an accuracy of $\sim$66%.

How Well Do Multi-hop Reading Comprehension Models Understand Date Information?

Abstract: Several multi-hop reading comprehension datasets have been proposed to resolve the issue of reasoning shortcuts by which questions can be answered without performing multi-hop reasoning. However, the ability of multi-hop models to perform step-by-step reasoning when finding an answer to a comparison question remains unclear. It is also unclear how questions about the internal reasoning process are useful for training and evaluating question-answering (QA) systems. To evaluate the model precisely in a hierarchical manner, we first propose a dataset, HieraDate, with three probing tasks in addition to the main question: extraction, reasoning, and robustness. Our dataset is created by enhancing two previous multi-hop datasets, HotpotQA and 2WikiMultiHopQA, focusing on multi-hop questions on date information that involve both comparison and numerical reasoning. We then evaluate the ability of existing models to understand date information. Our experimental results reveal that the multi-hop models do not have the ability to subtract two dates even when they perform well in date comparison and number subtraction tasks. Other results reveal that our probing questions can help to improve the performance of the models (e.g., by +10.3 F1) on the main QA task and our dataset can be used for data augmentation to improve the robustness of the models.

♫ MuSiQue: Multihop Questions via Single-hop Question Composition

Abstract: Multihop reasoning remains an elusive goal as existing multihop benchmarks are known to be largely solvable via shortcuts. Can we create a question answering (QA) dataset that, by construction, requires proper multihop reasoning? To this end, we introduce a bottom–up approach that systematically selects composable pairs of single-hop questions that are connected, that is, where one reasoning step critically relies on information from another. This bottom–up methodology lets us explore a vast space of questions and add stringent filters as well as other mechanisms targeting connected reasoning. It provides fine-grained control over the construction process and the properties of the resulting k-hop questions. We use this methodology to create MuSiQue-Ans, a new multihop QA dataset with 25K 2–4 hop questions. Relative to existing datasets, MuSiQue-Ans is more difficult overall (3× increase in human–machine gap), and harder to cheat via disconnected reasoning (e.g., a single-hop model has a 30-point drop in F1). We further add unanswerable contrast questions to produce a more stringent dataset, MuSiQue-Full. We hope our datasets will help the NLP community develop models that perform genuine multihop reasoning.1

Explaining Answers with Entailment Trees

Abstract: Our goal, in the context of open-domain textual question-answering (QA), is to explain answers by showing the line of reasoning from what is known to the answer, rather than simply showing a fragment of textual evidence (a "rationale'"). If this could be done, new opportunities for understanding and debugging the system's reasoning become possible. Our approach is to generate explanations in the form of entailment trees, namely a tree of multipremise entailment steps from facts that are known, through intermediate conclusions, to the hypothesis of interest (namely the question + answer). To train a model with this skill, we created ENTAILMENTBANK, the first dataset to contain multistep entailment trees. Given a hypothesis (question + answer), we define three increasingly difficult explanation tasks: generate a valid entailment tree given (a) all relevant sentences (b) all relevant and some irrelevant sentences, or (c) a corpus. We show that a strong language model can partially solve these tasks, in particular when the relevant sentences are included in the input (e.g., 35% of trees for (a) are perfect), and with indications of generalization to other domains. This work is significant as it provides a new type of dataset (multistep entailments) and baselines, offering a new avenue for the community to generate richer, more systematic explanations.

STREET: A Multi-Task Structured Reasoning and Explanation Benchmark

Abstract: We introduce STREET, a unified multi-task and multi-domain natural language reasoning and explanation benchmark. Unlike most existing question-answering (QA) datasets, we expect models to not only answer questions, but also produce step-by-step structured explanations describing how premises in the question are used to produce intermediate conclusions that can prove the correctness of a certain answer. We perform extensive evaluation with popular language models such as few-shot prompting GPT-3 and fine-tuned T5. We find that these models still lag behind human performance when producing such structured reasoning steps. We believe this work will provide a way for the community to better train and test systems on multi-step reasoning and explanations in natural language.

All studies and datasets that are mentioned in Section : Intermediate Task Evaluation.

Table {{table:aa93afac-cf69-46e2-8be5-a3a8705cee0c}}  presents all the studies mentioned in Section REF .


Avoiding Reasoning Shortcuts: Adversarial Evaluation, Training, and Model Development for Multi-Hop QA

Abstract: Multi-hop question answering requires a model to connect multiple pieces of evidence scattered in a long context to answer the question. In this paper, we show that in the multi-hop HotpotQA (Yang et al., 2018) dataset, the examples often contain reasoning shortcuts through which models can directly locate the answer by word-matching the question with a sentence in the context. We demonstrate this issue by constructing adversarial documents that create contradicting answers to the shortcut but do not affect the validity of the original answer. The performance of strong baseline models drops significantly on our adversarial evaluation, indicating that they are indeed exploiting the shortcuts rather than performing multi-hop reasoning. After adversarial training, the baseline's performance improves but is still limited on the adversarial evaluation. Hence, we use a control unit that dynamically attends to the question at different reasoning hops to guide the model's multi-hop reasoning. We show that this 2-hop model trained on the regular data is more robust to the adversaries than the baseline model. After adversarial training, this 2-hop model not only achieves improvements over its counterpart trained on regular data, but also outperforms the adversarially-trained 1-hop baseline. We hope that these insights and initial improvements will motivate the development of new models that combine explicit compositional reasoning with adversarial training.

Improving Question Answering Model Robustness with Synthetic Adversarial Data Generation

Abstract: Despite recent progress, state-of-the-art question answering models remain vulnerable to a variety of adversarial attacks. While dynamic adversarial data collection, in which a human annotator tries to write examples that fool a model-in-the-loop, can improve model robustness, this process is expensive which limits the scale of the collected data. In this work, we are the first to use synthetic adversarial data generation to make question answering models more robust to human adversaries. We develop a data generation pipeline that selects source passages, identifies candidate answers, generates questions, then finally filters or re-labels them to improve quality. Using this approach, we amplify a smaller human-written adversarial dataset to a much larger set of synthetic question-answer pairs. By incorporating our synthetic data, we improve the state-of-the-art on the AdversarialQA dataset by 3.7F1 and improve model generalisation on nine of the twelve MRQA datasets. We further conduct a novel human-in-the-loop evaluation to show that our models are considerably more robust to new human-written adversarial examples: crowdworkers can fool our model only 8.8% of the time on average, compared to 17.6% for a model trained without synthetic data.

Robustifying Multi-hop QA through Pseudo-Evidentiality Training

Abstract: This paper studies the bias problem of multi-hop question answering models, of answering correctly without correct reasoning. One way to robustify these models is by supervising to not only answer right, but also with right reasoning chains. An existing direction is to annotate reasoning chains to train models, requiring expensive additional annotations. In contrast, we propose a new approach to learn evidentiality, deciding whether the answer prediction is supported by correct evidences, without such annotations. Instead, we compare counterfactual changes in answer confidence with and without evidence sentences, to generate “pseudo-evidentiality” annotations. We validate our proposed model on an original set and challenge set in HotpotQA, showing that our method is accurate and robust in multi-hop reasoning.

Know What You Don't Know: Unanswerable Questions for SQuAD

Abstract: Extractive reading comprehension systems can often locate the correct answer to a question in a context document, but they also tend to make unreliable guesses on questions for which the correct answer is not stated in the context. Existing datasets either focus exclusively on answerable questions, or use automatically generated unanswerable questions that are easy to identify. To address these weaknesses, we present SQuAD 2.0, the latest version of the Stanford Question Answering Dataset (SQuAD). SQuAD 2.0 combines existing SQuAD data with over 50,000 unanswerable questions written adversarially by crowdworkers to look similar to answerable ones. To do well on SQuAD 2.0, systems must not only answer questions when possible, but also determine when no answer is supported by the paragraph and abstain from answering. SQuAD 2.0 is a challenging natural language understanding task for existing models: a strong neural system that gets 86% F1 on SQuAD 1.1 achieves only 66% F1 on SQuAD 2.0.

Improving QA Generalization by Concurrent Modeling of Multiple Biases

Abstract: Existing NLP datasets contain various biases that models can easily exploit to achieve high performances on the corresponding evaluation sets. However, focusing on dataset-specific biases limits their ability to learn more generalizable knowledge about the task from more general data patterns. In this paper, we investigate the impact of debiasing methods for improving generalization and propose a general framework for improving the performance on both in-domain and out-of-domain datasets by concurrent modeling of multiple biases in the training data. Our framework weights each example based on the biases it contains and the strength of those biases in the training data. It then uses these weights in the training objective so that the model relies less on examples with high bias weights. We extensively evaluate our framework on extractive question answering with training data from various domains with multiple biases of different strengths. We perform the evaluations in two different settings, in which the model is trained on a single domain or multiple domains simultaneously, and show its effectiveness in both settings compared to state-of-the-art debiasing methods.

Don’t Take the Easy Way Out: Ensemble Based Methods for Avoiding Known Dataset Biases

Abstract: State-of-the-art models often make use of superficial patterns in the data that do not generalize well to out-of-domain or adversarial settings. For example, textual entailment models often learn that particular key words imply entailment, irrespective of context, and visual question answering models learn to predict prototypical answers, without considering evidence in the image. In this paper, we show that if we have prior knowledge of such biases, we can train a model to be more robust to domain shift. Our method has two stages: we (1) train a naive model that makes predictions exclusively based on dataset biases, and (2) train a robust model as part of an ensemble with the naive one in order to encourage it to focus on other patterns in the data that are more likely to generalize. Experiments on five datasets with out-of-domain test sets show significantly improved robustness in all settings, including a 12 point gain on a changing priors visual question answering dataset and a 9 point gain on an adversarial question answering test set.

Learning from others' mistakes: Avoiding dataset biases without modeling them

Abstract: State-of-the-art natural language processing (NLP) models often learn to model dataset biases and surface form correlations instead of features that target the intended underlying task. Previous work has demonstrated effective methods to circumvent these issues when knowledge of the bias is available. We consider cases where the bias issues may not be explicitly identified, and show a method for training models that learn to ignore these problematic correlations. Our approach relies on the observation that models with limited capacity primarily learn to exploit biases in the dataset. We can leverage the errors of such limited capacity models to train a more robust model in a product of experts, thus bypassing the need to hand-craft a biased model. We show the effectiveness of this method to retain improvements in out-of-distribution settings even if no particular bias is targeted by the biased model.

Adversarial Training for Large Neural Language Models

Abstract: Generalization and robustness are both key desiderata for designing machine learning methods. Adversarial training can enhance robustness, but past work often finds it hurts generalization. In natural language processing (NLP), pre-training large neural language models such as BERT have demonstrated impressive gain in generalization for a variety of tasks, with further improvement from adversarial fine-tuning. However, these models are still vulnerable to adversarial attacks. In this paper, we show that adversarial pre-training can improve both generalization and robustness. We propose a general algorithm ALUM (Adversarial training for large neural LangUage Models), which regularizes the training objective by applying perturbations in the embedding space that maximizes the adversarial loss. We present the first comprehensive study of adversarial training in all stages, including pre-training from scratch, continual pre-training on a well-trained model, and task-specific fine-tuning. ALUM obtains substantial gains over BERT on a wide range of NLP tasks, in both regular and adversarial scenarios. Even for models that have been well trained on extremely large text corpora, such as RoBERTa, ALUM can still produce significant gains from continual pre-training, whereas conventional non-adversarial methods can not. ALUM can be further combined with task-specific fine-tuning to attain additional gains. The ALUM code is publicly available at https://github.com/namisan/mt-dnn.

InfoBERT: Improving Robustness of Language Models from An Information Theoretic Perspective

Abstract: Large-scale language models such as BERT have achieved state-of-the-art performance across a wide range of NLP tasks. Recent studies, however, show that such BERT-based models are vulnerable facing the threats of textual adversarial attacks. We aim to address this problem from an information-theoretic perspective, and propose InfoBERT, a novel learning framework for robust fine-tuning of pre-trained language models. InfoBERT contains two mutual-information-based regularizers for model training: (i) an Information Bottleneck regularizer, which suppresses noisy mutual information between the input and the feature representation; and (ii) a Robust Feature regularizer, which increases the mutual information between local robust features and global features. We provide a principled way to theoretically analyze and improve the robustness of representation learning for language models in both standard and adversarial training. Extensive experiments demonstrate that InfoBERT achieves state-of-the-art robust accuracy over several adversarial datasets on Natural Language Inference (NLI) and Question Answering (QA) tasks.

Major shortcut mitigation works in MRC and their corresponding evaluation (challenge) sets.

We have covered methods of varying kinds to mitigate or reduce the effect of shortcuts in our models. A table with the list of works and the challenge set used can be found in Table {{table:35c23d4e-c42d-48d1-b5b6-7c5221a59d7b}} .

Adversarial SQuAD has been the most used challenge set for works proposing mitigation techniques in MRC, as is reflected in Table {{table:35c23d4e-c42d-48d1-b5b6-7c5221a59d7b}} . Most others either use a custom dataset, or propose one that has not been widely adopted yet. For example, {{cite:43d1449}} create a challenge set version of HotpotQA by excluding samples where models ignored evidentiality requirements.


TGIF-QA: Toward Spatio-Temporal Reasoning in Visual Question Answering

Abstract: Vision and language understanding has emerged as a subject undergoing intense study in Artificial Intelligence. Among many tasks in this line of research, visual question answering (VQA) has been one of the most successful ones, where the goal is to learn a model that understands visual content at region-level details and finds their associations with pairs of questions and answers in the natural language form. Despite the rapid progress in the past few years, most existing work in VQA have focused primarily on images. In this paper, we focus on extending VQA to the video domain and contribute to the literature in three important ways. First, we propose three new tasks designed specifically for video VQA, which require spatio-temporal reasoning from videos to answer questions correctly. Next, we introduce a new large-scale dataset for video VQA named TGIF-QA that extends existing VQA work with our new tasks. Finally, we propose a dual-LSTM based approach with both spatial and temporal attention, and show its effectiveness over conventional VQA techniques through empirical evaluations.

A Joint Sequence Fusion Model for Video Question Answering and Retrieval

Abstract: We present an approach named JSFusion (Joint Sequence Fusion) that can measure semantic similarity between any pairs of multimodal sequence data (e.g. a video clip and a language sentence). Our multimodal matching network consists of two key components. First, the Joint Semantic Tensor composes a dense pairwise representation of two sequence data into a 3D tensor. Then, the Convolutional Hierarchical Decoder computes their similarity score by discovering hidden hierarchical matches between the two sequence modalities. Both modules leverage hierarchical attention mechanisms that learn to promote well-matched representation patterns while prune out misaligned ones in a bottom-up manner. Although the JSFusion is a universal model to be applicable to any multimodal sequence data, this work focuses on video-language tasks including multimodal retrieval and video QA. We evaluate the JSFusion model in three retrieval and VQA tasks in LSMDC, for which our model achieves the best performance reported so far. We also perform multiple-choice and movie retrieval tasks for the MSR-VTT dataset, on which our approach outperforms many state-of-the-art methods.

Learning Language-Visual Embedding for Movie Understanding with Natural-Language

Abstract: Learning a joint language-visual embedding has a number of very appealing properties and can result in variety of practical application, including natural language image/video annotation and search. In this work, we study three different joint language-visual neural network model architectures. We evaluate our models on large scale LSMDC16 movie dataset for two tasks: 1) Standard Ranking for video annotation and retrieval 2) Our proposed movie multiple-choice test. This test facilitate automatic evaluation of visual-language models for natural language video annotation based on human activities. In addition to original Audio Description (AD) captions, provided as part of LSMDC16, we collected and will make available a) manually generated re-phrasings of those captions obtained using Amazon MTurk b) automatically generated human activity elements in "Predicate + Object" (PO) phrases based on "Knowlywood", an activity knowledge mining model. Our best model archives Recall@10 of 19.2% on annotation and 18.9% on video retrieval tasks for subset of 1000 samples. For multiple-choice test, our best model achieve accuracy 58.11% over whole LSMDC16 public test-set.

Summary of video question answering tasks. For open-ended Video QA, we do not limit the answer vocabulary to a fixed candidate set.

We test our model on video question answering (QA) tasks in both multiple-choice and open-ended settings as Table {{table:4f0e7b3f-f45c-4ffa-ade8-9665208f2963}} . We follow LAVENDER {{cite:ae29006}} to formulate Video QA as Masked Language Modeling due to its superior performance. For multiple-choice QA tasks, we concatenate question with all answer options and add a [MASK] to form the input text (Q+A0+A1+A2+A3+A4+[MASK]). We treat the same Masked Language Modeling (MLM) layer as used in pre-training upon {{formula:117d0907-8b36-433f-a859-846fc4cee929}}  to predict the word token corresponding to the answer index (e.g., 0,1,2,3,4). Similarly, for open-ended QA tasks, we apply MLM over the input (Q+[MASK]). Cross-entropy loss is used to supervise the downstream finetuning over the whole word vocabulary.


ScanNet: Richly-Annotated 3D Reconstructions of Indoor Scenes

Abstract: A key requirement for leveraging supervised deep learning methods is the availability of large, labeled datasets. Unfortunately, in the context of RGB-D scene understanding, very little data is available – current datasets cover a small range of scene views and have limited semantic annotations. To address this issue, we introduce ScanNet, an RGB-D video dataset containing 2.5M views in 1513 scenes annotated with 3D camera poses, surface reconstructions, and semantic segmentations. To collect this data, we designed an easy-to-use and scalable RGB-D capture system that includes automated surface reconstruction and crowdsourced semantic annotation. We show that using this data helps achieve state-of-the-art performance on several 3D scene understanding tasks, including 3D object classification, semantic voxel labeling, and CAD model retrieval.

RIO: 3D Object Instance Re-Localization in Changing Indoor Environments

Abstract: In this work, we introduce the task of 3D object instance re-localization (RIO): given one or multiple objects in an RGB-D scan, we want to estimate their corresponding 6DoF poses in another 3D scan of the same environment taken at a later point in time. We consider RIO a particularly important task in 3D vision since it enables a wide range of practical applications, including AI-assistants or robots that are asked to find a specific object in a 3D scene. To address this problem, we first introduce 3RScan, a novel dataset and benchmark, which features 1482 RGB-D scans of 478 environments across multiple time steps. Each scene includes several objects whose positions change over time, together with ground truth annotations of object instances and their respective 6DoF mappings among re-scans. Automatically finding 6DoF object poses leads to a particular challenging feature matching task due to varying partial observations and changes in the surrounding context. To this end, we introduce a new data-driven approach that efficiently finds matching features using a fully-convolutional 3D correspondence network operating on multiple spatial scales. Combined with a 6DoF pose optimization, our method outperforms state-of-the-art baselines on our newly-established benchmark, achieving an accuracy of 30.58%.

Comparison between our dataset and other 3D VQA datasets.

Table {{table:552725d8-1c05-4350-9051-fa2808d2ef66}}  shows the comparison between the existing concurrent 3D VQA datasets {{cite:eeb9741}}, {{cite:a320419}}, {{cite:9dd15f8}} and our newly collected FE-3DGQA and the Ext. FE-3DGQA datasets. It can be seen that our FE-3DGQA dataset is the largest manually annotated 3D VQA dataset, with complete grounded object annotations. Moreover, by using additional template-based QAs, our Ext. FE-3DGQA dataset is the largest 3D VQA dataset.


Robust wav2vec 2.0: Analyzing Domain Shift in Self-Supervised Pre-Training

Abstract: Self-supervised learning of speech representations has been a very active research area but most work is focused on a single domain such as read audio books for which there exist large quantities of labeled and unlabeled data. In this paper, we explore more general setups where the domain of the unlabeled data for pre-training data differs from the domain of the labeled data for fine-tuning, which in turn may differ from the test data domain. Our experiments show that using target domain data during pre-training leads to large performance improvements across a variety of setups. On a large-scale competitive setup, we show that pre-training on unlabeled in-domain data reduces the gap between models trained on in-domain and out-of-domain labeled data by 66%-73%. This has obvious practical implications since it is much easier to obtain unlabeled target domain data than labeled data. Moreover, we find that pre-training on multiple domains improves generalization performance on domains not seen during training. Code and models will be made available at https://github.com/pytorch/fairseq.

Dawn of the transformer era in speech emotion recognition: closing the valence gap

Abstract: Recent advances in transformer-based architectures which are pre-trained in self-supervised manner have shown great promise in several machine learning tasks. In the audio domain, such architectures have also been successfully utilised in the field of speech emotion recognition (SER). However, existing works have not evaluated the influence of model size and pre-training data on downstream performance, and have shown limited attention to generalisation, robustness, fairness, and efficiency. The present contribution conducts a thorough analysis of these aspects on several pre-trained variants of wav2vec 2.0 and HuBERT that we fine-tuned on the dimensions arousal, dominance, and valence of MSP-Podcast, while additionally using IEMOCAP and MOSI to test cross-corpus generalisation. To the best of our knowledge, we obtain the top performance for valence prediction without use of explicit linguistic information, with a concordance correlation coefficient (CCC) of .638 on MSP-Podcast. Furthermore, our investigations reveal that transformer-based architectures are more robust to small perturbations compared to a CNN-based baseline and fair with respect to biological sex groups, but not towards individual speakers. Finally, we are the first to show that their extraordinary success on valence is based on implicit linguistic information learnt during fine-tuning of the transformer layers, which explains why they perform on-par with recent multimodal approaches that explicitly utilise textual information. Our findings collectively paint the following picture: transformer-based architectures constitute the new state-of-the-art in SER, but further advances are needed to mitigate remaining robustness and individual speaker issues. To make our findings reproducible, we release the best performing model to the community.

Base and finetuned of wav2vec 2.0 and their Hugging Face model; the last two rows used the same model but different sizes.

The wav2vec 2.0 model, including the base (large and robust) and finetuned versions, are the improved version of the previous wav2vec (version 1.0) {{cite:86ba4f2}}. The wav2vec 2.0 uses a self-supervised approach for generating speech representations {{cite:2847d6e}} instead of unsupervised learning. Given the success of wav2vec 2.0 in speech emotion recognition {{cite:e3486c4}}, we evaluated the finetuned versions of wav2vec 2.0 for four affective vocal bursts tasks. These versions are shown in Table {{table:58a29fce-d417-48c7-88a0-a74d5f999acb}} .

For the last model, we extracted two representations of each given vocal burst audio file. The first is a 1024-dims of the hidden states. The second is a 1027-dims of a concatenation of the hidden states and logits (valence, arousal, dominance). These acoustic embeddings were then fed to the regression model for the first three tasks and to the classification model for the last task four ("Type"). The model IDs (in https://huggingface.co) are also given in the Table {{table:58a29fce-d417-48c7-88a0-a74d5f999acb}} .


Exploring Semi-Supervised Learning for Predicting Listener Backchannels

Abstract: Developing human-like conversational agents is a prime area in HCI research and subsumes many tasks. Predicting listener backchannels is one such actively-researched task. While many studies have used different approaches for backchannel prediction, they all have depended on manual annotations for a large dataset. This is a bottleneck impacting the scalability of development. To this end, we propose using semi-supervised techniques to automate the process of identifying backchannels, thereby easing the annotation process. To analyze our identification module's feasibility, we compared the backchannel prediction models trained on (a) manually-annotated and (b) semi-supervised labels. Quantitative analysis revealed that the proposed semi-supervised approach could attain 95% of the former's performance. Our user-study findings revealed that almost 60% of the participants found the backchannel responses predicted by the proposed model more natural. Finally, we also analyzed the impact of personality on the type of backchannel signals and validated our findings in the user-study.

Detecting Low Rapport During Natural Interactions in Small Groups from Non-Verbal Behaviour

Abstract: Rapport, the close and harmonious relationship in which interaction partners are "in sync" with each other, was shown to result in smoother social interactions, improved collaboration, and improved interpersonal outcomes. In this work, we are first to investigate automatic prediction of low rapport during natural interactions within small groups. This task is challenging given that rapport only manifests in subtle non-verbal signals that are, in addition, subject to influences of group dynamics as well as inter-personal idiosyncrasies. We record videos of unscripted discussions of three to four people using a multi-view camera system and microphones. We analyse a rich set of non-verbal signals for rapport detection, namely facial expressions, hand motion, gaze, speaker turns, and speech prosody. Using facial features, we can detect low rapport with an average precision of 0.7 (chance level at 0.25), while incorporating prior knowledge of participants' personalities can even achieve early prediction without a drop in performance. We further provide a detailed analysis of different feature sets and the amount of information contained in different temporal segments of the interactions.

Publicly available audio-visual human-human interaction datasets used in BC research.Pub. indicates whether BC annotations are publicly available;Part. the number of participants per interaction.Size is the duration of individual human behaviour annotated with BCs (where reported). E.g. for a dyadic dataset it is twice the length of annotated interactions. Lang. indicates the language of the dataset.

While a number of different datasets were recorded for the purpose of backchannel analysis {{cite:efcad54}}, {{cite:e3f2390}}, {{cite:3e12211}}, {{cite:5c52635}}, they are rarely public and not sufficient to ensure progress on automatic backchannel analysis in group interactions.
In Table {{table:42439450-d2fa-4192-a64a-f2b31f525627}}  we list recent publicly available datasets that were used in BC research, the majority of which consists of spoken dialogues.
Note that while these datasets are publicly available, the backchannel annotations collected on them are often not (column “Pub.” in Table {{table:42439450-d2fa-4192-a64a-f2b31f525627}} ).
Furthermore, all existing datasets (except the Canal9 Corpus {{cite:b57fc5b}}, {{cite:b86fd45}} for which no publicly available backchannel annotations exist) consist of dyadic interactions and are thus not fitting for group behaviour analysis.

In our work, we present the first publicly available annotations of backchannel occurances and agreements expressed via backchannels in group interactions.
Our full dataset is manually annotated and with over 33 hours of annotated human behaviour across training, validation and test sets, its size is equal to the largest dyadic BC dataset currently available (see Table {{table:42439450-d2fa-4192-a64a-f2b31f525627}} ).


In defence of metric learning for speaker recognition

Abstract:
The objective of this paper is 'open-set' speaker recognition of unseen speakers, where ideal embeddings should be able to condense information into a compact utterance-level representation that has small intra-speaker and large inter-speaker distance.
A popular belief in speaker recognition is that networks trained with classification objectives outperform metric learning methods. In this paper, we present an extensive evaluation of most popular loss functions for speaker recognition on the VoxCeleb dataset. We demonstrate that the vanilla triplet loss shows competitive performance compared to classification-based losses, and those trained with our proposed metric learning objective outperform state-of-the-art methods.

Clova Baseline System for the VoxCeleb Speaker Recognition Challenge 2020

Abstract: This report describes our submission to the VoxCeleb Speaker Recognition Challenge (VoxSRC) at Interspeech 2020. We perform a careful analysis of speaker recognition models based on the popular ResNet architecture, and train a number of variants using a range of loss functions. Our results show significant improvements over most existing works without the use of model ensemble or post-processing. We release the training code and pre-trained models as unofficial baselines for this year's challenge.

ECAPA-TDNN: Emphasized Channel Attention, Propagation and Aggregation in TDNN Based Speaker Verification

Abstract: Current speaker verification techniques rely on a neural network to extract speaker representations. The successful x-vector architecture is a Time Delay Neural Network (TDNN) that applies statistics pooling to project variable-length utterances into fixed-length speaker characterizing embeddings. In this paper, we propose multiple enhancements to this architecture based on recent trends in the related fields of face verification and computer vision. Firstly, the initial frame layers can be restructured into 1-dimensional Res2Net modules with impactful skip connections. Similarly to SE-ResNet, we introduce Squeeze-and-Excitation blocks in these modules to explicitly model channel interdependencies. The SE block expands the temporal context of the frame layer by rescaling the channels according to global properties of the recording. Secondly, neural networks are known to learn hierarchical features, with each layer operating on a different level of complexity. To leverage this complementary information, we aggregate and propagate features of different hierarchical levels. Finally, we improve the statistics pooling module with channel-dependent frame attention. This enables the network to focus on different subsets of frames during each of the channel's statistics estimation. The proposed ECAPA-TDNN architecture significantly outperforms state-of-the-art TDNN based systems on the VoxCeleb test sets and the 2019 VoxCeleb Speaker Recognition Challenge.

Audio-Visual Person-of-Interest DeepFake Detection

Abstract: Face manipulation technology is advancing very rapidly, and new methods are being proposed day by day. The aim of this work is to propose a deepfake detector that can cope with the wide variety of manipulation methods and scenarios encountered in the real world. Our key insight is that each person has specific characteristics that a synthetic generator likely cannot reproduce. Accordingly, we extract audio-visual features which characterize the identity of a person, and use them to create a person-of-interest (POI) deepfake detector. We leverage a contrastive learning paradigm to learn the moving-face and audio segment embeddings that are most discriminative for each identity. As a result, when the video and/or audio of a person is manipulated, its representation in the embedding space becomes inconsistent with the real identity, allowing reliable detection. Training is carried out exclusively on real talking-face video; thus, the detector does not depend on any specific manipulation method and yields the highest generalization ability. In addition, our method can detect both single-modality (audio-only, video-only) and multi-modality (audio-video) attacks, and is robust to low-quality or corrupted videos. Experiments on a wide variety of datasets confirm that our method ensures a SOTA performance, especially on low quality videos. Code is publicly available on-line at https://github.com/grip-unina/poi-forensics.

Characteristics of the speaker verification techniques used in this work.

We consider various audio speaker verification techniques,
they are described below and a summary of their characteristics is reported in table {{table:4e2bc080-fd53-4356-b559-76ef31c472c1}} .


PANNs: Large-Scale Pretrained Audio Neural Networks for Audio Pattern Recognition

Abstract: Audio pattern recognition is an important research topic in the machine learning area, and includes several tasks such as audio tagging, acoustic scene classification, music classification, speech emotion classification and sound event detection. Recently, neural networks have been applied to tackle audio pattern recognition problems. However, previous systems are built on specific datasets with limited durations. Recently, in computer vision and natural language processing, systems pretrained on large-scale datasets have generalized well to several tasks. However, there is limited research on pretraining systems on large-scale datasets for audio pattern recognition. In this paper, we propose pretrained audio neural networks (PANNs) trained on the large-scale AudioSet dataset. These PANNs are transferred to other audio related tasks. We investigate the performance and computational complexity of PANNs modeled by a variety of convolutional neural networks. We propose an architecture called Wavegram-Logmel-CNN using both log-mel spectrogram and waveform as input feature. Our best PANN system achieves a state-of-the-art mean average precision (mAP) of 0.439 on AudioSet tagging, outperforming the best previous system of 0.392. We transfer PANNs to six audio pattern recognition tasks, and demonstrate state-of-the-art performance in several of those tasks. We have released the source code and pretrained models of PANNs: https://github.com/qiuqiangkong/audioset_tagging_cnn.

Efficient Training of Audio Transformers with Patchout

Abstract: The great success of transformer-based models in natural language processing (NLP) has led to various attempts at adapting these architectures to other domains such as vision and audio. Recent work has shown that transformers can outperform Convolutional Neural Networks (CNNs) on vision and audio tasks. However, one of the main shortcomings of transformer models, compared to the well-established CNNs, is the computational complexity. In transformers, the compute and memory complexity is known to grow quadratically with the input length. Therefore, there has been extensive work on optimizing transformers, but often at the cost of degrading predictive performance. In this work, we propose a novel method to optimize and regularize transformers on audio spectrograms. Our proposed models achieve a new state-of-the-art performance on Audioset and can be trained on a single consumer-grade GPU. Furthermore, we propose a transformer model that outperforms CNNs in terms of both performance and training speed. Source code: https://github.com/kkoutini/PaSST

ESResNet: Environmental Sound Classification Based on Visual Domain Models

Abstract: Environmental Sound Classification (ESC) is an active research area in the audio domain and has seen a lot of progress in the past years. However, many of the existing approaches achieve high accuracy by relying on domain-specific features and architectures, making it harder to benefit from advances in other fields (e.g., the image domain). Additionally, some of the past successes have been attributed to a discrepancy of how results are evaluated (i.e., on unofficial splits of the UrbanSound8K (US8K) dataset), distorting the overall progression of the field. The contribution of this paper is twofold. First, we present a model that is inherently compatible with mono and stereo sound inputs. Our model is based on simple log-power Short-Time Fourier Transform (STFT) spectrograms and combines them with several well-known approaches from the image domain (i.e., ResNet, Siamese-like networks and attention). We investigate the influence of cross-domain pre-training, architectural changes, and evaluate our model on standard datasets. We find that our model out-performs all previously known approaches in a fair comparison by achieving accuracies of 97.0 % (ESC-10), 91.5 % (ESC-50) and 84.2 % / 85.4 % (US8K mono / stereo). Second, we provide a comprehensive overview of the actual state of the field, by differentiating several previously reported results on the US8K dataset between official or unofficial splits. For better reproducibility, our code (including any re-implementations) is made available.

Summary of systems with best performance from all teams.

Audio encoders.
Among the submitted systems, PANNs {{cite:f6ac302}} (e.g., CNN14, Wavegram-Logmel-CNN14 and CNN10) were the most common choice for encoding audio data.
There were in total 21 systems from six teams utilizing PANNs as their audio encoders, including the top three teams {{cite:cdeb21f}}, {{cite:5234b8f}}, {{cite:996551b}}.
Particularly, the CNN14 model was most preferred (20 systems).
Xu et al. {{cite:cdeb21f}} experimented with multiple pre-trained audio expert models, including CNN14 and Wavegram-Logmel-CNN14.
With ensemble of different models, they achieved the best performance.
Mei et al. {{cite:5234b8f}} adopted CNN14 as their audio encoder without model ensembles, having their best system ranked second.
Tied on third rank, Lamort et al. {{cite:996551b}} experimented with aggregating the most number of pre-trained audio expert models (i.e., five models in total, as shown in Table {{table:038ded65-c5a0-458a-8e03-6890330ba7a7}} ).
The audio encoders utilized in other systems were PaSST {{cite:59de784}}, ESResNet {{cite:e10c815}}, HTS-AT {{cite:5d33c32}}, and CRNN {{cite:d5117d0}}.

Caption encoders.
Most of the participating teams (i.e., seven out of nine) preferred Transformer-based language embedding models (e.g., BERT {{cite:62d93ba}}) over word embedding models (e.g., Word2Vec {{cite:da5174d}}), to learn caption embeddings.
As shown in Table {{table:038ded65-c5a0-458a-8e03-6890330ba7a7}} , pre-trained Transformer-based language embedding models, including BERT {{cite:62d93ba}}, RoBERTa {{cite:eadf5db}}, and Sentence-BERT {{cite:c4a665f}}, were utilized as caption encoders by seven teams (28 systems in total).
The other two teams and the baseline converted captions into embeddings with pre-trained Word2Vec word vectors {{cite:da5174d}}.
All teams with Transformer-based models ranked higher than those with pre-trained Word2Vec {{cite:da5174d}}, which clearly demonstrated that Transformer-based models learned caption embeddings more efficiently.

Loss functions.
As shown in Table {{table:038ded65-c5a0-458a-8e03-6890330ba7a7}} , the loss functions utilized for optimizing the submitted systems can be categorized into two groups: contrastive losses and cross entropy (CE) losses.
The contrastive losses contained InfoNCE loss {{cite:39ad4d6}} (one team), NT-Xent loss {{cite:5c705ed}} (one team), supervised contrastive loss {{cite:cfa9ca6}} (one team), and the commonly used triplet loss {{cite:458a160}}, {{cite:6d1f5a8}} (five teams).
Particularly, the top two teams (i.e., Xu et al. {{cite:cdeb21f}} and Mei et al. {{cite:5234b8f}}) optimized their systems with InfoNCE loss {{cite:39ad4d6}} and NT-Xent loss {{cite:5c705ed}}, respectively.
Cross entropy losses were used by Lai et al. {{cite:268a194}} and Wu et al. {{cite:6812002}}.
These two teams developed their systems based on the CLIP framework {{cite:2a8d0b7}}, which was commonly trained with cross entropy losses.


HotpotQA: A Dataset for Diverse, Explainable Multi-hop Question Answering

Abstract: Existing question answering (QA) datasets fail to train QA systems to perform complex reasoning and provide explanations for answers. We introduce HotpotQA, a new dataset with 113k Wikipedia-based question-answer pairs with four key features: (1) the questions require finding and reasoning over multiple supporting documents to answer; (2) the questions are diverse and not constrained to any pre-existing knowledge bases or knowledge schemas; (3) we provide sentence-level supporting facts required for reasoning, allowing QA systems to reason with strong supervision and explain the predictions; (4) we offer a new type of factoid comparison questions to test QA systems’ ability to extract relevant facts and perform necessary comparison. We show that HotpotQA is challenging for the latest QA systems, and the supporting facts enable models to improve performance and make explainable predictions.

TriviaQA: A Large Scale Distantly Supervised Challenge Dataset for Reading Comprehension

Abstract: We present TriviaQA, a challenging reading comprehension dataset containing over 650K question-answer-evidence triples. TriviaQA includes 95K question-answer pairs authored by trivia enthusiasts and independently gathered evidence documents, six per question on average, that provide high quality distant supervision for answering the questions. We show that, in comparison to other recently introduced large-scale datasets, TriviaQA (1) has relatively complex, compositional questions, (2) has considerable syntactic and lexical variability between questions and corresponding answer-evidence sentences, and (3) requires more cross sentence reasoning to find answers. We also present two baseline algorithms: a feature-based classifier and a state-of-the-art neural network, that performs well on SQuAD reading comprehension. Neither approach comes close to human performance (23% and 40% vs. 80%), suggesting that TriviaQA is a challenging testbed that is worth significant future study.

Zero-Shot Relation Extraction via Reading Comprehension

Abstract: We show that relation extraction can be reduced to answering simple reading comprehension questions, by associating one or more natural-language questions with each relation slot. This reduction has several advantages: we can (1) learn relation-extraction models by extending recent neural reading-comprehension techniques, (2) build very large training sets for those models by combining relation-specific crowd-sourced questions with distant supervision, and even (3) do zero-shot learning by extracting new relation types that are only specified at test-time, for which we have no labeled training examples. Experiments on a Wikipedia slot-filling task demonstrate that the approach can generalize to new questions for known relation types with high accuracy, and that zero-shot generalization to unseen relation types is possible, at lower accuracy levels, setting the bar for future work on this task.

FEVER: a Large-scale Dataset for Fact Extraction and VERification

Abstract: In this paper we introduce a new publicly available dataset for verification against textual sources, FEVER: Fact Extraction and VERification. It consists of 185,445 claims generated by altering sentences extracted from Wikipedia and subsequently verified without knowledge of the sentence they were derived from. The claims are classified as Supported, Refuted or NotEnoughInfo by annotators achieving 0.6841 in Fleiss kappa. For the first two classes, the annotators also recorded the sentence(s) forming the necessary evidence for their judgment. To characterize the challenge of the dataset presented, we develop a pipeline approach and compare it to suitably designed oracles. The best accuracy we achieve on labeling a claim accompanied by the correct evidence is 31.87%, while if we ignore the evidence we achieve 50.91%. Thus we believe that FEVER is a challenging testbed that will help stimulate progress on claim verification against textual sources.

Wizard of Wikipedia: Knowledge-Powered Conversational agents

Abstract: In open-domain dialogue intelligent agents should exhibit the use of knowledge, however there are few convincing demonstrations of this to date. The most popular sequence to sequence models typically "generate and hope" generic utterances that can be memorized in the weights of the model when mapping from input utterance(s) to output, rather than employing recalled knowledge as context. Use of knowledge has so far proved difficult, in part because of the lack of a supervised learning benchmark task which exhibits knowledgeable open dialogue with clear grounding. To that end we collect and release a large dataset with conversations directly grounded with knowledge retrieved from Wikipedia. We then design architectures capable of retrieving knowledge, reading and conditioning on it, and finally generating natural responses. Our best performing dialogue models are able to conduct knowledgeable discussions on open-domain topics as evaluated by automatic metrics and human evaluations, while our new benchmark allows for measuring further improvements in this important research direction.

KILT tasks grouped by category with training example and query set size statistics.

We conduct experiments on 7 KILT tasks: HotpotQA {{cite:f269d0a}},
TriviaQA {{cite:333990e}},
Natural Questions (NQ) {{cite:7133783}}, T-REx {{cite:d17fdc5}},
Zero Shot RE (zsRE) {{cite:4144a70}}, FEVER {{cite:cc0dd36}}, and Wizard of Wikipedia (WoW) {{cite:7d2eecd}}. We give an overview over the dataset in Table {{table:c928d4c7-c7ad-4544-8592-9d9261b5365d}} . We used the filtered training & passage sets from {{cite:79b34ca}} and the original evaluation sets from {{cite:c29fc18}}.


Pitfalls of Graph Neural Network Evaluation

Abstract: Semi-supervised node classification in graphs is a fundamental problem in graph mining, and the recently proposed graph neural networks (GNNs) have achieved unparalleled results on this task. Due to their massive success, GNNs have attracted a lot of attention, and many novel architectures have been put forward. In this paper we show that existing evaluation strategies for GNN models have serious shortcomings. We show that using the same train/validation/test splits of the same datasets, as well as making significant changes to the training procedure (e.g. early stopping criteria) precludes a fair comparison of different architectures. We perform a thorough empirical evaluation of four prominent GNN models and show that considering different splits of the data leads to dramatically different rankings of models. Even more importantly, our findings suggest that simpler GNN architectures are able to outperform the more sophisticated ones if the hyperparameters and the training procedure are tuned fairly for all models.

Semi-Supervised Classification with Graph Convolutional Networks

Abstract: We present a scalable approach for semi-supervised learning on graph-structured data that is based on an efficient variant of convolutional neural networks which operate directly on graphs. We motivate the choice of our convolutional architecture via a localized first-order approximation of spectral graph convolutions. Our model scales linearly in the number of graph edges and learns hidden layer representations that encode both local graph structure and features of nodes. In a number of experiments on citation networks and on a knowledge graph dataset we demonstrate that our approach outperforms related methods by a significant margin.

An overview of popular datasets

Pytorch Geometric python library provides a standard interface on top of Pytorch to allow for the development of graph based machine learning. The library also provides a sample of datasets from previous papers published in this field. A brief overview of popular graph-connected datasets, their task and embeddings is available in table {{table:fc9fd99a-7248-4a99-a476-03678a42a201}} .


Understanding Diffusion Models: A Unified Perspective

Abstract: Diffusion models have shown incredible capabilities as generative models; indeed, they power the current state-of-the-art models on text-conditioned image generation such as Imagen and DALL-E 2. In this work we review, demystify, and unify the understanding of diffusion models across both variational and score-based perspectives. We first derive Variational Diffusion Models (VDM) as a special case of a Markovian Hierarchical Variational Autoencoder, where three key assumptions enable tractable computation and scalable optimization of the ELBO. We then prove that optimizing a VDM boils down to learning a neural network to predict one of three potential objectives: the original source input from any arbitrary noisification of it, the original source noise from any arbitrarily noisified input, or the score function of a noisified input at any arbitrary noise level. We then dive deeper into what it means to learn the score function, and connect the variational perspective of a diffusion model explicitly with the Score-based Generative Modeling perspective through Tweedie's Formula. Lastly, we cover how to learn a conditional distribution using diffusion models via guidance.

A Variational Perspective on Diffusion-Based Generative Models and Score Matching

Abstract: Discrete-time diffusion-based generative models and score matching methods have shown promising results in modeling high-dimensional image data. Recently, Song et al. (2021) show that diffusion processes that transform data into noise can be reversed via learning the score function, i.e. the gradient of the log-density of the perturbed data. They propose to plug the learned score function into an inverse formula to define a generative diffusion process. Despite the empirical success, a theoretical underpinning of this procedure is still lacking. In this work, we approach the (continuous-time) generative diffusion directly and derive a variational framework for likelihood estimation, which includes continuous-time normalizing flows as a special case, and can be seen as an infinitely deep variational autoencoder. Under this framework, we show that minimizing the score-matching loss is equivalent to maximizing a lower bound of the likelihood of the plug-in reverse SDE proposed by Song et al. (2021), bridging the theoretical gap.

Score-based Generative Modeling in Latent Space

Abstract: Score-based generative models (SGMs) have recently demonstrated impressive results in terms of both sample quality and distribution coverage. However, they are usually applied directly in data space and often require thousands of network evaluations for sampling. Here, we propose the Latent Score-based Generative Model (LSGM), a novel approach that trains SGMs in a latent space, relying on the variational autoencoder framework. Moving from data to latent space allows us to train more expressive generative models, apply SGMs to non-continuous data, and learn smoother SGMs in a smaller space, resulting in fewer network evaluations and faster sampling. To enable training LSGMs end-to-end in a scalable and stable manner, we (i) introduce a new score-matching objective suitable to the LSGM setting, (ii) propose a novel parameterization of the score function that allows SGM to focus on the mismatch of the target distribution with respect to a simple Normal one, and (iii) analytically derive multiple techniques for variance reduction of the training objective. LSGM obtains a state-of-the-art FID score of 2.10 on CIFAR-10, outperforming all existing generative results on this dataset. On CelebA-HQ-256, LSGM is on a par with previous SGMs in sample quality while outperforming them in sampling time by two orders of magnitude. In modeling binary images, LSGM achieves state-of-the-art likelihood on the binarized OMNIGLOT dataset. Our project page and code can be found at https://nvlabs.github.io/LSGM .

Diffusion-GAN: Training GANs with Diffusion

Abstract: Generative adversarial networks (GANs) are challenging to train stably, and a promising remedy of injecting instance noise into the discriminator input has not been very effective in practice. In this paper, we propose Diffusion-GAN, a novel GAN framework that leverages a forward diffusion chain to generate Gaussian-mixture distributed instance noise. Diffusion-GAN consists of three components, including an adaptive diffusion process, a diffusion timestep-dependent discriminator, and a generator. Both the observed and generated data are diffused by the same adaptive diffusion process. At each diffusion timestep, there is a different noise-to-data ratio and the timestep-dependent discriminator learns to distinguish the diffused real data from the diffused generated data. The generator learns from the discriminator's feedback by backpropagating through the forward diffusion chain, whose length is adaptively adjusted to balance the noise and data levels. We theoretically show that the discriminator's timestep-dependent strategy gives consistent and helpful guidance to the generator, enabling it to match the true data distribution. We demonstrate the advantages of Diffusion-GAN over strong GAN baselines on various datasets, showing that it can produce more realistic images with higher stability and data efficiency than state-of-the-art GANs.

Tackling the Generative Learning Trilemma with Denoising Diffusion GANs

Abstract: A wide variety of deep generative models has been developed in the past decade. Yet, these models often struggle with simultaneously addressing three key requirements including: high sample quality, mode coverage, and fast sampling. We call the challenge imposed by these requirements the generative learning trilemma, as the existing models often trade some of them for others. Particularly, denoising diffusion models have shown impressive sample quality and diversity, but their expensive sampling does not yet allow them to be applied in many real-world applications. In this paper, we argue that slow sampling in these models is fundamentally attributed to the Gaussian assumption in the denoising step which is justified only for small step sizes. To enable denoising with large steps, and hence, to reduce the total number of denoising steps, we propose to model the denoising distribution using a complex multimodal distribution. We introduce denoising diffusion generative adversarial networks (denoising diffusion GANs) that model each denoising step using a multimodal conditional GAN. Through extensive evaluations, we show that denoising diffusion GANs obtain sample quality and diversity competitive with original diffusion models while being 2000$\times$ faster on the CIFAR-10 dataset. Compared to traditional GANs, our model exhibits better mode coverage and sample diversity. To the best of our knowledge, denoising diffusion GAN is the first model that reduces sampling cost in diffusion models to an extent that allows them to be applied to real-world applications inexpensively. Project page and code can be found at https://nvlabs.github.io/denoising-diffusion-gan

Diffusion Normalizing Flow

Abstract: We present a novel generative modeling method called diffusion normalizing flow based on stochastic differential equations (SDEs). The algorithm consists of two neural SDEs: a forward SDE that gradually adds noise to the data to transform the data into Gaussian random noise, and a backward SDE that gradually removes the noise to sample from the data distribution. By jointly training the two neural SDEs to minimize a common cost function that quantifies the difference between the two, the backward SDE converges to a diffusion process the starts with a Gaussian distribution and ends with the desired data distribution. Our method is closely related to normalizing flow and diffusion probabilistic models and can be viewed as a combination of the two. Compared with normalizing flow, diffusion normalizing flow is able to learn distributions with sharp boundaries. Compared with diffusion probabilistic models, diffusion normalizing flow requires fewer discretization steps and thus has better sampling efficiency. Our algorithm demonstrates competitive performance in both high-dimension data density estimation and image generation tasks.

Interpreting diffusion score matching using normalizing flow

Abstract: Scoring matching (SM), and its related counterpart, Stein discrepancy (SD) have achieved great success in model training and evaluations. However, recent research shows their limitations when dealing with certain types of distributions. One possible fix is incorporating the original score matching (or Stein discrepancy) with a diffusion matrix, which is called diffusion score matching (DSM) (or diffusion Stein discrepancy (DSD)). However, the lack of interpretation of the diffusion limits its usage within simple distributions and manually chosen matrix. In this work, we plan to fill this gap by interpreting the diffusion matrix using normalizing flows. Specifically, we theoretically prove that DSM (or DSD) is equivalent to the original score matching (or Stein discrepancy) evaluated in the transformed space defined by the normalizing flow, where the diffusion matrix is the inverse of the flow's Jacobian matrix. In addition, we also build its connection to Riemannian manifolds and further extend it to continuous flows, where the change of DSM is characterized by an ODE.

Autoregressive Diffusion Models

Abstract: We introduce Autoregressive Diffusion Models (ARDMs), a model class encompassing and generalizing order-agnostic autoregressive models (Uria et al., 2014) and absorbing discrete diffusion (Austin et al., 2021), which we show are special cases of ARDMs under mild assumptions. ARDMs are simple to implement and easy to train. Unlike standard ARMs, they do not require causal masking of model representations, and can be trained using an efficient objective similar to modern probabilistic diffusion models that scales favourably to highly-dimensional data. At test time, ARDMs support parallel generation which can be adapted to fit any given generation budget. We find that ARDMs require significantly fewer steps than discrete diffusion models to attain the same performance. Finally, we apply ARDMs to lossless compression, and show that they are uniquely suited to this task. Contrary to existing approaches based on bits-back coding, ARDMs obtain compelling results not only on complete datasets, but also on compressing single data points. Moreover, this can be done using a modest number of network calls for (de)compression due to the model's adaptable parallel generation.

Autoregressive Denoising Diffusion Models for Multivariate Probabilistic Time Series Forecasting

Abstract: In this work, we propose \texttt{TimeGrad}, an autoregressive model for multivariate probabilistic time series forecasting which samples from the data distribution at each time step by estimating its gradient. To this end, we use diffusion probabilistic models, a class of latent variable models closely connected to score matching and energy-based methods. Our model learns gradients by optimizing a variational bound on the data likelihood and at inference time converts white noise into a sample of the distribution of interest through a Markov chain using Langevin sampling. We demonstrate experimentally that the proposed autoregressive denoising diffusion model is the new state-of-the-art multivariate probabilistic forecasting method on real-world data sets with thousands of correlated dimensions. We hope that this method is a useful tool for practitioners and lays the foundation for future research in this area.

Learning Energy-Based Models by Diffusion Recovery Likelihood

Abstract: While energy-based models (EBMs) exhibit a number of desirable properties, training and sampling on high-dimensional datasets remains challenging. Inspired by recent progress on diffusion probabilistic models, we present a diffusion recovery likelihood method to tractably learn and sample from a sequence of EBMs trained on increasingly noisy versions of a dataset. Each EBM is trained with recovery likelihood, which maximizes the conditional probability of the data at a certain noise level given their noisy versions at a higher noise level. Optimizing recovery likelihood is more tractable than marginal likelihood, as sampling from the conditional distributions is much easier than sampling from the marginal distributions. After training, synthesized images can be generated by the sampling process that initializes from Gaussian white noise distribution and progressively samples the conditional distributions at decreasingly lower noise levels. Our method generates high fidelity samples on various image datasets. On unconditional CIFAR-10 our method achieves FID 9.58 and inception score 8.30, superior to the majority of GANs. Moreover, we demonstrate that unlike previous work on EBMs, our long-run MCMC samples from the conditional distributions do not diverge and still represent realistic images, allowing us to accurately estimate the normalized density of data even for high-dimensional datasets. Our implementation is available at https://github.com/ruiqigao/recovery_likelihood.

Latent Diffusion Energy-Based Model for Interpretable Text Modeling

Abstract: Latent space Energy-Based Models (EBMs), also known as energy-based priors, have drawn growing interests in generative modeling. Fueled by its flexibility in the formulation and strong modeling power of the latent space, recent works built upon it have made interesting attempts aiming at the interpretability of text modeling. However, latent space EBMs also inherit some flaws from EBMs in data space; the degenerate MCMC sampling quality in practice can lead to poor generation quality and instability in training, especially on data with complex latent structures. Inspired by the recent efforts that leverage diffusion recovery likelihood learning as a cure for the sampling issue, we introduce a novel symbiosis between the diffusion models and latent space EBMs in a variational learning framework, coined as the latent diffusion energy-based model. We develop a geometric clustering-based regularization jointly with the information bottleneck to further improve the quality of the learned latent space. Experiments on several challenging tasks demonstrate the superior performance of our model on interpretable text modeling over strong counterparts.

Diffusion models are incorporated into different generative models.

Connections with Other Generative Models

In this section, we first introduce five other important classes of generative models and analyze their advantages and limitations.
Then we introduce how diffusion models are connected with them, and illustrate how these generative models are promoted by incorporating diffusion models.
The algorithms that integrate diffusion models with other generative models are summarized in Table {{table:a2feadc9-99a9-4637-9a61-e257c3d7d9bb}} , and we also provide a schematic illustration in Figure {{figure:aa472d8f-77a7-4b18-ba02-6d9211d6413d}} .


Ride-hailing Demand, Bike Demand, Taxi Demand

Grids Versus Graphs: Partitioning Space for Improved Taxi Demand-Supply Forecasts

Abstract: Accurate taxi demand-supply forecasting is a challenging application of ITS (Intelligent Transportation Systems), due to the complex spatial and temporal patterns involved. We investigate the impact of different spatial partitioning techniques on the prediction performance of an LSTM (Long Short-Term Memory) network, in the context of taxi demand-supply forecasting. We consider two tessellation schemes: (i) the variable-sized Voronoi tessellation, and (ii) the fixed-sized Geohash tessellation. While the widely employed ConvLSTM (Convolutional LSTM) method can model fixed-sized Geohash partitions, the standard convolutional filters cannot be applied on variable-sized Voronoi partitions. To explore the impact of the Voronoi strategy, we propose the use of a GraphLSTM (Graph-based LSTM) model, by representing the Voronoi spatial partitions as nodes on an arbitrarily structured graph. The GraphLSTM model offers competitive performance against the ConvLSTM model, at a lower computational complexity, across three real-world large-scale taxi demand-supply data sets, with different performance metrics. To ensure superior performance across diverse settings, a HEDGE based ensemble learning algorithm is applied over the ConvLSTM and the GraphLSTM networks.

Coupled Layer-wise Graph Convolution for Transportation Demand Prediction

Abstract: Graph Convolutional Network (GCN) has been widely applied in transportation demand prediction due to its excellent ability to capture non-Euclidean spatial dependence among station-level or regional transportation demands. However, in most of the existing research, the graph convolution was implemented on a heuristically generated adjacency matrix, which could neither reflect the real spatial relationships of stations accurately, nor capture the multi-level spatial dependence of demands adaptively. To cope with the above problems, this paper provides a novel graph convolutional network for transportation demand prediction. Firstly, a novel graph convolution architecture is proposed, which has different adjacency matrices in different layers and all the adjacency matrices are self-learned during the training process. Secondly, a layer-wise coupling mechanism is provided, which associates the upper-level adjacency matrix with the lower-level one. It also reduces the scale of parameters in our model. Lastly, a unitary network is constructed to give the final prediction result by integrating the hidden spatial states with gated recurrent unit, which could capture the multi-level spatial dependence and temporal dynamics simultaneously. Experiments have been conducted on two real-world datasets, NYC Citi Bike and NYC Taxi, and the results demonstrate the superiority of our model over the state-of-the-art ones.

Demand Forecasting from Spatiotemporal Data with Graph Networks and Temporal-Guided Embedding

Abstract: Short-term demand forecasting models commonly combine convolutional and recurrent layers to extract complex spatiotemporal patterns in data. Long-term histories are also used to consider periodicity and seasonality patterns as time series data. In this study, we propose an efficient architecture, Temporal-Guided Network (TGNet), which utilizes graph networks and temporal-guided embedding. Graph networks extract invariant features to permutations of adjacent regions instead of convolutional layers. Temporal-guided embedding explicitly learns temporal contexts from training data and is substituted for the input of long-term histories from days/weeks ago. TGNet learns an autoregressive model, conditioned on temporal contexts of forecasting targets from temporal-guided embedding. Finally, our model achieves competitive performances with other baselines on three spatiotemporal demand dataset from real-world, but the number of trainable parameters is about 20 times smaller than a state-of-the-art baseline. We also show that temporal-guided embedding learns temporal contexts as intended and TGNet has robust forecasting performances even to atypical event situations.

Predicting origin-destination ride-sourcing demand with a spatio-temporal encoder-decoder residual multi-graph convolutional network

Abstract: With the rapid development of mobile-internet technologies, on-demand ride-sourcing services have become increasingly popular and largely reshaped the way people travel. Demand prediction is one of the most fundamental components in supply-demand management systems of ride-sourcing platforms. With accurate short-term prediction for origin-destination (OD) demand, the platforms make precise and timely decisions on real-time matching, idle vehicle reallocations and ride-sharing vehicle routing, etc. Compared to zone-based demand prediction that has been examined by many previous studies, OD-based demand prediction is more challenging. This is mainly due to the complicated spatial and temporal dependencies among demand of different OD pairs. To overcome this challenge, we propose the Spatio-Temporal Encoder-Decoder Residual Multi-Graph Convolutional network (ST-ED-RMGC), a novel deep learning model for predicting ride-sourcing demand of various OD pairs. Firstly, the model constructs OD graphs, which utilize adjacent matrices to characterize the non-Euclidean pair-wise geographical and semantic correlations among different OD pairs. Secondly, based on the constructed graphs, a residual multi-graph convolutional (RMGC) network is designed to encode the contextual-aware spatial dependencies, and a long-short term memory (LSTM) network is used to encode the temporal dependencies, into a dense vector space. Finally, we reuse the RMGC networks to decode the compressed vector back to OD graphs and predict the future OD demand. Through extensive experiments on the for-hire-vehicles datasets in Manhattan, New York City, we show that our proposed deep learning framework outperforms the state-of-arts by a significant margin.

Open source projects for traffic demand related problems.

Many authors have also released open-source implementations of their proposed models. The open source projects for traffic flow, traffic speed, traffic demand, and other problems are summarized in Tables {{table:484de0a1-6cea-4cb8-8efe-1dbda17de430}} ,  {{table:e741559d-c35c-471b-b496-d3caa0771669}} ,  {{table:5a3934f8-562e-4fe2-a769-b0d328d753ca}} , and {{table:0dd7e3a2-d8aa-411a-af49-8c5aa814f529}} , respectively. In these open source projects, TensorFlow and PyTorch are the two frameworks that are used most frequently.


The BioGRID Interaction Database: 2008 update

Abstract: The Biological General Repository for Interaction Datasets (BioGRID) database (http://www.thebiogrid.org) was developed to house and distribute collections of protein and genetic interactions from major model organism species. BioGRID currently contains over 198 000 interactions from six different species, as derived from both high-throughput studies and conventional focused studies. Through comprehensive curation efforts, BioGRID now includes a virtually complete set of interactions reported to date in the primary literature for both the budding yeast Saccharomyces cerevisiae and the fission yeast Schizosaccharomyces pombe. A number of new features have been added to the BioGRID including an improved user interface to display interactions based on different attributes, a mirror site and a dedicated interaction management system to coordinate curation across different locations. The BioGRID provides interaction data with monthly updates to Saccharomyces Genome Database, Flybase and Entrez Gene. Source code for the BioGRID and the linked Osprey network visualization system is now freely available without restriction.

MAGNA: Maximizing Accuracy in Global Network Alignment

Abstract: Biological network alignment aims to identify similar regions between networks of different species. Existing methods compute node "similarities" to rapidly identify from possible alignments the "high-scoring" alignments with respect to the overall node similarity. However, the accuracy of the alignments is then evaluated with some other measure that is different than the node similarity used to construct the alignments. Typically, one measures the amount of conserved edges. Thus, the existing methods align similar nodes between networks hoping to conserve many edges (after the alignment is constructed!). Instead, we introduce MAGNA to directly "optimize" edge conservation while the alignment is constructed. MAGNA uses a genetic algorithm and our novel function for crossover of two "parent" alignments into a superior "child" alignment to simulate a "population" of alignments that "evolves" over time; the "fittest" alignments survive and proceed to the next "generation", until the alignment accuracy cannot be optimized further. While we optimize our new and superior measure of the amount of conserved edges, MAGNA can optimize any alignment accuracy measure. In systematic evaluations against existing state-of-the-art methods (IsoRank, MI-GRAAL, and GHOST), MAGNA improves alignment accuracy of all methods.

Description of the datasets used.

We choose network datasets from a variety of domains (e.g. biological, social) (Tab. {{table:0ad59fe4-b58d-484f-9033-ae8e2cc46b59}} ). We consider two scenarios for network alignment with ground truth node correspondence:
(1) Simulated noise.
For each network with adjacency matrix {{formula:58d80bcc-7dc1-40cf-a5e9-65109aa31606}} , we create a permuted copy {{formula:cf924e65-338c-4a2d-9fd9-fb8ed8a7d534}} , where {{formula:5f0dc1e4-05aa-4d31-8265-07e6e95d5fd2}}  is a random permutation matrix, and add noise by removing each edge with probability {{formula:d8ab4b16-6109-4d48-b6b1-4e6ae3c5d361}} .
The task is to align each network to its noisy permuted copy {{formula:d23bcc65-7ba6-4c4c-b36b-8b199df248d3}} , with the ground truth alignments being given by {{formula:e63f3014-88c9-4dc7-97b6-044a6c8d8d41}} .
(2) Real noise. Our PPI-Y dataset is commonly studied in biological network alignment {{cite:8a029fd}}.
The task is to align the largest connected component of the yeast (S.cerevisiae) PPI network to its copies augmented with 5, 10, 15, 20, and 25 percent additional low-confidence PPIs (added in order of their confidence) {{cite:8a029fd}}.


Land use classification using convolutional neural networks applied to ground-level images

Abstract: Land use mapping is a fundamental yet challenging task in geographic science. In contrast to land cover mapping, it is generally not possible using overhead imagery. The recent, explosive growth of online geo-referenced photo collections suggests an alternate approach to geographic knowledge discovery. In this work, we present a general framework that uses ground-level images from Flickr for land use mapping. Our approach benefits from several novel aspects. First, we address the nosiness of the online photo collections, such as imprecise geolocation and uneven spatial distribution, by performing location and indoor/outdoor filtering, and semi-supervised dataset augmentation. Our indoor/outdoor classifier achieves state-of-the-art performance on several benchmark datasets and approaches human-level accuracy. Second, we utilize high-level semantic image features extracted using deep learning, specifically convolutional neural networks, which allow us to achieve upwards of 76% accuracy on a challenging eight class land use mapping problem.

Fine-Grained Land Use Classification at the City Scale Using Ground-Level Images

Abstract: We perform fine-grained land use mapping at the city scale using ground-level images. Mapping land use is considerably more difficult than mapping land cover and is generally not possible using overhead imagery as it requires close-up views and seeing inside buildings. We postulate that the growing collections of georeferenced, ground-level images suggest an alternate approach to this geographic knowledge discovery problem. We develop a general framework that uses Flickr images to map 45 different land-use classes for the City of San Francisco. Individual images are classified using a novel convolutional neural network containing two streams, one for recognizing objects and another for recognizing scenes. This network is trained in an end-to-end manner directly on the labeled training images. We propose several strategies to overcome the noisiness of our user-generated data including search-based training set augmentation and online adaptive training. We derive a ground truth map of San Francisco in order to evaluate our method. We demonstrate the effectiveness of our approach through geo-visualization and quantitative analysis. Our framework achieves over 29% recall at the individual land parcel level which represents a strong baseline for the challenging 45-way land use classification problem especially given the noisiness of the image data.

Data cleaning strategy.

Table {{table:e05c7183-5bde-44d2-9676-4db93092bedb}}  summarizes the existing data cleaning methods. Most of the efforts are based on applying a classifier to identify suitable (or unsuitable) instances. Despite the effectiveness of removing loosely related instances, a gap between image content and land-use types still exists. The development of novel methods that automatically select the most representative images or preclude less informative ones is still of great importance.