We propose a cross-modality manifold alignment procedure that leverages triplet loss to jointly learn consistent, multi-modal embeddings of language-based concepts of real-world items. Our approach learns these embeddings by sampling triples of anchor, positive, and negative data points from RGB-depth images and their natural language descriptions. We show that our approach can benefit from, but does not require, post-processing steps such as Procrustes analysis, in contrast to some of our baselines which require it for reasonable performance. We demonstrate the effectiveness of our approach on two datasets commonly used to develop robotic-based grounded language learning systems, where our approach outperforms four baselines, including a state-of-the-art approach, across five evaluation metrics.
Non-negative matrix factorization (NMF) with missing-value completion is a well-known effective Collaborative Filtering (CF) method used to provide personalized user recommendations. However, traditional CF relies on the privacy-invasive collection of users' explicit and implicit feedback to build a central recommender model. One-shot federated learning has recently emerged as a method to mitigate the privacy problem while addressing the traditional communication bottleneck of federated learning. In this paper, we present the first unsupervised one-shot federated CF implementation, named FedSPLIT, based on NMF joint factorization. In our solution, the clients first apply local CF in-parallel to build distinct client-specific recommenders. Then, the privacy-preserving local item patterns and biases from each client are shared with the processor to perform joint factorization in order to extract the global item patterns.Extracted patterns are then aggregated to each client to build the local models via knowledge distillation. In our experiments, we demonstrate the feasibility of our approach with standard recommendation datasets. FedSPLIT can obtain similar results than the state of the art (and even outperform it in certain situations) with a substantial decrease in the number of communications.
Learning to understand grounded language, which connects natural language to percepts, is a critical research area. Prior work in grounded language acquisition has focused primarily on textual inputs. In this work, we demonstrate the feasibility of performing grounded language acquisition on paired visual percepts and raw speech inputs. This will allow human-robot interactions in which language about novel tasks and environments is learned from end-users, reducing dependence on textual inputs and potentially mitigating the effects of demographic bias found in widely available speech recognition systems. We leverage recent work in self-supervised speech representation models and show that learned representations of speech can make language grounding systems more inclusive towards specific groups while maintaining or even increasing general performance.
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