Tomáš Musil

Tomáš Musil, Matěj Petrlík, Martin Saska

Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach to monocular vision-based exploration that can safely cover large-scale unstructured indoor and outdoor 3D environments by explicitly accounting for the properties of a sparse monocular SLAM frontend in both mapping and planning. The mapping module solves the problems of sparse depth data, free-space gaps, and large depth uncertainty by oversampling free space in texture-sparse areas and keeping track of obstacle position uncertainty. The planning module handles the added free-space uncertainty through rapid replanning and perception-aware heading control. We further show that frontier-based exploration is possible with sparse monocular depth data when parallax requirements and the possibility of textureless surfaces are taken into account. We evaluate our approach extensively in diverse real-world and simulated environments, including ablation studies. To the best of the authors' knowledge, the proposed method is the first to achieve 3D monocular exploration in real-world unstructured outdoor environments. We open-source our implementation to support future research.

Matej Petrlik, Pavel Petracek, Vit Kratky et al.

This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part of the team CTU-CRAS-NORLAB. In contrast to the winning solution that was developed specifically for the Virtual Track, the proposed solution also proved to be a robust system for deployment onboard physical UAVs flying in the extremely harsh and confined environment of the real-world competition. The proposed approach enables fully autonomous and decentralized deployment of a UAV team with seamless simulation-to-world transfer, and proves its advantage over less mobile UGV teams in the flyable space of diverse environments. The main contributions of the paper are present in the mapping and navigation pipelines. The mapping approach employs novel map representations -- SphereMap for efficient risk-aware long-distance planning, FacetMap for surface coverage, and the compressed topological-volumetric LTVMap for allowing multi-robot cooperation under low-bandwidth communication. These representations are used in navigation together with novel methods for visibility-constrained informed search in a general 3D environment with no assumptions about the environment structure, while balancing deep exploration with sensor-coverage exploitation. The proposed solution also includes a visual-perception pipeline for on-board detection and localization of objects of interest in four RGB stream at 5 Hz each without a dedicated GPU. Apart from participation in the DARPA SubT, the performance of the UAV system is supported by extensive experimental verification in diverse environments with both qualitative and quantitative evaluation.

Patrícia Schmidtová, Dávid Javorský, Christián Mikláš et al.

We present a novel approach to generating scripts by using agents with different personality types. To manage character interaction in the script, we employ simulated dramatic networks. Automatic and human evaluation on multiple criteria shows that our approach outperforms a vanilla-GPT2-based baseline. We further introduce a new metric to evaluate dialogue consistency based on natural language inference and demonstrate its validity.

Tomasz Limisiewicz, David Mareček, Tomáš Musil

Large language models are becoming the go-to solution for the ever-growing number of tasks. However, with growing capacity, models are prone to rely on spurious correlations stemming from biases and stereotypes present in the training data. This work proposes a novel method for detecting and mitigating gender bias in language models. We perform causal analysis to identify problematic model components and discover that mid-upper feed-forward layers are most prone to convey bias. Based on the analysis results, we intervene in the model by applying a linear projection to the weight matrices of these layers. Our titular method, DAMA, significantly decreases bias as measured by diverse metrics while maintaining the model's performance on downstream tasks. We release code for our method and models, which retrain LLaMA's state-of-the-art performance while being significantly less biased.

Jindřich Helcl, Zdeněk Kasner, Ondřej Dušek et al.

This paper presents teaching materials, particularly assignments and ideas for classroom activities, from a new course on large language models (LLMs) taught at Charles University. The assignments include experiments with LLM inference for weather report generation and machine translation. The classroom activities include class quizzes, focused research on downstream tasks and datasets, and an interactive "best paper" session aimed at reading and comprehension of research papers.

Tomáš Musil, David Mareček

Independent Component Analysis (ICA) is an algorithm originally developed for finding separate sources in a mixed signal, such as a recording of multiple people in the same room speaking at the same time. Unlike Principal Component Analysis (PCA), ICA permits the representation of a word as an unstructured set of features, without any particular feature being deemed more significant than the others. In this paper, we used ICA to analyze word embeddings. We have found that ICA can be used to find semantic features of the words, and these features can easily be combined to search for words that satisfy the combination. We show that most of the independent components represent such features. To quantify the interpretability of the components, we use the word intruder test, performed both by humans and by large language models. We propose to use the automated version of the word intruder test as a fast and inexpensive way of quantifying vector interpretability without the need for human effort.

Tomáš Musil, David Mareček

Large language models follow a lineage of many NLP applications that were directly inspired by distributional semantics, but do not seem to be closely related to it anymore. In this paper, we propose to employ the distributional theory of meaning once again. Using Independent Component Analysis to overcome some of its challenging aspects, we show that large language models represent semantic features in their hidden states.

Tomasz Limisiewicz, David Mareček, Tomáš Musil

Mitigation of biases, such as language models' reliance on gender stereotypes, is a crucial endeavor required for the creation of reliable and useful language technology. The crucial aspect of debiasing is to ensure that the models preserve their versatile capabilities, including their ability to solve language tasks and equitably represent various genders. To address this issue, we introduce a streamlined Dual Dabiasing Algorithm through Model Adaptation (2DAMA). Novel Dual Debiasing enables robust reduction of stereotypical bias while preserving desired factual gender information encoded by language models. We show that 2DAMA effectively reduces gender bias in English and is one of the first approaches facilitating the mitigation of stereotypical tendencies in translation. The proposed method's key advantage is the preservation of factual gender cues, which are useful in a wide range of natural language processing tasks.

Rudolf Rosa, Tomáš Musil, Ondřej Dušek et al.

We present the first version of a system for interactive generation of theatre play scripts. The system is based on a vanilla GPT-2 model with several adjustments, targeting specific issues we encountered in practice. We also list other issues we encountered but plan to only solve in a future version of the system. The presented system was used to generate a theatre play script planned for premiere in February 2021.

Rudolf Rosa, Ondřej Dušek, Tom Kocmi et al.

We present THEaiTRE, a starting project aimed at automatic generation of theatre play scripts. This paper reviews related work and drafts an approach we intend to follow. We plan to adopt generative neural language models and hierarchical generation approaches, supported by summarization and machine translation methods, and complemented with a human-in-the-loop approach.

Tomáš Musil

Artificial neural networks are a state-of-the-art solution for many problems in natural language processing. What can we learn about language and meaning from the way artificial neural networks represent it? Word representations obtained from the Skip-gram variant of the word2vec model exhibit interesting semantic properties. This is usually explained by referring to the general distributional hypothesis, which states that the meaning of the word is given by the contexts where it occurs. We propose a more specific approach based on Frege's holistic and functional approach to meaning. Taking Tugendhat's formal reinterpretation of Frege's work as a starting point, we demonstrate that it is analogical to the process of training the Skip-gram model and offers a possible explanation of its semantic properties.

Kateřina Rysová, Magdaléna Rysová, Tomáš Musil et al.

As the quality of machine translation rises and neural machine translation (NMT) is moving from sentence to document level translations, it is becoming increasingly difficult to evaluate the output of translation systems. We provide a test suite for WMT19 aimed at assessing discourse phenomena of MT systems participating in the News Translation Task. We have manually checked the outputs and identified types of translation errors that are relevant to document-level translation.

Tomáš Musil, Jonáš Vidra, David Mareček

Derivation is a type of a word-formation process which creates new words from existing ones by adding, changing or deleting affixes. In this paper, we explore the potential of word embeddings to identify properties of word derivations in the morphologically rich Czech language. We extract derivational relations between pairs of words from DeriNet, a Czech lexical network, which organizes almost one million Czech lemmata into derivational trees. For each such pair, we compute the difference of the embeddings of the two words, and perform unsupervised clustering of the resulting vectors. Our results show that these clusters largely match manually annotated semantic categories of the derivational relations (e.g. the relation 'bake--baker' belongs to category 'actor', and a correct clustering puts it into the same cluster as 'govern--governor').

Tomáš Musil

In this paper we compare structure of Czech word embeddings for English-Czech neural machine translation (NMT), word2vec and sentiment analysis. We show that although it is possible to successfully predict part of speech (POS) tags from word embeddings of word2vec and various translation models, not all of the embedding spaces show the same structure. The information about POS is present in word2vec embeddings, but the high degree of organization by POS in the NMT decoder suggests that this information is more important for machine translation and therefore the NMT model represents it in more direct way. Our method is based on correlation of principal component analysis (PCA) dimensions with categorical linguistic data. We also show that further examining histograms of classes along the principal component is important to understand the structure of representation of information in embeddings.