Zdravko Dugonjić

Zdravko Dugonjić, Adrien Pupier, Benjamin Lecouteux et al.

The paper reports on a series of experiments aiming at probing LeBenchmark, a pretrained acoustic model trained on 7k hours of spoken French, for syntactic information. Pretrained acoustic models are increasingly used for downstream speech tasks such as automatic speech recognition, speech translation, spoken language understanding or speech parsing. They are trained on very low level information (the raw speech signal), and do not have explicit lexical knowledge. Despite that, they obtained reasonable results on tasks that requires higher level linguistic knowledge. As a result, an emerging question is whether these models encode syntactic information. We probe each representation layer of LeBenchmark for syntax, using the Orféo treebank, and observe that it has learnt some syntactic information. Our results show that syntactic information is more easily extractable from the middle layers of the network, after which a very sharp decrease is observed.

Artemii Redkin, Zdravko Dugonjic, Mike Lambeta et al.

Vision-based tactile sensors use structured light to measure deformation in their elastomeric interface. Until now, vision-based tactile sensors such as DIGIT and GelSight have been using a single, static pattern of structured light tuned to the specific form factor of the sensor. In this work, we investigate the effectiveness of dynamic illumination patterns, in conjunction with image fusion techniques, to improve the quality of sensing of vision-based tactile sensors. Specifically, we propose to capture multiple measurements, each with a different illumination pattern, and then fuse them together to obtain a single, higher-quality measurement. Experimental results demonstrate that this type of dynamic illumination yields significant improvements in image contrast, sharpness, and background difference. This discovery opens the possibility of retroactively improving the sensing quality of existing vision-based tactile sensors with a simple software update, and for new hardware designs capable of fully exploiting dynamic illumination.