Neural Discrete Representation Learning

Learning useful representations without supervision remains a key challenge in machine learning. In this paper, we propose a simple yet powerful generative model that learns such discrete representations. Our model, the Vector Quantised-Variational AutoEncoder (VQ-VAE), differs from VAEs in two key ways: the encoder network outputs discrete, rather than continuous, codes; and the prior is learnt rather than static. In order to learn a discrete latent representation, we incorporate ideas from vector quantisation (VQ). Using the VQ method allows the model to circumvent issues of "posterior collapse" -- where the latents are ignored when they are paired with a powerful autoregressive decoder -- typically observed in the VAE framework. Pairing these representations with an autoregressive prior, the model can generate high quality images, videos, and speech as well as doing high quality speaker conversion and unsupervised learning of phonemes, providing further evidence of the utility of the learnt representations

Towards local-global compatibility for Hilbert modular forms of low weight

We prove some new cases of local--global compatibility for the Galois representations associated to Hilbert modular forms of low weight (that is, partial weight one).Comment: 14 page

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

The Many Moods of Emotion

This paper presents a novel approach to the facial expression generation problem. Building upon the assumption of the psychological community that emotion is intrinsically continuous, we first design our own continuous emotion representation with a 3-dimensional latent space issued from a neural network trained on discrete emotion classification. The so-obtained representation can be used to annotate large in the wild datasets and later used to trained a Generative Adversarial Network. We first show that our model is able to map back to discrete emotion classes with a objectively and subjectively better quality of the images than usual discrete approaches. But also that we are able to pave the larger space of possible facial expressions, generating the many moods of emotion. Moreover, two axis in this space may be found to generate similar expression changes as in traditional continuous representations such as arousal-valence. Finally we show from visual interpretation, that the third remaining dimension is highly related to the well-known dominance dimension from psychology