In this work, we present a memory-augmented approach for image-goal navigation. Earlier attempts, including RL-based and SLAM-based approaches have either shown poor generalization performance, or are heavily-reliant on pose/depth sensors. Our method is based on an attention-based end-to-end model that leverages an episodic memory to learn to navigate. First, we train a state-embedding network in a self-supervised fashion, and then use it to embed previously-visited states into the agent's memory. Our navigation policy takes advantage of this information through an attention mechanism. We validate our approach with extensive evaluations, and show that our model establishes a new state of the art on the challenging Gibson dataset. Furthermore, we achieve this impressive performance from RGB input alone, without access to additional information such as position or depth, in stark contrast to related work.

We propose an online training procedure for a transformer-based automated theorem prover. Our approach leverages a new search algorithm, HyperTree Proof Search (HTPS), that learns from previous proof searches through online training, allowing it to generalize to domains far from the training distribution. We report detailed ablations of our pipeline’s main components by studying performance on three environments of increasing complexity. In particular, we show that with HTPS alone, a model trained on annotated proofs manages to prove 65.4% of a held-out set of Metamath theorems, significantly outperforming the previous state of the art of 56.5% by GPT-f. Online training on these unproved theorems increases accuracy to 82.6%. With a similar computational budget, we improve the state of the art on the Lean-based miniF2F-curriculum dataset from 31% to 42% proving accuracy.

We explore the application of end-to-end stateless temporal modeling to small-footprint keyword spotting as opposed to recurrent networks that model long-term temporal dependencies using internal states. We propose a model inspired by the recent success of dilated convolutions in sequence modeling applications, allowing to train deeper architectures in resource-constrained configurations. Gated activations and residual connections are also added, following a similar configuration to WaveNet. In addition, we apply a custom target labeling that back-propagates loss from specific frames of interest, therefore yielding higher accuracy and only requiring to detect the end of the keyword. Our experimental results show that our model outperforms a max-pooling loss trained recurrent neural network using LSTM cells, with a significant decrease in false rejection rate. The underlying dataset - "Hey Snips" utterances recorded by over 2.2K different speakers - has been made publicly available to establish an open reference for wake-word detection.

We propose a practical approach based on federated learning to solve out-of-domain issues with continuously running embedded speech-based models such as wake word detectors. We conduct an extensive empirical study of the federated averaging algorithm for the "Hey Snips" wake word based on a crowdsourced dataset that mimics a federation of wake word users. We empirically demonstrate that using an adaptive averaging strategy inspired from Adam in place of standard weighted model averaging highly reduces the number of communication rounds required to reach our target performance. The associated upstream communication costs per user are estimated at 8 MB, which is a reasonable in the context of smart home voice assistants. Additionally, the dataset used for these experiments is being open sourced with the aim of fostering further transparent research in the application of federated learning to speech data.