Publications

You can also find my articles on my Google Scholar profile.

Conference Papers


Learning to Generate Rules for Realistic Few-Shot Relation Classification: An Encoder-Decoder Approach

Published in Findings of the Association for Computational Linguistics: EMNLP, 2024

We propose a neuro-symbolic approach for realistic few-shot relation classification via rules. Instead of building neural models to predict relations, we design them to output straightforward rules that can be used to extract relations. The rules are generated using custom T5-style Encoder-Decoder Language Models. Crucially, our rules are fully interpretable and pliable (i.e., humans can easily modify them to boost performance). Through a combination of rules generated by these models along with a very effective, novel baseline, we demonstrate a few-shot relation-classification performance that is comparable to or stronger than the state of the art on the Few-Shot TACRED and NYT29 benchmarks while increasing interpretability and maintaining pliability.

Recommended citation: Mayank Singh and Eduardo Blanco. 2024. Learning to Generate Rules for Realistic Few-Shot Relation Classification: An Encoder-Decoder Approach. In Findings of the Association for Computational Linguistics: EMNLP 2024, pages 5907–5921, Miami, Florida, USA.
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Journal Articles


Cloud-Based Collaborative 3D Mapping in Real-Time With Low-Cost Robots

Published in IEEE Transactions on Automation Science and Engineering, 2015

This paper presents an architecture, protocol, and parallel algorithms for collaborative 3D mapping in the cloud with low-cost robots. The robots run a dense visual odometry algorithm on a smartphone-class processor. Key-frames from the visual odometry are sent to the cloud for parallel optimization and merging with maps produced by other robots. After optimization the cloud pushes the updated poses of the local key-frames back to the robots. All processes are managed by Rapyuta, a cloud robotics framework that runs in a commercial data center. This paper includes qualitative visualization of collaboratively built maps, as well as quantitative evaluation of localization accuracy, bandwidth usage, processing speeds, and map storage.

Recommended citation: G. Mohanarajah, V. Usenko, M. Singh, R. D'Andrea and M. Waibel, Cloud-Based Collaborative 3D Mapping in Real-Time With Low-Cost Robots, in IEEE Transactions on Automation Science and Engineering, vol. 12, no. 2, pp. 423-431, April 2015
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