OpenRaiser/Intern-Atlas huggingface dataset:
Geometric-aware Pretraining for Vision-centric 3D Object Detection
Venue: arXiv cs.CV 2023
Year: 2023

Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of geometry-conscious features from RGB images. Recent approaches have utilized geometric-aware image backbones pretrained on depth-relevant tasks to acquire spatial information. However, these approaches overlook the critical aspect of view transformation, resulting in inadequate performance due to the misalignment of spatial knowledge between the image backbone and view transformation. To address this issue, we propose a novel geometric-aware pretraining framework called GAPretrain. Our approach incorporates spatial and structural cues to camera networks by employing the geometric-rich modality as guidance during the pretraining phase. The transference of modal-specific attributes across different modalities is non-trivial, but we bridge this gap by using a unified bird's-eye-view (BEV) representation and structural hints derived from LiDAR point clouds to facilitate the pretraining process. GAPretrain serves as a plug-and-play solution that can be flexibly applied to multiple state-of-the-art detectors. Our experiments demonstrate the effectiveness and generalization ability of the proposed method. We achieve 46.2 mAP and 55.5 NDS on the nuScenes val set using the BEVFormer method, with a gain of 2.7 and 2.1 points, respectively. We also conduct experiments on various image backbones and view transformations to validate the efficacy of our approach. Code will be released at https://github.com/OpenDriveLab/BEVPerception-Survey-Recipe.
From Saliency to DINO: Saliency-guided Vision Transformer for Few-shot Keypoint Detection
Venue: arXiv cs.CV 2023
Year: 2023

Unlike current deep keypoint detectors that are trained to recognize limited number of body parts, few-shot keypoint detection (FSKD) attempts to localize any keypoints, including novel or base keypoints, depending on the reference samples. FSKD requires the semantically meaningful relations for keypoint similarity learning to overcome the ubiquitous noise and ambiguous local patterns. One rescue comes with vision transformer (ViT) as it captures long-range relations well. However, ViT may model irrelevant features outside of the region of interest due to the global attention matrix, thus degrading similarity learning between support and query features. In this paper, we present a novel saliency-guided vision transformer, dubbed SalViT, for few-shot keypoint detection. Our SalViT enjoys a uniquely designed masked self-attention and a morphology learner, where the former introduces saliency map as a soft mask to constrain the self-attention on foregrounds, while the latter leverages the so-called power normalization to adjust morphology of saliency map, realizing ``dynamically changing receptive field''. Moreover, as salinecy detectors add computations, we show that attentive masks of DINO transformer can replace saliency. On top of SalViT, we also investigate i) transductive FSKD that enhances keypoint representations with unlabelled data and ii) FSKD under occlusions. We show that our model performs well on five public datasets and achieves ~10% PCK higher than the normally trained model under severe occlusions.
Krylov Methods are (nearly) Optimal for Low-Rank Approximation
Venue: arXiv cs.DS 2023
Year: 2023

We consider the problem of rank-$1$ low-rank approximation (LRA) in the matrix-vector product model under various Schatten norms: $$ \min_{\|u\|_2=1} \|A (I - u u^\top)\|_{\mathcal{S}_p} , $$ where $\|M\|_{\mathcal{S}_p}$ denotes the $\ell_p$ norm of the singular values of $M$. Given $\varepsilon>0$, our goal is to output a unit vector $v$ such that $$ \|A(I - vv^\top)\|_{\mathcal{S}_p} \leq (1+\varepsilon) \min_{\|u\|_2=1}\|A(I - u u^\top)\|_{\mathcal{S}_p}. $$ Our main result shows that Krylov methods (nearly) achieve the information-theoretically optimal number of matrix-vector products for Spectral ($p=\infty$), Frobenius ($p=2$) and Nuclear ($p=1$) LRA. In particular, for Spectral LRA, we show that any algorithm requires $Ω\left(\log(n)/\varepsilon^{1/2}\right)$ matrix-vector products, exactly matching the upper bound obtained by Krylov methods [MM15, BCW22]. Our lower bound addresses Open Question 1 in [Woo14], providing evidence for the lack of progress on algorithms for Spectral LRA and resolves Open Question 1.2 in [BCW22]. Next, we show that for any fixed constant $p$, i.e. $1\leq p =O(1)$, there is an upper bound of $O\left(\log(1/\varepsilon)/\varepsilon^{1/3}\right)$ matrix-vector products, implying that the complexity does not grow as a function of input size. This improves the $O\left(\log(n/\varepsilon)/\varepsilon^{1/3}\right)$ bound recently obtained in [BCW22], and matches their $Ω\left(1/\varepsilon^{1/3}\right)$ lower bound, to a $\log(1/\varepsilon)$ factor.
Anomaly Detection via Gumbel Noise Score Matching
Venue: arXiv cs.LG 2023
Year: 2023

We propose Gumbel Noise Score Matching (GNSM), a novel unsupervised method to detect anomalies in categorical data. GNSM accomplishes this by estimating the scores, i.e. the gradients of log likelihoods w.r.t.~inputs, of continuously relaxed categorical distributions. We test our method on a suite of anomaly detection tabular datasets. GNSM achieves a consistently high performance across all experiments. We further demonstrate the flexibility of GNSM by applying it to image data where the model is tasked to detect poor segmentation predictions. Images ranked anomalous by GNSM show clear segmentation failures, with the outputs of GNSM strongly correlating with segmentation metrics computed on ground-truth. We outline the score matching training objective utilized by GNSM and provide an open-source implementation of our work.
GI Software with fewer Data Cache Misses
Venue: arXiv cs.NE 2023
Year: 2023

By their very name caches are often overlooked and yet play a vital role in the performance of modern and indeed future hardware. Using MAGPIE (Machine Automated General Performance Improvement via Evolution of software) we show genetic improvement GI can reduce the cache load of existing computer programs. Operating on lines of C and C++ source code using local search, Magpie can generate new functionally equivalent variants which generate fewer L1 data cache misses. Cache miss reduction is tested on two industrial open source programs (Google's Open Location Code OLC and Uber's Hexagonal Hierarchical Spatial Index H3) and two 2D photograph image processing tasks, counting pixels and OpenCV's SEEDS segmentation algorithm. Magpie's patches functionally generalise. In one case they reduce data misses on the highest performance L1 cache dramatically by 47 percent.
Causal Discovery with Score Matching on Additive Models with Arbitrary Noise
Venue: arXiv cs.LG 2023
Year: 2023

Causal discovery methods are intrinsically constrained by the set of assumptions needed to ensure structure identifiability. Moreover additional restrictions are often imposed in order to simplify the inference task: this is the case for the Gaussian noise assumption on additive non-linear models, which is common to many causal discovery approaches. In this paper we show the shortcomings of inference under this hypothesis, analyzing the risk of edge inversion under violation of Gaussianity of the noise terms. Then, we propose a novel method for inferring the topological ordering of the variables in the causal graph, from data generated according to an additive non-linear model with a generic noise distribution. This leads to NoGAM (Not only Gaussian Additive noise Models), a causal discovery algorithm with a minimal set of assumptions and state of the art performance, experimentally benchmarked on synthetic data.
How Do US Congress Members Advertise Climate Change: An Analysis Of Ads Run On Meta's Platforms
Venue: arXiv cs.SI 2023
Year: 2023

Ensuring transparency and integrity in political communication on climate change has arguably never been more important than today. Yet we know little about how politicians focus on, talk about, and portray climate change on social media. Here we study it from the perspective of political advertisement. We use Meta's Ad Library to collect 602,546 ads that have been issued by US Congress members since mid-2018. Out of those only 19,176 (3.2%) are climate-related. Analyzing this data, we find that Democrats focus substantially more on climate change than Republicans, with 99.7% of all climate-related ads stemming from Democratic politicians. In particular, we find this is driven by a small core of Democratic politicians, where 72% of all impressions can be attributed to 10 politicians. Interestingly, we find a significant difference in the average amount of impressions generated per dollar spent between the two parties. Republicans generate on average 188% more impressions with their climate ads for the same money spent as Democrats. We build models to explain the differences and find that demographic factors only partially explain the variance. Our results demonstrate differences of climate-related advertisements of US congress members and reveal differences in advertising characteristics between the two political parties. We anticipate our work to be a starting point for further studies about climate-related ads on Meta's platforms.
$\text{DC}^2$: Dual-Camera Defocus Control by Learning to Refocus
Venue: arXiv cs.CV 2023
Year: 2023

Smartphone cameras today are increasingly approaching the versatility and quality of professional cameras through a combination of hardware and software advancements. However, fixed aperture remains a key limitation, preventing users from controlling the depth of field (DoF) of captured images. At the same time, many smartphones now have multiple cameras with different fixed apertures -- specifically, an ultra-wide camera with wider field of view and deeper DoF and a higher resolution primary camera with shallower DoF. In this work, we propose $\text{DC}^2$, a system for defocus control for synthetically varying camera aperture, focus distance and arbitrary defocus effects by fusing information from such a dual-camera system. Our key insight is to leverage real-world smartphone camera dataset by using image refocus as a proxy task for learning to control defocus. Quantitative and qualitative evaluations on real-world data demonstrate our system's efficacy where we outperform state-of-the-art on defocus deblurring, bokeh rendering, and image refocus. Finally, we demonstrate creative post-capture defocus control enabled by our method, including tilt-shift and content-based defocus effects.
Synthesis of Mathematical programs from Natural Language Specifications
Venue: arXiv cs.AI 2023
Year: 2023

Several decision problems that are encountered in various business domains can be modeled as mathematical programs, i.e. optimization problems. The process of conducting such modeling often requires the involvement of experts trained in operations research and advanced algorithms. Surprisingly, despite the significant advances in the methods for program and code synthesis, AutoML, learning to optimize etc., there has been little or no attention paid to automating the task of synthesizing mathematical programs. We imagine a scenario where the specifications for modeling, i.e. the objective and constraints are expressed in an unstructured form in natural language (NL) and the mathematical program has to be synthesized from such an NL specification. In this work we evaluate the efficacy of employing CodeT5 with data augmentation and post-processing of beams. We utilize GPT-3 with back translation for generation of synthetic examples. Further we apply rules of linear programming to score beams and correct beams based on common error patterns. We observe that with these enhancements CodeT5 base gives an execution accuracy of 0.73 which is significantly better than zero-shot execution accuracy of 0.41 by ChatGPT and 0.36 by Codex.
SE-shapelets: Semi-supervised Clustering of Time Series Using Representative Shapelets
Venue: arXiv cs.LG 2023
Year: 2023

Shapelets that discriminate time series using local features (subsequences) are promising for time series clustering. Existing time series clustering methods may fail to capture representative shapelets because they discover shapelets from a large pool of uninformative subsequences, and thus result in low clustering accuracy. This paper proposes a Semi-supervised Clustering of Time Series Using Representative Shapelets (SE-Shapelets) method, which utilizes a small number of labeled and propagated pseudo-labeled time series to help discover representative shapelets, thereby improving the clustering accuracy. In SE-Shapelets, we propose two techniques to discover representative shapelets for the effective clustering of time series. 1) A \textit{salient subsequence chain} ($SSC$) that can extract salient subsequences (as candidate shapelets) of a labeled/pseudo-labeled time series, which helps remove massive uninformative subsequences from the pool. 2) A \textit{linear discriminant selection} ($LDS$) algorithm to identify shapelets that can capture representative local features of time series in different classes, for convenient clustering. Experiments on UCR time series datasets demonstrate that SE-shapelets discovers representative shapelets and achieves higher clustering accuracy than counterpart semi-supervised time series clustering methods.
Adaptive Decision-Making with Constraints and Dependent Losses: Performance Guarantees and Applications to Online and Nonlinear Identification
Venue: arXiv cs.LG 2023
Year: 2023

We consider adaptive decision-making problems where an agent optimizes a cumulative performance objective by repeatedly choosing among a finite set of options. Compared to the classical prediction-with-expert-advice set-up, we consider situations where losses are constrained and derive algorithms that exploit the additional structure in optimal and computationally efficient ways. Our algorithm and our analysis is instance dependent, that is, suboptimal choices of the environment are exploited and reflected in our regret bounds. The constraints handle general dependencies between losses (even across time), and are flexible enough to also account for a loss budget, which the environment is not allowed to exceed. The performance of the resulting algorithms is highlighted in two numerical examples, which include a nonlinear and online system identification task.
From Explanation to Action: An End-to-End Human-in-the-loop Framework for Anomaly Reasoning and Management
Venue: arXiv cs.LG 2023
Year: 2023

Anomalies are often indicators of malfunction or inefficiency in various systems such as manufacturing, healthcare, finance, surveillance, to name a few. While the literature is abundant in effective detection algorithms due to this practical relevance, autonomous anomaly detection is rarely used in real-world scenarios. Especially in high-stakes applications, a human-in-the-loop is often involved in processes beyond detection such as verification and troubleshooting. In this work, we introduce ALARM (for Analyst-in-the-Loop Anomaly Reasoning and Management); an end-to-end framework that supports the anomaly mining cycle comprehensively, from detection to action. Besides unsupervised detection of emerging anomalies, it offers anomaly explanations and an interactive GUI for human-in-the-loop processes -- visual exploration, sense-making, and ultimately action-taking via designing new detection rules -- that help close ``the loop'' as the new rules complement rule-based supervised detection, typical of many deployed systems in practice. We demonstrate \method's efficacy through a series of case studies with fraud analysts from the financial industry.
Evaluating the Logical Reasoning Ability of ChatGPT and GPT-4
Venue: arXiv cs.CL 2023
Year: 2023

Harnessing logical reasoning ability is a comprehensive natural language understanding endeavor. With the release of Generative Pretrained Transformer 4 (GPT-4), highlighted as "advanced" at reasoning tasks, we are eager to learn the GPT-4 performance on various logical reasoning tasks. This report analyses multiple logical reasoning datasets, with popular benchmarks like LogiQA and ReClor, and newly-released datasets like AR-LSAT. We test the multi-choice reading comprehension and natural language inference tasks with benchmarks requiring logical reasoning. We further construct a logical reasoning out-of-distribution dataset to investigate the robustness of ChatGPT and GPT-4. We also make a performance comparison between ChatGPT and GPT-4. Experiment results show that ChatGPT performs significantly better than the RoBERTa fine-tuning method on most logical reasoning benchmarks. With early access to the GPT-4 API we are able to conduct intense experiments on the GPT-4 model. The results show GPT-4 yields even higher performance on most logical reasoning datasets. Among benchmarks, ChatGPT and GPT-4 do relatively well on well-known datasets like LogiQA and ReClor. However, the performance drops significantly when handling newly released and out-of-distribution datasets. Logical reasoning remains challenging for ChatGPT and GPT-4, especially on out-of-distribution and natural language inference datasets. We release the prompt-style logical reasoning datasets as a benchmark suite and name it LogiEval.
CMA-ES with Learning Rate Adaptation: Can CMA-ES with Default Population Size Solve Multimodal and Noisy Problems?
Venue: arXiv cs.NE 2023
Year: 2023

The covariance matrix adaptation evolution strategy (CMA-ES) is one of the most successful methods for solving black-box continuous optimization problems. One practically useful aspect of the CMA-ES is that it can be used without hyperparameter tuning. However, the hyperparameter settings still have a considerable impact, especially for difficult tasks such as solving multimodal or noisy problems. In this study, we investigate whether the CMA-ES with default population size can solve multimodal and noisy problems. To perform this investigation, we develop a novel learning rate adaptation mechanism for the CMA-ES, such that the learning rate is adapted so as to maintain a constant signal-to-noise ratio. We investigate the behavior of the CMA-ES with the proposed learning rate adaptation mechanism through numerical experiments, and compare the results with those obtained for the CMA-ES with a fixed learning rate. The results demonstrate that, when the proposed learning rate adaptation is used, the CMA-ES with default population size works well on multimodal and/or noisy problems, without the need for extremely expensive learning rate tuning.
ClothCombo: Modeling Inter-Cloth Interaction for Draping Multi-Layered Clothes
Venue: arXiv cs.CV 2023
Year: 2023

We present ClothCombo, a pipeline to drape arbitrary combinations of clothes on 3D human models with varying body shapes and poses. While existing learning-based approaches for draping clothes have shown promising results, multi-layered clothing remains challenging as it is non-trivial to model inter-cloth interaction. To this end, our method utilizes a GNN-based network to efficiently model the interaction between clothes in different layers, thus enabling multi-layered clothing. Specifically, we first create feature embedding for each cloth using a topology-agnostic network. Then, the draping network deforms all clothes to fit the target body shape and pose without considering inter-cloth interaction. Lastly, the untangling network predicts the per-vertex displacements in a way that resolves interpenetration between clothes. In experiments, the proposed model demonstrates strong performance in complex multi-layered scenarios. Being agnostic to cloth topology, our method can be readily used for layered virtual try-on of real clothes in diverse poses and combinations of clothes.
Hierarchical Catalogue Generation for Literature Review: A Benchmark
Venue: arXiv cs.CL 2023
Year: 2023

Scientific literature review generation aims to extract and organize important information from an abundant collection of reference papers and produces corresponding reviews while lacking a clear and logical hierarchy. We observe that a high-quality catalogue-guided generation process can effectively alleviate this problem. Therefore, we present an atomic and challenging task named Hierarchical Catalogue Generation for Literature Review as the first step for review generation, which aims to produce a hierarchical catalogue of a review paper given various references. We construct a novel English Hierarchical Catalogues of Literature Reviews Dataset with 7.6k literature review catalogues and 389k reference papers. To accurately assess the model performance, we design two evaluation metrics for informativeness and similarity to ground truth from semantics and structure.Our extensive analyses verify the high quality of our dataset and the effectiveness of our evaluation metrics. We further benchmark diverse experiments on state-of-the-art summarization models like BART and large language models like ChatGPT to evaluate their capabilities. We further discuss potential directions for this task to motivate future research.
On the Suitability of Representations for Quality Diversity Optimization of Shapes
Venue: arXiv cs.NE 2023
Year: 2023

The representation, or encoding, utilized in evolutionary algorithms has a substantial effect on their performance. Examination of the suitability of widely used representations for quality diversity optimization (QD) in robotic domains has yielded inconsistent results regarding the most appropriate encoding method. Given the domain-dependent nature of QD, additional evidence from other domains is necessary. This study compares the impact of several representations, including direct encoding, a dictionary-based representation, parametric encoding, compositional pattern producing networks, and cellular automata, on the generation of voxelized meshes in an architecture setting. The results reveal that some indirect encodings outperform direct encodings and can generate more diverse solution sets, especially when considering full phenotypic diversity. The paper introduces a multi-encoding QD approach that incorporates all evaluated representations in the same archive. Species of encodings compete on the basis of phenotypic features, leading to an approach that demonstrates similar performance to the best single-encoding QD approach. This is noteworthy, as it does not always require the contribution of the best-performing single encoding.
Domain Adaptive Multiple Instance Learning for Instance-level Prediction of Pathological Images
Venue: arXiv cs.CV 2023
Year: 2023

Pathological image analysis is an important process for detecting abnormalities such as cancer from cell images. However, since the image size is generally very large, the cost of providing detailed annotations is high, which makes it difficult to apply machine learning techniques. One way to improve the performance of identifying abnormalities while keeping the annotation cost low is to use only labels for each slide, or to use information from another dataset that has already been labeled. However, such weak supervisory information often does not provide sufficient performance. In this paper, we proposed a new task setting to improve the classification performance of the target dataset without increasing annotation costs. And to solve this problem, we propose a pipeline that uses multiple instance learning (MIL) and domain adaptation (DA) methods. Furthermore, in order to combine the supervisory information of both methods effectively, we propose a method to create pseudo-labels with high confidence. We conducted experiments on the pathological image dataset we created for this study and showed that the proposed method significantly improves the classification performance compared to existing methods.