Reviewerly/exHarmony huggingface dataset:
Weakly Supervised Multi-Modal 3D Human Body Pose Estimation for Autonomous Driving

Accurate 3D human pose estimation (3D HPE) is crucial for enabling autonomous vehicles (AVs) to make informed decisions and respond proactively in critical road scenarios. Promising results of 3D HPE have been gained in several domains such as human-computer interaction, robotics, sports and medical analytics, often based on data collected in well-controlled laboratory environments. Nevertheless, the transfer of 3D HPE methods to AVs has received limited research attention, due to the challenges posed by obtaining accurate 3D pose annotations and the limited suitability of data from other domains. We present a simple yet efficient weakly supervised approach for 3D HPE in the AV context by employing a high-level sensor fusion between camera and LiDAR data. The weakly supervised setting enables training on the target datasets without any 2D/3D keypoint labels by using an off-the-shelf 2D joint extractor and pseudo labels generated from LiDAR to image projections. Our approach outperforms state-of-the-art results by up to $\sim$ 13% on the Waymo Open Dataset in the weakly supervised setting and achieves state-of-the-art results in the supervised setting.
Targeted Static Analysis for OCaml C Stubs: eliminating gremlins from the code

Migration to OCaml 5 requires updating a lot of C bindings due to the removal of naked pointer support. Writing OCaml user-defined primitives in C is a necessity, but is unsafe and error-prone. It does not benefit from either OCaml's or C's type checking, and existing C static analysers are not aware of the OCaml GC safety rules, and cannot infer them from existing macros alone.The alternative is automatically generating C stubs, which requires correctly managing value lifetimes. Having a static analyser for OCaml to C interfaces is useful outside the OCaml 5 porting effort too. After some motivating examples of real bugs in C bindings a static analyser is presented that finds these known classes of bugs. The tool works on the OCaml abstract parse and typed trees, and generates a header file and a caller model. Together with a simplified model of the OCaml runtime this is used as input to a static analysis framework, Goblint. An analysis is developed that tracks dereferences of OCaml values, and together with the existing framework reports incorrect dereferences. An example is shown how to extend the analysis to cover more safety properties. The tools and runtime models are generic and could be reused with other static analysis tools.
Heterogeneous Embodied Multi-Agent Collaboration

Multi-agent embodied tasks have recently been studied in complex indoor visual environments. Collaboration among multiple agents can improve work efficiency and has significant practical value. However, most of the existing research focuses on homogeneous multi-agent tasks. Compared with homogeneous agents, heterogeneous agents can leverage their different capabilities to allocate corresponding sub-tasks and cooperate to complete complex tasks. Heterogeneous multi-agent tasks are common in real-world scenarios, and the collaboration strategy among heterogeneous agents is a challenging and important problem to be solved. To study collaboration among heterogeneous agents, we propose the heterogeneous multi-agent tidying-up task, in which multiple heterogeneous agents with different capabilities collaborate with each other to detect misplaced objects and place them in reasonable locations. This is a demanding task since it requires agents to make the best use of their different capabilities to conduct reasonable task planning and complete the whole task. To solve this task, we build a heterogeneous multi-agent tidying-up benchmark dataset in a large number of houses with multiple rooms based on ProcTHOR-10K. We propose the hierarchical decision model based on misplaced object detection, reasonable receptacle prediction, as well as the handshake-based group communication mechanism. Extensive experiments are conducted to demonstrate the effectiveness of the proposed model. The project's website and videos of experiments can be found at https://hetercol.github.io/.
Cascaded Code Distributed Computing With Low Complexity and Improved Flexibility

Coded distributed computing (CDC), proposed by Li et al., offers significant potential for reducing the communication load in MapReduce computing systems. In the setting of the cascaded CDC that consisting of $K$ nodes, $N$ input files, and $Q$ output functions, the objective is to compute each output function through $s\geq 1$ nodes with a computation load $r\geq 1$, enabling the application of coding techniques during the Shuffle phase to achieve minimum communication load. However, a significant limitation in most existing cascaded CDC schemes is their demand for splitting the original data into an exponentially growing number of input files and requiring an exponentially large number of output functions, which imposes stringent requirements for implementation. In this paper, we focus on the cascaded case of $K/s\in\mathbb{N}$, deliberately designing the strategy of data placement and output functions assignment based on a grouping method, such that a low-complexity Shuffle strategy is achievable. The main advantages of the proposed scheme include: 1) the multicast gains equal to $(r+s-1)(1-1/s)$ and $r+s-1$ which is approximate to $r+s-1$ when $s$ is relatively large, and the communication load is quite approximate to or surprisingly better than the optimal state-of-the-art scheme proposed by Li et al.; 2) the proposed scheme requires significantly less number of input files and output functions; 3) all the operations are implemented over the minimum binary field $\mathbb{F}_2$ in the one-shot fashion. Finally, we derive a new converse bound for the cascaded CDC framework, under the given strategies of data placement and output functions assignment. We demonstrate that the communication load of the proposed scheme is order optimal within a factor of $2$; and is also approximately optimal when $K$ is sufficiently large for a given $r$.
Evaluating Regular Path Queries on Compressed Adjacency Matrices

Regular Path Queries (RPQs), which are essentially regular expressions to be matched against the labels of paths in labeled graphs, are at the core of graph database query languages like SPARQL. A way to solve RPQs is to translate them into a sequence of operations on the adjacency matrices of each label. We design and implement a Boolean algebra on sparse matrix representations and, as an application, use them to handle RPQs. Our baseline representation uses the same space as the previously most compact index for RPQs and excels in handling the hardest types of queries. Our more succinct structure, based on $k^2$-trees, is 4 times smaller and still solves complex RPQs in reasonable time.
Copilot for Xcode: Exploring AI-Assisted Programming by Prompting Cloud-based Large Language Models

This paper presents an AI-assisted programming tool called Copilot for Xcode for program composition and design to support human software developers. By seamlessly integrating cloud-based Large Language Models (LLM) with Apple's local development environment, Xcode, this tool enhances productivity and unleashes creativity for software development in Apple software ecosystem (e.g., iOS apps, macOS). Leveraging advanced natural language processing (NLP) techniques, Copilot for Xcode effectively processes source code tokens and patterns within code repositories, enabling features such as code generation, autocompletion, documentation, and error detection. Software developers can also query and make "small" decisions for program composition, some of which can be made simultaneously, and this is facilitated through prompt engineering in a chat interface of Copilot for Xcode. Finally, we present simple case studies as evidence of the effectiveness of utilizing NLP in Xcode to prompt popular LLM services like OpenAI ChatGPT for program composition and design.
Human-centric Scene Understanding for 3D Large-scale Scenarios

Human-centric scene understanding is significant for real-world applications, but it is extremely challenging due to the existence of diverse human poses and actions, complex human-environment interactions, severe occlusions in crowds, etc. In this paper, we present a large-scale multi-modal dataset for human-centric scene understanding, dubbed HuCenLife, which is collected in diverse daily-life scenarios with rich and fine-grained annotations. Our HuCenLife can benefit many 3D perception tasks, such as segmentation, detection, action recognition, etc., and we also provide benchmarks for these tasks to facilitate related research. In addition, we design novel modules for LiDAR-based segmentation and action recognition, which are more applicable for large-scale human-centric scenarios and achieve state-of-the-art performance.
A new derivative-free optimization method: Gaussian Crunching Search

Optimization methods are essential in solving complex problems across various domains. In this research paper, we introduce a novel optimization method called Gaussian Crunching Search (GCS). Inspired by the behaviour of particles in a Gaussian distribution, GCS aims to efficiently explore the solution space and converge towards the global optimum. We present a comprehensive analysis of GCS, including its working mechanism, and potential applications. Through experimental evaluations and comparisons with existing optimization methods, we highlight the advantages and strengths of GCS. This research paper serves as a valuable resource for researchers, practitioners, and students interested in optimization, providing insights into the development and potential of Gaussian Crunching Search as a new and promising approach.
Demystifying Code Snippets in Code Reviews: A Study of the OpenStack and Qt Communities and A Practitioner Survey

Code review is widely known as one of the best practices for software quality assurance in software development. In a typical code review process, reviewers check the code committed by developers to ensure the quality of the code, during which reviewers and developers would communicate with each other in review comments to exchange necessary information. As a result, understanding the information in review comments is a prerequisite for reviewers and developers to conduct an effective code review. Code snippet, as a special form of code, can be used to convey necessary information in code reviews. For example, reviewers can use code snippets to make suggestions or elaborate their ideas to meet developers' information needs in code reviews. However, little research has focused on the practices of providing code snippets in code reviews. To bridge this gap, we conduct a mixed-methods study to mine information and knowledge related to code snippets in code reviews, which can help practitioners and researchers get a better understanding about using code snippets in code review. Specifically, our study includes two phases: mining code review data and conducting practitioners' survey. The study results highlight that reviewers can provide code snippets in appropriate scenarios to meet developers' specific information needs in code reviews, which will facilitate and accelerate the code review process.
Code conversion with the quantum Golay code for a universal transversal gate set

The $[[7,1,3]]$ Steane code and $[[23,1,7]]$ quantum Golay code have been identified as good candidates for fault-tolerant quantum computing via code concatenation. These two codes have transversal implementations of all Clifford gates, but require some other scheme for fault-tolerant $T$ gates. Using magic states, Clifford operations, and measurements is one common scheme, but magic state distillation can have a large overhead. Code conversion is one avenue for implementing a universal gate set fault-tolerantly without the use of magic state distillation. Analogously to how the $[[7,1,3]]$ Steane code can be fault-tolerantly converted to and from the $[[15,1,3]]$ Reed-Muller code which has a transversal $T$ gate, the $[[23,1,7]]$ Golay code can be converted to a $[[95,1,7]]$ triorthogonal code with a transversal $T$ gate. A crucial ingredient to this procedure is the $[[49,1,5]]$ triorthogonal code, which can itself be seen as related to the self-dual $[[17,1,5]]$ 2D color code. Additionally, a new method for code conversion based off a transversal CNOT between the codes, rather than stabilizer measurements, is described.
Verifiable Feature Attributions: A Bridge between Post Hoc Explainability and Inherent Interpretability

With the increased deployment of machine learning models in various real-world applications, researchers and practitioners alike have emphasized the need for explanations of model behaviour. To this end, two broad strategies have been outlined in prior literature to explain models. Post hoc explanation methods explain the behaviour of complex black-box models by identifying features critical to model predictions; however, prior work has shown that these explanations may not be faithful, in that they incorrectly attribute high importance to features that are unimportant or non-discriminative for the underlying task. Inherently interpretable models, on the other hand, circumvent these issues by explicitly encoding explanations into model architecture, meaning their explanations are naturally faithful, but they often exhibit poor predictive performance due to their limited expressive power. In this work, we identify a key reason for the lack of faithfulness of feature attributions: the lack of robustness of the underlying black-box models, especially to the erasure of unimportant distractor features in the input. To address this issue, we propose Distractor Erasure Tuning (DiET), a method that adapts black-box models to be robust to distractor erasure, thus providing discriminative and faithful attributions. This strategy naturally combines the ease of use of post hoc explanations with the faithfulness of inherently interpretable models. We perform extensive experiments on semi-synthetic and real-world datasets and show that DiET produces models that (1) closely approximate the original black-box models they are intended to explain, and (2) yield explanations that match approximate ground truths available by construction. Our code is made public at https://github.com/AI4LIFE-GROUP/DiET.
A LLM Assisted Exploitation of AI-Guardian

Large language models (LLMs) are now highly capable at a diverse range of tasks. This paper studies whether or not GPT-4, one such LLM, is capable of assisting researchers in the field of adversarial machine learning. As a case study, we evaluate the robustness of AI-Guardian, a recent defense to adversarial examples published at IEEE S&amp;P 2023, a top computer security conference. We completely break this defense: the proposed scheme does not increase robustness compared to an undefended baseline. We write none of the code to attack this model, and instead prompt GPT-4 to implement all attack algorithms following our instructions and guidance. This process was surprisingly effective and efficient, with the language model at times producing code from ambiguous instructions faster than the author of this paper could have done. We conclude by discussing (1) the warning signs present in the evaluation that suggested to us AI-Guardian would be broken, and (2) our experience with designing attacks and performing novel research using the most recent advances in language modeling.
Demonstrating Quantum Computation for Quasiparticle Band Structures

Understanding and predicting the properties of solid-state materials from first-principles has been a great challenge for decades. Owing to the recent advances in quantum technologies, quantum computations offer a promising way to achieve this goal. Here, we demonstrate the first-principles calculation of a quasiparticle band structure on actual quantum computers. This is achieved by hybrid quantum-classical algorithms in conjunction with qubit-reduction and error-mitigation techniques. Our demonstration will pave the way to practical applications of quantum computers.
Complete and separate: Conditional separation with missing target source attribute completion

Recent approaches in source separation leverage semantic information about their input mixtures and constituent sources that when used in conditional separation models can achieve impressive performance. Most approaches along these lines have focused on simple descriptions, which are not always useful for varying types of input mixtures. In this work, we present an approach in which a model, given an input mixture and partial semantic information about a target source, is trained to extract additional semantic data. We then leverage this pre-trained model to improve the separation performance of an uncoupled multi-conditional separation network. Our experiments demonstrate that the separation performance of this multi-conditional model is significantly improved, approaching the performance of an oracle model with complete semantic information. Furthermore, our approach achieves performance levels that are comparable to those of the best performing specialized single conditional models, thus providing an easier to use alternative.
GenCo: An Auxiliary Generator from Contrastive Learning for Enhanced Few-Shot Learning in Remote Sensing

Classifying and segmenting patterns from a limited number of examples is a significant challenge in remote sensing and earth observation due to the difficulty in acquiring accurately labeled data in large quantities. Previous studies have shown that meta-learning, which involves episodic training on query and support sets, is a promising approach. However, there has been little attention paid to direct fine-tuning techniques. This paper repurposes contrastive learning as a pre-training method for few-shot learning for classification and semantic segmentation tasks. Specifically, we introduce a generator-based contrastive learning framework (GenCo) that pre-trains backbones and simultaneously explores variants of feature samples. In fine-tuning, the auxiliary generator can be used to enrich limited labeled data samples in feature space. We demonstrate the effectiveness of our method in improving few-shot learning performance on two key remote sensing datasets: Agriculture-Vision and EuroSAT. Empirically, our approach outperforms purely supervised training on the nearly 95,000 images in Agriculture-Vision for both classification and semantic segmentation tasks. Similarly, the proposed few-shot method achieves better results on the land-cover classification task on EuroSAT compared to the results obtained from fully supervised model training on the dataset.
Self-Contrastive Graph Diffusion Network

Augmentation techniques and sampling strategies are crucial in contrastive learning, but in most existing works, augmentation techniques require careful design, and their sampling strategies can only capture a small amount of intrinsic supervision information. Additionally, the existing methods require complex designs to obtain two different representations of the data. To overcome these limitations, we propose a novel framework called the Self-Contrastive Graph Diffusion Network (SCGDN). Our framework consists of two main components: the Attentional Module (AttM) and the Diffusion Module (DiFM). AttM aggregates higher-order structure and feature information to get an excellent embedding, while DiFM balances the state of each node in the graph through Laplacian diffusion learning and allows the cooperative evolution of adjacency and feature information in the graph. Unlike existing methodologies, SCGDN is an augmentation-free approach that avoids "sampling bias" and semantic drift, without the need for pre-training. We conduct a high-quality sampling of samples based on structure and feature information. If two nodes are neighbors, they are considered positive samples of each other. If two disconnected nodes are also unrelated on $k$NN graph, they are considered negative samples for each other. The contrastive objective reasonably uses our proposed sampling strategies, and the redundancy reduction term minimizes redundant information in the embedding and can well retain more discriminative information. In this novel framework, the graph self-contrastive learning paradigm gives expression to a powerful force. SCGDN effectively balances between preserving high-order structure information and avoiding overfitting. The results manifest that SCGDN can consistently generate outperformance over both the contrastive methods and the classical methods.
FS-Depth: Focal-and-Scale Depth Estimation from a Single Image in Unseen Indoor Scene

It has long been an ill-posed problem to predict absolute depth maps from single images in real (unseen) indoor scenes. We observe that it is essentially due to not only the scale-ambiguous problem but also the focal-ambiguous problem that decreases the generalization ability of monocular depth estimation. That is, images may be captured by cameras of different focal lengths in scenes of different scales. In this paper, we develop a focal-and-scale depth estimation model to well learn absolute depth maps from single images in unseen indoor scenes. First, a relative depth estimation network is adopted to learn relative depths from single images with diverse scales/semantics. Second, multi-scale features are generated by mapping a single focal length value to focal length features and concatenating them with intermediate features of different scales in relative depth estimation. Finally, relative depths and multi-scale features are jointly fed into an absolute depth estimation network. In addition, a new pipeline is developed to augment the diversity of focal lengths of public datasets, which are often captured with cameras of the same or similar focal lengths. Our model is trained on augmented NYUDv2 and tested on three unseen datasets. Our model considerably improves the generalization ability of depth estimation by 41%/13% (RMSE) with/without data augmentation compared with five recent SOTAs and well alleviates the deformation problem in 3D reconstruction. Notably, our model well maintains the accuracy of depth estimation on original NYUDv2.
Unified Adversarial Patch for Visible-Infrared Cross-modal Attacks in the Physical World

Physical adversarial attacks have put a severe threat to DNN-based object detectors. To enhance security, a combination of visible and infrared sensors is deployed in various scenarios, which has proven effective in disabling existing single-modal physical attacks. To further demonstrate the potential risks in such cases, we design a unified adversarial patch that can perform cross-modal physical attacks, achieving evasion in both modalities simultaneously with a single patch. Given the different imaging mechanisms of visible and infrared sensors, our work manipulates patches' shape features, which can be captured in different modalities when they undergo changes. To deal with challenges, we propose a novel boundary-limited shape optimization approach that aims to achieve compact and smooth shapes for the adversarial patch, making it easy to implement in the physical world. And a score-aware iterative evaluation method is also introduced to balance the fooling degree between visible and infrared detectors during optimization, which guides the adversarial patch to iteratively reduce the predicted scores of the multi-modal sensors. Furthermore, we propose an Affine-Transformation-based enhancement strategy that makes the learnable shape robust to various angles, thus mitigating the issue of shape deformation caused by different shooting angles in the real world. Our method is evaluated against several state-of-the-art object detectors, achieving an Attack Success Rate (ASR) of over 80%. We also demonstrate the effectiveness of our approach in physical-world scenarios under various settings, including different angles, distances, postures, and scenes for both visible and infrared sensors.