pwc-archive/papers-with-abstracts huggingface dataset:
Adv3D: Generating Safety-Critical 3D Objects through Closed-Loop Simulation
Authors: Jay Sarva, Jingkang Wang, James Tu, Yuwen Xiong, Sivabalan Manivasagam, Raquel Urtasun
Date: 2023-11-02 00:00:00
Tasks: Motion Planning

Self-driving vehicles (SDVs) must be rigorously tested on a wide range of scenarios to ensure safe deployment. The industry typically relies on closed-loop simulation to evaluate how the SDV interacts on a corpus of synthetic and real scenarios and verify it performs properly. However, they primarily only test the system's motion planning module, and only consider behavior variations. It is key to evaluate the full autonomy system in closed-loop, and to understand how variations in sensor data based on scene appearance, such as the shape of actors, affect system performance. In this paper, we propose a framework, Adv3D, that takes real world scenarios and performs closed-loop sensor simulation to evaluate autonomy performance, and finds vehicle shapes that make the scenario more challenging, resulting in autonomy failures and uncomfortable SDV maneuvers. Unlike prior works that add contrived adversarial shapes to vehicle roof-tops or roadside to harm perception only, we optimize a low-dimensional shape representation to modify the vehicle shape itself in a realistic manner to degrade autonomy performance (e.g., perception, prediction, and motion planning). Moreover, we find that the shape variations found with Adv3D optimized in closed-loop are much more effective than those in open-loop, demonstrating the importance of finding scene appearance variations that affect autonomy in the interactive setting.
LabelFormer: Object Trajectory Refinement for Offboard Perception from LiDAR Point Clouds
Authors: Anqi Joyce Yang, Sergio Casas, Nikita Dvornik, Sean Segal, Yuwen Xiong, Jordan Sir Kwang Hu, Carter Fang, Raquel Urtasun
Date: 2023-11-02 00:00:00

A major bottleneck to scaling-up training of self-driving perception systems are the human annotations required for supervision. A promising alternative is to leverage "auto-labelling" offboard perception models that are trained to automatically generate annotations from raw LiDAR point clouds at a fraction of the cost. Auto-labels are most commonly generated via a two-stage approach -- first objects are detected and tracked over time, and then each object trajectory is passed to a learned refinement model to improve accuracy. Since existing refinement models are overly complex and lack advanced temporal reasoning capabilities, in this work we propose LabelFormer, a simple, efficient, and effective trajectory-level refinement approach. Our approach first encodes each frame's observations separately, then exploits self-attention to reason about the trajectory with full temporal context, and finally decodes the refined object size and per-frame poses. Evaluation on both urban and highway datasets demonstrates that LabelFormer outperforms existing works by a large margin. Finally, we show that training on a dataset augmented with auto-labels generated by our method leads to improved downstream detection performance compared to existing methods. Please visit the project website for details https://waabi.ai/labelformer
Transformation Decoupling Strategy based on Screw Theory for Deterministic Point Cloud Registration with Gravity Prior
Authors: Xinyi Li, Zijian Ma, Yinlong Liu, Walter Zimmer, Hu Cao, Feihu Zhang, Alois Knoll
Date: 2023-11-02 00:00:00
Tasks: Point Cloud Registration

Point cloud registration is challenging in the presence of heavy outlier correspondences. This paper focuses on addressing the robust correspondence-based registration problem with gravity prior that often arises in practice. The gravity directions are typically obtained by inertial measurement units (IMUs) and can reduce the degree of freedom (DOF) of rotation from 3 to 1. We propose a novel transformation decoupling strategy by leveraging screw theory. This strategy decomposes the original 4-DOF problem into three sub-problems with 1-DOF, 2-DOF, and 1-DOF, respectively, thereby enhancing the computation efficiency. Specifically, the first 1-DOF represents the translation along the rotation axis and we propose an interval stabbing-based method to solve it. The second 2-DOF represents the pole which is an auxiliary variable in screw theory and we utilize a branch-and-bound method to solve it. The last 1-DOF represents the rotation angle and we propose a global voting method for its estimation. The proposed method sequentially solves three consensus maximization sub-problems, leading to efficient and deterministic registration. In particular, it can even handle the correspondence-free registration problem due to its significant robustness. Extensive experiments on both synthetic and real-world datasets demonstrate that our method is more efficient and robust than state-of-the-art methods, even when dealing with outlier rates exceeding 99%.
Efficient Vision Transformer for Accurate Traffic Sign Detection
Authors: Javad Mirzapour Kaleybar, Hooman Khaloo, Avaz Naghipour
Date: 2023-11-02 00:00:00
Tasks: Autonomous Driving, Inductive Bias, object-detection, Object Detection, Traffic Sign Detection, Traffic Sign Recognition

This research paper addresses the challenges associated with traffic sign detection in self-driving vehicles and driver assistance systems. The development of reliable and highly accurate algorithms is crucial for the widespread adoption of traffic sign recognition and detection (TSRD) in diverse real-life scenarios. However, this task is complicated by suboptimal traffic images affected by factors such as camera movement, adverse weather conditions, and inadequate lighting. This study specifically focuses on traffic sign detection methods and introduces the application of the Transformer model, particularly the Vision Transformer variants, to tackle this task. The Transformer's attention mechanism, originally designed for natural language processing, offers improved parallel efficiency. Vision Transformers have demonstrated success in various domains, including autonomous driving, object detection, healthcare, and defense-related applications. To enhance the efficiency of the Transformer model, the research proposes a novel strategy that integrates a locality inductive bias and a transformer module. This includes the introduction of the Efficient Convolution Block and the Local Transformer Block, which effectively capture short-term and long-term dependency information, thereby improving both detection speed and accuracy. Experimental evaluations demonstrate the significant advancements achieved by this approach, particularly when applied to the GTSDB dataset.
Exploring Deep Learning Techniques for Glaucoma Detection: A Comprehensive Review
Authors: Aized Amin Soofi, Fazal-e-Amin
Date: 2023-11-02 00:00:00
Tasks: Deep Learning

Glaucoma is one of the primary causes of vision loss around the world, necessitating accurate and efficient detection methods. Traditional manual detection approaches have limitations in terms of cost, time, and subjectivity. Recent developments in deep learning approaches demonstrate potential in automating glaucoma detection by detecting relevant features from retinal fundus images. This article provides a comprehensive overview of cutting-edge deep learning methods used for the segmentation, classification, and detection of glaucoma. By analyzing recent studies, the effectiveness and limitations of these techniques are evaluated, key findings are highlighted, and potential areas for further research are identified. The use of deep learning algorithms may significantly improve the efficacy, usefulness, and accuracy of glaucoma detection. The findings from this research contribute to the ongoing advancements in automated glaucoma detection and have implications for improving patient outcomes and reducing the global burden of glaucoma.
CenterRadarNet: Joint 3D Object Detection and Tracking Framework using 4D FMCW Radar
Authors: Jen-Hao Cheng, Sheng-Yao Kuan, Hugo Latapie, Gaowen Liu, Jenq-Neng Hwang
Date: 2023-11-02 00:00:00
Tasks: 3D Object Detection, 3D Object Tracking, Autonomous Driving, Object, object-detection, Object Detection, Object Tracking, Representation Learning

Robust perception is a vital component for ensuring safe autonomous and assisted driving. Automotive radar (77 to 81 GHz), which offers weather-resilient sensing, provides a complementary capability to the vision- or LiDAR-based autonomous driving systems. Raw radio-frequency (RF) radar tensors contain rich spatiotemporal semantics besides 3D location information. The majority of previous methods take in 3D (Doppler-range-azimuth) RF radar tensors, allowing prediction of an object's location, heading angle, and size in bird's-eye-view (BEV). However, they lack the ability to at the same time infer objects' size, orientation, and identity in the 3D space. To overcome this limitation, we propose an efficient joint architecture called CenterRadarNet, designed to facilitate high-resolution representation learning from 4D (Doppler-range-azimuth-elevation) radar data for 3D object detection and re-identification (re-ID) tasks. As a single-stage 3D object detector, CenterRadarNet directly infers the BEV object distribution confidence maps, corresponding 3D bounding box attributes, and appearance embedding for each pixel. Moreover, we build an online tracker utilizing the learned appearance embedding for re-ID. CenterRadarNet achieves the state-of-the-art result on the K-Radar 3D object detection benchmark. In addition, we present the first 3D object-tracking result using radar on the K-Radar dataset V2. In diverse driving scenarios, CenterRadarNet shows consistent, robust performance, emphasizing its wide applicability.
The Blessing of Randomness: SDE Beats ODE in General Diffusion-based Image Editing
Authors: Shen Nie, Hanzhong Allan Guo, Cheng Lu, Yuhao Zhou, Chenyu Zheng, Chongxuan Li
Date: 2023-11-02 00:00:00
Tasks: Image-to-Image Translation

We present a unified probabilistic formulation for diffusion-based image editing, where a latent variable is edited in a task-specific manner and generally deviates from the corresponding marginal distribution induced by the original stochastic or ordinary differential equation (SDE or ODE). Instead, it defines a corresponding SDE or ODE for editing. In the formulation, we prove that the Kullback-Leibler divergence between the marginal distributions of the two SDEs gradually decreases while that for the ODEs remains as the time approaches zero, which shows the promise of SDE in image editing. Inspired by it, we provide the SDE counterparts for widely used ODE baselines in various tasks including inpainting and image-to-image translation, where SDE shows a consistent and substantial improvement. Moreover, we propose SDE-Drag -- a simple yet effective method built upon the SDE formulation for point-based content dragging. We build a challenging benchmark (termed DragBench) with open-set natural, art, and AI-generated images for evaluation. A user study on DragBench indicates that SDE-Drag significantly outperforms our ODE baseline, existing diffusion-based methods, and the renowned DragGAN. Our results demonstrate the superiority and versatility of SDE in image editing and push the boundary of diffusion-based editing methods.
Learning to See Physical Properties with Active Sensing Motor Policies
Authors: Gabriel B. Margolis, Xiang Fu, Yandong Ji, Pulkit Agrawal
Date: 2023-11-02 00:00:00
Tasks: Friction, image-classification, Image Classification

Knowledge of terrain's physical properties inferred from color images can aid in making efficient robotic locomotion plans. However, unlike image classification, it is unintuitive for humans to label image patches with physical properties. Without labeled data, building a vision system that takes as input the observed terrain and predicts physical properties remains challenging. We present a method that overcomes this challenge by self-supervised labeling of images captured by robots during real-world traversal with physical property estimators trained in simulation. To ensure accurate labeling, we introduce Active Sensing Motor Policies (ASMP), which are trained to explore locomotion behaviors that increase the accuracy of estimating physical parameters. For instance, the quadruped robot learns to swipe its foot against the ground to estimate the friction coefficient accurately. We show that the visual system trained with a small amount of real-world traversal data accurately predicts physical parameters. The trained system is robust and works even with overhead images captured by a drone despite being trained on data collected by cameras attached to a quadruped robot walking on the ground.
Learning Realistic Traffic Agents in Closed-loop
Authors: Chris Zhang, James Tu, Lunjun Zhang, Kelvin Wong, Simon Suo, Raquel Urtasun
Date: 2023-11-02 00:00:00
Tasks: Imitation Learning, Reinforcement Learning (RL)

Realistic traffic simulation is crucial for developing self-driving software in a safe and scalable manner prior to real-world deployment. Typically, imitation learning (IL) is used to learn human-like traffic agents directly from real-world observations collected offline, but without explicit specification of traffic rules, agents trained from IL alone frequently display unrealistic infractions like collisions and driving off the road. This problem is exacerbated in out-of-distribution and long-tail scenarios. On the other hand, reinforcement learning (RL) can train traffic agents to avoid infractions, but using RL alone results in unhuman-like driving behaviors. We propose Reinforcing Traffic Rules (RTR), a holistic closed-loop learning objective to match expert demonstrations under a traffic compliance constraint, which naturally gives rise to a joint IL + RL approach, obtaining the best of both worlds. Our method learns in closed-loop simulations of both nominal scenarios from real-world datasets as well as procedurally generated long-tail scenarios. Our experiments show that RTR learns more realistic and generalizable traffic simulation policies, achieving significantly better tradeoffs between human-like driving and traffic compliance in both nominal and long-tail scenarios. Moreover, when used as a data generation tool for training prediction models, our learned traffic policy leads to considerably improved downstream prediction metrics compared to baseline traffic agents. For more information, visit the project website: https://waabi.ai/rtr
Sim2Real Bilevel Adaptation for Object Surface Classification using Vision-Based Tactile Sensors
Authors: Gabriele M. Caddeo, Andrea Maracani, Paolo D. Alfano, Nicola A. Piga, Lorenzo Rosasco, Lorenzo Natale
Date: 2023-11-02 00:00:00
Tasks: 6D Pose Estimation using RGB, Pose Estimation

In this paper, we address the Sim2Real gap in the field of vision-based tactile sensors for classifying object surfaces. We train a Diffusion Model to bridge this gap using a relatively small dataset of real-world images randomly collected from unlabeled everyday objects via the DIGIT sensor. Subsequently, we employ a simulator to generate images by uniformly sampling the surface of objects from the YCB Model Set. These simulated images are then translated into the real domain using the Diffusion Model and automatically labeled to train a classifier. During this training, we further align features of the two domains using an adversarial procedure. Our evaluation is conducted on a dataset of tactile images obtained from a set of ten 3D printed YCB objects. The results reveal a total accuracy of 81.9%, a significant improvement compared to the 34.7% achieved by the classifier trained solely on simulated images. This demonstrates the effectiveness of our approach. We further validate our approach using the classifier on a 6D object pose estimation task from tactile data.
GPT-4V(ision) as a Generalist Evaluator for Vision-Language Tasks
Authors: Xinlu Zhang, Yujie Lu, Weizhi Wang, An Yan, Jun Yan, Lianke Qin, Heng Wang, Xifeng Yan, William Yang Wang, Linda Ruth Petzold
Date: 2023-11-02 00:00:00
Tasks: Image Generation, Image to text

Automatically evaluating vision-language tasks is challenging, especially when it comes to reflecting human judgments due to limitations in accounting for fine-grained details. Although GPT-4V has shown promising results in various multi-modal tasks, leveraging GPT-4V as a generalist evaluator for these tasks has not yet been systematically explored. We comprehensively validate GPT-4V's capabilities for evaluation purposes, addressing tasks ranging from foundational image-to-text and text-to-image synthesis to high-level image-to-image translations and multi-images to text alignment. We employ two evaluation methods, single-answer grading and pairwise comparison, using GPT-4V. Notably, GPT-4V shows promising agreement with humans across various tasks and evaluation methods, demonstrating immense potential for multi-modal LLMs as evaluators. Despite limitations like restricted visual clarity grading and real-world complex reasoning, its ability to provide human-aligned scores enriched with detailed explanations is promising for universal automatic evaluator.
Robust Identity Perceptual Watermark Against Deepfake Face Swapping
Authors: Tianyi Wang, Mengxiao Huang, Harry Cheng, Bin Ma, Yinglong Wang
Date: 2023-11-02 00:00:00
Tasks: Decoder, Face Swapping

Notwithstanding offering convenience and entertainment to society, Deepfake face swapping has caused critical privacy issues with the rapid development of deep generative models. Due to imperceptible artifacts in high-quality synthetic images, passive detection models against face swapping in recent years usually suffer performance damping regarding the generalizability issue. Therefore, several studies have been attempted to proactively protect the original images against malicious manipulations by inserting invisible signals in advance. However, the existing proactive defense approaches demonstrate unsatisfactory results with respect to visual quality, detection accuracy, and source tracing ability. In this study, to fulfill the research gap, we propose the first robust identity perceptual watermarking framework that concurrently performs detection and source tracing against Deepfake face swapping proactively. We assign identity semantics regarding the image contents to the watermarks and devise an unpredictable and nonreversible chaotic encryption system to ensure watermark confidentiality. The watermarks are encoded and recovered by jointly training an encoder-decoder framework along with adversarial image manipulations. Falsification and source tracing are accomplished by justifying the consistency between the content-matched identity perceptual watermark and the recovered robust watermark from the image. Extensive experiments demonstrate state-of-the-art detection performance on Deepfake face swapping under both cross-dataset and cross-manipulation settings.
Deep learning based Image Compression for Microscopy Images: An Empirical Study
Authors: Yu Zhou, Jan Sollmann, Jianxu Chen
Date: 2023-11-02 00:00:00
Tasks: Cloud Computing, Deep Learning, Image Compression

With the fast development of modern microscopes and bioimaging techniques, an unprecedentedly large amount of imaging data are being generated, stored, analyzed, and even shared through networks. The size of the data poses great challenges for current data infrastructure. One common way to reduce the data size is by image compression. This present study analyzes classic and deep learning based image compression methods, and their impact on deep learning based image processing models. Deep learning based label-free prediction models (i.e., predicting fluorescent images from bright field images) are used as an example application for comparison and analysis. Effective image compression methods could help reduce the data size significantly without losing necessary information, and therefore reduce the burden on data management infrastructure and permit fast transmission through the network for data sharing or cloud computing. To compress images in such a wanted way, multiple classical lossy image compression techniques are compared to several AI-based compression models provided by and trained with the CompressAI toolbox using python. These different compression techniques are compared in compression ratio, multiple image similarity measures and, most importantly, the prediction accuracy from label-free models on compressed images. We found that AI-based compression techniques largely outperform the classic ones and will minimally affect the downstream label-free task in 2D cases. In the end, we hope the present study could shed light on the potential of deep learning based image compression and the impact of image compression on downstream deep learning based image analysis models.
Towards Evaluating Transfer-based Attacks Systematically, Practically, and Fairly
Date: 2023-11-02 00:00:00
Proceeding: NeurIPS 2023 11

The adversarial vulnerability of deep neural networks (DNNs) has drawn great attention due to the security risk of applying these models in real-world applications. Based on transferability of adversarial examples, an increasing number of transfer-based methods have been developed to fool black-box DNN models whose architecture and parameters are inaccessible. Although tremendous effort has been exerted, there still lacks a standardized benchmark that could be taken advantage of to compare these methods systematically, fairly, and practically. Our investigation shows that the evaluation of some methods needs to be more reasonable and more thorough to verify their effectiveness, to avoid, for example, unfair comparison and insufficient consideration of possible substitute/victim models. Therefore, we establish a transfer-based attack benchmark (TA-Bench) which implements 30+ methods. In this paper, we evaluate and compare them comprehensively on 25 popular substitute/victim models on ImageNet. New insights about the effectiveness of these methods are gained and guidelines for future evaluations are provided. Code at: https://github.com/qizhangli/TA-Bench.
Hybrid-Fusion Transformer for Multisequence MRI
Authors: Jihoon Cho, Jinah Park
Date: 2023-11-02 00:00:00
Tasks: Brain Tumor Segmentation, Image Segmentation, Segmentation, Semantic Segmentation, Tumor Segmentation

Medical segmentation has grown exponentially through the advent of a fully convolutional network (FCN), and we have now reached a turning point through the success of Transformer. However, the different characteristics of the modality have not been fully integrated into Transformer for medical segmentation. In this work, we propose the novel hybrid fusion Transformer (HFTrans) for multisequence MRI image segmentation. We take advantage of the differences among multimodal MRI sequences and utilize the Transformer layers to integrate the features extracted from each modality as well as the features of the early fused modalities. We validate the effectiveness of our hybrid-fusion method in three-dimensional (3D) medical segmentation. Experiments on two public datasets, BraTS2020 and MRBrainS18, show that the proposed method outperforms previous state-of-the-art methods on the task of brain tumor segmentation and brain structure segmentation.