United States

Monocular 3D object detection aims to localize 3D bounding boxes in an input single 2D image. It is a highly challenging problem and remains open, especially when no extra information (e.g., depth, lidar and/or multi-frames) can be leveraged in training and/or inference.  This paper proposes a simple yet effective formulation for monocular 3D object detection without exploiting any extra information. It presents the MonoCon method which learns Monocular Contexts, as auxiliary tasks in training, to help monocular 3D object detection. The key idea is that with the annotated 3D bounding boxes of objects in an image, there is a rich set of well-posed projected 2D supervision signals available in training, such as the projected corner keypoints and their associated offset vectors with respect to the center of 2D bounding box, which should be exploited as auxiliary tasks in training. 
The proposed MonoCon is motivated by the Cramerâ€“Wold theorem in measure theory at a high level.  In implementation, it utilizes a very simple end-to-end design to justify the effectiveness of learning auxiliary monocular contexts, which  consists of three components: a Deep Neural Network (DNN) based feature backbone, a number of regression head branches for learning the essential parameters used in the 3D bounding box prediction, and a number of regression head branches for learning auxiliary contexts. After training, the auxiliary context regression branches are discarded for better inference efficiency. In experiments, the proposed MonoCon is tested in the KITTI benchmark (car, pedestrian and cyclist). It outperforms all prior arts in the leaderboard on the car category and obtains comparable performance on pedestrian and cyclist in terms of accuracy. Thanks to the simple design, the proposed MonoCon method obtains the fastest inference speed with 38.7 fps in comparisons. Our code is released at https://git.io/MonoCon.

AAAI 2022

Learning Auxiliary Monocular Contexts Helps Monocular 3D Object Detection

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-23 is the Thirty-Seventh AAAI Conference on Artificial Intelligence. The theme of this conference is to create collaborative bridges within and beyond AI. Like previous AAAI conferences, AAAI-23 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and two new activities: a Bridge Program and a Lab Program. Many of these activities are tailored to the theme of bridges and all are selected according to the highest standards, with additional programs for students and young researchers. 
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AAAI 2023

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines.

technical paper

The purpose of the AAAI conference is to promote research in artificial intelligence (AI) and scientific exchange among AI researchers, practitioners, scientists, and engineers in affiliated disciplines. 

Conventional convolution neural networks (CNNs) trained on narrow Field-of-View (FoV) images are the state-of-the art approaches for object recognition tasks. Some methods proposed the adaptation of CNNs to ultra-wide FoV images by learning deformable kernels. However, they are limited by the Euclidean geometry and their accuracy degrades under strong distortions caused by fisheye projections. In this work, we demonstrate that learning the shape of convolution kernels in non-Euclidean spaces is better than existing deformable kernel methods. In particular, we propose a new approach that learns deformable kernel parameters (positions) in hyperbolic space. FisheyeHDK is a hybrid CNN architecture combining hyperbolic and Euclidean convolution layers for positions and features learning. First, we provide intuition of hyperbolic space for wide FoV images. Using synthetic distortion profiles, we demonstrate the effectiveness of our approach. We select two datasets - Cityscapes and BDD100K 2020 - of perspective images which we transform to fisheye equivalents at different scaling factors (analogue to focal lengths). Finally, we provide an experiment on data collected by a real fisheye camera. Validations and experiments show that our approach improves existing deformable kernel methods for CNN adaptation on fisheye images.

FisheyeHDK: Hyperbolic Deformable Kernel Learning for Ultra-Wide Field-of-View Image Recognition

In this paper, we generalize the recently studied stochastic matching problem to more accurately model a significant medical process, kidney exchange, and several other applications. Up until now the stochastic matching problem that has been studied was as follows: given a graph G= (V,E), each edge is included in the realized sub-graph of G independently with probability pe, and the goal is to find a degree-bounded sub-graph Q of G that has an expected maximum matching that approximates the expected maximum matching of G. This model does not account for possibilities of vertex dropouts, which can be found in several applications, e.g. in kidney exchange when donors or patients opt out of the exchange process as well as in online freelancing and online dating when online profiles are found to be faked. Thus, we will study a more generalized model of stochastic matching in which vertices and edges are both realized independently with some probabilities pv, pe, respectively, which more accurately fits important applications than the previously studied model. 
 
We will discuss the first algorithms and analysis for this generalization of the stochastic matching model and prove that they achieve good approximation ratios. In particular, we show that the approximation factor of a natural algorithm for this problem is at least 0.6568 in unweighted graphs, and 1/2+Îµ in weighted graphs for some constant Îµ >0. We further improve our result for unweighted graphs to 2/3 using edge degree constrained sub-graphs (EDCS).

Generalized Stochastic Matching

Inspired by two basic mechanisms in animal visual systems, we introduce a feature transform technique that imposes invariance properties in the training of deep neural networks. The resulting algorithm requires less parameter tuning, trains well with an initial learning rate 1.0, and easily generalizes to different tasks. We enforce scale invariance with local statistics in the data to align similar samples at diverse scales. To accelerate convergence, we enforce a GL(n)-invariance property with global statistics extracted from a batch such that the gradient descent solution should remain invariant under basis change. Profiling analysis shows our proposed modifications takes 5% of the computations of the underlying convolution layer. Tested on convolutional networks and transformer networks, our proposed technique requires fewer iterations to train, surpasses all baselines by a large margin, seamlessly works on both small and large batch size training, and applies to different computer vision and language tasks.

Exploiting Invariance in Training Deep Neural Networks

Multi-Agent Path Finding (MAPF) is the problem of planning collision-free paths for multiple agents in a shared environment. In this paper, we propose a novel algorithm MAPF-LNS2 based on large neighborhood search for solving MAPF efficiently. Starting from a set of paths that contain collisions, MAPF-LNS2 repeatedly selects a subset of colliding agents and replans their paths to reduce the number of collisions until the paths become collision-free. We compare MAPF-LNS2 against a variety of state-of-the-art MAPF algorithms, including Prioritized Planning with random restarts, EECBS, and PPS, and show that MAPF-LNS2 runs significantly faster than them while still providing near-optimal solutions in most cases. MAPF-LNS2 solves 80% of the random-scenario instances with the largest number of agents from the MAPF benchmark suite with a runtime limit of just 5 minutes, which, to our knowledge, has not been achieved by any existing algorithms.

RMAPF: Fast Repairing for Multi-Agent Path Finding via Large Neighborhood Search

Under data distributions which may be heavy-tailed, many stochastic gradient-based learning algorithms are driven by feedback queried at points with almost no performance guarantees on their own. Here we explore a modified "anytime online-to-batch" mechanism which for smooth objectives admits high-probability error bounds while requiring only lower-order moment bounds on the stochastic gradients. Using this conversion, we can derive a wide variety of "anytime robust" procedures, for which the task of performance analysis can be effectively reduced to regret control, meaning that existing regret bounds (for the bounded gradient case) can be robustified and leveraged in a straightforward manner. As a direct takeaway, we obtain an easily implemented stochastic gradient-based algorithm for which all queried points formally enjoy sub-Gaussian error bounds, and in practice show noteworthy gains on real-world data applications.

Anytime Guarantees Under Heavy-Tailed Data

Despite the recent progress in Graph Neural Networks (GNNs), it remains challenging to explain the predictions
 made by GNNs. Existing explanation methods mainly focus on post-hoc explanations where another explanatory model is employed to provide explanations for a trained GNN. The fact that post-hoc methods fail to reveal the original reasoning process of GNNs raises the need of building GNNs with built-in interpretability. In this work, we propose Prototype Graph Neural Network (ProtGNN), which combines prototype learning with GNNs and provides a new perspective on the explanations of GNNs. In ProtGNN, the explanations are naturally derived from the case-based reasoning process and are actually used during classification. The prediction of ProtGNN is obtained by comparing the inputs to a few learned prototypes in the latent space.
 Furthermore, for better interpretability and higher efficiency, a novel conditional subgraph sampling module is incorporated to indicate which part of the input graph is most similar to each prototype in ProtGNN+. Finally, we evaluate our method on a wide range of datasets and perform concrete case studies. Extensive results show that ProtGNN and ProtGNN+ can provide inherent interpretability while achieving accuracy on par with the non-interpretable counterparts.

ProtGNN: Towards Self-Explaining Graph Neural Networks

Due to the scarcity of annotated samples, the diversity between support set and query set becomes the main obstacle for few shot semantic segmentation. Most existing prototype-based approaches only exploit the prototype from the support feature and ignore the information from the query sample, failing to remove this obstacle.In this paper, we proposes a dual prototype network (DPNet) to dispose of few shot semantic segmentation from a new perspective. Along with the prototype extracted from the support set, we propose to build the pseudo-prototype based on foreground features in the query image. To achieve this goal, the cycle comparison module is developed to select reliable foreground features and generate the pseudo-prototype with them. Then, a prototype interaction module is utilized to integrate the information of the prototype and the pseudo-prototype based on their underlying correlation. Finally, a multi-scale fusion module is introduced to capture contextual information during the dense comparison between prototype (pseudo-prototype) and query feature. Extensive experiments conducted on two benchmarks demonstrate that our method exceeds previous state-of-the-arts with a sizable margin, verifying the effectiveness of the proposed method.

Learning from the Target: Dual Prototype Network for Few Shot Semantic Segmentation

Spatiotemporal graph represents a crucial data structure where the nodes and edges are embedded in a geometric space and their attribute values can evolve dynamically over time. Nowadays, spatiotemporal graph data is becoming increasingly popular and important, ranging from microscale (e.g. protein folding), to middle-scale (e.g. dynamic functional connectivity), to macro-scale (e.g. human mobility network). Although disentangling and understanding the correlations among spatial, temporal, and graph aspects have been a long-standing key topic in network science, they typically rely on network processes hypothesized by human knowledge. They usually fit well towards the properties that the predefined principles are tailored for, but usually cannot do well for the others, especially for many key domains where the human has yet very limited knowledge such as protein folding and biological neuronal networks. In this paper, we aim at pushing forward the modeling and understanding of spatiotemporal graphs via new disentangled deep generative models. Specifically, a new Bayesian model is proposed that factorizes spatiotemporal graphs into spatial, temporal, and graph factors as well as the factors that explain the interplay among them. A variational objective function and new mutual information thresholding algorithms driven by information bottleneck theory have been proposed to maximize the disentanglement among the factors with theoretical guarantees. Qualitative and quantitative experiments on both synthetic and real-world datasets demonstrate the superiority of the proposed model over the state-of-the-arts by up to 69.2% for graph generation and 41.5% for interpretability.

Disentangled Spatiotemporal Graph Generative Model

Image operators have been extensively applied to create visually attractive photos for users to share processed images on social media. However, most image operators often smooth out details or generate textures after the processing, which removes the original content and raises challenges for restoring the original image. To resolve this issue, we propose a quasi-invertible model that learns common image processing operators in a restorable fashion: the learned image operators can generate visually pleasing results with the original content embedded. Our model is trained on input-output pairs that represent an image processing operator's behavior and uses a network that consists of an invertible branch and a non-invertible branch to increase our model's approximation capability. We evaluate the proposed model on ten image operators, including detail enhancement, abstraction, blur,  photographic style, and non-photorealistic style. Extensive experiments show that our approach outperforms relevant baselines in the restoration quality, and the learned restorable operator is fast in inference and robust to compression. Furthermore, we demonstrate that the invertible operator can be easily applied to practical applications such as restorable human face retouching and highlight preserved exposure adjustment.

Restorable Image Operators with Quasi-Invertible Networks

The capability of a reinforcement learning (RL) agent heavily depends on the diversity of the learning scenarios generated by the environment. Generation of diverse realistic scenarios is challenging for real-time strategy (RTS) environments. The RTS environments are characterized by intelligent entities/non-RL agents cooperating and competing with the RL agents with large state and action spaces over a long period of time, resulting in an infinite space of feasible, but not necessarily realistic, scenarios involving complex interaction among different RL and non-RL agents. Yet, most of the existing simulators rely on randomly generating the environments based on predefined settings/layouts and offer limited flexibility and control over the environment dynamics for researchers to generate diverse, realistic scenarios as per their demand. To address this issue, for the first time, we formally introduce the benefits of adopting an existing formal scenario specification language, SCENIC, to assist researchers to model and generate diverse scenarios in an RTS environment in a flexible, systematic, and programmatic manner. To showcase the benefits, we interfaced SCENIC to an existing RTS environment Google Research Football (GRF) simulator and introduced a benchmark consisting of 32 realistic scenarios, encoded in SCENIC, to train RL agents and testing their generalization capabilities. We also show how researchers/RL practitioners can incorporate their domain knowledge to expedite the training process by intuitively modeling stochastic programmatic policies with SCENIC.

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FisheyeHDK: Hyperbolic Deformable Kernel Learning for Ultra-Wide Field-of-View Image Recognition

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Attention-based Depth Distillation with 3D-Aware Positional Encoding for Monocular 3D Object Detection

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FisheyeHDK: Hyperbolic Deformable Kernel Learning for Ultra-Wide Field-of-View Image Recognition

Similar lecture

Attention-based Depth Distillation with 3D-Aware Positional Encoding for Monocular 3D Object Detection

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