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Labelling LiDAR point clouds for training autonomous driving is extremely expensive and difficult. LiDAR simulation aims at generating realistic LiDAR data with labels for training and verifying self-driving algorithms more efficiently. Recently, Neural Radiance Fields (NeRF) have been proposed for novel view synthesis  using implicit reconstruction of 3D scenes. Inspired by this, we present NeRF-LIDAR, a novel LiDAR simulation method that leverages real-world information to generate realistic LIDAR point clouds. Different from existing LiDAR simulators, we use real images and point cloud data collected by self-driving cars to learn the 3D scene representation, point cloud generation and label rendering. We verify the effectiveness of our NeRF-LiDAR  by training different 3D segmentation models on the generated LiDAR point clouds. 
It reveals that the trained models are able to achieve similar accuracy when compared with the same model trained on the real LiDAR data.  Besides, the generated data is capable of  boosting the accuracy through pre-training which helps reduce the requirements of the real labeled data.

AAAI 2024

NeRF-LiDAR: Generating Realistic LiDAR Point Clouds with Neural Radiance Fields

3d computer vision

applications

autonomous driving

technical paper

We are pleased to announce the Thirty-Eighth AAAI Conference on Artificial Intelligence (AAAI-24), which will be held in Vancouver, British Columbia at the Vancouver Convention Centre – West Building from 20-27 February, 2024.

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-24 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.

We expect for AAAI-24 to be an in-person conference – one author of all accepted papers will be expected to present work in person unless there are exceptional circumstances that prevent this.<br><br><br><br>

In order to access the AAAI-24 event page you need to register [here](https://aaai.org/aaai-conference/registration/)

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. 

Causal discovery with latent variables is a crucial but challenging task. Despite the emergence of numerous methods aimed at addressing this challenge, they are not fully identified to the structure that two observed variables are influenced by one latent variable and there might be a directed edge in between. Interestingly, we notice that this structure can be identified through the utilization of higher-order cumulants. By leveraging the higher-order cumulants of non-Gaussian data, we provide an analytical solution for estimating the causal coefficients or their ratios. With the estimated (ratios of) causal coefficients, we propose a novel approach to identify the existence of a causal edge between two observed variables subject to latent variable influence. In case when such a causal edge exits, we introduce an asymmetry criterion to determine the causal direction. The experimental results demonstrate the effectiveness of our proposed method.

Identification of Causal Structure with Latent Variables Based on Higher Order Cumulants | VIDEO

Contrastive learning has emerged as a prevailing paradigm for high-level vision tasks, which, by introducing properly negative samples, has also been exploited for low-level vision tasks to achieve a compact optimization space to account for their ill-posed nature. However, existing methods rely on manually predefined and task-oriented negatives, which often exhibit pronounced task-specific biases. To address this challenge, our paper introduces an innovative method termed 'learning from history', which dynamically generates negative samples from the target model itself. Our approach, named Model Contrastive paradigm for Image Restoration (MCIR), rejuvenates latency models as negative models, making it compatible with diverse image restoration tasks. We propose the Self-Prior guided Negative loss (SPN) to enable it. This approach significantly enhances existing models when retrained with the proposed model contrastive paradigm. The results show significant improvements in image restoration across various tasks and architectures. For example, models retrained with SPN outperform the original FFANet and DehazeFormer by 3.41 and 0.57 dB on the RESIDE indoor dataset for image dehazing. Similarly, they achieve notable improvements of 0.47 dB on SPA-Data over IDT for image deraining and 0.12 dB on Manga109 for a 4x scale super-resolution over lightweight SwinIR, respectively. Code and retrained models are available at https://github.com/Aitical/MCIR.

Learning from History: Task-agnostic Model Contrastive Learning for Image Restoration

Point-supervised Temporal Action Localization (PSTAL) is an emerging research direction for label-efficient learning. However, current methods mainly focus on optimizing the network either at the snippet-level or the instance-level, neglecting the inherent reliability of point annotations at both levels. In this paper, we propose a Hierarchical Reliability Propagation (HR-Pro) framework, which consists of two reliability-aware stages: Snippet-level Discrimination Learning and Instance-level Completeness Learning, both stages explore the efficient propagation of high-confidence cues in point annotations. For snippet-level learning, we introduce an online-updated memory to store reliable snippet prototypes for each class. We then employ a Reliability-aware Attention Block to capture both intra-video and inter-video dependencies of snippets, resulting in more discriminative and robust snippet representation. For instance-level learning, we propose a point-based proposal generation approach as a means of connecting snippets and instances, which produces high-confidence proposals for further optimization at the instance level. Through multi-level reliability-aware learning, we obtain more reliable confidence scores and more accurate temporal boundaries of predicted proposals. Our HR-Pro achieves state-of-the-art performance on multiple challenging benchmarks, including an impressive average mAP of 60.3% on THUMOS14. Notably, our HR-Pro largely surpasses all previous point-supervised methods, and even outperforms several competitive fully-supervised methods. Code will be available at https://github.com/pipixin321/HR-Pro.

HR-Pro: Point-Supervised Temporal Action Localization via Hierarchical Reliability Propagation

Unsupervised domain adaptive hashing is a highly promising research direction within the field of retrieval. It aims to transfer valuable insights from the source domain to the target domain while maintaining high storage and retrieval efficiency. Despite its potential, this field remains relatively unexplored. Previous methods usually lead to unsatisfactory retrieval performance, as they frequently directly apply slightly modified domain adaptation algorithms to hash learning framework, or pursue domain alignment within the Hamming space characterized by limited semantic information. In this paper, we propose a simple yet effective approach named Comparative Prototype Hashing (CPH) for unsupervised domain adaptive image retrieval. We establish a domain-shared unit hypersphere space through prototype contrastive learning and then obtain the Hamming hypersphere space via mapping from the shared hypersphere.	This strategy achieves a cohesive synergy between learning uniformly distributed and category conflict-averse feature representations, eliminating domain discrepancies, and facilitating hash code learning. Moreover, by leveraging dual-domain information to supervise the entire hashing model training process, we can generate hash codes that retain inter-sample similarity relationships within both domains. Experimental results validate that our CPH significantly outperforms the state-of-the-art counterparts across multiple cross-domain and single-domain retrieval tasks. Notably, on Office-Home and Office-31 datasets, CPH achieves an average performance improvement of 19.29% and 13.85% on cross-domain retrieval tasks compared to the second-best results, respectively.

Effective Comparative Prototype Hashing for Unsupervised Domain Adaptation

Building click-through rate (CTR) and conversion rate (CVR) prediction models for cross-border e-commerce search requires modeling the correlations among multi-domains. Existing multi-domain methods would suffer severely from poor scalability and low efficiency when number of domains increases. To this end, we propose a Domain-Aware Multi-view mOdel (DAMO), which is domain-number-invariant, to effectively leverage cross-domain relations from a multi-view perspective. Specifically, instead of working in the original feature space defined by different domains, DAMO maps everything to a new low-rank multi-view space. To achieve this, DAMO firstly extracts multi-domain features in an explicit feature-interactive manner. These features are parsed to a multi-view extractor to obtain view-invariant and view-specific features. Then a multi-view predictor inputs these two sets of features and outputs view-based predictions. To enforce view-awareness in the predictor, we further propose a lightweight view-attention estimator to dynamically learn the optimal view-specific weights w.r.t. a view-guided loss. Extensive experiments on public and industrial datasets show that compared with state-of-the-art models, our DAMO achieves better performance with lower storage and computational costs. In addition, deploying DAMO to a large-scale cross-border e-commence platform leads to 1.21\%, 1.76\%, and 1.66\% improvements over the existing CGC-based model in the online AB-testing experiment in terms of CTR, CVR, and Gross Merchandises Value, respectively.

Multi-Domain Deep Learning from a Multi-View Perspective for Cross-Border E-commerce Search

The study of emergent communication has been dedicated to interactive artificial intelligence. While existing work focuses on communication about single objects or complex image scenes, we argue that communicating relationships between multiple objects is important in more realistic tasks, but understudied. In this paper, we try to fill this gap and focus on emergent communication about positional relationships between two objects. We train agents in the referential game where observations contain two objects, and find that generalization is the major problem when the positional relationship is involved. The key factor affecting the generalization ability of the emergent language is the input variation between Speaker and Listener, which is realized by a random image generator in our work. Further, we find that the learned language can generalize well in a new multi-step MDP task where the positional relationship describes the goal, and performs better than raw-pixel images as well as pre-trained image features, verifying the strong generalization ability of discrete sequences. We also show that language transfer from the referential game performs better in the new task than learning language directly in this task, implying the potential benefits of pre-training in referential games. All in all, our experiments demonstrate the viability and merit of having agents learn to communicate positional relationships between multiple objects through emergent communication.

Learning Multi-Object Positional Relationships via Emergent Communication

Generative diffusion prior captured from the off-the-shelf denoising diffusion generative model has recently attained significant interest. However, several attempts have been made to adopt diffusion models to noisy inverse problems either fail to achieve satisfactory results or require a few thousand iterations to achieve high-quality reconstructions. In this work, we propose a diffusion-based image restoration with error contraction and error correction (DiffECC) method. Two strategies are introduced to contract the restoration error in the posterior sampling process. First, we combine existing CNN-based approaches with diffusion models to ensure data consistency from the beginning. Second, to amplify the error contraction effects of the noise, a restart sampling algorithm is designed. In the error correction strategy, the estimation-correction idea is proposed on both the data term and the prior term. Solving them iteratively within the diffusion sampling framework leads to superior image generation results. Experimental results for image restoration tasks such as super-resolution (SR), \emph{Gaussian} deblurring, and \emph{motion} deblurring demonstrate that our approach can reconstruct high-quality images compared with state-of-the-art sampling-based diffusion models.

Improving Diffusion-Based Image Restoration with Error Contraction and Error Correction

Monocular 3D object detection (M3OD) is important for autonomous driving. However, existing deep learning-based methods easily suffer from performance degradation in real-world scenarios due to the substantial domain gap between training and testing. M3OD's domain gaps are complex, including camera intrinsic parameters, extrinsic parameters, image appearance, etc. Existing works primarily focus on the domain gaps of camera intrinsic parameters, ignoring other key factors. Moreover, at the feature level, conventional domain invariant learning methods generally cause the negative transfer issue, due to the ignorance of dependency between geometry tasks and domains. To tackle these issues, in this paper, we propose MonoGDG, a geometry-guided domain generalization framework for M3OD, which effectively addresses the domain gap at both camera and feature levels. Specifically, MonoGDG consists of two major components. One is geometry-based image reprojection, which mitigates the impact of camera discrepancy by unifying intrinsic parameters, randomizing camera orientations, and unifying the field of view range. The other is geometry-dependent feature disentanglement, which overcomes the negative transfer problems by incorporating domain-shared and domain-specific features. Additionally, we leverage a depth-disentangled domain discriminator and a domain-aware geometry regression attention mechanism to account for the geometry-domain dependency. Extensive experiments on multiple autonomous driving benchmarks demonstrate that our method achieves state-of-the-art performance in domain generalization for M3OD.

Geometry-Guided Domain Generalization for Monocular 3D Object Detection

Recently, CLIP has found practical utility in the domain of pixel-level zero-shot segmentation tasks. 
The present landscape features two-stage methodologies beset by issues such as intricate pipelines and elevated computational costs. While current one-stage approaches alleviate these concerns and incorporate Visual Prompt Training (VPT) to uphold CLIP's generalization capacity, they still fall short in fully harnessing CLIP's potential for pixel-level unseen class demarcation and precise pixel predictions.
To further stimulate CLIP's zero-shot dense prediction capability, we propose SPT-SEG, a one-stage approach that improves CLIP's adaptability from image to pixel.
Specifically, we initially introduce Spectral Prompt Tuning (SPT), incorporating spectral prompts into the CLIP visual encoder's shallow layers to capture structural intricacies of images, thereby enhancing comprehension of unseen classes.
Subsequently, we introduce the Spectral Guided Decoder (SGD), utilizing both high and low-frequency information to steer the network's spatial focus towards more prominent classification features, enabling precise pixel-level prediction outcomes.
Through extensive experiments on two public datasets, we demonstrate the superiority of our method over state-of-the-art approaches, performing well across all classes and particularly excelling in handling unseen classes.

Spectral Prompt Tuning: Unveiling Unseen Classes for Zero-Shot Semantic Segmentation

The task of 3D single object tracking (SOT) with LiDAR point clouds is crucial for various applications, such as autonomous driving and robotics. However, existing approaches have primarily relied on appearance matching or motion modeling within only two successive frames, thereby overlooking the long-range continuous motion property of objects in 3D space. To address this issue, this paper presents a novel approach that views each tracklet as a continuous stream: at each timestamp, only the current frame is fed into the network to interact with multi-frame historical features stored in a memory bank, enabling efficient exploitation of sequential information. To achieve effective cross-frame message passing, a hybrid attention mechanism is designed to account for both long-range relation modeling and local geometric feature extraction. Furthermore, to enhance the utilization of multi-frame features for robust tracking, a contrastive sequence enhancement strategy is proposed, which uses ground truth tracklets to augment training sequences and promote discrimination against false positives in a contrastive manner. Extensive experiments demonstrate that the proposed method outperforms the state-of-the-art method by significant margins on multiple benchmarks.

NeRF-LiDAR: Generating Realistic LiDAR Point Clouds with Neural Radiance Fields

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NeRF-LiDAR: Generating Realistic LiDAR Point Clouds with Neural Radiance Fields

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Identification of Causal Structure with Latent Variables Based on Higher Order Cumulants | VIDEO

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