Canada

3D perception is a critical problem in autonomous driving. Recently, the Bird’s-Eye-View (BEV) approach has attracted extensive attention, due to low-cost deployment and desirable vision detection capacity. However, the existing models ignore a realistic scenario during the driving procedure, i.e., one or more view cameras may be failed, which largely deteriorates their performance. To tackle this problem, we propose a generic Masked BEV (M-BEV) perception framework, which can effectively improve robustness to this challenging scenario, by random masking and reconstructing camera views in the end-to-end training. More specifically, we develop a novel Masked View Reconstruction (MVR) module in our M-BEV. It mimics various missing cases by randomly masking features of different camera views, then leverages the original features of these views as self-supervision and reconstructs the masked ones with the distinct spatio-temporal context across camera views. Via such a plug-and-play MVR, our M-BEV is capable of learning the missing views from the resting ones, and thus well generalized for robust view recovery and accurate perception in the testing. We perform extensive experiments on the popular NuScenes benchmark, where our framework can significantly boost 3D perception performance of the state-of-the-art models on various missing view cases, e.g., for the absence of back view, our M-BEV promotes the PETRv2 model with 10.3% mAP gain. The models and codes will be released afterwards.

AAAI 2024

M-BEV: Masked BEV Perception for Robust Autonomous Driving

3d object detection

autonomous driving

robustness

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. 

Most of the existing aspect-level sentiment analysis (ABSA) models only predict the sentiment polarity of a single aspect at a time, focusing primarily on enhancing the representation of this single aspect based on the other contexts or aspects. This one-to-one paradigm ignores the fact that multi-aspect, multi-sentiment sentences contain not only distinct specific descriptions for distinct specific aspects, but also shared global context information for multiple aspects. To fully consider these issues, we propose a one-to-many ABSA framework, called You Only Read Once (YORO), that can simultaneously model representations of all aspects based on their specific descriptions and better fuse their relationships using globally shared contextual information in the sentence. Predicting the sentiment polarity of multiple aspects simultaneously is beneficial to improving the efficacy of calculation and prediction. Extensive experiments are conducted on three public datasets (MAMS, Rest14, and Lap14). Experimental results demonstrate the effectiveness of YORO in handling multi-aspect, multi-sentiment scenarios and highlight the promise of one-to-many ABSA in balancing efficiency and accuracy.

You Only Read Once: Constituency-Oriented Relational Graph Convolutional Network for Multi-Aspect Multi-Sentiment Classification

Count data naturally arise in many fields, such as finance, neuroscience, and epidemiology, and discovering causal structure among count data is a crucial task in various scientific and industrial scenarios. One of the most common characteristics of count data is the inherent branching structure described by a binomial thinning operator and an independent Poisson distribution that captures both branching and noise. For instance, in a population count scenario, mortality and immigration contribute to the count, where survival follows a Bernoulli distribution, and immigration follows a Poisson distribution. However, causal discovery from such data is challenging due to the non-identifiability issue: a single causal pair is Markov equivalent, i.e.,  $X\rightarrow Y$ and $Y\rightarrow X$ are distributed equivalent. Fortunately, in this work, we found that the causal order from $X$ to its child $Y$ is identifiable if $X$ is a root vertex and has at least two directed paths to $Y$, or the ancestor of $X$ with the most directed path to $X$ has a directed path to $Y$ without passing $X$. Specifically, we propose a Poisson Branching Structure Causal Model (PB-SCM) and perform a path analysis on PB-SCM using high-order cumulants. Theoretical results establish the connection between the path and cumulant and demonstrate that the path information can be obtained from the cumulant. With the path information, causal order is identifiable under some graphical conditions. A practical algorithm for learning causal structure under PB-SCM is proposed and the experiments demonstrate and verify the effectiveness of the proposed method.

Causal Discovery from Poisson Branching Structural Causal Model Using High-Order Cumulant with Path Analysis

In practical black-box attack scenarios, most of the existing transfer-based attacks employ pretrained models (e.g. ResNet50) as the substitute models. Unfortunately, these substitute models are not always appropriate for transfer-based attacks. Firstly, these models are usually trained on a largescale annotated dataset, which is extremely expensive and time-consuming to construct. Secondly, the primary goal of these models is to perform a specific task, such as image classification, which is not developed for adversarial attacks. To tackle the above issues, i.e., high cost and over-fitting on taskspecific models, we propose an Affordable and Generalizable Substitute (AGS) training framework tailored for transferbased adversarial attack. Specifically, we train the substitute model from scratch by our proposed adversary-centric constrastive learning. This proposed learning mechanism introduces another sample with slight adversarial perturbations as an additional positive view of the input image, and then encourages the adversarial view and two benign views to interact comprehensively with each other. To further boost the generalizability of the substitute model, we propose adversarial invariant learning to maintain the representations of the adversarial example invariants under augmentations with various strengths. Our AGS model can be trained solely with unlabeled and out-of domain data and avoid overfitting to any task-specific models, because of its inherently self-supervised nature. Extensive experiments demonstrate that our AGS achieves comparable or superior performance compared to substitute models pretrained on the complete ImageNet training set, when executing attacks across a diverse range of target models, including ViTs, robustly trained models, object detection and segmentation models. Our source codes are available at https://github.com/lwmming/AGS.

AGS: Affordable and Generalizable Substitute Training for Transferable Adversarial Attack

Point cloud upsampling aims to generate dense and uniformly distributed point sets from a sparse point cloud, which plays a critical role in 3D computer vision. Previous methods typically split a sparse point cloud into several local patches, upsample patch points, and merge all upsampled patches. However, these methods often produce holes, outliers or non-uniformity due to the splitting and merging process which does not maintain consistency among local patches.To address these issues, we propose a novel approach that learns an unsigned distance field guided by local priors for point cloud upsampling.  Specifically, we train a local distance indicator (LDI) that predicts the unsigned distance from a query point to a local implicit surface. Utilizing the learned LDI, we learn an unsigned distance field to represent the sparse point cloud with patch consistency. At inference time, we randomly sample queries around the sparse point cloud, and project these query points onto the zero-level set of the learned implicit field to generate a dense point cloud. We justify that the implicit field is naturally continuous, which inherently enables the application of arbitrary-scale upsampling without necessarily retraining for various scales. We conduct comprehensive experiments on both synthetic data and real scans, and report state-of-the-art results under widely used benchmarks. Project page: https://lisj575.github.io/APU-LDI

Learning Continuous Implicit Field with Local Distance Indicator for Arbitrary-Scale Point Cloud Upsampling

The automatic generation of radiology reports is of great significance, which can reduce the workload of doctors and improve the accuracy and reliability of medical diagnosis and treatment, and has attracted wide attention in recent years. Cross-modal mapping between images and text, a key component of generating high-quality reports, is challenging due to the lack of corresponding annotations. Despite its importance, previous studies have often overlooked it or lacked adequate designs for this crucial component. In this paper, we propose a method with memory alignment embedding to assist the model in aligning visual and textual features to generate a coherent and informative report. Specifically, we first get the memory alignment embedding by querying the memory matrix, where the query is derived from a combination of the visual features and their corresponding positional embeddings. Then the alignment between the visual and textual features can be guided by the memory alignment embedding during the generation process. The comparison experiments with other alignment methods show that the proposed alignment method is less costly and more effective. The proposed approach achieves better performance than state-of-the-art approaches on two public datasets IU X-Ray and MIMIC-CXR, which further demonstrates the effectiveness of the proposed alignment method.

Automatic Radiology Reports Generation via Memory Alignment Network

Semantic segmentation is one of the tasks concerned in the field of computer vision. However, the cost of capturing large numbers of pixel-level annotations is expensive. Semi-supervised learning can utilize labeled and unlabeled data, providing new ideas for solving the problem of insufficient labeled data. In this work, we propose a data-reliability weighted multi-phase learning method for semi-supervised segmentation (RWMS). Under the framework of self-training, we train two different teacher models to evaluate the reliability of pseudo labels. By selecting reliable data at the image level and reweighting pseudo labels at the pixel level, multi-phase training is guided to focus on more reliable knowledge. Besides, we also inject strong data augmentations on unlabeled images while training. Through extensive experiments, we demonstrate that our method performs remarkably well compared to baseline methods and substantially outperforms them, more than 3% on VOC and Cityscapes.

RWMS: Reliable Weighted Multi-Phase for Semi-supervised Segmentation

Although image captioning models have made significant advancements in recent years, the majority of them heavily depend on high-quality datasets containing paired images and texts which are costly to acquire. Previous works leverage the CLIP's cross-modal association ability for image captioning, relying solely on textual information under unsupervised settings. However, not only does a modality gap exist between CLIP text and image features, but a discrepancy also arises between training and inference due to the unavailability of real-world images, which hinders the cross-modal alignment in text-only captioning. This paper proposes a novel method to address these issues by incorporating synthetic image-text pairs. A pre-trained text-to-image model is deployed to obtain images that correspond to textual data, and the pseudo features of generated images are optimized toward the real ones in the CLIP embedding space. Furthermore, textual information is gathered to represent image features, resulting in the image features with various semantics and the bridged modality gap. To unify training and inference, synthetic image features would serve as the training prefix for the language decoder, while real images are used for inference. Additionally, salient objects in images are detected as assistance to enhance the learning of modality alignment. Experimental results demonstrate that our method obtains the state-of-the-art performance on benchmark datasets.

Improving Cross-Modal Alignment with Synthetic Pairs for Text-Only Image Captioning

In the field of vanishing point detection, previous works commonly relied on extracting and clustering straight lines or classifying candidate points as vanishing points. This paper proposes a novel end-to-end framework, called VPDETR (Vanishing Point DEtection TRansformer), that views vanishing point detection as a set prediction problem, applicable to both Manhattan and non-Manhattan world datasets. By using the positional embedding of anchor points as queries in Transformer decoders and dynamically updating them layer by layer, our method is able to directly input images and output their vanishing points without the need for explicit straight line extraction and candidate points sampling. Additionally, we introduce an orthogonal loss and a cross-prediction loss to improve accuracy on the Manhattan world datasets. Experimental results demonstrate that VPDETR achieves competitive performance compared to state-of-the-art methods, without requiring post-processing.

VPDETR: End-to-End Vanishing Point DEtection TRansformers

A variety of Neural Radiance Fields (NeRF) methods have recently achieved remarkable success in high render speed. However, current accelerating methods are specialized and incompatible with various implicit methods, preventing real-time composition over various types of NeRF works. Because NeRF relies on sampling along rays, it is possible to provide general guidance for acceleration. To that end, we propose a general implicit pipeline for composing NeRF objects quickly. Our method enables the casting of dynamic shadows within or between objects using analytical light sources while allowing multiple NeRF objects to be seamlessly placed and rendered together with any arbitrary rigid transformations. Mainly, our work introduces a new surface representation known as Neural Depth Fields (NeDF) that quickly determines the spatial relationship between objects by allowing direct intersection computation between rays and implicit surfaces. It leverages an intersection neural network to query NeRF for acceleration instead of depending on an explicit spatial structure.Our proposed method is the first to enable both the progressive and interactive composition of NeRF objects. Additionally, it also serves as a previewing plugin for a range of existing NeRF works.

A General Implicit Framework for Fast NeRF Composition and Rendering | VIDEO

Facial attribute editing has garnered significant attention, yet prevailing methods struggle with achieving precise attribute manipulation while preserving irrelevant details and controlling attribute styles. This challenge primarily arises from the strong correlations between different attributes and the interplay between attributes and identity. In this paper, we propose Semantic Disentangled GAN (SDGAN), a novel method addressing this challenge. SDGAN introduces two key concepts: a semantic disentanglement generator that assigns facial representations to distinct attribute-specific editing modules, enabling the decoupling of the facial attribute editing process, and a semantic mask alignment strategy that confines attribute editing to appropriate regions, thereby avoiding undesired modifications. Leveraging these concepts, SDGAN demonstrates accurate attribute editing and achieves high-quality attribute style manipulation through both latent-guided and reference-guided manners. We extensively evaluate our method on the CelebA-HQ database, providing both qualitative and quantitative analyses. Our results establish that SDGAN significantly outperforms state-of-the-art techniques, showcasing the effectiveness of our approach. To foster reproducibility and further research, we will provide the code for our method.

M-BEV: Masked BEV Perception for Robust Autonomous Driving

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You Only Read Once: Constituency-Oriented Relational Graph Convolutional Network for Multi-Aspect Multi-Sentiment Classification

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M-BEV: Masked BEV Perception for Robust Autonomous Driving

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Next from AAAI 2024

You Only Read Once: Constituency-Oriented Relational Graph Convolutional Network for Multi-Aspect Multi-Sentiment Classification

Stay up to date with the latest Underline news!

PRESENTATIONS

CONFERENCES

COMPANY

RESOURCES

Downloads