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DIPR: Efficient Point Cloud Registration via Dynamic Iteration

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arXiv 2023年

作者： Ai, Yang Bai, Qiang Li, Jindong Yang, Xi School of Artificial Intelligence Jilin University China Engineering Research Center of Knowledge-Driven Human-Machine Intelligence MoE China Key Laboratory of Ancient Chinese Script Culture Relics and Artificial Intelligence Jilin University China

Point cloud registration (PCR) is an essential task in 3D vision. Existing methods achieve increasingly higher accuracy. However, a large proportion of non-overlapping points in point cloud registration consume a lot of computational resources while negatively affecting registration accuracy. To overcome this challenge, we introduce a novel Efficient Point Cloud Registration via Dynamic Iteration framework, DIPR, that makes the neural network interactively focus on overlapping points based on sparser input points. We design global and local registration stages to achieve efficient course-to-fine processing. Beyond basic matching modules, we propose the Refined Nodes to narrow down the scope of overlapping points by using adopted density-based clustering to significantly reduce the computation amount. And our SC Classifier serves as an early-exit mechanism to terminate the registration process in time according to matching accuracy. Extensive experiments on multiple datasets show that our proposed approach achieves superior registration accuracy while significantly reducing computational time and GPU memory consumption compared to state-of-the-art methods. © 2023, CC BY-NC-SA.

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On the generalization of stochastic gradient descent with momentum

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The Journal of Machine Learning Research

The Journal of machine Learning Research 2024年第1期25卷 1132-1187页

作者： Ali Ramezani-Kebrya Kimon Antonakopoulos Volkan Cevher Ashish Khisti Ben Liang Department of Informatics University of Oslo and Visual Intelligence Centre Integreat Norwegian Centre for Knowledge-driven Machine Learning Oslo Norway Laboratory for Information and Inference Systems (LIONS) EPFL EPFL STI IEL LIONS Lausanne Switzerland Department of Electrical and Computer Engineering University of Toronto Toronto ON Canada

While momentum-based accelerated variants of stochastic gradient descent (SGD) are widely used when training machine learning models, there is little theoretical understanding on the generalization error of such methods. In this work, we first show that there exists a convex loss function for which the stability gap for multiple epochs of SGD with standard heavy-ball momentum (SGDM) becomes unbounded. Then, for smooth Lipschitz loss functions, we analyze a profiles momentum-based update rule, i.e., SGD with early momentum (SGDEM) under a broad range of step-sizes, and show that it can train machine learning models for multiple epochs with a guarantee for generalization. Finally, for the special case of strongly convex loss functions, we find a range of momentum such that multiple epochs of standard SGDM, as a special form of SGDEM, also generalizes. Extending our results on generalization, we also develop an upper bound on the expected true risk, in terms of the number of training steps, sample size, and momentum. Our experimental evaluations verify the consistency between the numerical results and our theoretical bounds. SGDEM improves the generalization error of SGDM when training ResNet-18 on ImageNet in practical distributed settings.

关键词： uniform stability generalization error heavy-ball momentum stochastic gradient descent non-convex

Data-Efficient CLIP-Powered Dual-Branch Networks for Source-Free Unsupervised Domain Adaptation

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arXiv 2024年

作者： Li, Yongguang Cao, Yueqi Li, Jindong Wang, Qi Wang, Shengsheng College of Software Jilin University Changchun130012 China College of Computer Science and Technology Jilin University Changchun130012 China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China School of Artificial Intelligence Jilin University Changchun130012 China Engineering Research Center of Knowledge-Driven Human-Machine Intelligence Ministry of Education Jilin University Changchun130012 China

Source-free Unsupervised Domain Adaptation (SF-UDA) aims to transfer a model’s performance from a labeled source domain to an unlabeled target domain without direct access to source samples, addressing critical data privacy concerns. However, most existing SF-UDA approaches assume the availability of abundant source domain samples, which is often impractical due to the high cost of data annotation. To address the dual challenges of limited source data and privacy concerns, we introduce a data-efficient, CLIP-powered dual-branch network (CDBN). This architecture consists of a cross-domain feature transfer branch and a target-specific feature learning branch, leveraging high-confidence target domain samples to transfer text features of source domain categories while learning target-specific soft prompts. By fusing the outputs of both branches, our approach not only effectively transfers source domain category semantic information to the target domain but also reduces the negative impacts of noise and domain gaps during target training. Furthermore, we propose an unsupervised optimization strategy driven by accurate classification and diversity, preserving the classification capability learned from the source domain while generating more confident and diverse predictions in the target domain. CDBN achieves near state-of-the-art performance with far fewer source domain samples than existing methods across 31 transfer tasks on seven datasets. © 2024, CC BY.

关键词： Adversarial machine learning

Gamification of virtual museum curation: a case study of Chinese bronze wares

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arXiv 2024年

作者： Li, Zhaokang Zhang, Qian Xu, Jiayue Li, Chuntao Yang, Xi School of Artificial Intelligence Jilin University Changchun Jilin130000 China School of Archaeology Jilin University Changchun Jilin130000 China Key Laboratory of Ancient Chinese Script Cultural Relics and Artificial Intelligence Jilin University Changchun Jilin130000 China Engineering Research Center of Knowledge-Driven Human-Machine Intelligence MoE Changchun Jilin130000 China

Museums, which are among the most popular science institutions outside schools, are usually used to display and introduce historical culture and cultural relics to tourists. Text and audio explanations are used by traditional museums to popularize historical knowledge and science for tourists, and general interactive systems are based on desktops. This learning method is relatively boring in terms of experience. As a result, tourists have no desire or interest in actively exploring and learning about bronze ware, so they only have a basic understanding about bronze ware. Since most tourists are familiar with games, they are more likely to be attracted by game content and will actively explore and interact with it. In addition, a certain degree of reality is created by virtual reality technology and an immersive experience through head-mounted devices is provided to users. In this paper, we take Chinese bronzes as the research objects. We first use 3D laser scanners to obtain bronze models;then, we build a virtual museum environment, and we finally design a virtual reality curation game based on this bronze digital museum. This game offers visitors an immersive museum roaming and bronze ware interactive experience. Through a combination of text, video learning, and games, visitors' curiosity and desire to explore bronze ware are stimulated, and their understanding and ability to remember bronze ware knowledge can be deepened. In terms of cultural heritage, this game is also conducive to the spread of traditional Chinese bronze culture throughout the world. Copyright © 2024, The Authors. All rights reserved.

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Adversarial Driving Behavior Generation Incorporating Human Risk Cognition for Autonomous Vehicle Evaluation

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Adversarial Driving Behavior Generation Incorporating Human ...

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Zhen Liu Hang Gao Hao Ma Shuo Cai Yunfeng Hu Ting Qu Hong Chen Xun Gong School of Artificial Intelligence Jilin University China and Engineering Research Center of Knowledge-Driven Human-Machine Intelligence MOE China College of Communication Engineering Jilin University Changchun China State Key Laboratory of Automotive Simulation and Control Jilin University Changchun China School of Electronic and Information Engineering Tongji University Shanghai China

Autonomous vehicle (AV) evaluation has been the subject of increased interest in recent years both in industry and in academia. This paper focuses on the development of a novel framework for generating adversarial driving behavior of background vehicle interfering against the AV to expose effective and rational risky events. Specifically, the adversarial behavior is learned by a reinforcement learning (RL) approach incorporated with the cumulative prospect theory (CPT) which allows representation of human risk cognition. Then, the extended version of deep deterministic policy gradient (DDPG) technique is proposed for training the adversarial policy while ensuring training stability as the CPT action-value function is leveraged. A comparative case study regarding the cut-in scenario is conducted on a high fidelity Hardware-in-the-Loop (HiL) platform and the results demonstrate the adversarial effectiveness to infer the weakness of the tested AV.

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PairingNet: A Learning-based Pair-searching and -matching Network for Image Fragments

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arXiv 2023年

作者： Zhou, Rixin Xia, Ding Zhang, Yi Pang, Honglin Yang, Xi Li, Chuntao School of Artificial Intelligence Jilin University China The University of Tokyo Japan National University of Defense Technology College of Electrionic Engineering China School of Archaeology Jilin University China Engineering Research Center of Knowledge-Driven Human-Machine Intelligence MoE China Key Laboratory of Ancient Chinese Script Culture Relics and Artificial Intelligence Jilin Province China

In this paper, we propose a learning-based image fragment pair-searching and -matching approach to solve the challenging restoration problem. Existing works use rule-based methods to match similar contour shapes or textures, which are always difficult to tune hyperparameters for extensive data and computationally time-consuming. Therefore, we propose a neural network that can effectively utilize neighbor textures with contour shape information to fundamentally improve performance. First, we employ a graph-based network to extract the local contour and texture features of fragments. Then, for the pair-searching task, we adopt a linear transformer-based module to integrate these local features and use contrastive loss to encode the global features of each fragment. For the pair-matching task, we design a weighted fusion module to dynamically fuse extracted local contour and texture features, and formulate a similarity matrix for each pair of fragments to calculate the matching score and infer the adjacent segment of contours. To faithfully evaluate our proposed network, we collect a real dataset and generate a simulated image fragment dataset through an algorithm we designed that tears complete images into irregular fragments. The experimental results show that our proposed network achieves excellent pair-searching accuracy, reduces matching errors, and significantly reduces computational time. Source codes and data are available at here. © 2023, CC BY.

关键词： Contourlet transform

Size-Invariance Matters: Rethinking Metrics and Losses for Imbalanced Multi-object Salient Object Detection 41

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Size-Invariance Matters: Rethinking Metrics and Losses for I...

41st International Conference on machine Learning, ICML 2024

作者： Li, Feiran Xu, Qianqian Bao, Shilong Yang, Zhiyong Cong, Runmin Cao, Xiaochun Huang, Qingming Institute of Information Engineering Chinese Academy of Sciences Beijing China School of Cyber Security University of Chinese Academy of Sciences Beijing China Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China Institute of Information Science Beijing Jiaotong University Beijing China School of Control Science and Engineering Shandong University Jinan China Key Laboratory of Machine Intelligence and System Control Ministry of Education Jinan China School of Cyber Science and Tech. Sun Yat-sen University Shenzhen Campus China Key Laboratory of Big Data Mining and Knowledge Management Chinese Academy of Sciences Beijing China

This paper explores the size-invariance of evaluation metrics in Salient Object Detection (SOD), especially when multiple targets of diverse sizes co-exist in the same image. We observe that current metrics are size-sensitive, where larger objects are focused, and smaller ones tend to be ignored. We argue that the evaluation should be size-invariant because bias based on size is unjustified without additional semantic information. In pursuit of this, we propose a generic approach that evaluates each salient object separately and then combines the results, effectively alleviating the imbalance. We further develop an optimization framework tailored to this goal, achieving considerable improvements in detecting objects of different sizes. Theoretically, we provide evidence supporting the validity of our new metrics and present the generalization analysis of SOD. Extensive experiments demonstrate the effectiveness of our method. The code is available at https://***/Ferry-Li/SI-SOD. Copyright 2024 by the author(s)

关键词： Object detection

Quaternion factorization machines: A lightweight solution to intricate feature interaction modelling

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arXiv 2021年

作者： Chen, Tong Yin, Hongzhi Zhang, Xiangliang Huang, Zi Wang, Yang Wang, Meng The School of Information Technology and Electrical Engineering The University of Queensland Australia The Machine Intelligence and Knowledge Engineering Laboratory King Abdullah University of Science and Technology Saudi Arabia The Key Laboratory of Knowledge Engineering with Big Data Ministry of Education School of Computer Science and Information Engineering Hefei University of Technology China

Due to the sparsity of available features in web-scale predictive analytics, combinatorial features become a crucial means for deriving accurate predictions. As a well-established approach, factorization machine (FM) is capable of automatically learning high-order interactions among features to make predictions without the need for manual feature engineering. With the prominent development of deep neural networks (DNNs), there is a recent and ongoing trend of enhancing the expressiveness of FM-based models with DNNs. However, though better results are obtained with DNN-based FM variants, such performance gain is paid off by an enormous amount (usually millions) of excessive model parameters on top of the plain FM. Consequently, the heavy parameterization impedes the real-life practicality of those deep models, especially efficient deployment on resource-constrained IoT and edge devices. In this paper, we move beyond the traditional real space where most deep FM-based models are defined, and seek solutions from quaternion representations within the hypercomplex space. Specifically, we propose the quaternion factorization machine (QFM) and quaternion neural factorization machine (QNFM), which are two novel lightweight and memory-efficient quaternion-valued models for sparse predictive analytics. By introducing a brand new take on FM-based models with the notion of quaternion algebra, our models not only enable expressive inter-component feature interactions, but also significantly reduce the parameter size due to lower degrees of freedom in the hypercomplex Hamilton product compared with real-valued matrix multiplication. Extensive experimental results on three large-scale datasets demonstrate that QFM achieves 4.36% performance improvement over the plain FM without introducing any extra parameters, while QNFM outperforms all baselines with up to two magnitudes' parameter size reduction in comparison to state-of-the-art peer methods. Copyright © 2021, The Authors. All

关键词： Large dataset

Uniting heterogeneity, inductiveness, and efficiency for graph representation learning

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arXiv 2021年

作者： Chen, Tong Yin, Hongzhi Ren, Jie Huang, Zi Zhang, Xiangliang Wang, Hao The School of Information Technology and Electrical Engineering The University of Queensland Australia The Machine Intelligence and Knowledge Engineering Laboratory King Abdullah University of Science and Technology Saudi Arabia Alibaba AI Labs China

With the ubiquitous graph-structured data in various applications, models that can learn compact but expressive vector representations of nodes have become highly desirable. Recently, bearing the message passing paradigm, graph neural networks (GNNs) have greatly advanced the performance of node representation learning on graphs. However, a majority class of GNNs are only designed for homogeneous graphs, leading to inferior adaptivity to the more informative heterogeneous graphs with various types of nodes and edges. Also, despite the necessity of inductively producing representations for completely new nodes (e.g., in streaming scenarios), few heterogeneous GNNs can bypass the transductive learning scheme where all nodes must be known during training. Furthermore, the training efficiency of most heterogeneous GNNs has been hindered by their sophisticated designs for extracting the semantics associated with each meta path or relation. In this paper, we propose wide and deep message passing network (WIDEN) to cope with the aforementioned problems about heterogeneity, inductiveness, and efficiency that are rarely investigated together in graph representation learning. In WIDEN, we propose a novel inductive, meta path-free message passing scheme that packs up heterogeneous node features with their associated edges from both low- and high-order neighbor nodes. To further improve the training efficiency, we innovatively present an active downsampling strategy that drops unimportant neighbor nodes to facilitate faster information propagation. Experiments on three real-world heterogeneous graphs have further validated the efficacy of WIDEN on both transductive and inductive node representation learning, as well as the superior training efficiency against state-of-the-art baselines. Copyright © 2021, The Authors. All rights reserved.

关键词： Message passing