Latent confounding has been a long-standing obstacle for causal reasoning from observational data. One popular approach is to model the data using acyclic directed mixed graphs (ADMGs), which describe ancestral relations between variables using directed and bidirected edges. However, existing methods using ADMGs are based on either linear functional assumptions or a discrete search that is complicated to use and lacks computational tractability for large datasets. In this work, we further extend the existing body of work and develop a novel gradient-based approach to learning an ADMG with non-linear functional relations from observational data. We first show that the presence of latent confounding is identifiable under the assumptions of bow-free ADMGs with non-linear additive noise models. With this insight, we propose a novel neural causal model based on autoregressive flows for ADMG learning. This not only enables us to determine complex causal structural relationships behind the data in the presence of latent confounding, but also estimate their functional relationships (hence treatment effects) simultaneously. We further validate our approach via experiments on both synthetic and real-world datasets, and demonstrate the competitive performance against relevant baselines.
The performance of point cloud 3D object detection hinges on effectively representing raw points, grid-based voxels or pillars. Recent two-stage 3D detectors typically take the point-voxel-based R-CNN paradigm, i.e., the first stage resorts to the 3D voxel-based backbone for 3D proposal generation on bird-eye-view (BEV) representation and the second stage refines them via the intermediate point representation. Their primary mechanisms involve the utilization of intermediary keypoints to restore the substantial 3D structure context from the converted BEV representation. The skilled point-voxel feature interaction, however, makes the entire detection pipeline more complex and compute-intensive. In this paper, we take a different viewpoint -- the pillar-based BEV representation owns sufficient capacity to preserve the 3D structure. In light of the latest advances in BEV-based perception, we devise a conceptually simple yet effective two-stage 3D detection architecture, named Pillar R-CNN. On top of densified BEV feature maps, Pillar R-CNN can easily introduce the feature pyramid architecture to generate 3D proposals at various scales and take the simple 2D R-CNN style detect head for box refinement. Our Pillar R-CNN performs favorably against state-of-the-art 3D detectors on the large-scale Waymo Open Dataset but at a small extra cost. It should be highlighted that further exploration into BEV perception for applications involving autonomous driving is now possible thanks to the effective and elegant Pillar R-CNN architecture.
ChatGPT has demonstrated exceptional proficiency in natural language conversation, e.g., it can answer a wide range of questions while no previous large language models can. Thus, we would like to push its limit and explore its ability to answer causal discovery questions by using a medical benchmark (Tu et al. 2019) in causal discovery.
RGB-D saliency detection aims to fuse multi-modal cues to accurately localize salient regions. Existing works often adopt attention modules for feature modeling, with few methods explicitly leveraging fine-grained details to merge with semantic cues. Thus, despite the auxiliary depth information, it is still challenging for existing models to distinguish objects with similar appearances but at distinct camera distances. In this paper, from a new perspective, we propose a novel Hierarchical Depth Awareness network (HiDAnet) for RGB-D saliency detection. Our motivation comes from the observation that the multi-granularity properties of geometric priors correlate well with the neural network hierarchies. To realize multi-modal and multi-level fusion, we first use a granularity-based attention scheme to strengthen the discriminatory power of RGB and depth features separately. Then we introduce a unified cross dual-attention module for multi-modal and multi-level fusion in a coarse-to-fine manner. The encoded multi-modal features are gradually aggregated into a shared decoder. Further, we exploit a multi-scale loss to take full advantage of the hierarchical information. Extensive experiments on challenging benchmark datasets demonstrate that our HiDAnet performs favorably over the state-of-the-art methods by large margins.
This letter proposes an analytical framework to evaluate the coverage performance of a cellular-connected unmanned aerial vehicle (UAV) network in which UAV user equipments (UAV-UEs) are equipped with directional antennas and move according to a three-dimensional (3D) mobility model. The ground base stations (GBSs) equipped with practical down-tilted antennas are distributed according to a Poisson point process (PPP). With tools from stochastic geometry, we derive the handover probability and coverage probability of a random UAV-UE under the strongest average received signal strength (RSS) association strategy. The proposed analytical framework allows to investigate the effect of UAV-UE antenna beamwidth, mobility speed, cell association, and vertical motions on both the handover probability and coverage probability. We conclude that the optimal UAV-UE antenna beamwidth decreases with the GBS density, and the omnidirectional antenna model is preferred in the sparse network scenario. What's more, the superiority of the strongest average RSS association over the nearest association diminishes with the increment of GBS density.
Deep learning models have shown their vulnerability when dealing with adversarial attacks. Existing attacks almost perform on low-level instances, such as pixels and super-pixels, and rarely exploit semantic clues. For face recognition attacks, existing methods typically generate the l_p-norm perturbations on pixels, however, resulting in low attack transferability and high vulnerability to denoising defense models. In this work, instead of performing perturbations on the low-level pixels, we propose to generate attacks through perturbing on the high-level semantics to improve attack transferability. Specifically, a unified flexible framework, Adversarial Attributes (Adv-Attribute), is designed to generate inconspicuous and transferable attacks on face recognition, which crafts the adversarial noise and adds it into different attributes based on the guidance of the difference in face recognition features from the target. Moreover, the importance-aware attribute selection and the multi-objective optimization strategy are introduced to further ensure the balance of stealthiness and attacking strength. Extensive experiments on the FFHQ and CelebA-HQ datasets show that the proposed Adv-Attribute method achieves the state-of-the-art attacking success rates while maintaining better visual effects against recent attack methods.
In this paper, we show that structures similar to self-attention are natural to learn many sequence-to-sequence problems from the perspective of symmetry. Inspired by language processing applications, we study the orthogonal equivariance of seq2seq functions with knowledge, which are functions taking two inputs -- an input sequence and a ``knowledge'' -- and outputting another sequence. The knowledge consists of a set of vectors in the same embedding space as the input sequence, containing the information of the language used to process the input sequence. We show that orthogonal equivariance in the embedding space is natural for seq2seq functions with knowledge, and under such equivariance the function must take the form close to the self-attention. This shows that network structures similar to self-attention are the right structures to represent the target function of many seq2seq problems. The representation can be further refined if a ``finite information principle'' is considered, or a permutation equivariance holds for the elements of the input sequence.
In this work, we explore the maximum-margin bias of quasi-homogeneous neural networks trained with gradient flow on an exponential loss and past a point of separability. We introduce the class of quasi-homogeneous models, which is expressive enough to describe nearly all neural networks with homogeneous activations, even those with biases, residual connections, and normalization layers, while structured enough to enable geometric analysis of its gradient dynamics. Using this analysis, we generalize the existing results of maximum-margin bias for homogeneous networks to this richer class of models. We find that gradient flow implicitly favors a subset of the parameters, unlike in the case of a homogeneous model where all parameters are treated equally. We demonstrate through simple examples how this strong favoritism toward minimizing an asymmetric norm can degrade the robustness of quasi-homogeneous models. On the other hand, we conjecture that this norm-minimization discards, when possible, unnecessary higher-order parameters, reducing the model to a sparser parameterization. Lastly, by applying our theorem to sufficiently expressive neural networks with normalization layers, we reveal a universal mechanism behind the empirical phenomenon of Neural Collapse.
Due to the difficulty in collecting paired real-world training data, image deraining is currently dominated by supervised learning with synthesized data generated by e.g., Photoshop rendering. However, the generalization to real rainy scenes is usually limited due to the gap between synthetic and real-world data. In this paper, we first statistically explore why the supervised deraining models cannot generalize well to real rainy cases, and find the substantial difference of synthetic and real rainy data. Inspired by our studies, we propose to remove rain by learning favorable deraining representations from other connected tasks. In connected tasks, the label for real data can be easily obtained. Hence, our core idea is to learn representations from real data through task transfer to improve deraining generalization. We thus term our learning strategy as \textit{task transfer learning}. If there are more than one connected tasks, we propose to reduce model size by knowledge distillation. The pretrained models for the connected tasks are treated as teachers, all their knowledge is distilled to a student network, so that we reduce the model size, meanwhile preserve effective prior representations from all the connected tasks. At last, the student network is fine-tuned with minority of paired synthetic rainy data to guide the pretrained prior representations to remove rain. Extensive experiments demonstrate that proposed task transfer learning strategy is surprisingly successful and compares favorably with state-of-the-art supervised learning methods and apparently surpass other semi-supervised deraining methods on synthetic data. Particularly, it shows superior generalization over them to real-world scenes.
High-speed, high-resolution stereoscopic (H2-Stereo) video allows us to perceive dynamic 3D content at fine granularity. The acquisition of H2-Stereo video, however, remains challenging with commodity cameras. Existing spatial super-resolution or temporal frame interpolation methods provide compromised solutions that lack temporal or spatial details, respectively. To alleviate this problem, we propose a dual camera system, in which one camera captures high-spatial-resolution low-frame-rate (HSR-LFR) videos with rich spatial details, and the other captures low-spatial-resolution high-frame-rate (LSR-HFR) videos with smooth temporal details. We then devise a Learned Information Fusion network (LIFnet) that exploits the cross-camera redundancies to enhance both camera views to high spatiotemporal resolution (HSTR) for reconstructing the H2-Stereo video effectively. We utilize a disparity network to transfer spatiotemporal information across views even in large disparity scenes, based on which, we propose disparity-guided flow-based warping for LSR-HFR view and complementary warping for HSR-LFR view. A multi-scale fusion method in feature domain is proposed to minimize occlusion-induced warping ghosts and holes in HSR-LFR view. The LIFnet is trained in an end-to-end manner using our collected high-quality Stereo Video dataset from YouTube. Extensive experiments demonstrate that our model outperforms existing state-of-the-art methods for both views on synthetic data and camera-captured real data with large disparity. Ablation studies explore various aspects, including spatiotemporal resolution, camera baseline, camera desynchronization, long/short exposures and applications, of our system to fully understand its capability for potential applications.