Implicit Neural Representations (INR) have recently shown to be powerful tool for high-quality video compression. However, existing works are limiting as they do not explicitly exploit the temporal redundancy in videos, leading to a long encoding time. Additionally, these methods have fixed architectures which do not scale to longer videos or higher resolutions. To address these issues, we propose NIRVANA, which treats videos as groups of frames and fits separate networks to each group performing patch-wise prediction. This design shares computation within each group, in the spatial and temporal dimensions, resulting in reduced encoding time of the video. The video representation is modeled autoregressively, with networks fit on a current group initialized using weights from the previous group's model. To further enhance efficiency, we perform quantization of the network parameters during training, requiring no post-hoc pruning or quantization. When compared with previous works on the benchmark UVG dataset, NIRVANA improves encoding quality from 37.36 to 37.70 (in terms of PSNR) and the encoding speed by 12X, while maintaining the same compression rate. In contrast to prior video INR works which struggle with larger resolution and longer videos, we show that our algorithm is highly flexible and scales naturally due to its patch-wise and autoregressive designs. Moreover, our method achieves variable bitrate compression by adapting to videos with varying inter-frame motion. NIRVANA achieves 6X decoding speed and scales well with more GPUs, making it practical for various deployment scenarios.
Visual odometry is crucial for many robotic tasks such as autonomous exploration and path planning. Despite many progresses, existing methods are still not robust enough to dynamic illumination environments. In this paper, we present AirVO, an illumination-robust and accurate stereo visual odometry system based on point and line features. To be robust to illumination variation, we introduce the learning-based feature extraction and matching method and design a novel VO pipeline, including feature tracking, triangulation, key-frame selection, and graph optimization etc. We also employ long line features in the environment to improve the accuracy of the system. Different from the traditional line processing pipelines in visual odometry systems, we propose an illumination-robust line tracking method, where point feature tracking and distribution of point and line features are utilized to match lines. In the experiments, the proposed system is extensively evaluated in environments with dynamic illumination and the results show that it achieves superior performance to the state-of-the-art algorithms.
Stairs are common building structures in urban environments, and stair detection is an important part of environment perception for autonomous mobile robots. Most existing algorithms have difficulty combining the visual information from binocular sensors effectively and ensuring reliable detection at night and in the case of extremely fuzzy visual clues. To solve these problems, we propose a neural network architecture with RGB and depth map inputs. Specifically, we design a selective module, which can make the network learn the complementary relationship between the RGB map and the depth map and effectively combine the information from the RGB map and the depth map in different scenes. In addition, we design a line clustering algorithm for the postprocessing of detection results, which can make full use of the detection results to obtain the geometric stair parameters. Experiments on our dataset show that our method can achieve better accuracy and recall compared with existing state-of-the-art deep learning methods, which are 5.64% and 7.97%, respectively, and our method also has extremely fast detection speed. A lightweight version can achieve 300 + frames per second with the same resolution, which can meet the needs of most real-time detection scenes.
Stairs are common building structures in urban environment, and stair detection is an important part of environment perception for autonomous mobile robots. Most existing algorithms have difficulty combining the visual information from binocular sensors effectively and ensuring reliable detection at night and in the case of extremely fuzzy visual clues. To solve these problems, we propose a neural network architecture with inputs of both RGB map and depth map. Specifically, we design the selective module which can make the network learn the complementary relationship between RGB map and depth map and effectively combine the information from RGB map and depth map in different scenes. In addition, we also design a line clustering algorithm for the post-processing of detection results, which can make full use of the detection results to obtain the geometric parameters of stairs. Experiments on our dataset show that our method can achieve better accuracy and recall compared with the previous state-of-the-art deep learning method, which are 5.64% and 7.97%, respectively. Our method also has extremely fast detection speed, and a lightweight version can achieve 300 + frames per second with the same resolution, which can meet the needs of most real-time detection scenes.
Due to the proliferation of social media, a growing number of users search for and join group activities in their daily life. This develops a need for the study on the ranking-based group identification (RGI) task, i.e., recommending groups to users. The major challenge in this task is how to effectively and efficiently leverage both the item interaction and group participation of users' online behaviors. Though recent developments of Graph Neural Networks (GNNs) succeed in simultaneously aggregating both social and user-item interaction, they however fail to comprehensively resolve this RGI task. In this paper, we propose a novel GNN-based framework named Contextualized Factorized Attention for Group identification (CFAG). We devise tripartite graph convolution layers to aggregate information from different types of neighborhoods among users, groups, and items. To cope with the data sparsity issue, we devise a novel propagation augmentation (PA) layer, which is based on our proposed factorized attention mechanism. PA layers efficiently learn the relatedness of non-neighbor nodes to improve the information propagation to users. Experimental results on three benchmark datasets verify the superiority of CFAG. Additional detailed investigations are conducted to demonstrate the effectiveness of the proposed framework.
Sequential Recommendation (SR) models user dynamics and predicts the next preferred items based on the user history. Existing SR methods model the 'was interacted before' item-item transitions observed in sequences, which can be viewed as an item relationship. However, there are multiple auxiliary item relationships, e.g., items from similar brands and with similar contents in real-world scenarios. Auxiliary item relationships describe item-item affinities in multiple different semantics and alleviate the long-lasting cold start problem in the recommendation. However, it remains a significant challenge to model auxiliary item relationships in SR. To simultaneously model high-order item-item transitions in sequences and auxiliary item relationships, we propose a Multi-relational Transformer capable of modeling auxiliary item relationships for SR (MT4SR). Specifically, we propose a novel self-attention module, which incorporates arbitrary item relationships and weights item relationships accordingly. Second, we regularize intra-sequence item relationships with a novel regularization module to supervise attentions computations. Third, for inter-sequence item relationship pairs, we introduce a novel inter-sequence related items modeling module. Finally, we conduct experiments on four benchmark datasets and demonstrate the effectiveness of MT4SR over state-of-the-art methods and the improvements on the cold start problem. The code is available at https://github.com/zfan20/MT4SR.
End-to-end Speech Translation (ST) aims at translating the source language speech into target language text without generating the intermediate transcriptions. However, the training of end-to-end methods relies on parallel ST data, which are difficult and expensive to obtain. Fortunately, the supervised data for automatic speech recognition (ASR) and machine translation (MT) are usually more accessible, making zero-shot speech translation a potential direction. Existing zero-shot methods fail to align the two modalities of speech and text into a shared semantic space, resulting in much worse performance compared to the supervised ST methods. In order to enable zero-shot ST, we propose a novel Discrete Cross-Modal Alignment (DCMA) method that employs a shared discrete vocabulary space to accommodate and match both modalities of speech and text. Specifically, we introduce a vector quantization module to discretize the continuous representations of speech and text into a finite set of virtual tokens, and use ASR data to map corresponding speech and text to the same virtual token in a shared codebook. This way, source language speech can be embedded in the same semantic space as the source language text, which can be then transformed into target language text with an MT module. Experiments on multiple language pairs demonstrate that our zero-shot ST method significantly improves the SOTA, and even performers on par with the strong supervised ST baselines.
Today, many industrial processes are undergoing digital transformation, which often requires the integration of well-understood domain models and state-of-the-art machine learning technology in business processes. However, requirements elicitation and design decision making about when, where and how to embed various domain models and end-to-end machine learning techniques properly into a given business workflow requires further exploration. This paper aims to provide an overview of the requirements engineering process for machine learning applications in terms of cross domain collaborations. We first review the literature on requirements engineering for machine learning, and then go through the collaborative requirements analysis process step-by-step. An example case of industrial data-driven intelligence applications is also discussed in relation to the aforementioned steps.
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physics-based optimization generalizes better, but it does not perform as well in complicated tasks due to the lack of high-level semantic information and the reliance on manual parametric tuning. To take advantage of these two complementary worlds, we present PyPose: a robotics-oriented, PyTorch-based library that combines deep perceptual models with physics-based optimization techniques. Our design goal for PyPose is to make it user-friendly, efficient, and interpretable with a tidy and well-organized architecture. Using an imperative style interface, it can be easily integrated into real-world robotic applications. Besides, it supports parallel computing of any order gradients of Lie groups and Lie algebras and $2^{\text{nd}}$-order optimizers, such as trust region methods. Experiments show that PyPose achieves 3-20$\times$ speedup in computation compared to state-of-the-art libraries. To boost future research, we provide concrete examples across several fields of robotics, including SLAM, inertial navigation, planning, and control.