Dual-function radar-communication (DFRC) technology is emerging in next-generation wireless systems. Reconfigurable intelligent surface (RIS) arrays have been suggested as a crucial sensor component of the DFRC. In this paper, we propose a hybrid RIS (HRIS)-assisted multiple-input multiple-output (MIMO) DFRC system, where the HRIS is capable of reflecting communication signals to mobile users and receiving the scattering signal reflected from the radar target simultaneously. Under such a scenario, we are interested in characterizing the fundamental trade-off between radar sensing and communication. Specifically, we study the joint design of the beamforming vectors at the base station (BS) and the parameter configuration of the HRIS so as to maximize the signal-to-interference-and-noise ratio (SINR) of the radar while guaranteeing a communication SINR requirement. To solve the formulated non-convex beamforming design problem, we propose an efficient alternating optimization approach. In particular, for fixed beams at the BS, we use a fast grid search-assisted auto gradient descent (FGS-AGD) algorithm to seek the best HRIS configuration; Then, a closed-form BS beamforming solution is obtained using semidefinite relaxation. Numerical results indicate that compared with benchmark schemes, the proposed approach is capable of improving the radar performance and communication quality significantly and simultaneously.
Modeling non-Lambertian effects such as facial specularity leads to a more realistic 3D Morphable Face Model. Existing works build parametric models for diffuse and specular albedo using Light Stage data. However, only diffuse and specular albedo cannot determine the full BRDF. In addition, the requirement of Light Stage data is hard to fulfill for the research communities. This paper proposes the first 3D morphable face reflectance model with spatially varying BRDF using only low-cost publicly-available data. We apply linear shiness weighting into parametric modeling to represent spatially varying specular intensity and shiness. Then an inverse rendering algorithm is developed to reconstruct the reflectance parameters from non-Light Stage data, which are used to train an initial morphable reflectance model. To enhance the model's generalization capability and expressive power, we further propose an update-by-reconstruction strategy to finetune it on an in-the-wild dataset. Experimental results show that our method obtains decent rendering results with plausible facial specularities. Our code is released \href{https://yxuhan.github.io/ReflectanceMM/index.html}{\textcolor{magenta}{here}}.
Imitation learning aims to mimic the behavior of experts without explicit reward signals. Passive imitation learning methods which use static expert datasets typically suffer from compounding error, low sample efficiency, and high hyper-parameter sensitivity. In contrast, active imitation learning methods solicit expert interventions to address the limitations. However, recent active imitation learning methods are designed based on human intuitions or empirical experience without theoretical guarantee. In this paper, we propose a novel active imitation learning framework based on a teacher-student interaction model, in which the teacher's goal is to identify the best teaching behavior and actively affect the student's learning process. By solving the optimization objective of this framework, we propose a practical implementation, naming it AdapMen. Theoretical analysis shows that AdapMen can improve the error bound and avoid compounding error under mild conditions. Experiments on the MetaDrive benchmark and Atari 2600 games validate our theoretical analysis and show that our method achieves near-expert performance with much less expert involvement and total sampling steps than previous methods. The code is available at https://github.com/liuxhym/AdapMen.
Neural radiance fields (NeRF) achieve highly photo-realistic novel-view synthesis, but it's a challenging problem to edit the scenes modeled by NeRF-based methods, especially for dynamic scenes. We propose editable neural radiance fields that enable end-users to easily edit dynamic scenes and even support topological changes. Input with an image sequence from a single camera, our network is trained fully automatically and models topologically varying dynamics using our picked-out surface key points. Then end-users can edit the scene by easily dragging the key points to desired new positions. To achieve this, we propose a scene analysis method to detect and initialize key points by considering the dynamics in the scene, and a weighted key points strategy to model topologically varying dynamics by joint key points and weights optimization. Our method supports intuitive multi-dimensional (up to 3D) editing and can generate novel scenes that are unseen in the input sequence. Experiments demonstrate that our method achieves high-quality editing on various dynamic scenes and outperforms the state-of-the-art. We will release our code and captured data.
By supervising camera rays between a scene and multi-view image planes, NeRF reconstructs a neural scene representation for the task of novel view synthesis. On the other hand, shadow rays between the light source and the scene have yet to be considered. Therefore, we propose a novel shadow ray supervision scheme that optimizes both the samples along the ray and the ray location. By supervising shadow rays, we successfully reconstruct a neural SDF of the scene from single-view pure shadow or RGB images under multiple lighting conditions. Given single-view binary shadows, we train a neural network to reconstruct a complete scene not limited by the camera's line of sight. By further modeling the correlation between the image colors and the shadow rays, our technique can also be effectively extended to RGB inputs. We compare our method with previous works on challenging tasks of shape reconstruction from single-view binary shadow or RGB images and observe significant improvements. The code and data will be released.
Deep neural networks (DNNs), are widely used in many industries such as image recognition, supply chain, medical diagnosis, and autonomous driving. However, prior work has shown the high accuracy of a DNN model does not imply high robustness (i.e., consistent performances on new and future datasets) because the input data and external environment (e.g., software and model configurations) for a deployed model are constantly changing. Hence, ensuring the robustness of deep learning is not an option but a priority to enhance business and consumer confidence. Previous studies mostly focus on the data aspect of model variance. In this article, we systematically summarize DNN robustness issues and formulate them in a holistic view through two important aspects, i.e., data and software configuration variances in DNNs. We also provide a predictive framework to generate representative variances (counterexamples) by considering both data and configurations for robust learning through the lens of search-based optimization.
Single view-based reconstruction of hand-object interaction is challenging due to the severe observation missing caused by occlusions. This paper proposes a physics-based method to better solve the ambiguities in the reconstruction. It first proposes a force-based dynamic model of the in-hand object, which not only recovers the unobserved contacts but also solves for plausible contact forces. Next, a confidence-based slide prevention scheme is proposed, which combines both the kinematic confidences and the contact forces to jointly model static and sliding contact motion. Qualitative and quantitative experiments show that the proposed technique reconstructs both physically plausible and more accurate hand-object interaction and estimates plausible contact forces in real-time with a single RGBD sensor.
Achieving highly accurate kinematic or simulator models that are close to the real robot can facilitate model-based controls (e.g., model predictive control or linear-quadradic regulators), model-based trajectory planning (e.g., trajectory optimization), and decrease the amount of learning time necessary for reinforcement learning methods. Thus, the objective of this work is to learn the residual errors between a kinematic and/or simulator model and the real robot. This is achieved using auto-tuning and neural networks, where the parameters of a neural network are updated using an auto-tuning method that applies equations from an Unscented Kalman Filter (UKF) formulation. Using this method, we model these residual errors with only small amounts of data - a necessity as we improve the simulator/kinematic model by learning directly from hardware operation. We demonstrate our method on robotic hardware (e.g., manipulator arm), and show that with the learned residual errors, we can further close the reality gap between kinematic models, simulations, and the real robot.
Backdoor attacks have been shown to be a serious security threat against deep learning models, and detecting whether a given model has been backdoored becomes a crucial task. Existing defenses are mainly built upon the observation that the backdoor trigger is usually of small size or affects the activation of only a few neurons. However, the above observations are violated in many cases especially for advanced backdoor attacks, hindering the performance and applicability of the existing defenses. In this paper, we propose a backdoor defense DTInspector built upon a new observation. That is, an effective backdoor attack usually requires high prediction confidence on the poisoned training samples, so as to ensure that the trained model exhibits the targeted behavior with a high probability. Based on this observation, DTInspector first learns a patch that could change the predictions of most high-confidence data, and then decides the existence of backdoor by checking the ratio of prediction changes after applying the learned patch on the low-confidence data. Extensive evaluations on five backdoor attacks, four datasets, and three advanced attacking types demonstrate the effectiveness of the proposed defense.