Curricular Object Manipulation in LiDAR-based Object Detection

This paper explores the potential of curriculum learning in LiDAR-based 3D object detection by proposing a curricular object manipulation (COM) framework. The framework embeds the curricular training strategy into both the loss design and the augmentation process. For the loss design, we propose the COMLoss to dynamically predict object-level difficulties and emphasize objects of different difficulties based on training stages. On top of the widely-used augmentation technique called GT-Aug in LiDAR detection tasks, we propose a novel COMAug strategy which first clusters objects in ground-truth database based on well-designed heuristics. Group-level difficulties rather than individual ones are then predicted and updated during training for stable results. Model performance and generalization capabilities can be improved by sampling and augmenting progressively more difficult objects into the training samples. Extensive experiments and ablation studies reveal the superior and generality of the proposed framework. The code is available at https://github.com/ZZY816/COM.

Gated Mechanism Enhanced Multi-Task Learning for Dialog Routing

Currently, human-bot symbiosis dialog systems, e.g., pre- and after-sales in E-commerce, are ubiquitous, and the dialog routing component is essential to improve the overall efficiency, reduce human resource cost, and enhance user experience. Although most existing methods can fulfil this requirement, they can only model single-source dialog data and cannot effectively capture the underlying knowledge of relations among data and subtasks. In this paper, we investigate this important problem by thoroughly mining both the data-to-task and task-to-task knowledge among various kinds of dialog data. To achieve the above targets, we propose a Gated Mechanism enhanced Multi-task Model (G3M), specifically including a novel dialog encoder and two tailored gated mechanism modules. The proposed method can play the role of hierarchical information filtering and is non-invasive to existing dialog systems. Based on two datasets collected from real world applications, extensive experimental results demonstrate the effectiveness of our method, which achieves the state-of-the-art performance by improving 8.7\%/11.8\% on RMSE metric and 2.2\%/4.4\% on F1 metric.

Augment and Criticize: Exploring Informative Samples for Semi-Supervised Monocular 3D Object Detection

In this paper, we improve the challenging monocular 3D object detection problem with a general semi-supervised framework. Specifically, having observed that the bottleneck of this task lies in lacking reliable and informative samples to train the detector, we introduce a novel, simple, yet effective `Augment and Criticize' framework that explores abundant informative samples from unlabeled data for learning more robust detection models. In the `Augment' stage, we present the Augmentation-based Prediction aGgregation (APG), which aggregates detections from various automatically learned augmented views to improve the robustness of pseudo label generation. Since not all pseudo labels from APG are beneficially informative, the subsequent `Criticize' phase is presented. In particular, we introduce the Critical Retraining Strategy (CRS) that, unlike simply filtering pseudo labels using a fixed threshold (e.g., classification score) as in 2D semi-supervised tasks, leverages a learnable network to evaluate the contribution of unlabeled images at different training timestamps. This way, the noisy samples prohibitive to model evolution could be effectively suppressed. To validate our framework, we apply it to MonoDLE and MonoFlex. The two new detectors, dubbed 3DSeMo_DLE and 3DSeMo_FLEX, achieve state-of-the-art results with remarkable improvements for over 3.5% AP_3D/BEV (Easy) on KITTI, showing its effectiveness and generality. Code and models will be released.

Contrastive Self-supervised Learning in Recommender Systems: A Survey

Deep learning-based recommender systems have achieved remarkable success in recent years. However, these methods usually heavily rely on labeled data (i.e., user-item interactions), suffering from problems such as data sparsity and cold-start. Self-supervised learning, an emerging paradigm that extracts information from unlabeled data, provides insights into addressing these problems. Specifically, contrastive self-supervised learning, due to its flexibility and promising performance, has attracted considerable interest and recently become a dominant branch in self-supervised learning-based recommendation methods. In this survey, we provide an up-to-date and comprehensive review of current contrastive self-supervised learning-based recommendation methods. Firstly, we propose a unified framework for these methods. We then introduce a taxonomy based on the key components of the framework, including view generation strategy, contrastive task, and contrastive objective. For each component, we provide detailed descriptions and discussions to guide the choice of the appropriate method. Finally, we outline open issues and promising directions for future research.

Demystifying What Code Summarization Models Learned

Study patterns that models have learned has long been a focus of pattern recognition research. Explaining what patterns are discovered from training data, and how patterns are generalized to unseen data are instrumental to understanding and advancing the pattern recognition methods. Unfortunately, the vast majority of the application domains deal with continuous data (i.e. statistical in nature) out of which extracted patterns can not be formally defined. For example, in image classification, there does not exist a principle definition for a label of cat or dog. Even in natural language, the meaning of a word can vary with the context it is surrounded by. Unlike the aforementioned data format, programs are a unique data structure with a well-defined syntax and semantics, which creates a golden opportunity to formalize what models have learned from source code. This paper presents the first formal definition of patterns discovered by code summarization models (i.e. models that predict the name of a method given its body), and gives a sound algorithm to infer a context-free grammar (CFG) that formally describes the learned patterns. We realize our approach in PATIC which produces CFGs for summarizing the patterns discovered by code summarization models. In particular, we pick two prominent instances, code2vec and code2seq, to evaluate PATIC. PATIC shows that the patterns extracted by each model are heavily restricted to local, and syntactic code structures with little to none semantic implication. Based on these findings, we present two example uses of the formal definition of patterns: a new method for evaluating the robustness and a new technique for improving the accuracy of code summarization models. Our work opens up this exciting, new direction of studying what models have learned from source code.

Grid-Centric Traffic Scenario Perception for Autonomous Driving: A Comprehensive Review

Grid-centric perception is a crucial field for mobile robot perception and navigation. Nonetheless, grid-centric perception is less prevalent than object-centric perception for autonomous driving as autonomous vehicles need to accurately perceive highly dynamic, large-scale outdoor traffic scenarios and the complexity and computational costs of grid-centric perception are high. The rapid development of deep learning techniques and hardware gives fresh insights into the evolution of grid-centric perception and enables the deployment of many real-time algorithms. Current industrial and academic research demonstrates the great advantages of grid-centric perception, such as comprehensive fine-grained environmental representation, greater robustness to occlusion, more efficient sensor fusion, and safer planning policies. Given the lack of current surveys for this rapidly expanding field, we present a hierarchically-structured review of grid-centric perception for autonomous vehicles. We organize previous and current knowledge of occupancy grid techniques and provide a systematic in-depth analysis of algorithms in terms of three aspects: feature representation, data utility, and applications in autonomous driving systems. Lastly, we present a summary of the current research trend and provide some probable future outlooks.

Semi-supervised Parametric Real-world Image Harmonization

Learning-based image harmonization techniques are usually trained to undo synthetic random global transformations applied to a masked foreground in a single ground truth photo. This simulated data does not model many of the important appearance mismatches (illumination, object boundaries, etc.) between foreground and background in real composites, leading to models that do not generalize well and cannot model complex local changes. We propose a new semi-supervised training strategy that addresses this problem and lets us learn complex local appearance harmonization from unpaired real composites, where foreground and background come from different images. Our model is fully parametric. It uses RGB curves to correct the global colors and tone and a shading map to model local variations. Our method outperforms previous work on established benchmarks and real composites, as shown in a user study, and processes high-resolution images interactively.

Disentangled Representation for Causal Mediation Analysis

Estimating direct and indirect causal effects from observational data is crucial to understanding the causal mechanisms and predicting the behaviour under different interventions. Causal mediation analysis is a method that is often used to reveal direct and indirect effects. Deep learning shows promise in mediation analysis, but the current methods only assume latent confounders that affect treatment, mediator and outcome simultaneously, and fail to identify different types of latent confounders (e.g., confounders that only affect the mediator or outcome). Furthermore, current methods are based on the sequential ignorability assumption, which is not feasible for dealing with multiple types of latent confounders. This work aims to circumvent the sequential ignorability assumption and applies the piecemeal deconfounding assumption as an alternative. We propose the Disentangled Mediation Analysis Variational AutoEncoder (DMAVAE), which disentangles the representations of latent confounders into three types to accurately estimate the natural direct effect, natural indirect effect and total effect. Experimental results show that the proposed method outperforms existing methods and has strong generalisation ability. We further apply the method to a real-world dataset to show its potential application.

FusionMotion: Multi-Sensor Asynchronous Fusion for Continuous Occupancy Prediction via Neural-ODE

Occupancy maps are widely recognized as an efficient method for facilitating robot motion planning in static environments. However, for intelligent vehicles, occupancy of both the present and future moments is required to ensure safe driving. In the automotive industry, the accurate and continuous prediction of future occupancy maps in traffic scenarios remains a formidable challenge. This paper investigates multi-sensor spatio-temporal fusion strategies for continuous occupancy prediction in a systematic manner. This paper presents FusionMotion, a novel bird's eye view (BEV) occupancy predictor which is capable of achieving the fusion of asynchronous multi-sensor data and predicting the future occupancy map with variable time intervals and temporal horizons. Remarkably, FusionMotion features the adoption of neural ordinary differential equations on recurrent neural networks for occupancy prediction. FusionMotion learns derivatives of BEV features over temporal horizons, updates the implicit sensor's BEV feature measurements and propagates future states for each ODE step. Extensive experiments on large-scale nuScenes and Lyft L5 datasets demonstrate that FusionMotion significantly outperforms previous methods. In addition, it outperforms the BEVFusion-style fusion strategy on the Lyft L5 dataset while reducing synchronization requirements. Codes and models will be made available.

When and Where to Step: Terrain-Aware Real-Time Footstep Location and Timing Optimization for Bipedal Robots

Online footstep planning is essential for bipedal walking robots, allowing them to walk in the presence of disturbances and sensory noise. Most of the literature on the topic has focused on optimizing the footstep placement while keeping the step timing constant. In this work, we introduce a footstep planner capable of optimizing footstep placement and step time online. The proposed planner, consisting of an Interior Point Optimizer (IPOPT) and an optimizer based on Augmented Lagrangian (AL) method with analytical gradient descent, solves the full dynamics of the Linear Inverted Pendulum (LIP) model in real time to optimize for footstep location as well as step timing at the rate of 200~Hz. We show that such asynchronous real-time optimization with the AL method (ARTO-AL) provides the required robustness and speed for successful online footstep planning. Furthermore, ARTO-AL can be extended to plan footsteps in 3D, allowing terrain-aware footstep planning on uneven terrains. Compared to an algorithm with no footstep time adaptation, our proposed ARTO-AL demonstrates increased stability in simulated walking experiments as it can resist pushes on flat ground and on a $10^{\circ}$ ramp up to 120 N and 100 N respectively. For the video, see https://youtu.be/ABdnvPqCUu4. For code, see https://github.com/WangKeAlchemist/ARTO-AL/tree/master.