AIDE: An Automatic Data Engine for Object Detection in Autonomous Driving

Autonomous vehicle (AV) systems rely on robust perception models as a cornerstone of safety assurance. However, objects encountered on the road exhibit a long-tailed distribution, with rare or unseen categories posing challenges to a deployed perception model. This necessitates an expensive process of continuously curating and annotating data with significant human effort. We propose to leverage recent advances in vision-language and large language models to design an Automatic Data Engine (AIDE) that automatically identifies issues, efficiently curates data, improves the model through auto-labeling, and verifies the model through generation of diverse scenarios. This process operates iteratively, allowing for continuous self-improvement of the model. We further establish a benchmark for open-world detection on AV datasets to comprehensively evaluate various learning paradigms, demonstrating our method's superior performance at a reduced cost.

Evidential Active Recognition: Intelligent and Prudent Open-World Embodied Perception

Active recognition enables robots to intelligently explore novel observations, thereby acquiring more information while circumventing undesired viewing conditions. Recent approaches favor learning policies from simulated or collected data, wherein appropriate actions are more frequently selected when the recognition is accurate. However, most recognition modules are developed under the closed-world assumption, which makes them ill-equipped to handle unexpected inputs, such as the absence of the target object in the current observation. To address this issue, we propose treating active recognition as a sequential evidence-gathering process, providing by-step uncertainty quantification and reliable prediction under the evidence combination theory. Additionally, the reward function developed in this paper effectively characterizes the merit of actions when operating in open-world environments. To evaluate the performance, we collect a dataset from an indoor simulator, encompassing various recognition challenges such as distance, occlusion levels, and visibility. Through a series of experiments on recognition and robustness analysis, we demonstrate the necessity of introducing uncertainties to active recognition and the superior performance of the proposed method.

Understanding Self-attention Mechanism via Dynamical System Perspective

The self-attention mechanism (SAM) is widely used in various fields of artificial intelligence and has successfully boosted the performance of different models. However, current explanations of this mechanism are mainly based on intuitions and experiences, while there still lacks direct modeling for how the SAM helps performance. To mitigate this issue, in this paper, based on the dynamical system perspective of the residual neural network, we first show that the intrinsic stiffness phenomenon (SP) in the high-precision solution of ordinary differential equations (ODEs) also widely exists in high-performance neural networks (NN). Thus the ability of NN to measure SP at the feature level is necessary to obtain high performance and is an important factor in the difficulty of training NN. Similar to the adaptive step-size method which is effective in solving stiff ODEs, we show that the SAM is also a stiffness-aware step size adaptor that can enhance the model's representational ability to measure intrinsic SP by refining the estimation of stiffness information and generating adaptive attention values, which provides a new understanding about why and how the SAM can benefit the model performance. This novel perspective can also explain the lottery ticket hypothesis in SAM, design new quantitative metrics of representational ability, and inspire a new theoretic-inspired approach, StepNet. Extensive experiments on several popular benchmarks demonstrate that StepNet can extract fine-grained stiffness information and measure SP accurately, leading to significant improvements in various visual tasks.

Exploring Compositional Visual Generation with Latent Classifier Guidance

Diffusion probabilistic models have achieved enormous success in the field of image generation and manipulation. In this paper, we explore a novel paradigm of using the diffusion model and classifier guidance in the latent semantic space for compositional visual tasks. linear fashion. Specifically, we train latent diffusion models and auxiliary latent classifiers to facilitate non-linear navigation of latent representation generation for any pre-trained generative model with a semantic latent space. We demonstrate that such conditional generation achieved by latent classifier guidance provably maximizes a lower bound of the conditional log probability during training. To maintain the original semantics during manipulation, we introduce a new guidance term, which we show is crucial for achieving compositionality. With additional assumptions, we show that the non-linear manipulation reduces to a simple latent arithmetic approach. We show that this paradigm based on latent classifier guidance is agnostic to pre-trained generative models, and present competitive results for both image generation and sequential manipulation of real and synthetic images. Our findings suggest that latent classifier guidance is a promising approach that merits further exploration, even in the presence of other strong competing methods.

On Robust Numerical Solver for ODE via Self-Attention Mechanism

With the development of deep learning techniques, AI-enhanced numerical solvers are expected to become a new paradigm for solving differential equations due to their versatility and effectiveness in alleviating the accuracy-speed trade-off in traditional numerical solvers. However, this paradigm still inevitably requires a large amount of high-quality data, whose acquisition is often very expensive in natural science and engineering problems. Therefore, in this paper, we explore training efficient and robust AI-enhanced numerical solvers with a small data size by mitigating intrinsic noise disturbances. We first analyze the ability of the self-attention mechanism to regulate noise in supervised learning and then propose a simple-yet-effective numerical solver, AttSolver, which introduces an additive self-attention mechanism to the numerical solution of differential equations based on the dynamical system perspective of the residual neural network. Our results on benchmarks, ranging from high-dimensional problems to chaotic systems, demonstrate the effectiveness of AttSolver in generally improving the performance of existing traditional numerical solvers without any elaborated model crafting. Finally, we analyze the convergence, generalization, and robustness of the proposed method experimentally and theoretically.

Layer-wise Shared Attention Network on Dynamical System Perspective

Attention networks have successfully boosted accuracy in various vision problems. Previous works lay emphasis on designing a new self-attention module and follow the traditional paradigm that individually plugs the modules into each layer of a network. However, such a paradigm inevitably increases the extra parameter cost with the growth of the number of layers. From the dynamical system perspective of the residual neural network, we find that the feature maps from the layers of the same stage are homogenous, which inspires us to propose a novel-and-simple framework, called the dense and implicit attention (DIA) unit, that shares a single attention module throughout different network layers. With our framework, the parameter cost is independent of the number of layers and we further improve the accuracy of existing popular self-attention modules with significant parameter reduction without any elaborated model crafting. Extensive experiments on benchmark datasets show that the DIA is capable of emphasizing layer-wise feature interrelation and thus leads to significant improvement in various vision tasks, including image classification, object detection, and medical application. Furthermore, the effectiveness of the DIA unit is demonstrated by novel experiments where we destabilize the model training by (1) removing the skip connection of the residual neural network, (2) removing the batch normalization of the model, and (3) removing all data augmentation during training. In these cases, we verify that DIA has a strong regularization ability to stabilize the training, i.e., the dense and implicit connections formed by our method can effectively recover and enhance the information communication across layers and the value of the gradient thus alleviate the training instability.

The Lottery Ticket Hypothesis for Self-attention in Convolutional Neural Network

Recently many plug-and-play self-attention modules (SAMs) are proposed to enhance the model generalization by exploiting the internal information of deep convolutional neural networks (CNNs). In general, previous works ignore where to plug in the SAMs since they connect the SAMs individually with each block of the entire CNN backbone for granted, leading to incremental computational cost and the number of parameters with the growth of network depth. However, we empirically find and verify some counterintuitive phenomena that: (a) Connecting the SAMs to all the blocks may not always bring the largest performance boost, and connecting to partial blocks would be even better; (b) Adding the SAMs to a CNN may not always bring a performance boost, and instead it may even harm the performance of the original CNN backbone. Therefore, we articulate and demonstrate the Lottery Ticket Hypothesis for Self-attention Networks: a full self-attention network contains a subnetwork with sparse self-attention connections that can (1) accelerate inference, (2) reduce extra parameter increment, and (3) maintain accuracy. In addition to the empirical evidence, this hypothesis is also supported by our theoretical evidence. Furthermore, we propose a simple yet effective reinforcement-learning-based method to search the ticket, i.e., the connection scheme that satisfies the three above-mentioned conditions. Extensive experiments on widely-used benchmark datasets and popular self-attention networks show the effectiveness of our method. Besides, our experiments illustrate that our searched ticket has the capacity of transferring to some vision tasks, e.g., crowd counting and segmentation.

AlterSGD: Finding Flat Minima for Continual Learning by Alternative Training

Deep neural networks suffer from catastrophic forgetting when learning multiple knowledge sequentially, and a growing number of approaches have been proposed to mitigate this problem. Some of these methods achieved considerable performance by associating the flat local minima with forgetting mitigation in continual learning. However, they inevitably need (1) tedious hyperparameters tuning, and (2) additional computational cost. To alleviate these problems, in this paper, we propose a simple yet effective optimization method, called AlterSGD, to search for a flat minima in the loss landscape. In AlterSGD, we conduct gradient descent and ascent alternatively when the network tends to converge at each session of learning new knowledge. Moreover, we theoretically prove that such a strategy can encourage the optimization to converge to a flat minima. We verify AlterSGD on continual learning benchmark for semantic segmentation and the empirical results show that we can significantly mitigate the forgetting and outperform the state-of-the-art methods with a large margin under challenging continual learning protocols.

Blending Pruning Criteria for Convolutional Neural Networks

The advancement of convolutional neural networks (CNNs) on various vision applications has attracted lots of attention. Yet the majority of CNNs are unable to satisfy the strict requirement for real-world deployment. To overcome this, the recent popular network pruning is an effective method to reduce the redundancy of the models. However, the ranking of filters according to their "importance" on different pruning criteria may be inconsistent. One filter could be important according to a certain criterion, while it is unnecessary according to another one, which indicates that each criterion is only a partial view of the comprehensive "importance". From this motivation, we propose a novel framework to integrate the existing filter pruning criteria by exploring the criteria diversity. The proposed framework contains two stages: Criteria Clustering and Filters Importance Calibration. First, we condense the pruning criteria via layerwise clustering based on the rank of "importance" score. Second, within each cluster, we propose a calibration factor to adjust their significance for each selected blending candidates and search for the optimal blending criterion via Evolutionary Algorithm. Quantitative results on the CIFAR-100 and ImageNet benchmarks show that our framework outperforms the state-of-the-art baselines, regrading to the compact model performance after pruning.

Efficient Attention Network: Accelerate Attention by Searching Where to Plug

Recently, many plug-and-play self-attention modules are proposed to enhance the model generalization by exploiting the internal information of deep convolutional neural networks (CNNs). Previous works lay an emphasis on the design of attention module for specific functionality, e.g., light-weighted or task-oriented attention. However, they ignore the importance of where to plug in the attention module since they connect the modules individually with each block of the entire CNN backbone for granted, leading to incremental computational cost and number of parameters with the growth of network depth. Thus, we propose a framework called Efficient Attention Network (EAN) to improve the efficiency for the existing attention modules. In EAN, we leverage the sharing mechanism (Huang et al. 2020) to share the attention module within the backbone and search where to connect the shared attention module via reinforcement learning. Finally, we obtain the attention network with sparse connections between the backbone and modules, while (1) maintaining accuracy (2) reducing extra parameter increment and (3) accelerating inference. Extensive experiments on widely-used benchmarks and popular attention networks show the effectiveness of EAN. Furthermore, we empirically illustrate that our EAN has the capacity of transferring to other tasks and capturing the informative features. The code is available at https://github.com/gbup-group/EAN-efficient-attention-network