Train a Real-world Local Path Planner in One Hour via Partially Decoupled Reinforcement Learning and Vectorized Diversity

Deep Reinforcement Learning (DRL) has exhibited efficacy in resolving the Local Path Planning (LPP) problem. However, such application in the real world is immensely limited due to the deficient efficiency and generalization capability of DRL. To alleviate these two issues, a solution named Color is proposed, which consists of an Actor-Sharer-Learner (ASL) training framework and a mobile robot-oriented simulator Sparrow. Specifically, the ASL framework, intending to improve the efficiency of the DRL algorithm, employs a Vectorized Data Collection (VDC) mode to expedite data acquisition, decouples the data collection from model optimization by multithreading, and partially connects the two procedures by harnessing a Time Feedback Mechanism (TFM) to evade data underuse or overuse. Meanwhile, the Sparrow simulator utilizes a 2D grid-based world, simplified kinematics, and conversion-free data flow to achieve a lightweight design. The lightness facilitates vectorized diversity, allowing diversified simulation setups across extensive copies of the vectorized environments, resulting in a notable enhancement in the generalization capability of the DRL algorithm being trained. Comprehensive experiments, comprising 57 benchmark video games, 32 simulated and 36 real-world LPP scenarios, have been conducted to corroborate the superiority of our method in terms of efficiency and generalization. The code and the video of the experiments can be accessed on our website.

Corner Detection Based on Multi-directional Gabor Filters with Multi-scales

Gabor wavelet is an essential tool for image analysis and computer vision tasks. Local structure tensors with multiple scales are widely used in local feature extraction. Our research indicates that the current corner detection method based on Gabor wavelets can not effectively apply to complex scenes. In this work, the capability of the Gabor function to discriminate the intensity changes of step edges, L-shaped corners, Y-shaped or T-shaped corners, X-shaped corners, and star-shaped corners are investigated. The properties of Gabor wavelets to suppress affine image transformation are investigated and obtained. Many properties for edges and corners were discovered, which prompted us to propose a new corner extraction method. To fully use the structural information from the tuned Gabor filters, a novel multi-directional structure tensor is constructed for corner detection, and a multi-scale corner measurement function is proposed to remove false candidate corners. Furthermore, we compare the proposed method with twelve current state-of-the-art methods, which exhibit optimal performance and practical application to 3D reconstruction with good application potential.

UMIFormer: Mining the Correlations between Similar Tokens for Multi-View 3D Reconstruction

In recent years, many video tasks have achieved breakthroughs by utilizing the vision transformer and establishing spatial-temporal decoupling for feature extraction. Although multi-view 3D reconstruction also faces multiple images as input, it cannot immediately inherit their success due to completely ambiguous associations between unordered views. There is not usable prior relationship, which is similar to the temporally-coherence property in a video. To solve this problem, we propose a novel transformer network for Unordered Multiple Images (UMIFormer). It exploits transformer blocks for decoupled intra-view encoding and designed blocks for token rectification that mine the correlation between similar tokens from different views to achieve decoupled inter-view encoding. Afterward, all tokens acquired from various branches are compressed into a fixed-size compact representation while preserving rich information for reconstruction by leveraging the similarities between tokens. We empirically demonstrate on ShapeNet and confirm that our decoupled learning method is adaptable for unordered multiple images. Meanwhile, the experiments also verify our model outperforms existing SOTA methods by a large margin.

Autonomous Exploration and Mapping for Mobile Robots via Cumulative Curriculum Reinforcement Learning

Deep reinforcement learning (DRL) has been widely applied in autonomous exploration and mapping tasks, but often struggles with the challenges of sampling efficiency, poor adaptability to unknown map sizes, and slow simulation speed. To speed up convergence, we combine curriculum learning (CL) with DRL, and first propose a Cumulative Curriculum Reinforcement Learning (CCRL) training framework to alleviate the issue of catastrophic forgetting faced by general CL. Besides, we present a novel state representation, which considers a local egocentric map and a global exploration map resized to the fixed dimension, so as to flexibly adapt to environments with various sizes and shapes. Additionally, for facilitating the fast training of DRL models, we develop a lightweight grid-based simulator, which can substantially accelerate simulation compared to popular robot simulation platforms such as Gazebo. Based on the customized simulator, comprehensive experiments have been conducted, and the results show that the CCRL framework not only mitigates the catastrophic forgetting problem, but also improves the sample efficiency and generalization of DRL models, compared to general CL as well as without a curriculum. Our code is available at https://github.com/BeamanLi/CCRL_Exploration.

An Adaptive Plug-and-Play Network for Few-Shot Learning

Few-shot learning (FSL) requires a model to classify new samples after learning from only a few samples. While remarkable results are achieved in existing methods, the performance of embedding and metrics determines the upper limit of classification accuracy in FSL. The bottleneck is that deep networks and complex metrics tend to induce overfitting in FSL, making it difficult to further improve the performance. Towards this, we propose plug-and-play model-adaptive resizer (MAR) and adaptive similarity metric (ASM) without any other losses. MAR retains high-resolution details to alleviate the overfitting problem caused by data scarcity, and ASM decouples the relationship between different metrics and then fuses them into an advanced one. Extensive experiments show that the proposed method could boost existing methods on two standard dataset and a fine-grained datasets, and achieve state-of-the-art results on mini-ImageNet and tiered-ImageNet.

Hardware-aware training for large-scale and diverse deep learning inference workloads using in-memory computing-based accelerators

Analog in-memory computing (AIMC) -- a promising approach for energy-efficient acceleration of deep learning workloads -- computes matrix-vector multiplications (MVMs) but only approximately, due to nonidealities that often are non-deterministic or nonlinear. This can adversely impact the achievable deep neural network (DNN) inference accuracy as compared to a conventional floating point (FP) implementation. While retraining has previously been suggested to improve robustness, prior work has explored only a few DNN topologies, using disparate and overly simplified AIMC hardware models. Here, we use hardware-aware (HWA) training to systematically examine the accuracy of AIMC for multiple common artificial intelligence (AI) workloads across multiple DNN topologies, and investigate sensitivity and robustness to a broad set of nonidealities. By introducing a new and highly realistic AIMC crossbar-model, we improve significantly on earlier retraining approaches. We show that many large-scale DNNs of various topologies, including convolutional neural networks (CNNs), recurrent neural networks (RNNs), and transformers, can in fact be successfully retrained to show iso-accuracy on AIMC. Our results further suggest that AIMC nonidealities that add noise to the inputs or outputs, not the weights, have the largest impact on DNN accuracy, and that RNNs are particularly robust to all nonidealities.

Short-time SSVEP data extension by a novel generative adversarial networks based framework

Steady-state visual evoked potentials (SSVEPs) based brain-computer interface (BCI) has received considerable attention due to its high transfer rate and available quantity of targets. However, the performance of frequency identification methods heavily hinges on the amount of user calibration data and data length, which hinders the deployment in real-world applications. Recently, generative adversarial networks (GANs)-based data generation methods have been widely adopted to create supplementary synthetic electroencephalography (EEG) data, holds promise to address these issues. In this paper, we proposed a GAN-based end-to-end signal transformation network for data length window extension, termed as TEGAN. TEGAN transforms short-time SSVEP signals into long-time artificial SSVEP signals. By incorporating a novel U-Net generator architecture and auxiliary classifier into the network design, the TEGAN could produce conditioned features in the synthetic data. Additionally, to regularize the training process of GAN, we introduced a two-stage training strategy and the LeCam-divergence regularization term during the network implementation. The proposed TEGAN was evaluated on two public SSVEP datasets. With the assistance of TEGAN, the performance of traditional frequency recognition methods and deep learning-based methods have been significantly improved under limited calibration data. This study substantiates the feasibility of the proposed method to extend the data length for short-time SSVEP signals to develop a high-performance BCI system. The proposed GAN-based methods have the great potential of shortening the calibration time for various real-world BCI-based applications, while the novelty of our augmentation strategies shed some value light on understanding the subject-invariant properties of SSVEPs.

Multimodal Remote Sensing Image Registration Based on Adaptive Multi-scale PIIFD

In recent years, due to the wide application of multi-sensor vision systems, multimodal image acquisition technology has continued to develop, and the registration problem based on multimodal images has gradually emerged. Most of the existing multimodal image registration methods are only suitable for two modalities, and cannot uniformly register multiple modal image data. Therefore, this paper proposes a multimodal remote sensing image registration method based on adaptive multi-scale PIIFD(AM-PIIFD). This method extracts KAZE features, which can effectively retain edge feature information while filtering noise. Then adaptive multi-scale PIIFD is calculated for matching. Finally, the mismatch is removed through the consistency of the feature main direction, and the image alignment transformation is realized. The qualitative and quantitative comparisons with other three advanced methods shows that our method can achieve excellent performance in multimodal remote sensing image registration.

GARNet: Global-Aware Multi-View 3D Reconstruction Network and the Cost-Performance Tradeoff

Deep learning technology has made great progress in multi-view 3D reconstruction tasks. At present, most mainstream solutions establish the mapping between views and shape of an object by assembling the networks of 2D encoder and 3D decoder as the basic structure while they adopt different approaches to obtain aggregation of features from several views. Among them, the methods using attention-based fusion perform better and more stable than the others, however, they still have an obvious shortcoming -- the strong independence of each view during predicting the weights for merging leads to a lack of adaption of the global state. In this paper, we propose a global-aware attention-based fusion approach that builds the correlation between each branch and the global to provide a comprehensive foundation for weights inference. In order to enhance the ability of the network, we introduce a novel loss function to supervise the shape overall and propose a dynamic two-stage training strategy that can effectively adapt to all reconstructors with attention-based fusion. Experiments on ShapeNet verify that our method outperforms existing SOTA methods while the amount of parameters is far less than the same type of algorithm, Pix2Vox++. Furthermore, we propose a view-reduction method based on maximizing diversity and discuss the cost-performance tradeoff of our model to achieve a better performance when facing heavy input amount and limited computational cost.

Lexical semantics enhanced neural word embeddings

Current breakthroughs in natural language processing have benefited dramatically from neural language models, through which distributional semantics can leverage neural data representations to facilitate downstream applications. Since neural embeddings use context prediction on word co-occurrences to yield dense vectors, they are inevitably prone to capture more semantic association than semantic similarity. To improve vector space models in deriving semantic similarity, we post-process neural word embeddings through deep metric learning, through which we can inject lexical-semantic relations, including syn/antonymy and hypo/hypernymy, into a distributional space. We introduce hierarchy-fitting, a novel semantic specialization approach to modelling semantic similarity nuances inherently stored in the IS-A hierarchies. Hierarchy-fitting attains state-of-the-art results on the common- and rare-word benchmark datasets for deriving semantic similarity from neural word embeddings. It also incorporates an asymmetric distance function to specialize hypernymy's directionality explicitly, through which it significantly improves vanilla embeddings in multiple evaluation tasks of detecting hypernymy and directionality without negative impacts on semantic similarity judgement. The results demonstrate the efficacy of hierarchy-fitting in specializing neural embeddings with semantic relations in late fusion, potentially expanding its applicability to aggregating heterogeneous data and various knowledge resources for learning multimodal semantic spaces.