MSF: Motion-guided Sequential Fusion for Efficient 3D Object Detection from Point Cloud Sequences

Point cloud sequences are commonly used to accurately detect 3D objects in applications such as autonomous driving. Current top-performing multi-frame detectors mostly follow a Detect-and-Fuse framework, which extracts features from each frame of the sequence and fuses them to detect the objects in the current frame. However, this inevitably leads to redundant computation since adjacent frames are highly correlated. In this paper, we propose an efficient Motion-guided Sequential Fusion (MSF) method, which exploits the continuity of object motion to mine useful sequential contexts for object detection in the current frame. We first generate 3D proposals on the current frame and propagate them to preceding frames based on the estimated velocities. The points-of-interest are then pooled from the sequence and encoded as proposal features. A novel Bidirectional Feature Aggregation (BiFA) module is further proposed to facilitate the interactions of proposal features across frames. Besides, we optimize the point cloud pooling by a voxel-based sampling technique so that millions of points can be processed in several milliseconds. The proposed MSF method achieves not only better efficiency than other multi-frame detectors but also leading accuracy, with 83.12% and 78.30% mAP on the LEVEL1 and LEVEL2 test sets of Waymo Open Dataset, respectively. Codes can be found at \url{https://github.com/skyhehe123/MSF}.

DynaMask: Dynamic Mask Selection for Instance Segmentation

The representative instance segmentation methods mostly segment different object instances with a mask of the fixed resolution, e.g., 28*28 grid. However, a low-resolution mask loses rich details, while a high-resolution mask incurs quadratic computation overhead. It is a challenging task to predict the optimal binary mask for each instance. In this paper, we propose to dynamically select suitable masks for different object proposals. First, a dual-level Feature Pyramid Network (FPN) with adaptive feature aggregation is developed to gradually increase the mask grid resolution, ensuring high-quality segmentation of objects. Specifically, an efficient region-level top-down path (r-FPN) is introduced to incorporate complementary contextual and detailed information from different stages of image-level FPN (i-FPN). Then, to alleviate the increase of computation and memory costs caused by using large masks, we develop a Mask Switch Module (MSM) with negligible computational cost to select the most suitable mask resolution for each instance, achieving high efficiency while maintaining high segmentation accuracy. Without bells and whistles, the proposed method, namely DynaMask, brings consistent and noticeable performance improvements over other state-of-the-arts at a moderate computation overhead. The source code: https://github.com/lslrh/DynaMask.

SIM: Semantic-aware Instance Mask Generation for Box-Supervised Instance Segmentation

Weakly supervised instance segmentation using only bounding box annotations has recently attracted much research attention. Most of the current efforts leverage low-level image features as extra supervision without explicitly exploiting the high-level semantic information of the objects, which will become ineffective when the foreground objects have similar appearances to the background or other objects nearby. We propose a new box-supervised instance segmentation approach by developing a Semantic-aware Instance Mask (SIM) generation paradigm. Instead of heavily relying on local pair-wise affinities among neighboring pixels, we construct a group of category-wise feature centroids as prototypes to identify foreground objects and assign them semantic-level pseudo labels. Considering that the semantic-aware prototypes cannot distinguish different instances of the same semantics, we propose a self-correction mechanism to rectify the falsely activated regions while enhancing the correct ones. Furthermore, to handle the occlusions between objects, we tailor the Copy-Paste operation for the weakly-supervised instance segmentation task to augment challenging training data. Extensive experimental results demonstrate the superiority of our proposed SIM approach over other state-of-the-art methods. The source code: https://github.com/lslrh/SIM.

Best-of-three-worlds Analysis for Linear Bandits with Follow-the-regularized-leader Algorithm

The linear bandit problem has been studied for many years in both stochastic and adversarial settings. Designing an algorithm that can optimize the environment without knowing the loss type attracts lots of interest. \citet{LeeLWZ021} propose an algorithm that actively detects the loss type and then switches between different algorithms specially designed for different settings. However, such an approach requires meticulous designs to perform well in all settings. Follow-the-regularized-leader (FTRL) is another popular algorithm type that can adapt to different environments. This algorithm is of simple design and the regret bounds are shown to be optimal in traditional multi-armed bandit problems compared with the detect-switch type algorithms. Designing an FTRL-type algorithm for linear bandits is an important question that has been open for a long time. In this paper, we prove that the FTRL-type algorithm with a negative entropy regularizer can achieve the best-of-three-world results for the linear bandit problem with the tacit cooperation between the choice of the learning rate and the specially designed self-bounding inequality.

Efficient Explorative Key-term Selection Strategies for Conversational Contextual Bandits

Conversational contextual bandits elicit user preferences by occasionally querying for explicit feedback on key-terms to accelerate learning. However, there are aspects of existing approaches which limit their performance. First, information gained from key-term-level conversations and arm-level recommendations is not appropriately incorporated to speed up learning. Second, it is important to ask explorative key-terms to quickly elicit the user's potential interests in various domains to accelerate the convergence of user preference estimation, which has never been considered in existing works. To tackle these issues, we first propose ``ConLinUCB", a general framework for conversational bandits with better information incorporation, combining arm-level and key-term-level feedback to estimate user preference in one step at each time. Based on this framework, we further design two bandit algorithms with explorative key-term selection strategies, ConLinUCB-BS and ConLinUCB-MCR. We prove tighter regret upper bounds of our proposed algorithms. Particularly, ConLinUCB-BS achieves a regret bound of $O(\sqrt{dT\log T})$, better than the previous result $O(d\sqrt{T}\log T)$. Extensive experiments on synthetic and real-world data show significant advantages of our algorithms in learning accuracy (up to 54\% improvement) and computational efficiency (up to 72\% improvement), compared to the classic ConUCB algorithm, showing the potential benefit to recommender systems.

Improved Regret Bounds for Linear Adversarial MDPs via Linear Optimization

Learning Markov decision processes (MDP) in an adversarial environment has been a challenging problem. The problem becomes even more challenging with function approximation, since the underlying structure of the loss function and transition kernel are especially hard to estimate in a varying environment. In fact, the state-of-the-art results for linear adversarial MDP achieve a regret of $\tilde{O}(K^{6/7})$ ($K$ denotes the number of episodes), which admits a large room for improvement. In this paper, we investigate the problem with a new view, which reduces linear MDP into linear optimization by subtly setting the feature maps of the bandit arms of linear optimization. This new technique, under an exploratory assumption, yields an improved bound of $\tilde{O}(K^{4/5})$ for linear adversarial MDP without access to a transition simulator. The new view could be of independent interest for solving other MDP problems that possess a linear structure.

Pretraining in Deep Reinforcement Learning: A Survey

The past few years have seen rapid progress in combining reinforcement learning (RL) with deep learning. Various breakthroughs ranging from games to robotics have spurred the interest in designing sophisticated RL algorithms and systems. However, the prevailing workflow in RL is to learn tabula rasa, which may incur computational inefficiency. This precludes continuous deployment of RL algorithms and potentially excludes researchers without large-scale computing resources. In many other areas of machine learning, the pretraining paradigm has shown to be effective in acquiring transferable knowledge, which can be utilized for a variety of downstream tasks. Recently, we saw a surge of interest in Pretraining for Deep RL with promising results. However, much of the research has been based on different experimental settings. Due to the nature of RL, pretraining in this field is faced with unique challenges and hence requires new design principles. In this survey, we seek to systematically review existing works in pretraining for deep reinforcement learning, provide a taxonomy of these methods, discuss each sub-field, and bring attention to open problems and future directions.

Salient Object Detection via Dynamic Scale Routing

Recent research advances in salient object detection (SOD) could largely be attributed to ever-stronger multi-scale feature representation empowered by the deep learning technologies. The existing SOD deep models extract multi-scale features via the off-the-shelf encoders and combine them smartly via various delicate decoders. However, the kernel sizes in this commonly-used thread are usually "fixed". In our new experiments, we have observed that kernels of small size are preferable in scenarios containing tiny salient objects. In contrast, large kernel sizes could perform better for images with large salient objects. Inspired by this observation, we advocate the "dynamic" scale routing (as a brand-new idea) in this paper. It will result in a generic plug-in that could directly fit the existing feature backbone. This paper's key technical innovations are two-fold. First, instead of using the vanilla convolution with fixed kernel sizes for the encoder design, we propose the dynamic pyramid convolution (DPConv), which dynamically selects the best-suited kernel sizes w.r.t. the given input. Second, we provide a self-adaptive bidirectional decoder design to accommodate the DPConv-based encoder best. The most significant highlight is its capability of routing between feature scales and their dynamic collection, making the inference process scale-aware. As a result, this paper continues to enhance the current SOTA performance. Both the code and dataset are publicly available at https://github.com/wuzhenyubuaa/DPNet.

Hierarchical Conversational Preference Elicitation with Bandit Feedback

The recent advances of conversational recommendations provide a promising way to efficiently elicit users' preferences via conversational interactions. To achieve this, the recommender system conducts conversations with users, asking their preferences for different items or item categories. Most existing conversational recommender systems for cold-start users utilize a multi-armed bandit framework to learn users' preference in an online manner. However, they rely on a pre-defined conversation frequency for asking about item categories instead of individual items, which may incur excessive conversational interactions that hurt user experience. To enable more flexible questioning about key-terms, we formulate a new conversational bandit problem that allows the recommender system to choose either a key-term or an item to recommend at each round and explicitly models the rewards of these actions. This motivates us to handle a new exploration-exploitation (EE) trade-off between key-term asking and item recommendation, which requires us to accurately model the relationship between key-term and item rewards. We conduct a survey and analyze a real-world dataset to find that, unlike assumptions made in prior works, key-term rewards are mainly affected by rewards of representative items. We propose two bandit algorithms, Hier-UCB and Hier-LinUCB, that leverage this observed relationship and the hierarchical structure between key-terms and items to efficiently learn which items to recommend. We theoretically prove that our algorithm can reduce the regret bound's dependency on the total number of items from previous work. We validate our proposed algorithms and regret bound on both synthetic and real-world data.

Federated Online Clustering of Bandits

Contextual multi-armed bandit (MAB) is an important sequential decision-making problem in recommendation systems. A line of works, called the clustering of bandits (CLUB), utilize the collaborative effect over users and dramatically improve the recommendation quality. Owing to the increasing application scale and public concerns about privacy, there is a growing demand to keep user data decentralized and push bandit learning to the local server side. Existing CLUB algorithms, however, are designed under the centralized setting where data are available at a central server. We focus on studying the federated online clustering of bandit (FCLUB) problem, which aims to minimize the total regret while satisfying privacy and communication considerations. We design a new phase-based scheme for cluster detection and a novel asynchronous communication protocol for cooperative bandit learning for this problem. To protect users' privacy, previous differential privacy (DP) definitions are not very suitable, and we propose a new DP notion that acts on the user cluster level. We provide rigorous proofs to show that our algorithm simultaneously achieves (clustered) DP, sublinear communication complexity and sublinear regret. Finally, experimental evaluations show our superior performance compared with benchmark algorithms.