iELAS: An ELAS-Based Energy-Efficient Accelerator for Real-Time Stereo Matching on FPGA Platform

Stereo matching is a critical task for robot navigation and autonomous vehicles, providing the depth estimation of surroundings. Among all stereo matching algorithms, Efficient Large-scale Stereo (ELAS) offers one of the best tradeoffs between efficiency and accuracy. However, due to the inherent iterative process and unpredictable memory access pattern, ELAS can only run at 1.5-3 fps on high-end CPUs and difficult to achieve real-time performance on low-power platforms. In this paper, we propose an energy-efficient architecture for real-time ELAS-based stereo matching on FPGA platform. Moreover, the original computational-intensive and irregular triangulation module is reformed in a regular manner with points interpolation, which is much more hardware-friendly. Optimizations, including memory management, parallelism, and pipelining, are further utilized to reduce memory footprint and improve throughput. Compared with Intel i7 CPU and the state-of-the-art CPU+FPGA implementation, our FPGA realization achieves up to 38.4x and 3.32x frame rate improvement, and up to 27.1x and 1.13x energy efficiency improvement, respectively.

USTC-NELSLIP System Description for DIHARD-III Challenge

This system description describes our submission system to the Third DIHARD Speech Diarization Challenge. Besides the traditional clustering based system, the innovation of our system lies in the combination of various front-end techniques to solve the diarization problem, including speech separation and target-speaker based voice activity detection (TS-VAD), combined with iterative data purification. We also adopted audio domain classification to design domain-dependent processing. Finally, we performed post processing to do system fusion and selection. Our best system achieved DERs of 11.30% in track 1 and 16.78% in track 2 on evaluation set, respectively.

Integer Programming for Causal Structure Learning in the Presence of Latent Variables

The problem of finding an ancestral acyclic directed mixed graph (ADMG) that represents the causal relationships between a set of variables is an important area of research for causal inference. However, most of existing score-based structure learning methods focus on learning the directed acyclic graph (DAG) without latent variables. A number of score-based methods have recently been proposed for the ADMG learning, yet they are heuristic in nature and do not guarantee an optimal solution. We propose a novel exact score-based method that solves an integer programming (IP) formulation and returns a score-maximizing ancestral ADMG for a set of continuous variables. In particular, we generalize the state-of-the-art IP model for DAG learning problems and derive new classes of valid inequalities to formalize the IP-based ADMG learning model. Empirically our model can be solved efficiently for medium-sized problems and achieves better accuracy than state-of-the-art score-based methods as well as benchmark constraint-based methods.

Non-line-of-Sight Imaging via Neural Transient Fields

We present a neural modeling framework for Non-Line-of-Sight (NLOS) imaging. Previous solutions have sought to explicitly recover the 3D geometry (e.g., as point clouds) or voxel density (e.g., within a pre-defined volume) of the hidden scene. In contrast, inspired by the recent Neural Radiance Field (NeRF) approach, we use a multi-layer perceptron (MLP) to represent the neural transient field or NeTF. However, NeTF measures the transient over spherical wavefronts rather than the radiance along lines. We therefore formulate a spherical volume NeTF reconstruction pipeline, applicable to both confocal and non-confocal setups. Compared with NeRF, NeTF samples a much sparser set of viewpoints (scanning spots) and the sampling is highly uneven. We thus introduce a Monte Carlo technique to improve the robustness in the reconstruction. Comprehensive experiments on synthetic and real datasets demonstrate NeTF provides higher quality reconstruction and preserves fine details largely missing in the state-of-the-art.

DAGs with No Fears: A Closer Look at Continuous Optimization for Learning Bayesian Networks

This paper re-examines a continuous optimization framework dubbed NOTEARS for learning Bayesian networks. We first generalize existing algebraic characterizations of acyclicity to a class of matrix polynomials. Next, focusing on a one-parameter-per-edge setting, it is shown that the Karush-Kuhn-Tucker (KKT) optimality conditions for the NOTEARS formulation cannot be satisfied except in a trivial case, which explains a behavior of the associated algorithm. We then derive the KKT conditions for an equivalent reformulation, show that they are indeed necessary, and relate them to explicit constraints that certain edges be absent from the graph. If the score function is convex, these KKT conditions are also sufficient for local minimality despite the non-convexity of the constraint. Informed by the KKT conditions, a local search post-processing algorithm is proposed and shown to substantially and universally improve the structural Hamming distance of all tested algorithms, typically by a factor of 2 or more. Some combinations with local search are both more accurate and more efficient than the original NOTEARS.

MCMH: Learning Multi-Chain Multi-Hop Rules for Knowledge Graph Reasoning

Multi-hop reasoning approaches over knowledge graphs infer a missing relationship between entities with a multi-hop rule, which corresponds to a chain of relationships. We extend existing works to consider a generalized form of multi-hop rules, where each rule is a set of relation chains. To learn such generalized rules efficiently, we propose a two-step approach that first selects a small set of relation chains as a rule and then evaluates the confidence of the target relationship by jointly scoring the selected chains. A game-theoretical framework is proposed to this end to simultaneously optimize the rule selection and prediction steps. Empirical results show that our multi-chain multi-hop (MCMH) rules result in superior results compared to the standard single-chain approaches, justifying both our formulation of generalized rules and the effectiveness of the proposed learning framework.

Type-augmented Relation Prediction in Knowledge Graphs

Knowledge graphs (KGs) are of great importance to many real world applications, but they generally suffer from incomplete information in the form of missing relations between entities. Knowledge graph completion (also known as relation prediction) is the task of inferring missing facts given existing ones. Most of the existing work is proposed by maximizing the likelihood of observed instance-level triples. Not much attention, however, is paid to the ontological information, such as type information of entities and relations. In this work, we propose a type-augmented relation prediction (TaRP) method, where we apply both the type information and instance-level information for relation prediction. In particular, type information and instance-level information are encoded as prior probabilities and likelihoods of relations respectively, and are combined by following Bayes' rule. Our proposed TaRP method achieves significantly better performance than state-of-the-art methods on three benchmark datasets: FB15K, YAGO26K-906, and DB111K-174. In addition, we show that TaRP achieves significantly improved data efficiency. More importantly, the type information extracted from a specific dataset can generalize well to other datasets through the proposed TaRP model.

"And the Winner Is...": Dynamic Lotteries for Multi-group Fairness-Aware Recommendation

As recommender systems are being designed and deployed for an increasing number of socially-consequential applications, it has become important to consider what properties of fairness these systems exhibit. There has been considerable research on recommendation fairness. However, we argue that the previous literature has been based on simple, uniform and often uni-dimensional notions of fairness assumptions that do not recognize the real-world complexities of fairness-aware applications. In this paper, we explicitly represent the design decisions that enter into the trade-off between accuracy and fairness across multiply-defined and intersecting protected groups, supporting multiple fairness metrics. The framework also allows the recommender to adjust its performance based on the historical view of recommendations that have been delivered over a time horizon, dynamically rebalancing between fairness concerns. Within this framework, we formulate lottery-based mechanisms for choosing between fairness concerns, and demonstrate their performance in two recommendation domains.

A Multi-Channel Neural Graphical Event Model with Negative Evidence

Event datasets are sequences of events of various types occurring irregularly over the time-line, and they are increasingly prevalent in numerous domains. Existing work for modeling events using conditional intensities rely on either using some underlying parametric form to capture historical dependencies, or on non-parametric models that focus primarily on tasks such as prediction. We propose a non-parametric deep neural network approach in order to estimate the underlying intensity functions. We use a novel multi-channel RNN that optimally reinforces the negative evidence of no observable events with the introduction of fake event epochs within each consecutive inter-event interval. We evaluate our method against state-of-the-art baselines on model fitting tasks as gauged by log-likelihood. Through experiments on both synthetic and real-world datasets, we find that our proposed approach outperforms existing baselines on most of the datasets studied.

Do Multi-hop Readers Dream of Reasoning Chains?

General Question Answering (QA) systems over texts require the multi-hop reasoning capability, i.e. the ability to reason with information collected from multiple passages to derive the answer. In this paper we conduct a systematic analysis to assess such an ability of various existing models proposed for multi-hop QA tasks. Specifically, our analysis investigates that whether providing the full reasoning chain of multiple passages, instead of just one final passage where the answer appears, could improve the performance of the existing QA models. Surprisingly, when using the additional evidence passages, the improvements of all the existing multi-hop reading approaches are rather limited, with the highest error reduction of 5.8% on F1 (corresponding to 1.3% absolute improvement) from the BERT model. To better understand whether the reasoning chains could indeed help find correct answers, we further develop a co-matching-based method that leads to 13.1% error reduction with passage chains when applied to two of our base readers (including BERT). Our results demonstrate the existence of the potential improvement using explicit multi-hop reasoning and the necessity to develop models with better reasoning abilities.