Data-free Knowledge Distillation for Fine-grained Visual Categorization

Data-free knowledge distillation (DFKD) is a promising approach for addressing issues related to model compression, security privacy, and transmission restrictions. Although the existing methods exploiting DFKD have achieved inspiring achievements in coarse-grained classification, in practical applications involving fine-grained classification tasks that require more detailed distinctions between similar categories, sub-optimal results are obtained. To address this issue, we propose an approach called DFKD-FGVC that extends DFKD to fine-grained visual categorization~(FGVC) tasks. Our approach utilizes an adversarial distillation framework with attention generator, mixed high-order attention distillation, and semantic feature contrast learning. Specifically, we introduce a spatial-wise attention mechanism to the generator to synthesize fine-grained images with more details of discriminative parts. We also utilize the mixed high-order attention mechanism to capture complex interactions among parts and the subtle differences among discriminative features of the fine-grained categories, paying attention to both local features and semantic context relationships. Moreover, we leverage the teacher and student models of the distillation framework to contrast high-level semantic feature maps in the hyperspace, comparing variances of different categories. We evaluate our approach on three widely-used FGVC benchmarks (Aircraft, Cars196, and CUB200) and demonstrate its superior performance.

GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinement

Object pose refinement is essential for robust object pose estimation. Previous work has made significant progress towards instance-level object pose refinement. Yet, category-level pose refinement is a more challenging problem due to large shape variations within a category and the discrepancies between the target object and the shape prior. To address these challenges, we introduce a novel architecture for category-level object pose refinement. Our approach integrates an HS-layer and learnable affine transformations, which aims to enhance the extraction and alignment of geometric information. Additionally, we introduce a cross-cloud transformation mechanism that efficiently merges diverse data sources. Finally, we push the limits of our model by incorporating the shape prior information for translation and size error prediction. We conducted extensive experiments to demonstrate the effectiveness of the proposed framework. Through extensive quantitative experiments, we demonstrate significant improvement over the baseline method by a large margin across all metrics.

DetCLIPv3: Towards Versatile Generative Open-vocabulary Object Detection

Existing open-vocabulary object detectors typically require a predefined set of categories from users, significantly confining their application scenarios. In this paper, we introduce DetCLIPv3, a high-performing detector that excels not only at both open-vocabulary object detection, but also generating hierarchical labels for detected objects. DetCLIPv3 is characterized by three core designs: 1. Versatile model architecture: we derive a robust open-set detection framework which is further empowered with generation ability via the integration of a caption head. 2. High information density data: we develop an auto-annotation pipeline leveraging visual large language model to refine captions for large-scale image-text pairs, providing rich, multi-granular object labels to enhance the training. 3. Efficient training strategy: we employ a pre-training stage with low-resolution inputs that enables the object captioner to efficiently learn a broad spectrum of visual concepts from extensive image-text paired data. This is followed by a fine-tuning stage that leverages a small number of high-resolution samples to further enhance detection performance. With these effective designs, DetCLIPv3 demonstrates superior open-vocabulary detection performance, \eg, our Swin-T backbone model achieves a notable 47.0 zero-shot fixed AP on the LVIS minival benchmark, outperforming GLIPv2, GroundingDINO, and DetCLIPv2 by 18.0/19.6/6.6 AP, respectively. DetCLIPv3 also achieves a state-of-the-art 19.7 AP in dense captioning task on VG dataset, showcasing its strong generative capability.

Fast Gradient Computation for Gromov-Wasserstein Distance

The Gromov-Wasserstein distance is a notable extension of optimal transport. In contrast to the classic Wasserstein distance, it solves a quadratic assignment problem that minimizes the pair-wise distance distortion under the transportation of distributions and thus could apply to distributions in different spaces. These properties make Gromov-Wasserstein widely applicable to many fields, such as computer graphics and machine learning. However, the computation of the Gromov-Wasserstein distance and transport plan is expensive. The well-known Entropic Gromov-Wasserstein approach has a cubic complexity since the matrix multiplication operations need to be repeated in computing the gradient of Gromov-Wasserstein loss. This becomes a key bottleneck of the method. Currently, existing methods accelerate the computation focus on sampling and approximation, which leads to low accuracy or incomplete transport plan. In this work, we propose a novel method to accelerate accurate gradient computation by dynamic programming techniques, reducing the complexity from cubic to quadratic. In this way, the original computational bottleneck is broken and the new entropic solution can be obtained with total quadratic time, which is almost optimal complexity. Furthermore, it can be extended to some variants easily. Extensive experiments validate the efficiency and effectiveness of our method.

JailbreakLens: Visual Analysis of Jailbreak Attacks Against Large Language Models

The proliferation of large language models (LLMs) has underscored concerns regarding their security vulnerabilities, notably against jailbreak attacks, where adversaries design jailbreak prompts to circumvent safety mechanisms for potential misuse. Addressing these concerns necessitates a comprehensive analysis of jailbreak prompts to evaluate LLMs' defensive capabilities and identify potential weaknesses. However, the complexity of evaluating jailbreak performance and understanding prompt characteristics makes this analysis laborious. We collaborate with domain experts to characterize problems and propose an LLM-assisted framework to streamline the analysis process. It provides automatic jailbreak assessment to facilitate performance evaluation and support analysis of components and keywords in prompts. Based on the framework, we design JailbreakLens, a visual analysis system that enables users to explore the jailbreak performance against the target model, conduct multi-level analysis of prompt characteristics, and refine prompt instances to verify findings. Through a case study, technical evaluations, and expert interviews, we demonstrate our system's effectiveness in helping users evaluate model security and identify model weaknesses.

Map Optical Properties to Subwavelength Structures Directly via a Diffusion Model

Subwavelength photonic structures and metamaterials provide revolutionary approaches for controlling light. The inverse design methods proposed for these subwavelength structures are vital to the development of new photonic devices. However, most of the existing inverse design methods cannot realize direct mapping from optical properties to photonic structures but instead rely on forward simulation methods to perform iterative optimization. In this work, we exploit the powerful generative abilities of artificial intelligence (AI) and propose a practical inverse design method based on latent diffusion models. Our method maps directly the optical properties to structures without the requirement of forward simulation and iterative optimization. Here, the given optical properties can work as "prompts" and guide the constructed model to correctly "draw" the required photonic structures. Experiments show that our direct mapping-based inverse design method can generate subwavelength photonic structures at high fidelity while following the given optical properties. This may change the method used for optical design and greatly accelerate the research on new photonic devices.

Accel-NASBench: Sustainable Benchmarking for Accelerator-Aware NAS

One of the primary challenges impeding the progress of Neural Architecture Search (NAS) is its extensive reliance on exorbitant computational resources. NAS benchmarks aim to simulate runs of NAS experiments at zero cost, remediating the need for extensive compute. However, existing NAS benchmarks use synthetic datasets and model proxies that make simplified assumptions about the characteristics of these datasets and models, leading to unrealistic evaluations. We present a technique that allows searching for training proxies that reduce the cost of benchmark construction by significant margins, making it possible to construct realistic NAS benchmarks for large-scale datasets. Using this technique, we construct an open-source bi-objective NAS benchmark for the ImageNet2012 dataset combined with the on-device performance of accelerators, including GPUs, TPUs, and FPGAs. Through extensive experimentation with various NAS optimizers and hardware platforms, we show that the benchmark is accurate and allows searching for state-of-the-art hardware-aware models at zero cost.

BatSort: Enhanced Battery Classification with Transfer Learning for Battery Sorting and Recycling

Battery recycling is a critical process for minimizing environmental harm and resource waste for used batteries. However, it is challenging, largely because sorting batteries is costly and hardly automated to group batteries based on battery types. In this paper, we introduce a machine learning-based approach for battery-type classification and address the daunting problem of data scarcity for the application. We propose BatSort which applies transfer learning to utilize the existing knowledge optimized with large-scale datasets and customizes ResNet to be specialized for classifying battery types. We collected our in-house battery-type dataset of small-scale to guide the knowledge transfer as a case study and evaluate the system performance. We conducted an experimental study and the results show that BatSort can achieve outstanding accuracy of 92.1% on average and up to 96.2% and the performance is stable for battery-type classification. Our solution helps realize fast and automated battery sorting with minimized cost and can be transferred to related industry applications with insufficient data.

POMDP-Guided Active Force-Based Search for Robotic Insertion

In robotic insertion tasks where the uncertainty exceeds the allowable tolerance, a good search strategy is essential for successful insertion and significantly influences efficiency. The commonly used blind search method is time-consuming and does not exploit the rich contact information. In this paper, we propose a novel search strategy that actively utilizes the information contained in the contact configuration and shows high efficiency. In particular, we formulate this problem as a Partially Observable Markov Decision Process (POMDP) with carefully designed primitives based on an in-depth analysis of the contact configuration's static stability. From the formulated POMDP, we can derive a novel search strategy. Thanks to its simplicity, this search strategy can be incorporated into a Finite-State-Machine (FSM) controller. The behaviors of the FSM controller are realized through a low-level Cartesian Impedance Controller. Our method is based purely on the robot's proprioceptive sensing and does not need visual or tactile sensors. To evaluate the effectiveness of our proposed strategy and control framework, we conduct extensive comparison experiments in simulation, where we compare our method with the baseline approach. The results demonstrate that our proposed method achieves a higher success rate with a shorter search time and search trajectory length compared to the baseline method. Additionally, we show that our method is robust to various initial displacement errors.

Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion

This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control within the WBC. The proposed approach involves utilizing the linearized model of unactuated dynamics to formulate a Linear Quadratic Regulator(LQR) and solving a Riccati gain while accounting for potential physical constraints through a second-order approximation of the log-barrier function. And then the user-tuned feedback gain for the floating base task is replaced by a new one constructed from the solved Riccati gain. Extensive simulations conducted in MuJoCo with a point bipedal robot, as well as real-world experiments performed on a quadruped robot, demonstrate the effectiveness of the proposed method. In the different bipedal locomotion tasks, compared with the user-tuned method, the proposed approach is at least 12% better and up to 50% better at linear velocity tracking, and at least 7% better and up to 47% better at angular velocity tracking. In the quadruped experiment, linear velocity tracking is improved by at least 3% and angular velocity tracking is improved by at least 23% using the proposed method.