Spatio-Temporal Calibration for Omni-Directional Vehicle-Mounted

We present a solution to the problem of spatio-temporal calibration for event cameras mounted on an onmi-directional vehicle. Different from traditional methods that typically determine the camera's pose with respect to the vehicle's body frame using alignment of trajectories, our approach leverages the kinematic correlation of two sets of linear velocity estimates from event data and wheel odometers, respectively. The overall calibration task consists of estimating the underlying temporal offset between the two heterogeneous sensors, and furthermore, recovering the extrinsic rotation that defines the linear relationship between the two sets of velocity estimates. The first sub-problem is formulated as an optimization one, which looks for the optimal temporal offset that maximizes a correlation measurement invariant to arbitrary linear transformation. Once the temporal offset is compensated, the extrinsic rotation can be worked out with an iterative closed-form solver that incrementally registers associated linear velocity estimates. The proposed algorithm is proved effective on both synthetic data and real data, outperforming traditional methods based on alignment of trajectories.

On the Importance of Backbone to the Adversarial Robustness of Object Detectors

Object detection is a critical component of various security-sensitive applications, such as autonomous driving and video surveillance. However, existing deep learning-based object detectors are vulnerable to adversarial attacks, which poses a significant challenge to their reliability and safety. Through experiments, we found that existing works on improving the adversarial robustness of object detectors have given a false sense of security. We argue that using adversarially pre-trained backbone networks is essential for enhancing the adversarial robustness of object detectors. We propose a simple yet effective recipe for fast adversarial fine-tuning on object detectors with adversarially pre-trained backbones. Without any modifications to the structure of object detectors, our recipe achieved significantly better adversarial robustness than previous works. Moreover, we explore the potential of different modern object detectors to improve adversarial robustness using our recipe and demonstrate several interesting findings. Our empirical results set a new milestone and deepen the understanding of adversarially robust object detection. Code and trained checkpoints will be publicly available.

ReSync: Riemannian Subgradient-based Robust Rotation Synchronization

This work presents ReSync, a Riemannian subgradient-based algorithm for solving the robust rotation synchronization problem, which arises in various engineering applications. ReSync solves a least-unsquared minimization formulation over the rotation group, which is nonsmooth and nonconvex, and aims at recovering the underlying rotations directly. We provide strong theoretical guarantees for ReSync under the random corruption setting. Specifically, we first show that the initialization procedure of ReSync yields a proper initial point that lies in a local region around the ground-truth rotations. We next establish the weak sharpness property of the aforementioned formulation and then utilize this property to derive the local linear convergence of ReSync to the ground-truth rotations. By combining these guarantees, we conclude that ReSync converges linearly to the ground-truth rotations under appropriate conditions. Experiment results demonstrate the effectiveness of ReSync.

Multi-Abstractive Neural Controller: An Efficient Hierarchical Control Architecture for Interactive Driving

As learning-based methods make their way from perception systems to planning/control stacks, robot control systems have started to enjoy the benefits that data-driven methods provide. Because control systems directly affect the motion of the robot, data-driven methods, especially black box approaches, need to be used with caution considering aspects such as stability and interpretability. In this paper, we describe a differentiable and hierarchical control architecture. The proposed representation, called \textit{multi-abstractive neural controller}, uses the input image to control the transitions within a novel discrete behavior planner (referred to as the visual automaton generative network, or \textit{vAGN}). The output of a vAGN controls the parameters of a set of dynamic movement primitives which provides the system controls. We train this neural controller with real-world driving data via behavior cloning and show improved explainability, sample efficiency, and similarity to human driving.

Revisiting Subgradient Method: Complexity and Convergence Beyond Lipschitz Continuity

The subgradient method is one of the most fundamental algorithmic schemes for nonsmooth optimization. The existing complexity and convergence results for this algorithm are mainly derived for Lipschitz continuous objective functions. In this work, we first extend the typical complexity results for the subgradient method to convex and weakly convex minimization without assuming Lipschitz continuity. Specifically, we establish $\mathcal{O}(1/\sqrt{T})$ bound in terms of the suboptimality gap ``$f(x) - f^*$'' for convex case and $\mathcal{O}(1/{T}^{1/4})$ bound in terms of the gradient of the Moreau envelope function for weakly convex case. Furthermore, we provide convergence results for non-Lipschitz convex and weakly convex objective functions using proper diminishing rules on the step sizes. In particular, when $f$ is convex, we show $\mathcal{O}(\log(k)/\sqrt{k})$ rate of convergence in terms of the suboptimality gap. With an additional quadratic growth condition, the rate is improved to $\mathcal{O}(1/k)$ in terms of the squared distance to the optimal solution set. When $f$ is weakly convex, asymptotic convergence is derived. The central idea is that the dynamics of properly chosen step sizes rule fully controls the movement of the subgradient method, which leads to boundedness of the iterates, and then a trajectory-based analysis can be conducted to establish the desired results. To further illustrate the wide applicability of our framework, we extend the complexity results to the truncated subgradient, the stochastic subgradient, the incremental subgradient, and the proximal subgradient methods for non-Lipschitz functions.

A Survey of Blockchain and Artificial Intelligence for 6G Wireless Communications

The research on the sixth-generation (6G) wireless communications for the development of future mobile communication networks has been officially launched around the world. 6G networks face multifarious challenges, such as resource-constrained mobile devices, difficult wireless resource management, high complexity of heterogeneous network architectures, explosive computing and storage requirements, privacy and security threats. To address these challenges, deploying blockchain and artificial intelligence (AI) in 6G networks may realize new breakthroughs in advancing network performances in terms of security, privacy, efficiency, cost, and more. In this paper, we provide a detailed survey of existing works on the application of blockchain and AI to 6G wireless communications. More specifically, we start with a brief overview of blockchain and AI. Then, we mainly review the recent advances in the fusion of blockchain and AI, and highlight the inevitable trend of deploying both blockchain and AI in wireless communications. Furthermore, we extensively explore integrating blockchain and AI for wireless communication systems, involving secure services and Internet of Things (IoT) smart applications. Particularly, some of the most talked-about key services based on blockchain and AI are introduced, such as spectrum management, computation allocation, content caching, and security and privacy. Moreover, we also focus on some important IoT smart applications supported by blockchain and AI, covering smart healthcare, smart transportation, smart grid, and unmanned aerial vehicles (UAVs). We also analyze the open issues and research challenges for the joint deployment of blockchain and AI in 6G wireless communications. Lastly, based on lots of existing meaningful works, this paper aims to provide a comprehensive survey of blockchain and AI in 6G networks.

Multi-timescale Channel Customization for Transmission Design in RIS-assisted MIMO Systems

The performance of transmission schemes is heavily influenced by the wireless channel, which is typically considered an uncontrollable factor. However, the introduction of reconfigurable intelligent surfaces (RISs) to wireless communications enables the customization of a preferred channel for adopted transmissions by reshaping electromagnetic waves. In this study, we propose multi-timescale channel customization for RIS-assisted multiple-input multiple-output systems to facilitate transmission design. Specifically, we customize a high-rank channel for spatial multiplexing (SM) transmission and a highly correlated rank-1 channel for beamforming (BF) transmission by designing the phase shifters of the RIS with statistical channel state information in the angle-coherent time to improve spectral efficiency (SE). We derive closed-form expressions for the approximation and upper bound of the ergodic SE and compare them to investigate the relative SE performance of SM and BF transmissions. In terms of reliability enhancement, we customize a fast-changing channel in the symbol timescale to achieve more diversity gain for SM and BF transmissions. Extensive numerical results demonstrate that flexible customization of channel characteristics for a specific transmission scheme can achieve a tradeoff between SE and bit error ratio performance.

Channel Customization for Limited Feedback in RIS-assisted FDD Systems

Reconfigurable intelligent surfaces (RISs) represent a pioneering technology to realize smart electromagnetic environments by reshaping the wireless channel. \textcolor[rgb]{0,0,0}{Jointly designing the transceiver and RIS relies on the channel state information (CSI), whose feedback has not been investigated in multi-RIS-assisted frequency division duplexing systems.} In this study, the limited feedback of the RIS-assisted wireless channel is examined by capitalizing on the ability of the RIS in channel customization. \textcolor[rgb]{0,0,0}{By configuring the phase shifters of the surfaces using statistical CSI, we customize a sparse channel in rich-scattering environments, which significantly reduces the feedback overhead in designing the transceiver and RISs. Since the channel is customized in terms of singular value decomposition (SVD) with full-rank, the optimal SVD transceiver can be approached without a matrix decomposition and feeding back the complete channel parameters. The theoretical spectral efficiency (SE) loss of the proposed transceiver and RIS design is derived by considering the limited CSI quantization. To minimize the SE loss, a bit partitioning algorithm that splits the limited number of bits to quantize the CSI is developed.} Extensive numerical results show that the channel customization-based transceiver with reduced CSI can achieve satisfactory performance compared with the optimal transceiver with full CSI. Given the limited number of feedback bits, the bit partitioning algorithm can minimize the SE loss by adaptively allocating bits to quantize the channel parameters.

SCoDA: Domain Adaptive Shape Completion for Real Scans

3D shape completion from point clouds is a challenging task, especially from scans of real-world objects. Considering the paucity of 3D shape ground truths for real scans, existing works mainly focus on benchmarking this task on synthetic data, e.g. 3D computer-aided design models. However, the domain gap between synthetic and real data limits the generalizability of these methods. Thus, we propose a new task, SCoDA, for the domain adaptation of real scan shape completion from synthetic data. A new dataset, ScanSalon, is contributed with a bunch of elaborate 3D models created by skillful artists according to scans. To address this new task, we propose a novel cross-domain feature fusion method for knowledge transfer and a novel volume-consistent self-training framework for robust learning from real data. Extensive experiments prove our method is effective to bring an improvement of 6%~7% mIoU.