Place recognition is a challenging yet crucial task in robotics. Existing 3D LiDAR place recognition methods suffer from limited feature representation capability and long search times. To address these challenges, we propose a novel coarse-to-fine framework for 3D LiDAR place recognition that combines Birds' Eye View (BEV) feature extraction, coarse-grained matching, and fine-grained verification. In the coarse stage, our framework leverages the rich contextual information contained in BEV features to produce global descriptors. Then the top-\textit{K} most similar candidates are identified via descriptor matching, which is fast but coarse-grained. In the fine stage, our overlap estimation network reuses the corresponding BEV features to predict the overlap region, enabling meticulous and precise matching. Experimental results on the KITTI odometry benchmark demonstrate that our framework achieves leading performance compared to state-of-the-art methods. Our code is available at: \url{https://github.com/fcchit/OverlapNetVLAD}.
Pairwise point cloud registration is a critical task for many applications, which heavily depends on finding the right correspondences from the two point clouds. However, the low overlap between the input point clouds makes the registration prone to fail, leading to mistaken overlapping and mismatched correspondences, especially in scenes where non-overlapping regions contain similar structures. In this paper, we present a unified bird's-eye view (BEV) model for jointly learning of 3D local features and overlap estimation to fulfill the pairwise registration and loop closure. Feature description based on BEV representation is performed by a sparse UNet-like network, and the 3D keypoints are extracted by a detection head for 2D locations and a regression head for heights, respectively. For overlap detection, a cross-attention module is applied for interacting contextual information of the input point clouds, followed by a classification head to estimate the overlapping region. We evaluate our unified model extensively on the KITTI dataset and Apollo-SouthBay dataset. The experiments demonstrate that our method significantly outperforms existing methods on overlap prediction, especially in scenes with small overlaps. The registration precision also achieves top performance on both datasets in terms of translation and rotation errors. Source codes will be available soon.
One-shot image generation (OSG) with generative adversarial networks that learn from the internal patches of a given image has attracted world wide attention. In recent studies, scholars have primarily focused on extracting features of images from probabilistically distributed inputs with pure convolutional neural networks (CNNs). However, it is quite difficult for CNNs with limited receptive domain to extract and maintain the global structural information. Therefore, in this paper, we propose a novel structure-preserved method TcGAN with individual vision transformer to overcome the shortcomings of the existing one-shot image generation methods. Specifically, TcGAN preserves global structure of an image during training to be compatible with local details while maintaining the integrity of semantic-aware information by exploiting the powerful long-range dependencies modeling capability of the transformer. We also propose a new scaling formula having scale-invariance during the calculation period, which effectively improves the generated image quality of the OSG model on image super-resolution tasks. We present the design of the TcGAN converter framework, comprehensive experimental as well as ablation studies demonstrating the ability of TcGAN to achieve arbitrary image generation with the fastest running time. Lastly, TcGAN achieves the most excellent performance in terms of applying it to other image processing tasks, e.g., super-resolution as well as image harmonization, the results further prove its superiority.
High-order Takagi-Sugeno-Kang (TSK) fuzzy classifiers possess powerful classification performance yet have fewer fuzzy rules, but always be impaired by its exponential growth training time and poorer interpretability owing to High-order polynomial used in consequent part of fuzzy rule, while Low-order TSK fuzzy classifiers run quickly with high interpretability, however they usually require more fuzzy rules and perform relatively not very well. Address this issue, a novel TSK fuzzy classifier embeded with knowledge distillation in deep learning called HTSK-LLM-DKD is proposed in this study. HTSK-LLM-DKD achieves the following distinctive characteristics: 1) It takes High-order TSK classifier as teacher model and Low-order TSK fuzzy classifier as student model, and leverages the proposed LLM-DKD (Least Learning Machine based Decoupling Knowledge Distillation) to distill the fuzzy dark knowledge from High-order TSK fuzzy classifier to Low-order TSK fuzzy classifier, which resulting in Low-order TSK fuzzy classifier endowed with enhanced performance surpassing or at least comparable to High-order TSK classifier, as well as high interpretability; specifically 2) The Negative Euclidean distance between the output of teacher model and each class is employed to obtain the teacher logits, and then it compute teacher/student soft labels by the softmax function with distillating temperature parameter; 3) By reformulating the Kullback-Leibler divergence, it decouples fuzzy dark knowledge into target class knowledge and non-target class knowledge, and transfers them to student model. The advantages of HTSK-LLM-DKD are verified on the benchmarking UCI datasets and a real dataset Cleveland heart disease, in terms of classification performance and model interpretability.
Localization and mapping with heterogeneous multi-sensor fusion have been prevalent in recent years. To adequately fuse multi-modal sensor measurements received at different time instants and different frequencies, we estimate the continuous-time trajectory by fixed-lag smoothing within a factor-graph optimization framework. With the continuous-time formulation, we can query poses at any time instants corresponding to the sensor measurements. To bound the computation complexity of the continuous-time fixed-lag smoother, we maintain temporal and keyframe sliding windows with constant size, and probabilistically marginalize out control points of the trajectory and other states, which allows preserving prior information for future sliding-window optimization. Based on continuous-time fixed-lag smoothing, we design tightly-coupled multi-modal SLAM algorithms with a variety of sensor combinations, like the LiDAR-inertial and LiDAR-inertial-camera SLAM systems, in which online timeoffset calibration is also naturally supported. More importantly, benefiting from the marginalization and our derived analytical Jacobians for optimization, the proposed continuous-time SLAM systems can achieve real-time performance regardless of the high complexity of continuous-time formulation. The proposed multi-modal SLAM systems have been widely evaluated on three public datasets and self-collect datasets. The results demonstrate that the proposed continuous-time SLAM systems can achieve high-accuracy pose estimations and outperform existing state-of-the-art methods. To benefit the research community, we will open source our code at ~\url{https://github.com/APRIL-ZJU/clic}.
Real-world cooperation often requires intensive coordination among agents simultaneously. This task has been extensively studied within the framework of cooperative multi-agent reinforcement learning (MARL), and value decomposition methods are among those cutting-edge solutions. However, traditional methods that learn the value function as a monotonic mixing of per-agent utilities cannot solve the tasks with non-monotonic returns. This hinders their application in generic scenarios. Recent methods tackle this problem from the perspective of implicit credit assignment by learning value functions with complete expressiveness or using additional structures to improve cooperation. However, they are either difficult to learn due to large joint action spaces or insufficient to capture the complicated interactions among agents which are essential to solving tasks with non-monotonic returns. To address these problems, we propose a novel explicit credit assignment method to address the non-monotonic problem. Our method, Adaptive Value decomposition with Greedy Marginal contribution (AVGM), is based on an adaptive value decomposition that learns the cooperative value of a group of dynamically changing agents. We first illustrate that the proposed value decomposition can consider the complicated interactions among agents and is feasible to learn in large-scale scenarios. Then, our method uses a greedy marginal contribution computed from the value decomposition as an individual credit to incentivize agents to learn the optimal cooperative policy. We further extend the module with an action encoder to guarantee the linear time complexity for computing the greedy marginal contribution. Experimental results demonstrate that our method achieves significant performance improvements in several non-monotonic domains.
Differentiable Neural Architecture Search (DARTS) is becoming more and more popular among Neural Architecture Search (NAS) methods because of its high search efficiency and low compute cost. However, the stability of DARTS is very inferior, especially skip connections aggregation that leads to performance collapse. Though existing methods leverage Hessian eigenvalues to alleviate skip connections aggregation, they make DARTS unable to explore architectures with better performance. In the paper, we propose operation-level progressive differentiable neural architecture search (OPP-DARTS) to avoid skip connections aggregation and explore better architectures simultaneously. We first divide the search process into several stages during the search phase and increase candidate operations into the search space progressively at the beginning of each stage. It can effectively alleviate the unfair competition between operations during the search phase of DARTS by offsetting the inherent unfair advantage of the skip connection over other operations. Besides, to keep the competition between operations relatively fair and select the operation from the candidate operations set that makes training loss of the supernet largest. The experiment results indicate that our method is effective and efficient. Our method's performance on CIFAR-10 is superior to the architecture found by standard DARTS, and the transferability of our method also surpasses standard DARTS. We further demonstrate the robustness of our method on three simple search spaces, i.e., S2, S3, S4, and the results show us that our method is more robust than standard DARTS. Our code is available at https://github.com/zxunyu/OPP-DARTS.
Differentiable Architecture Search (DARTS) is a simple yet efficient Neural Architecture Search (NAS) method. During the search stage, DARTS trains a supernet by jointly optimizing architecture parameters and network parameters. During the evaluation stage, DARTS derives the optimal architecture based on architecture parameters. However, the loss landscape of the supernet is not smooth, and it results in a performance gap between the supernet and the optimal architecture. In the paper, we propose Self-Distillation Differentiable Neural Architecture Search (SD-DARTS) by utilizing self-distillation to transfer knowledge of the supernet in previous steps to guide the training of the supernet in the current steps. SD-DARTS can minimize the loss difference for the two consecutive iterations so that minimize the sharpness of the supernet's loss to bridge the performance gap between the supernet and the optimal architecture. Furthermore, we propose voted teachers, which select multiple previous supernets as teachers and vote teacher output probabilities as the final teacher prediction. The knowledge of several teachers is more abundant than a single teacher, thus, voted teachers can be more suitable to lead the training of the supernet. Experimental results on real datasets illustrate the advantages of our novel self-distillation-based NAS method compared to state-of-the-art alternatives.
In this paper, we consider Discretized Neural Networks (DNNs) consisting of low-precision weights and activations, which suffer from either infinite or zero gradients caused by the non-differentiable discrete function in the training process. In this case, most training-based DNNs use the standard Straight-Through Estimator (STE) to approximate the gradient w.r.t. discrete value. However, the standard STE will cause the gradient mismatch problem, i.e., the approximated gradient direction may deviate from the steepest descent direction. In other words, the gradient mismatch implies the approximated gradient with perturbations. To address this problem, we introduce the duality theory to regard the perturbation of the approximated gradient as the perturbation of the metric in Linearly Nearly Euclidean (LNE) manifolds. Simultaneously, under the Ricci-DeTurck flow, we prove the dynamical stability and convergence of the LNE metric with the $L^2$-norm perturbation, which can provide a theoretical solution for the gradient mismatch problem. In practice, we also present the steepest descent gradient flow for DNNs on LNE manifolds from the viewpoints of the information geometry and mirror descent. The experimental results on various datasets demonstrate that our method achieves better and more stable performance for DNNs than other representative training-based methods.
With the evolution of pre-trained language models, current open-domain dialogue systems have achieved great progress in conducting one-session conversations. In contrast, Multi-Session Conversation (MSC), which consists of multiple sessions over a long term with the same user, is under-investigated. In this paper, we propose History-Aware Hierarchical Transformer (HAHT) for multi-session open-domain dialogue. HAHT maintains a long-term memory of history conversations and utilizes history information to understand current conversation context and generate well-informed and context-relevant responses. Specifically, HAHT first encodes history conversation sessions hierarchically into a history memory. Then, HAHT leverages historical information to facilitate the understanding of the current conversation context by encoding the history memory together with the current context with attention-based mechanisms. Finally, to explicitly utilize historical information, HAHT uses a history-aware response generator that switches between a generic vocabulary and a history-aware vocabulary. Experimental results on a large-scale MSC dataset suggest that the proposed HAHT model consistently outperforms baseline models. Human evaluation results support that HAHT generates more human-like, context-relevant and history-relevant responses than baseline models.