Reconstructing a dynamical system and forecasting time series by self-consistent deep learning

We introduce a self-consistent deep-learning framework which, for a noisy deterministic time series, provides unsupervised filtering, state-space reconstruction, identification of the underlying differential equations and forecasting. Without a priori information on the signal, we embed the time series in a state space, where deterministic structures, i.e. attractors, are revealed. Under the assumption that the evolution of solution trajectories is described by an unknown dynamical system, we filter out stochastic outliers. The embedding function, the solution trajectories and the dynamical systems are constructed using deep neural networks, respectively. By exploiting the differentiability of the neural solution trajectory, the neural dynamical system is defined locally at each time, mitigating the need for propagating gradients through numerical solvers. On a chaotic time series masked by additive Gaussian noise, we demonstrate the filtering ability and the predictive power of the proposed framework.

Time-series Imputation of Temporally-occluded Multiagent Trajectories

In multiagent environments, several decision-making individuals interact while adhering to the dynamics constraints imposed by the environment. These interactions, combined with the potential stochasticity of the agents' decision-making processes, make such systems complex and interesting to study from a dynamical perspective. Significant research has been conducted on learning models for forward-direction estimation of agent behaviors, for example, pedestrian predictions used for collision-avoidance in self-driving cars. However, in many settings, only sporadic observations of agents may be available in a given trajectory sequence. For instance, in football, subsets of players may come in and out of view of broadcast video footage, while unobserved players continue to interact off-screen. In this paper, we study the problem of multiagent time-series imputation, where available past and future observations of subsets of agents are used to estimate missing observations for other agents. Our approach, called the Graph Imputer, uses forward- and backward-information in combination with graph networks and variational autoencoders to enable learning of a distribution of imputed trajectories. We evaluate our approach on a dataset of football matches, using a projective camera module to train and evaluate our model for the off-screen player state estimation setting. We illustrate that our method outperforms several state-of-the-art approaches, including those hand-crafted for football.

Unsupervised Action Segmentation with Self-supervised Feature Learning and Co-occurrence Parsing

Temporal action segmentation is a task to classify each frame in the video with an action label. However, it is quite expensive to annotate every frame in a large corpus of videos to construct a comprehensive supervised training dataset. Thus in this work we explore a self-supervised method that operates on a corpus of unlabeled videos and predicts a likely set of temporal segments across the videos. To do this we leverage self-supervised video classification approaches to perform unsupervised feature extraction. On top of these features we develop CAP, a novel co-occurrence action parsing algorithm that can not only capture the correlation among sub-actions underlying the structure of activities, but also estimate the temporal trajectory of the sub-actions in an accurate and general way. We evaluate on both classic datasets (Breakfast, 50Salads) and emerging fine-grained action datasets (FineGym) with more complex activity structures and similar sub-actions. Results show that our method achieves state-of-the-art performance on all three datasets with up to 22\% improvement, and can even outperform some weakly-supervised approaches, demonstrating its effectiveness and generalizability.

From Motor Control to Team Play in Simulated Humanoid Football

Intelligent behaviour in the physical world exhibits structure at multiple spatial and temporal scales. Although movements are ultimately executed at the level of instantaneous muscle tensions or joint torques, they must be selected to serve goals defined on much longer timescales, and in terms of relations that extend far beyond the body itself, ultimately involving coordination with other agents. Recent research in artificial intelligence has shown the promise of learning-based approaches to the respective problems of complex movement, longer-term planning and multi-agent coordination. However, there is limited research aimed at their integration. We study this problem by training teams of physically simulated humanoid avatars to play football in a realistic virtual environment. We develop a method that combines imitation learning, single- and multi-agent reinforcement learning and population-based training, and makes use of transferable representations of behaviour for decision making at different levels of abstraction. In a sequence of stages, players first learn to control a fully articulated body to perform realistic, human-like movements such as running and turning; they then acquire mid-level football skills such as dribbling and shooting; finally, they develop awareness of others and play as a team, bridging the gap between low-level motor control at a timescale of milliseconds, and coordinated goal-directed behaviour as a team at the timescale of tens of seconds. We investigate the emergence of behaviours at different levels of abstraction, as well as the representations that underlie these behaviours using several analysis techniques, including statistics from real-world sports analytics. Our work constitutes a complete demonstration of integrated decision-making at multiple scales in a physically embodied multi-agent setting. See project video at https://youtu.be/KHMwq9pv7mg.

Deep learning in physics: a study of dielectric quasi-cubic particles in a uniform electric field

Solving physics problems for which we know the equations, boundary conditions and symmetries can be done by deep learning. The constraints can be either imposed as terms in a loss function or used to formulate a neural ansatz. In the present case study, we calculate the induced field inside and outside a dielectric cube placed in a uniform electric field, wherein the dielectric mismatch at edges and corners of the cube makes accurate calculations numerically challenging. The electric potential is expressed as an ansatz incorporating neural networks with known leading order behaviors and symmetries and the Laplace's equation is then solved with boundary conditions at the dielectric interface by minimizing a loss function. The loss function ensures that both Laplace's equation and boundary conditions are satisfied everywhere inside a large solution domain. We study how the electric potential inside and outside a quasi-cubic particle evolves through a sequence of shapes from a sphere to a cube. The neural network being differentiable, it is straightforward to calculate the electric field over the whole domain, the induced surface charge distribution and the polarizability. The neural network being retentive, one can efficiently follow how the field changes upon particle's shape or dielectric constant by iterating from any previously converged solution. The present work's objective is two-fold, first to show how an a priori knowledge can be incorporated into neural networks to achieve efficient learning and second to apply the method and study how the induced field and polarizability change when a dielectric particle progressively changes its shape from a sphere to a cube.

ST3D: Self-training for Unsupervised Domain Adaptation on 3D Object Detection

We present a new domain adaptive self-training pipeline, named ST3D, for unsupervised domain adaptation on 3D object detection from point clouds. First, we pre-train the 3D detector on the source domain with our proposed random object scaling strategy for mitigating the negative effects of source domain bias. Then, the detector is iteratively improved on the target domain by alternatively conducting two steps, which are the pseudo label updating with the developed quality-aware triplet memory bank and the model training with curriculum data augmentation. These specific designs for 3D object detection enable the detector to be trained with consistent and high-quality pseudo labels and to avoid overfitting to the large number of easy examples in pseudo labeled data. Our ST3D achieves state-of-the-art performance on all evaluated datasets and even surpasses fully supervised results on KITTI 3D object detection benchmark. Code will be available at https://github.com/CVMI-Lab/ST3D.

Learning Versatile Neural Architectures by Propagating Network Codes

This work explores how to design a single neural network that is capable of adapting to multiple heterogeneous tasks of computer vision, such as image segmentation, 3D detection, and video recognition. This goal is challenging because network architecture designs in different tasks are inconsistent. We solve this challenge by proposing Network Coding Propagation (NCP), a novel "neural predictor", which is able to predict an architecture's performance in multiple datasets and tasks. Unlike prior arts of neural architecture search (NAS) that typically focus on a single task, NCP has several unique benefits. (1) NCP can be trained on different NAS benchmarks, such as NAS-Bench-201 and NAS-Bench-MR, which contains a novel network space designed by us for jointly searching an architecture among multiple tasks, including ImageNet, Cityscapes, KITTI, and HMDB51. (2) NCP learns from network codes but not original data, enabling it to update the architecture efficiently across datasets. (3) Extensive experiments evaluate NCP on object classification, detection, segmentation, and video recognition. For example, with 17\% fewer FLOPs, a single architecture returned by NCP achieves 86\% and 77.16\% on ImageNet-50-1000 and Cityscapes respectively, outperforming its counterparts. More interestingly, NCP enables a single architecture applicable to both image segmentation and video recognition, which achieves competitive performance on both HMDB51 and ADE20K compared to the singular counterparts. Code is available at https://github.com/dingmyu/NCP}{https://github.com/dingmyu/NCP.

PC-HMR: Pose Calibration for 3D Human Mesh Recovery from 2D Images/Videos

The end-to-end Human Mesh Recovery (HMR) approach has been successfully used for 3D body reconstruction. However, most HMR-based frameworks reconstruct human body by directly learning mesh parameters from images or videos, while lacking explicit guidance of 3D human pose in visual data. As a result, the generated mesh often exhibits incorrect pose for complex activities. To tackle this problem, we propose to exploit 3D pose to calibrate human mesh. Specifically, we develop two novel Pose Calibration frameworks, i.e., Serial PC-HMR and Parallel PC-HMR. By coupling advanced 3D pose estimators and HMR in a serial or parallel manner, these two frameworks can effectively correct human mesh with guidance of a concise pose calibration module. Furthermore, since the calibration module is designed via non-rigid pose transformation, our PC-HMR frameworks can flexibly tackle bone length variations to alleviate misplacement in the calibrated mesh. Finally, our frameworks are based on generic and complementary integration of data-driven learning and geometrical modeling. Via plug-and-play modules, they can be efficiently adapted for both image/video-based human mesh recovery. Additionally, they have no requirement of extra 3D pose annotations in the testing phase, which releases inference difficulties in practice. We perform extensive experiments on the popular bench-marks, i.e., Human3.6M, 3DPW and SURREAL, where our PC-HMR frameworks achieve the SOTA results.

ST3D: Self-training for Unsupervised Domain Adaptation on 3D ObjectDetection

We present a new domain adaptive self-training pipeline, named ST3D, for unsupervised domain adaptation on 3D object detection from point clouds. First, we pre-train the 3D detector on the source domain with our proposed random object scaling strategy for mitigating the negative effects of source domain bias. Then, the detector is iteratively improved on the target domain by alternatively conducting two steps, which are the pseudo label updating with the developed quality-aware triplet memory bank and the model training with curriculum data augmentation. These specific designs for 3D object detection enable the detector to be trained with consistent and high-quality pseudo labels and to avoid overfitting to the large number of easy examples in pseudo labeled data. Our ST3D achieves state-of-the-art performance on all evaluated datasets and even surpasses fully supervised results on KITTI 3D object detection benchmark. Code will be available at https://github.com/CVMI-Lab/ST3D.