Searching Dense Point Correspondences via Permutation Matrix Learning

Although 3D point cloud data has received widespread attentions as a general form of 3D signal expression, applying point clouds to the task of dense correspondence estimation between 3D shapes has not been investigated widely. Furthermore, even in the few existing 3D point cloud-based methods, an important and widely acknowledged principle, i.e . one-to-one matching, is usually ignored. In response, this paper presents a novel end-to-end learning-based method to estimate the dense correspondence of 3D point clouds, in which the problem of point matching is formulated as a zero-one assignment problem to achieve a permutation matching matrix to implement the one-to-one principle fundamentally. Note that the classical solutions of this assignment problem are always non-differentiable, which is fatal for deep learning frameworks. Thus we design a special matching module, which solves a doubly stochastic matrix at first and then projects this obtained approximate solution to the desired permutation matrix. Moreover, to guarantee end-to-end learning and the accuracy of the calculated loss, we calculate the loss from the learned permutation matrix but propagate the gradient to the doubly stochastic matrix directly which bypasses the permutation matrix during the backward propagation. Our method can be applied to both non-rigid and rigid 3D point cloud data and extensive experiments show that our method achieves state-of-the-art performance for dense correspondence learning.

Fine-mixing: Mitigating Backdoors in Fine-tuned Language Models

Deep Neural Networks (DNNs) are known to be vulnerable to backdoor attacks. In Natural Language Processing (NLP), DNNs are often backdoored during the fine-tuning process of a large-scale Pre-trained Language Model (PLM) with poisoned samples. Although the clean weights of PLMs are readily available, existing methods have ignored this information in defending NLP models against backdoor attacks. In this work, we take the first step to exploit the pre-trained (unfine-tuned) weights to mitigate backdoors in fine-tuned language models. Specifically, we leverage the clean pre-trained weights via two complementary techniques: (1) a two-step Fine-mixing technique, which first mixes the backdoored weights (fine-tuned on poisoned data) with the pre-trained weights, then fine-tunes the mixed weights on a small subset of clean data; (2) an Embedding Purification (E-PUR) technique, which mitigates potential backdoors existing in the word embeddings. We compare Fine-mixing with typical backdoor mitigation methods on three single-sentence sentiment classification tasks and two sentence-pair classification tasks and show that it outperforms the baselines by a considerable margin in all scenarios. We also show that our E-PUR method can benefit existing mitigation methods. Our work establishes a simple but strong baseline defense for secure fine-tuned NLP models against backdoor attacks.

Expose Backdoors on the Way: A Feature-Based Efficient Defense against Textual Backdoor Attacks

Natural language processing (NLP) models are known to be vulnerable to backdoor attacks, which poses a newly arisen threat to NLP models. Prior online backdoor defense methods for NLP models only focus on the anomalies at either the input or output level, still suffering from fragility to adaptive attacks and high computational cost. In this work, we take the first step to investigate the unconcealment of textual poisoned samples at the intermediate-feature level and propose a feature-based efficient online defense method. Through extensive experiments on existing attacking methods, we find that the poisoned samples are far away from clean samples in the intermediate feature space of a poisoned NLP model. Motivated by this observation, we devise a distance-based anomaly score (DAN) to distinguish poisoned samples from clean samples at the feature level. Experiments on sentiment analysis and offense detection tasks demonstrate the superiority of DAN, as it substantially surpasses existing online defense methods in terms of defending performance and enjoys lower inference costs. Moreover, we show that DAN is also resistant to adaptive attacks based on feature-level regularization. Our code is available at https://github.com/lancopku/DAN.

GA-SAM: Gradient-Strength based Adaptive Sharpness-Aware Minimization for Improved Generalization

Recently, Sharpness-Aware Minimization (SAM) algorithm has shown state-of-the-art generalization abilities in vision tasks. It demonstrates that flat minima tend to imply better generalization abilities. However, it has some difficulty implying SAM to some natural language tasks, especially to models with drastic gradient changes, such as RNNs. In this work, we analyze the relation between the flatness of the local minimum and its generalization ability from a novel and straightforward theoretical perspective. We propose that the shift of the training and test distributions can be equivalently seen as a virtual parameter corruption or perturbation, which can explain why flat minima that are robust against parameter corruptions or perturbations have better generalization performances. On its basis, we propose a Gradient-Strength based Adaptive Sharpness-Aware Minimization (GA-SAM) algorithm to help to learn algorithms find flat minima that generalize better. Results in various language benchmarks validate the effectiveness of the proposed GA-SAM algorithm on natural language tasks.

Dim-Krum: Backdoor-Resistant Federated Learning for NLP with Dimension-wise Krum-Based Aggregation

Despite the potential of federated learning, it is known to be vulnerable to backdoor attacks. Many robust federated aggregation methods are proposed to reduce the potential backdoor risk. However, they are mainly validated in the CV field. In this paper, we find that NLP backdoors are hard to defend against than CV, and we provide a theoretical analysis that the malicious update detection error probabilities are determined by the relative backdoor strengths. NLP attacks tend to have small relative backdoor strengths, which may result in the failure of robust federated aggregation methods for NLP attacks. Inspired by the theoretical results, we can choose some dimensions with higher backdoor strengths to settle this issue. We propose a novel federated aggregation algorithm, Dim-Krum, for NLP tasks, and experimental results validate its effectiveness.

Risk-Aware Model Predictive Path Integral Control Using Conditional Value-at-Risk

In this paper, we present a novel Model Predictive Control method for autonomous robots subject to arbitrary forms of uncertainty. The proposed Risk-Aware Model Predictive Path Integral (RA-MPPI) control utilizes the Conditional Value-at-Risk (CVaR) measure to generate optimal control actions for safety-critical robotic applications. Different from most existing Stochastic MPCs and CVaR optimization methods that linearize the original dynamics and formulate control tasks as convex programs, the proposed method directly uses the original dynamics without restricting the form of the cost functions or the noise. We apply the novel RA-MPPI controller to an autonomous vehicle to perform aggressive driving maneuvers in cluttered environments. Our simulations and experiments show that the proposed RA-MPPI controller can achieve about the same lap time with significantly fewer collisions compared to the baseline MPPI controller. The proposed controller performs on-line computation at an update frequency of up to 80Hz, utilizing modern Graphics Processing Units (GPUs) to multi-thread the generation of trajectories as well as the CVaR values.

Distributional Correlation--Aware Knowledge Distillation for Stock Trading Volume Prediction

Traditional knowledge distillation in classification problems transfers the knowledge via class correlations in the soft label produced by teacher models, which are not available in regression problems like stock trading volume prediction. To remedy this, we present a novel distillation framework for training a light-weight student model to perform trading volume prediction given historical transaction data. Specifically, we turn the regression model into a probabilistic forecasting model, by training models to predict a Gaussian distribution to which the trading volume belongs. The student model can thus learn from the teacher at a more informative distributional level, by matching its predicted distributions to that of the teacher. Two correlational distillation objectives are further introduced to encourage the student to produce consistent pair-wise relationships with the teacher model. We evaluate the framework on a real-world stock volume dataset with two different time window settings. Experiments demonstrate that our framework is superior to strong baseline models, compressing the model size by $5\times$ while maintaining $99.6\%$ prediction accuracy. The extensive analysis further reveals that our framework is more effective than vanilla distillation methods under low-resource scenarios.

Context-Aware Video Reconstruction for Rolling Shutter Cameras

With the ubiquity of rolling shutter (RS) cameras, it is becoming increasingly attractive to recover the latent global shutter (GS) video from two consecutive RS frames, which also places a higher demand on realism. Existing solutions, using deep neural networks or optimization, achieve promising performance. However, these methods generate intermediate GS frames through image warping based on the RS model, which inevitably result in black holes and noticeable motion artifacts. In this paper, we alleviate these issues by proposing a context-aware GS video reconstruction architecture. It facilitates the advantages such as occlusion reasoning, motion compensation, and temporal abstraction. Specifically, we first estimate the bilateral motion field so that the pixels of the two RS frames are warped to a common GS frame accordingly. Then, a refinement scheme is proposed to guide the GS frame synthesis along with bilateral occlusion masks to produce high-fidelity GS video frames at arbitrary times. Furthermore, we derive an approximated bilateral motion field model, which can serve as an alternative to provide a simple but effective GS frame initialization for related tasks. Experiments on synthetic and real data show that our approach achieves superior performance over state-of-the-art methods in terms of objective metrics and subjective visual quality. Code is available at \url{https://github.com/GitCVfb/CVR}.

VRNet: Learning the Rectified Virtual Corresponding Points for 3D Point Cloud Registration

3D point cloud registration is fragile to outliers, which are labeled as the points without corresponding points. To handle this problem, a widely adopted strategy is to estimate the relative pose based only on some accurate correspondences, which is achieved by building correspondences on the identified inliers or by selecting reliable ones. However, these approaches are usually complicated and time-consuming. By contrast, the virtual point-based methods learn the virtual corresponding points (VCPs) for all source points uniformly without distinguishing the outliers and the inliers. Although this strategy is time-efficient, the learned VCPs usually exhibit serious collapse degeneration due to insufficient supervision and the inherent distribution limitation. In this paper, we propose to exploit the best of both worlds and present a novel robust 3D point cloud registration framework. We follow the idea of the virtual point-based methods but learn a new type of virtual points called rectified virtual corresponding points (RCPs), which are defined as the point set with the same shape as the source and with the same pose as the target. Hence, a pair of consistent point clouds, i.e. source and RCPs, is formed by rectifying VCPs to RCPs (VRNet), through which reliable correspondences between source and RCPs can be accurately obtained. Since the relative pose between source and RCPs is the same as the relative pose between source and target, the input point clouds can be registered naturally. Specifically, we first construct the initial VCPs by using an estimated soft matching matrix to perform a weighted average on the target points. Then, we design a correction-walk module to learn an offset to rectify VCPs to RCPs, which effectively breaks the distribution limitation of VCPs. Finally, we develop a hybrid loss function to enforce the shape and geometry structure consistency ...

A Representation Separation Perspective to Correspondences-free Unsupervised 3D Point Cloud Registration

3D point cloud registration in remote sensing field has been greatly advanced by deep learning based methods, where the rigid transformation is either directly regressed from the two point clouds (correspondences-free approaches) or computed from the learned correspondences (correspondences-based approaches). Existing correspondences-free methods generally learn the holistic representation of the entire point cloud, which is fragile for partial and noisy point clouds. In this paper, we propose a correspondences-free unsupervised point cloud registration (UPCR) method from the representation separation perspective. First, we model the input point cloud as a combination of pose-invariant representation and pose-related representation. Second, the pose-related representation is used to learn the relative pose wrt a "latent canonical shape" for the source and target point clouds respectively. Third, the rigid transformation is obtained from the above two learned relative poses. Our method not only filters out the disturbance in pose-invariant representation but also is robust to partial-to-partial point clouds or noise. Experiments on benchmark datasets demonstrate that our unsupervised method achieves comparable if not better performance than state-of-the-art supervised registration methods.