The Devil is in the Task: Exploiting Reciprocal Appearance-Localization Features for Monocular 3D Object Detection

Low-cost monocular 3D object detection plays a fundamental role in autonomous driving, whereas its accuracy is still far from satisfactory. In this paper, we dig into the 3D object detection task and reformulate it as the sub-tasks of object localization and appearance perception, which benefits to a deep excavation of reciprocal information underlying the entire task. We introduce a Dynamic Feature Reflecting Network, named DFR-Net, which contains two novel standalone modules: (i) the Appearance-Localization Feature Reflecting module (ALFR) that first separates taskspecific features and then self-mutually reflects the reciprocal features; (ii) the Dynamic Intra-Trading module (DIT) that adaptively realigns the training processes of various sub-tasks via a self-learning manner. Extensive experiments on the challenging KITTI dataset demonstrate the effectiveness and generalization of DFR-Net. We rank 1st among all the monocular 3D object detectors in the KITTI test set (till March 16th, 2021). The proposed method is also easy to be plug-and-play in many cutting-edge 3D detection frameworks at negligible cost to boost performance. The code will be made publicly available.

Multi-agent Soft Actor-Critic Based Hybrid Motion Planner for Mobile Robots

In this paper, a novel hybrid multi-robot motion planner that can be applied under non-communication and local observable conditions is presented. The planner is model-free and can realize the end-to-end mapping of multi-robot state and observation information to final smooth and continuous trajectories. The planner is a front-end and back-end separated architecture. The design of the front-end collaborative waypoints searching module is based on the multi-agent soft actor-critic algorithm under the centralized training with decentralized execution diagram. The design of the back-end trajectory optimization module is based on the minimal snap method with safety zone constraints. This module can output the final dynamic-feasible and executable trajectories. Finally, multi-group experimental results verify the effectiveness of the proposed motion planner.

Self- and Pseudo-self-supervised Prediction of Speaker and Key-utterance for Multi-party Dialogue Reading Comprehension

Multi-party dialogue machine reading comprehension (MRC) brings tremendous challenge since it involves multiple speakers at one dialogue, resulting in intricate speaker information flows and noisy dialogue contexts. To alleviate such difficulties, previous models focus on how to incorporate these information using complex graph-based modules and additional manually labeled data, which is usually rare in real scenarios. In this paper, we design two labour-free self- and pseudo-self-supervised prediction tasks on speaker and key-utterance to implicitly model the speaker information flows, and capture salient clues in a long dialogue. Experimental results on two benchmark datasets have justified the effectiveness of our method over competitive baselines and current state-of-the-art models.

Extending Multi-Object Tracking systems to better exploit appearance and 3D information

Tracking multiple objects in real time is essential for a variety of real-world applications, with self-driving industry being at the foremost. This work involves exploiting temporally varying appearance and motion information for tracking. Siamese networks have recently become highly successful at appearance based single object tracking and Recurrent Neural Networks have started dominating both motion and appearance based tracking. Our work focuses on combining Siamese networks and RNNs to exploit appearance and motion information respectively to build a joint system capable of real time multi-object tracking. We further explore heuristics based constraints for tracking in the Birds Eye View Space for efficiently exploiting 3D information as a constrained optimization problem for track prediction.

Real-time Mortality Prediction Using MIMIC-IV ICU Data Via Boosted Nonparametric Hazards

Electronic Health Record (EHR) systems provide critical, rich and valuable information at high frequency. One of the most exciting applications of EHR data is in developing a real-time mortality warning system with tools from survival analysis. However, most of the survival analysis methods used recently are based on (semi)parametric models using static covariates. These models do not take advantage of the information conveyed by the time-varying EHR data. In this work, we present an application of a highly scalable survival analysis method, BoXHED 2.0 to develop a real-time in-ICU mortality warning indicator based on the MIMIC IV data set. Importantly, BoXHED can incorporate time-dependent covariates in a fully nonparametric manner and is backed by theory. Our in-ICU mortality model achieves an AUC-PRC of 0.41 and AUC-ROC of 0.83 out of sample, demonstrating the benefit of real-time monitoring.

Semi-Supervised Domain Generalization in Real World:New Benchmark and Strong Baseline

Conventional domain generalization aims to learn domain invariant representation from multiple domains, which requires accurate annotations. In realistic application scenarios, however, it is too cumbersome or even infeasible to collect and annotate the large mass of data. Yet, web data provides a free lunch to access a huge amount of unlabeled data with rich style information that can be harnessed to augment domain generalization ability. In this paper, we introduce a novel task, termed as semi-supervised domain generalization, to study how to interact the labeled and unlabeled domains, and establish two benchmarks including a web-crawled dataset, which poses a novel yet realistic challenge to push the limits of existing technologies. To tackle this task, a straightforward solution is to propagate the class information from the labeled to the unlabeled domains via pseudo labeling in conjunction with domain confusion training. Considering narrowing domain gap can improve the quality of pseudo labels and further advance domain invariant feature learning for generalization, we propose a cycle learning framework to encourage the positive feedback between label propagation and domain generalization, in favor of an evolving intermediate domain bridging the labeled and unlabeled domains in a curriculum learning manner. Experiments are conducted to validate the effectiveness of our framework. It is worth highlighting that web-crawled data benefits domain generalization as demonstrated in our results. Our code will be available later.

Pythia: A Customizable Hardware Prefetching Framework Using Online Reinforcement Learning

Past research has proposed numerous hardware prefetching techniques, most of which rely on exploiting one specific type of program context information (e.g., program counter, cacheline address) to predict future memory accesses. These techniques either completely neglect a prefetcher's undesirable effects (e.g., memory bandwidth usage) on the overall system, or incorporate system-level feedback as an afterthought to a system-unaware prefetch algorithm. We show that prior prefetchers often lose their performance benefit over a wide range of workloads and system configurations due to their inherent inability to take multiple different types of program context and system-level feedback information into account while prefetching. In this paper, we make a case for designing a holistic prefetch algorithm that learns to prefetch using multiple different types of program context and system-level feedback information inherent to its design. To this end, we propose Pythia, which formulates the prefetcher as a reinforcement learning agent. For every demand request, Pythia observes multiple different types of program context information to make a prefetch decision. For every prefetch decision, Pythia receives a numerical reward that evaluates prefetch quality under the current memory bandwidth usage. Pythia uses this reward to reinforce the correlation between program context information and prefetch decision to generate highly accurate, timely, and system-aware prefetch requests in the future. Our extensive evaluations using simulation and hardware synthesis show that Pythia outperforms multiple state-of-the-art prefetchers over a wide range of workloads and system configurations, while incurring only 1.03% area overhead over a desktop-class processor and no software changes in workloads. The source code of Pythia can be freely downloaded from https://github.com/CMU-SAFARI/Pythia.

Quaternion-based dynamic mode decomposition for background modeling in color videos

Scene Background Initialization (SBI) is one of the challenging problems in computer vision. Dynamic mode decomposition (DMD) is a recently proposed method to robustly decompose a video sequence into the background model and the corresponding foreground part. However, this method needs to convert the color image into the grayscale image for processing, which leads to the neglect of the coupling information between the three channels of the color image. In this study, we propose a quaternion-based DMD (Q-DMD), which extends the DMD by quaternion matrix analysis, so as to completely preserve the inherent color structure of the color image and the color video. We exploit the standard eigenvalues of the quaternion matrix to compute its spectral decomposition and calculate the corresponding Q-DMD modes and eigenvalues. The results on the publicly available benchmark datasets prove that our Q-DMD outperforms the exact DMD method, and experiment results also demonstrate that the performance of our approach is comparable to that of the state-of-the-art ones.

Online Adversarial Distillation for Graph Neural Networks

Knowledge distillation has recently become a popular technique to improve the model generalization ability on convolutional neural networks. However, its effect on graph neural networks is less than satisfactory since the graph topology and node attributes are likely to change in a dynamic way and in this case a static teacher model is insufficient in guiding student training. In this paper, we tackle this challenge by simultaneously training a group of graph neural networks in an online distillation fashion, where the group knowledge plays a role as a dynamic virtual teacher and the structure changes in graph neural networks are effectively captured. To improve the distillation performance, two types of knowledge are transferred among the students to enhance each other: local knowledge reflecting information in the graph topology and node attributes, and global knowledge reflecting the prediction over classes. We transfer the global knowledge with KL-divergence as the vanilla knowledge distillation does, while exploiting the complicated structure of the local knowledge with an efficient adversarial cyclic learning framework. Extensive experiments verified the effectiveness of our proposed online adversarial distillation approach.

Video Reconstruction from a Single Motion Blurred Image using Learned Dynamic Phase Coding

Video reconstruction from a single motion-blurred image is a challenging problem, which can enhance existing cameras' capabilities. Recently, several works addressed this task using conventional imaging and deep learning. Yet, such purely-digital methods are inherently limited, due to direction ambiguity and noise sensitivity. Some works proposed to address these limitations using non-conventional image sensors, however, such sensors are extremely rare and expensive. To circumvent these limitations with simpler means, we propose a hybrid optical-digital method for video reconstruction that requires only simple modifications to existing optical systems. We use a learned dynamic phase-coding in the lens aperture during the image acquisition to encode the motion trajectories, which serve as prior information for the video reconstruction process. The proposed computational camera generates a sharp frame burst of the scene at various frame rates from a single coded motion-blurred image, using an image-to-video convolutional neural network. We present advantages and improved performance compared to existing methods, using both simulations and a real-world camera prototype.