In this paper, we work to bring telepresence to every desktop. Unlike commercial systems, personal 3D video conferencing systems must render high-quality videos while remaining financially and computationally viable for the average consumer. To this end, we introduce a capturing and rendering system that only requires 4 consumer-grade RGBD cameras and synthesizes high-quality free-viewpoint videos of users as well as their environments. Experimental results show that our system renders high-quality free-viewpoint videos without using object templates or heavy pre-processing. While not real-time, our system is fast and does not require per-video optimizations. Moreover, our system is robust to complex hand gestures and clothing, and it can generalize to new users. This work provides a strong basis for further optimization, and it will help bring telepresence to every desk in the near future. The code and dataset will be made available on our website https://mcmvmc.github.io/PersonalTelepresence/.
Random functional-linked types of neural networks (RFLNNs), e.g., the extreme learning machine (ELM) and broad learning system (BLS), which avoid suffering from a time-consuming training process, offer an alternative way of learning in deep structure. The RFLNNs have achieved excellent performance in various classification and regression tasks, however, the properties and explanations of these networks are ignored in previous research. This paper gives some insights into the properties of RFLNNs from the viewpoints of frequency domain, and discovers the presence of frequency principle in these networks, that is, they preferentially capture low-frequencies quickly and then fit the high frequency components during the training process. These findings are valuable for understanding the RFLNNs and expanding their applications. Guided by the frequency principle, we propose a method to generate a BLS network with better performance, and design an efficient algorithm for solving Poison's equation in view of the different frequency principle presenting in the Jacobi iterative method and BLS network.
In recent years, pre-trained language models (PLMs) achieve the best performance on a wide range of natural language processing (NLP) tasks. While the first models were trained on general domain data, specialized ones have emerged to more effectively treat specific domains. In this paper, we propose an original study of PLMs in the medical domain on French language. We compare, for the first time, the performance of PLMs trained on both public data from the web and private data from healthcare establishments. We also evaluate different learning strategies on a set of biomedical tasks. In particular, we show that we can take advantage of already existing biomedical PLMs in a foreign language by further pre-train it on our targeted data. Finally, we release the first specialized PLMs for the biomedical field in French, called DrBERT, as well as the largest corpus of medical data under free license on which these models are trained.
This work presents a novel loss function for learning nonlinear Model Predictive Control policies via Imitation Learning. Standard approaches to Imitation Learning neglect information about the expert and generally adopt a loss function based on the distance between expert and learned controls. In this work, we present a loss based on the Q-function directly embedding the performance objectives and constraint satisfaction of the associated Optimal Control Problem (OCP). However, training a Neural Network with the Q-loss requires solving the associated OCP for each new sample. To alleviate the computational burden, we derive a second Q-loss based on the Gauss-Newton approximation of the OCP resulting in a faster training time. We validate our losses against Behavioral Cloning, the standard approach to Imitation Learning, on the control of a nonlinear system with constraints. The final results show that the Q-function-based losses significantly reduce the amount of constraint violations while achieving comparable or better closed-loop costs.
Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strategy is computationally efficient but insufficient for overall exploration efficiency. In recent years, some state-of-the-art methods are proposed, which generate a global coverage path and significantly improve overall exploration efficiency. However, global optimization produces high computational overhead, leading to low-frequency planner updates and inconsistent planning motion. In this work, we propose a novel method to support fast UAV exploration in large-scale and cluttered 3-D environments. We introduce a computationally low-cost viewpoints generation method using novel occlusion-free spheres. Additionally, we combine greedy strategy with global optimization, which considers both computational and exploration efficiency. We benchmark our method against state-of-the-art methods to showcase its superiority in terms of exploration efficiency and computational time. We conduct various real-world experiments to demonstrate the excellent performance of our method in large-scale and cluttered environments.
Real-time individual endpoint prediction has always been a challenging task but of great clinic utility for both patients and healthcare providers. With 6,879 chronic kidney disease stage 4 (CKD4) patients as a use case, we explored the feasibility and performance of gated recurrent units with decay that models Weibull probability density function (GRU-D-Weibull) as a semi-parametric longitudinal model for real-time individual endpoint prediction. GRU-D-Weibull has a maximum C-index of 0.77 at 4.3 years of follow-up, compared to 0.68 achieved by competing models. The L1-loss of GRU-D-Weibull is ~66% of XGB(AFT), ~60% of MTLR, and ~30% of AFT model at CKD4 index date. The average absolute L1-loss of GRU-D-Weibull is around one year, with a minimum of 40% Parkes serious error after index date. GRU-D-Weibull is not calibrated and significantly underestimates true survival probability. Feature importance tests indicate blood pressure becomes increasingly important during follow-up, while eGFR and blood albumin are less important. Most continuous features have non-linear/parabola impact on predicted survival time, and the results are generally consistent with existing knowledge. GRU-D-Weibull as a semi-parametric temporal model shows advantages in built-in parameterization of missing, native support for asynchronously arrived measurement, capability of output both probability and point estimates at arbitrary time point for arbitrary prediction horizon, improved discrimination and point estimate accuracy after incorporating newly arrived data. Further research on its performance with more comprehensive input features, in-process or post-process calibration are warranted to benefit CKD4 or alike terminally-ill patients.
Unpacking and comprehending how deep learning algorithms make decisions has been a persistent challenge for researchers and end-users. Explaining time-series predictive models is useful for clinical applications with high stakes to understand the behavior of prediction models. However, existing approaches to explain such models are frequently unique to architectures and data where the features do not have a time-varying component. In this paper, we introduce WindowSHAP, a model-agnostic framework for explaining time-series classifiers using Shapley values. We intend for WindowSHAP to mitigate the computational complexity of calculating Shapley values for long time-series data as well as improve the quality of explanations. WindowSHAP is based on partitioning a sequence into time windows. Under this framework, we present three distinct algorithms of Stationary, Sliding and Dynamic WindowSHAP, each evaluated against baseline approaches, KernelSHAP and TimeSHAP, using perturbation and sequence analyses metrics. We applied our framework to clinical time-series data from both a specialized clinical domain (Traumatic Brain Injury - TBI) as well as a broad clinical domain (critical care medicine). The experimental results demonstrate that, based on the two quantitative metrics, our framework is superior at explaining clinical time-series classifiers, while also reducing the complexity of computations. We show that for time-series data with 120 time steps (hours), merging 10 adjacent time points can reduce the CPU time of WindowSHAP by 80% compared to KernelSHAP. We also show that our Dynamic WindowSHAP algorithm focuses more on the most important time steps and provides more understandable explanations. As a result, WindowSHAP not only accelerates the calculation of Shapley values for time-series data, but also delivers more understandable explanations with higher quality.
Time series forecasting is crucial for many fields, such as disaster warning, weather prediction, and energy consumption. The Transformer-based models are considered to have revolutionized the field of sequence modeling. However, the complex temporal patterns of the time series hinder the model from mining reliable temporal dependencies. Furthermore, the autoregressive form of the Transformer introduces cumulative errors in the inference step. In this paper, we propose the probabilistic decomposition Transformer model that combines the Transformer with a conditional generative model, which provides hierarchical and interpretable probabilistic forecasts for intricate time series. The Transformer is employed to learn temporal patterns and implement primary probabilistic forecasts, while the conditional generative model is used to achieve non-autoregressive hierarchical probabilistic forecasts by introducing latent space feature representations. In addition, the conditional generative model reconstructs typical features of the series, such as seasonality and trend terms, from probability distributions in the latent space to enable complex pattern separation and provide interpretable forecasts. Extensive experiments on several datasets demonstrate the effectiveness and robustness of the proposed model, indicating that it compares favorably with the state of the art.
Movie highlights stand out of the screenplay for efficient browsing and play a crucial role on social media platforms. Based on existing efforts, this work has two observations: (1) For different annotators, labeling highlight has uncertainty, which leads to inaccurate and time-consuming annotations. (2) Besides previous supervised or unsupervised settings, some existing video corpora can be useful, e.g., trailers, but they are often noisy and incomplete to cover the full highlights. In this work, we study a more practical and promising setting, i.e., reformulating highlight detection as "learning with noisy labels". This setting does not require time-consuming manual annotations and can fully utilize existing abundant video corpora. First, based on movie trailers, we leverage scene segmentation to obtain complete shots, which are regarded as noisy labels. Then, we propose a Collaborative noisy Label Cleaner (CLC) framework to learn from noisy highlight moments. CLC consists of two modules: augmented cross-propagation (ACP) and multi-modality cleaning (MMC). The former aims to exploit the closely related audio-visual signals and fuse them to learn unified multi-modal representations. The latter aims to achieve cleaner highlight labels by observing the changes in losses among different modalities. To verify the effectiveness of CLC, we further collect a large-scale highlight dataset named MovieLights. Comprehensive experiments on MovieLights and YouTube Highlights datasets demonstrate the effectiveness of our approach. Code has been made available at: https://github.com/TencentYoutuResearch/HighlightDetection-CLC
A deep neural network solution for time-scale modification (TSM) focused on large stretching factors is proposed, targeting environmental sounds. Traditional TSM artifacts such as transient smearing, loss of presence, and phasiness are heavily accentuated and cause poor audio quality when the TSM factor is four or larger. The weakness of established TSM methods, often based on a phase vocoder structure, lies in the poor description and scaling of the transient and noise components, or nuances, of a sound. Our novel solution combines a sines-transients-noise decomposition with an independent WaveNet synthesizer to provide a better description of the noise component and an improve sound quality for large stretching factors. Results of a subjective listening test against four other TSM algorithms are reported, showing the proposed method to be often superior. The proposed method is stereo compatible and has a wide range of applications related to the slow motion of media content.