With NeRF widely used for facial reenactment, recent methods can recover photo-realistic 3D head avatar from just a monocular video. Unfortunately, the training process of the NeRF-based methods is quite time-consuming, as MLP used in the NeRF-based methods is inefficient and requires too many iterations to converge. To overcome this problem, we propose ManVatar, a fast 3D head avatar reconstruction method using Motion-Aware Neural Voxels. ManVatar is the first to decouple expression motion from canonical appearance for head avatar, and model the expression motion by neural voxels. In particular, the motion-aware neural voxels is generated from the weighted concatenation of multiple 4D tensors. The 4D tensors semantically correspond one-to-one with 3DMM expression bases and share the same weights as 3DMM expression coefficients. Benefiting from our novel representation, the proposed ManVatar can recover photo-realistic head avatars in just 5 minutes (implemented with pure PyTorch), which is significantly faster than the state-of-the-art facial reenactment methods.
Neural Radiance Fields (NeRF) have received considerable attention recently, due to its impressive capability in photo-realistic 3D reconstruction and novel view synthesis, given a set of posed camera images. Earlier work usually assumes the input images are in good quality. However, image degradation (e.g. image motion blur in low-light conditions) can easily happen in real-world scenarios, which would further affect the rendering quality of NeRF. In this paper, we present a novel bundle adjusted deblur Neural Radiance Fields (BAD-NeRF), which can be robust to severe motion blurred images and inaccurate camera poses. Our approach models the physical image formation process of a motion blurred image, and jointly learns the parameters of NeRF and recovers the camera motion trajectories during exposure time. In experiments, we show that by directly modeling the real physical image formation process, BAD-NeRF achieves superior performance over prior works on both synthetic and real datasets.
Inspired by expert evaluation policy for urban perception, we proposed a novel inverse reinforcement learning (IRL) based framework for predicting urban safety and recovering the corresponding reward function. We also presented a scalable state representation method to model the prediction problem as a Markov decision process (MDP) and use reinforcement learning (RL) to solve the problem. Additionally, we built a dataset called SmallCity based on the crowdsourcing method to conduct the research. As far as we know, this is the first time the IRL approach has been introduced to the urban safety perception and planning field to help experts quantitatively analyze perceptual features. Our results showed that IRL has promising prospects in this field. We will later open-source the crowdsourcing data collection site and the model proposed in this paper.
We study the learning ability of linear recurrent neural networks with gradient descent. We prove the first theoretical guarantee on linear RNNs with Gradient Descent to learn any stable linear dynamic system. We show that despite the non-convexity of the optimization loss if the width of the RNN is large enough (and the required width in hidden layers does not rely on the length of the input sequence), a linear RNN can provably learn any stable linear dynamic system with the sample and time complexity polynomial in $\frac{1}{1-\rho_C}$ where $\rho_C$ is roughly the spectral radius of the stable system. Our results provide the first theoretical guarantee to learn a linear RNN and demonstrate how can the recurrent structure help to learn a dynamic system.
We present a state-of-the-art neural approach to the unsupervised reconstruction of ancient word forms. Previous work in this domain used expectation-maximization to predict simple phonological changes between ancient word forms and their cognates in modern languages. We extend this work with neural models that can capture more complicated phonological and morphological changes. At the same time, we preserve the inductive biases from classical methods by building monotonic alignment constraints into the model and deliberately underfitting during the maximization step. We evaluate our performance on the task of reconstructing Latin from a dataset of cognates across five Romance languages, achieving a notable reduction in edit distance from the target word forms compared to previous methods.
Connected Autonomous Vehicles (CAVs) are key components of the Intelligent Transportation System (ITS), and all-terrain Autonomous Ground Vehicles (AGVs) are indispensable tools for a wide range of applications such as disaster response, automated mining, agriculture, military operations, search and rescue missions, and planetary exploration. Experimental validation is a requisite for CAV and AGV research, but requires a large, safe experimental environment when using full-size vehicles which is time-consuming and expensive. To address these challenges, we developed XTENTH-CAR (eXperimental one-TENTH scaled vehicle platform for Connected autonomy and All-terrain Research), an open-source, cost-effective proportionally one-tenth scaled experimental vehicle platform governed by the same physics as a full-size on-road vehicle. XTENTH-CAR is equipped with the best-in-class NVIDIA Jetson AGX Orin System on Module (SOM), stereo camera, 2D LiDAR and open-source Electronic Speed Controller (ESC) with drivers written in the new Robot Operating System (ROS 2) to facilitate experimental CAV and AGV perception, motion planning and control research, that incorporate state-of-the-art computationally expensive algorithms such as Deep Reinforcement Learning (DRL). XTENTH-CAR is designed for compact experimental environments, and aims to increase the accessibility of experimental CAV and AGV research with low upfront costs, and complete Autonomous Vehicle (AV) hardware and software architectures similar to the full-sized X-CAR experimental vehicle platform, enabling efficient cross-platform development between small-scale and full-scale vehicles.
We provide a novel first-order optimization algorithm for bilinearly-coupled strongly-convex-concave minimax optimization called the AcceleratedGradient OptimisticGradient (AG-OG). The main idea of our algorithm is to leverage the structure of the considered minimax problem and operates Nesterov's acceleration on the individual part and optimistic gradient on the coupling part of the objective. We motivate our method by showing that its continuous-time dynamics corresponds to an organic combination of the dynamics of optimistic gradient and of Nesterov's acceleration. By discretizing the dynamics we conclude polynomial convergence behavior in discrete time. Further enhancement of AG-OG with proper restarting allows us to achieve rate-optimal (up to a constant) convergence rates with respect to the conditioning of the coupling and individual parts, which results in the first single-call algorithm achieving improved convergence in the deterministic setting and rate-optimality in the stochastic setting under bilinearly coupled minimax problem sets.
In many scientific applications, measured time series are corrupted by noise or distortions. Traditional denoising techniques often fail to recover the signal of interest, particularly when the signal-to-noise ratio is low or when certain assumptions on the signal and noise are violated. In this work, we demonstrate that deep learning-based denoising methods can outperform traditional techniques while exhibiting greater robustness to variation in noise and signal characteristics. Our motivating example is magnetic resonance spectroscopy, in which a primary goal is to detect the presence of short-duration, low-amplitude radio frequency signals that are often obscured by strong interference that can be difficult to separate from the signal using traditional methods. We explore various deep learning architecture choices to capture the inherently complex-valued nature of magnetic resonance signals. On both synthetic and experimental data, we show that our deep learning-based approaches can exceed performance of traditional techniques, providing a powerful new class of methods for analysis of scientific time series data.
During the radiotherapy treatment of patients with lung cancer, the radiation delivered to healthy tissue around the tumor needs to be minimized, which is difficult because of respiratory motion and the latency of linear accelerator systems. In the proposed study, we first use the Lucas-Kanade pyramidal optical flow algorithm to perform deformable image registration of chest computed tomography scan images of four patients with lung cancer. We then track three internal points close to the lung tumor based on the previously computed deformation field and predict their position with a recurrent neural network (RNN) trained using real-time recurrent learning (RTRL) and gradient clipping. The breathing data is quite regular, sampled at approximately 2.5Hz, and includes artificial drift in the spine direction. The amplitude of the motion of the tracked points ranged from 12.0mm to 22.7mm. Finally, we propose a simple method for recovering and predicting 3D tumor images from the tracked points and the initial tumor image based on a linear correspondence model and Nadaraya-Watson non-linear regression. The root-mean-square error, maximum error, and jitter corresponding to the RNN prediction on the test set were smaller than the same performance measures obtained with linear prediction and least mean squares (LMS). In particular, the maximum prediction error associated with the RNN, equal to 1.51mm, is respectively 16.1% and 5.0% lower than the maximum error associated with linear prediction and LMS. The average prediction time per time step with RTRL is equal to 119ms, which is less than the 400ms marker position sampling time. The tumor position in the predicted images appears visually correct, which is confirmed by the high mean cross-correlation between the original and predicted images, equal to 0.955.
Organizations leverage anomaly and changepoint detection algorithms to detect changes in user behavior or service availability and performance. Many off-the-shelf detection algorithms, though effective, cannot readily be used in large organizations where thousands of users monitor millions of use cases and metrics with varied time series characteristics and anomaly patterns. The selection of algorithm and parameters needs to be precise for each use case: manual tuning does not scale, and automated tuning requires ground truth, which is rarely available. In this paper, we explore MOSPAT, an end-to-end automated machine learning based approach for model and parameter selection, combined with a generative model to produce labeled data. Our scalable end-to-end system allows individual users in large organizations to tailor time-series monitoring to their specific use case and data characteristics, without expert knowledge of anomaly detection algorithms or laborious manual labeling. Our extensive experiments on real and synthetic data demonstrate that this method consistently outperforms using any single algorithm.