Visual Object Tracking (VOT) has synchronous needs for both robustness and accuracy. While most existing works fail to operate simultaneously on both, we investigate in this work the problem of conflicting performance between accuracy and robustness. We first conduct a systematic comparison among existing methods and analyze their restrictions in terms of accuracy and robustness. Specifically, 4 formulations-offline classification (OFC), offline regression (OFR), online classification (ONC), and online regression (ONR)-are considered, categorized by the existence of online update and the types of supervision signal. To account for the problem, we resort to the idea of ensemble and propose a dual-modal framework for target localization, consisting of robust localization suppressing distractors via ONR and the accurate localization attending to the target center precisely via OFC. To yield a final representation (i.e, bounding box), we propose a simple but effective score voting strategy to involve adjacent predictions such that the final representation does not commit to a single location. Operating beyond the real-time demand, our proposed method is further validated on 8 datasets-VOT2018, VOT2019, OTB2015, NFS, UAV123, LaSOT, TrackingNet, and GOT-10k, achieving state-of-the-art performance.
In this work, we tackle the problem of category-level online pose tracking of objects from point cloud sequences. For the first time, we propose a unified framework that can handle 9DoF pose tracking for novel rigid object instances as well as per-part pose tracking for articulated objects from known categories. Here the 9DoF pose, comprising 6D pose and 3D size, is equivalent to a 3D amodal bounding box representation with free 6D pose. Given the depth point cloud at the current frame and the estimated pose from the last frame, our novel end-to-end pipeline learns to accurately update the pose. Our pipeline is composed of three modules: 1) a pose canonicalization module that normalizes the pose of the input depth point cloud; 2) RotationNet, a module that directly regresses small interframe delta rotations; and 3) CoordinateNet, a module that predicts the normalized coordinates and segmentation, enabling analytical computation of the 3D size and translation. Leveraging the small pose regime in the pose-canonicalized point clouds, our method integrates the best of both worlds by combining dense coordinate prediction and direct rotation regression, thus yielding an end-to-end differentiable pipeline optimized for 9DoF pose accuracy (without using non-differentiable RANSAC). Our extensive experiments demonstrate that our method achieves new state-of-the-art performance on category-level rigid object pose (NOCS-REAL275) and articulated object pose benchmarks (SAPIEN , BMVC) at the fastest FPS ~12.
Koopman operator theory has served as the basis to extract dynamics for nonlinear system modeling and control across settings, including non-holonomic mobile robot control. Despite its widespread use, research on safety guarantees for systems the dynamics of which are extracted via the Koopman operator, has started receiving attention only recently. In this paper, we propose a way to quantify the prediction error because of noisy measurements when the Koopman operator is approximated via Extended Dynamic Mode Decomposition. We further develop an enhanced robot control strategy to endow robustness to a class of data-driven (robotic) systems that rely on Koopman operator theory, and we show how part of the strategy can happen offline in an effort to make our algorithm capable of real-time implementation. We perform a parametric study to evaluate the (theoretical) performance of the algorithm using a Van der Pol oscillator, and conduct a series of simulated experiments in Gazebo using a non-holonomic wheeled robot.
Image translation methods typically aim to manipulate a set of labeled attributes (given as supervision at training time e.g. domain label) while leaving the unlabeled attributes intact. Current methods achieve either: (i) disentanglement, which exhibits low visual fidelity and can only be satisfied where the attributes are perfectly uncorrelated. (ii) visually-plausible translations, which are clearly not disentangled. In this work, we propose OverLORD, a single framework for disentangling labeled and unlabeled attributes as well as synthesizing high-fidelity images, which is composed of two stages; (i) Disentanglement: Learning disentangled representations with latent optimization. Differently from previous approaches, we do not rely on adversarial training or any architectural biases. (ii) Synthesis: Training feed-forward encoders for inferring the learned attributes and tuning the generator in an adversarial manner to increase the perceptual quality. When the labeled and unlabeled attributes are correlated, we model an additional representation that accounts for the correlated attributes and improves disentanglement. We highlight that our flexible framework covers multiple image translation settings e.g. attribute manipulation, pose-appearance translation, segmentation-guided synthesis and shape-texture transfer. In an extensive evaluation, we present significantly better disentanglement with higher translation quality and greater output diversity than state-of-the-art methods.
Mobile network operators store an enormous amount of information like log files that describe various events and users' activities. Analysis of these logs might be used in many critical applications such as detecting cyber-attacks, finding behavioral patterns of users, security incident response, network forensics, etc. In a cellular network Call Detail Records (CDR) is one type of such logs containing metadata of calls and usually includes valuable information about contact such as the phone numbers of originating and receiving subscribers, call duration, the area of activity, type of call (SMS or voice call) and a timestamp. With anomaly detection, it is possible to determine abnormal reduction or increment of network traffic in an area or for a particular person. This paper's primary goal is to study subscribers' behavior in a cellular network, mainly predicting the number of calls in a region and detecting anomalies in the network traffic. In this paper, a new hybrid method is proposed based on various anomaly detection methods such as GARCH, K-means, and Neural Network to determine the anomalous data. Moreover, we have discussed the possible causes of such anomalies.
We propose a novel approach to reduce memory consumption of the backpropagation through time (BPTT) algorithm when training recurrent neural networks (RNNs). Our approach uses dynamic programming to balance a trade-off between caching of intermediate results and recomputation. The algorithm is capable of tightly fitting within almost any user-set memory budget while finding an optimal execution policy minimizing the computational cost. Computational devices have limited memory capacity and maximizing a computational performance given a fixed memory budget is a practical use-case. We provide asymptotic computational upper bounds for various regimes. The algorithm is particularly effective for long sequences. For sequences of length 1000, our algorithm saves 95\% of memory usage while using only one third more time per iteration than the standard BPTT.
Motion completion is a challenging and long-discussed problem, which is of great significance in film and game applications. For different motion completion scenarios (in-betweening, in-filling, and blending), most previous methods deal with the completion problems with case-by-case designs. In this work, we propose a simple but effective method to solve multiple motion completion problems under a unified framework and achieves a new state of the art accuracy under multiple evaluation settings. Inspired by the recent great success of attention-based models, we consider the completion as a sequence to sequence prediction problem. Our method consists of two modules - a standard transformer encoder with self-attention that learns long-range dependencies of input motions, and a trainable mixture embedding module that models temporal information and discriminates key-frames. Our method can run in a non-autoregressive manner and predict multiple missing frames within a single forward propagation in real time. We finally show the effectiveness of our method in music-dance applications.
First-order stochastic methods are the state-of-the-art in large-scale machine learning optimization owing to efficient per-iteration complexity. Second-order methods, while able to provide faster convergence, have been much less explored due to the high cost of computing the second-order information. In this paper we develop second-order stochastic methods for optimization problems in machine learning that match the per-iteration cost of gradient based methods, and in certain settings improve upon the overall running time over popular first-order methods. Furthermore, our algorithm has the desirable property of being implementable in time linear in the sparsity of the input data.
When optimizing over loss functions it is common practice to use momentum-based accelerated methods rather than vanilla gradient-based method. Despite widely applied to arbitrary loss function, their behaviour in generically non-convex, high dimensional landscapes is poorly understood. In this work we used dynamical mean field theory techniques to describe analytically the average behaviour of these methods in a prototypical non-convex model: the (spiked) matrix-tensor model. We derive a closed set of equations that describe the behaviours of several algorithms including heavy-ball momentum and Nesterov acceleration. Additionally we characterize the evolution of a mathematically equivalent physical system of massive particles relaxing toward the bottom of an energetic landscape. Under the correct mapping the two dynamics are equivalent and it can be noticed that having a large mass increases the effective time step of the heavy ball dynamics leading to a speed up.
Relation Extraction (RE) is to predict the relation type of two entities that are mentioned in a piece of text, e.g., a sentence or a dialogue. When the given text is long, it is challenging to identify indicative words for the relation prediction. Recent advances on RE task are from BERT-based sequence modeling and graph-based modeling of relationships among the tokens in the sequence. In this paper, we propose to construct a latent multi-view graph to capture various possible relationships among tokens. We then refine this graph to select important words for relation prediction. Finally, the representation of the refined graph and the BERT-based sequence representation are concatenated for relation extraction. Specifically, in our proposed GDPNet (Gaussian Dynamic Time Warping Pooling Net), we utilize Gaussian Graph Generator (GGG) to generate edges of the multi-view graph. The graph is then refined by Dynamic Time Warping Pooling (DTWPool). On DialogRE and TACRED, we show that GDPNet achieves the best performance on dialogue-level RE, and comparable performance with the state-of-the-arts on sentence-level RE.