A major bottleneck to scaling-up training of self-driving perception systems are the human annotations required for supervision. A promising alternative is to leverage "auto-labelling" offboard perception models that are trained to automatically generate annotations from raw LiDAR point clouds at a fraction of the cost. Auto-labels are most commonly generated via a two-stage approach -- first objects are detected and tracked over time, and then each object trajectory is passed to a learned refinement model to improve accuracy. Since existing refinement models are overly complex and lack advanced temporal reasoning capabilities, in this work we propose LabelFormer, a simple, efficient, and effective trajectory-level refinement approach. Our approach first encodes each frame's observations separately, then exploits self-attention to reason about the trajectory with full temporal context, and finally decodes the refined object size and per-frame poses. Evaluation on both urban and highway datasets demonstrates that LabelFormer outperforms existing works by a large margin. Finally, we show that training on a dataset augmented with auto-labels generated by our method leads to improved downstream detection performance compared to existing methods. Please visit the project website for details https://waabi.ai/labelformer
NLP models are used in a variety of critical social computing tasks, such as detecting sexist, racist, or otherwise hateful content. Therefore, it is imperative that these models are robust to spurious features. Past work has attempted to tackle such spurious features using training data augmentation, including Counterfactually Augmented Data (CADs). CADs introduce minimal changes to existing training data points and flip their labels; training on them may reduce model dependency on spurious features. However, manually generating CADs can be time-consuming and expensive. Hence in this work, we assess if this task can be automated using generative NLP models. We automatically generate CADs using Polyjuice, ChatGPT, and Flan-T5, and evaluate their usefulness in improving model robustness compared to manually-generated CADs. By testing both model performance on multiple out-of-domain test sets and individual data point efficacy, our results show that while manual CADs are still the most effective, CADs generated by ChatGPT come a close second. One key reason for the lower performance of automated methods is that the changes they introduce are often insufficient to flip the original label.
Machine learning techniques have outperformed numerous rule-based methods for decision-making in autonomous vehicles. Despite recent efforts, lane changing remains a major challenge, due to the complex driving scenarios and changeable social behaviors of surrounding vehicles. To help improve the state of the art, we propose to leveraging the emerging \underline{D}eep \underline{R}einforcement learning (DRL) approach for la\underline{NE} changing at the \underline{T}actical level. To this end, we present "DRNet", a novel and highly efficient DRL-based framework that enables a DRL agent to learn to drive by executing reasonable lane changing on simulated highways with an arbitrary number of lanes, and considering driving style of surrounding vehicles to make better decisions. Furthermore, to achieve a safe policy for decision-making, DRNet incorporates ideas from safety verification, the most important component of autonomous driving, to ensure that only safe actions are chosen at any time. The setting of our state representation and reward function enables the trained agent to take appropriate actions in a real-world-like simulator. Our DRL agent has the ability to learn the desired task without causing collisions and outperforms DDQN and other baseline models.
Despite their better convergence properties compared to first-order optimizers, second-order optimizers for deep learning have been less popular due to their significant computational costs. The primary efficiency bottleneck in such optimizers is matrix inverse calculations in the preconditioning step, which are expensive to compute on GPUs. In this paper, we introduce Jorge, a second-order optimizer that promises the best of both worlds -- rapid convergence benefits of second-order methods, and high computational efficiency typical of first-order methods. We address the primary computational bottleneck of computing matrix inverses by completely eliminating them using an approximation of the preconditioner computation. This makes Jorge extremely efficient on GPUs in terms of wall-clock time. Further, we describe an approach to determine Jorge's hyperparameters directly from a well-tuned SGD baseline, thereby significantly minimizing tuning efforts. Our empirical evaluations demonstrate the distinct advantages of using Jorge, outperforming state-of-the-art optimizers such as SGD, AdamW, and Shampoo across multiple deep learning models, both in terms of sample efficiency and wall-clock time.
Existing deep-learning approaches to semantic column type annotation (CTA) have important shortcomings: they rely on semantic types which are fixed at training time; require a large number of training samples per type and incur large run-time inference costs; and their performance can degrade when evaluated on novel datasets, even when types remain constant. Large language models have exhibited strong zero-shot classification performance on a wide range of tasks and in this paper we explore their use for CTA. We introduce ArcheType, a simple, practical method for context sampling, prompt serialization, model querying, and label remapping, which enables large language models to solve column type annotation problems in a fully zero-shot manner. We ablate each component of our method separately, and establish that improvements to context sampling and label remapping provide the most consistent gains. ArcheType establishes new state-of-the-art performance on both zero-shot and fine-tuned CTA, including three new domain-specific benchmarks, which we release, along with the code to reproduce our results at https://github.com/penfever/ArcheType.
We present a video decomposition method that facilitates layer-based editing of videos with spatiotemporally varying lighting and motion effects. Our neural model decomposes an input video into multiple layered representations, each comprising a 2D texture map, a mask for the original video, and a multiplicative residual characterizing the spatiotemporal variations in lighting conditions. A single edit on the texture maps can be propagated to the corresponding locations in the entire video frames while preserving other contents' consistencies. Our method efficiently learns the layer-based neural representations of a 1080p video in 25s per frame via coordinate hashing and allows real-time rendering of the edited result at 71 fps on a single GPU. Qualitatively, we run our method on various videos to show its effectiveness in generating high-quality editing effects. Quantitatively, we propose to adopt feature-tracking evaluation metrics for objectively assessing the consistency of video editing. Project page: https://lightbulb12294.github.io/hashing-nvd/
In this paper, we consider the simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS)-assisted THz communications with three-side beam split. Except for the beam split at the base station (BS), we analyze the double-side beam split at the STAR-RIS for the first time. To relieve the double-side beam split effect, we propose a time delayer (TD)-based fully-connected structure at the STAR-RIS. As a further advance, a low-hardware complexity and low-power consumption sub-connected structure is developed, where multiple STAR-RIS elements share one TD. Meanwhile, considering the practical scenario, we investigate a multi-STAR-RIS and multi-user communication system, and a sum rate maximization problem is formulated by jointly optimizing the hybrid analog/digital beamforming, time delays at the BS as well as the double-layer phase-shift coefficients, time delays and amplitude coefficients at the STAR-RISs. Based on this, we first allocate users for each STAR-RIS, and then derive the analog beamforming, time delays at the BS, and the double-layer phase-shift coefficients, time delays at each STAR-RIS. Next, we develop an alternative optimization algorithm to calculate the digital beamforming at the BS and amplitude coefficients at the STAR-RISs. Finally, the numerical results verify the effectiveness of the proposed schemes.
Long-term time series forecasting is a vital task and has a wide range of real applications. Recent methods focus on capturing the underlying patterns from one single domain (e.g. the time domain or the frequency domain), and have not taken a holistic view to process long-term time series from the time-frequency domains. In this paper, we propose a Time-Frequency Enhanced Decomposed Network (TFDNet) to capture both the long-term underlying patterns and temporal periodicity from the time-frequency domain. In TFDNet, we devise a multi-scale time-frequency enhanced encoder backbone and develop two separate trend and seasonal time-frequency blocks to capture the distinct patterns within the decomposed trend and seasonal components in multi-resolutions. Diverse kernel learning strategies of the kernel operations in time-frequency blocks have been explored, by investigating and incorporating the potential different channel-wise correlation patterns of multivariate time series. Experimental evaluation of eight datasets from five benchmark domains demonstrated that TFDNet is superior to state-of-the-art approaches in both effectiveness and efficiency.
Multivariate time series classification is an important computational task arising in applications where data is recorded over time and over multiple channels. For example, a smartwatch can record the acceleration and orientation of a person's motion, and these signals are recorded as multivariate time series. We can classify this data to understand and predict human movement and various properties such as fitness levels. In many applications classification alone is not enough, we often need to classify but also understand what the model learns (e.g., why was a prediction given, based on what information in the data). The main focus of this paper is on analysing and evaluating explanation methods tailored to Multivariate Time Series Classification (MTSC). We focus on saliency-based explanation methods that can point out the most relevant channels and time series points for the classification decision. We analyse two popular and accurate multivariate time series classifiers, ROCKET and dResNet, as well as two popular explanation methods, SHAP and dCAM. We study these methods on 3 synthetic datasets and 2 real-world datasets and provide a quantitative and qualitative analysis of the explanations provided. We find that flattening the multivariate datasets by concatenating the channels works as well as using multivariate classifiers directly and adaptations of SHAP for MTSC work quite well. Additionally, we also find that the popular synthetic datasets we used are not suitable for time series analysis.
We present the OGAN algorithm for automatic requirement falsification of cyber-physical systems. System inputs and output are represented as piecewise constant signals over time while requirements are expressed in signal temporal logic. OGAN can find inputs that are counterexamples for the safety of a system revealing design, software, or hardware defects before the system is taken into operation. The OGAN algorithm works by training a generative machine learning model to produce such counterexamples. It executes tests atomically and does not require any previous model of the system under test. We evaluate OGAN using the ARCH-COMP benchmark problems, and the experimental results show that generative models are a viable method for requirement falsification. OGAN can be applied to new systems with little effort, has few requirements for the system under test, and exhibits state-of-the-art CPS falsification efficiency and effectiveness.