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Classification of different object surface material types can play a significant role in the decision-making algorithms for mobile robots and autonomous vehicles. RGB-based scene-level semantic segmentation has been well-addressed in the literature. However, improving material recognition using the depth modality and its integration with SLAM algorithms for 3D semantic mapping could unlock new potential benefits in the robotics perception pipeline. To this end, we propose a complementarity-aware deep learning approach for RGB-D-based material classification built on top of an object-oriented pipeline. The approach further integrates the ORB-SLAM2 method for 3D scene mapping with multiscale clustering of the detected material semantics in the point cloud map generated by the visual SLAM algorithm. Extensive experimental results with existing public datasets and newly contributed real-world robot datasets demonstrate a significant improvement in material classification and 3D clustering accuracy compared to state-of-the-art approaches for 3D semantic scene mapping.

Causal inference methods based on electronic health record (EHR) databases must simultaneously handle confounding and missing data. Vast scholarship exists aimed at addressing these two issues separately, but surprisingly few papers attempt to address them simultaneously. In practice, when faced with simultaneous missing data and confounding, analysts may proceed by first imputing missing data and subsequently using outcome regression or inverse-probability weighting (IPW) to address confounding. However, little is known about the theoretical performance of such $\textit{ad hoc}$ methods. In a recent paper Levis $\textit{et al.}$ outline a robust framework for tackling these problems together under certain identifying conditions, and introduce a pair of estimators for the average treatment effect (ATE), one of which is non-parametric efficient. In this work we present a series of simulations, motivated by a published EHR based study of the long-term effects of bariatric surgery on weight outcomes, to investigate these new estimators and compare them to existing $\textit{ad hoc}$ methods. While the latter perform well in certain scenarios, no single estimator is uniformly best. As such, the work of Levis $\textit{et al.}$ may serve as a reasonable default for causal inference when handling confounding and missing data together.

Combining the predictions of multiple trained models through ensembling is generally a good way to improve accuracy by leveraging the different learned features of the models, however it comes with high computational and storage costs. Model fusion, the act of merging multiple models into one by combining their parameters reduces these costs but doesn't work as well in practice. Indeed, neural network loss landscapes are high-dimensional and non-convex and the minima found through learning are typically separated by high loss barriers. Numerous recent works have been focused on finding permutations matching one network features to the features of a second one, lowering the loss barrier on the linear path between them in parameter space. However, permutations are restrictive since they assume a one-to-one mapping between the different models' neurons exists. We propose a new model merging algorithm, CCA Merge, which is based on Canonical Correlation Analysis and aims to maximize the correlations between linear combinations of the model features. We show that our alignment method leads to better performances than past methods when averaging models trained on the same, or differing data splits. We also extend this analysis into the harder setting where more than 2 models are merged, and we find that CCA Merge works significantly better than past methods. Our code is publicly available at //github.com/shoroi/align-n-merge

We investigate fine-grained algorithmic aspects of identification problems in graphs and set systems, with a focus on Locating-Dominating Set and Test Cover. We prove the (tight) conditional lower bounds for these problems when parameterized by treewidth and solution as. Formally, \textsc{Locating-Dominating Set} (respectively, \textsc{Test Cover}) parameterized by the treewidth of the input graph (respectively, of the natural auxiliary graph) does not admit an algorithm running in time $2^{2^{o(tw)}} \cdot poly(n)$ (respectively, $2^{2^{o(tw)}} \cdot poly(|U| + |\mathcal{F}|))$. This result augments the small list of NP-Complete problems that admit double exponential lower bounds when parameterized by treewidth. Then, we first prove that \textsc{Locating-Dominating Set} does not admit an algorithm running in time $2^{o(k^2)} \cdot poly(n)$, nor a polynomial time kernelization algorithm that reduces the solution size and outputs a kernel with $2^{o(k)}$ vertices, unless the \ETH\ fails. To the best of our knowledge, \textsc{Locating-Dominating Set} is the first problem that admits such an algorithmic lower-bound (with a quadratic function in the exponent) when parameterized by the solution size. Finally, we prove that \textsc{Test Cover} does not admit an algorithm running in time $2^{2^{o(k)}} \cdot poly(|U| + |\mathcal{F}|)$. This is also a rare example of the problem that admits a double exponential lower bound when parameterized by the solution size. We also present algorithms whose running times match the above lower bounds.

Category-level 3D pose estimation is a fundamentally important problem in computer vision and robotics, e.g. for embodied agents or to train 3D generative models. However, so far methods that estimate the category-level object pose require either large amounts of human annotations, CAD models or input from RGB-D sensors. In contrast, we tackle the problem of learning to estimate the category-level 3D pose only from casually taken object-centric videos without human supervision. We propose a two-step pipeline: First, we introduce a multi-view alignment procedure that determines canonical camera poses across videos with a novel and robust cyclic distance formulation for geometric and appearance matching using reconstructed coarse meshes and DINOv2 features. In a second step, the canonical poses and reconstructed meshes enable us to train a model for 3D pose estimation from a single image. In particular, our model learns to estimate dense correspondences between images and a prototypical 3D template by predicting, for each pixel in a 2D image, a feature vector of the corresponding vertex in the template mesh. We demonstrate that our method outperforms all baselines at the unsupervised alignment of object-centric videos by a large margin and provides faithful and robust predictions in-the-wild. Our code and data is available at //github.com/GenIntel/uns-obj-pose3d.

As quadrotors take on an increasingly diverse range of roles, researchers often need to develop new hardware platforms tailored for specific tasks, introducing significant engineering overhead. In this article, we introduce the UniQuad series, a unified and versatile quadrotor platform series that offers high flexibility to adapt to a wide range of common tasks, excellent customizability for advanced demands, and easy maintenance in case of crashes. This project is fully open-source at //hkust-aerial-robotics.github.io/UniQuad.

We describe ACE0, a lightweight platform for evaluating the suitability and viability of AI methods for behaviour discovery in multiagent simulations. Specifically, ACE0 was designed to explore AI methods for multi-agent simulations used in operations research studies related to new technologies such as autonomous aircraft. Simulation environments used in production are often high-fidelity, complex, require significant domain knowledge and as a result have high R&D costs. Minimal and lightweight simulation environments can help researchers and engineers evaluate the viability of new AI technologies for behaviour discovery in a more agile and potentially cost effective manner. In this paper we describe the motivation for the development of ACE0.We provide a technical overview of the system architecture, describe a case study of behaviour discovery in the aerospace domain, and provide a qualitative evaluation of the system. The evaluation includes a brief description of collaborative research projects with academic partners, exploring different AI behaviour discovery methods.

We study the problem of efficient semantic segmentation for large-scale 3D point clouds. By relying on expensive sampling techniques or computationally heavy pre/post-processing steps, most existing approaches are only able to be trained and operate over small-scale point clouds. In this paper, we introduce RandLA-Net, an efficient and lightweight neural architecture to directly infer per-point semantics for large-scale point clouds. The key to our approach is to use random point sampling instead of more complex point selection approaches. Although remarkably computation and memory efficient, random sampling can discard key features by chance. To overcome this, we introduce a novel local feature aggregation module to progressively increase the receptive field for each 3D point, thereby effectively preserving geometric details. Extensive experiments show that our RandLA-Net can process 1 million points in a single pass with up to 200X faster than existing approaches. Moreover, our RandLA-Net clearly surpasses state-of-the-art approaches for semantic segmentation on two large-scale benchmarks Semantic3D and SemanticKITTI.

The recent proliferation of knowledge graphs (KGs) coupled with incomplete or partial information, in the form of missing relations (links) between entities, has fueled a lot of research on knowledge base completion (also known as relation prediction). Several recent works suggest that convolutional neural network (CNN) based models generate richer and more expressive feature embeddings and hence also perform well on relation prediction. However, we observe that these KG embeddings treat triples independently and thus fail to cover the complex and hidden information that is inherently implicit in the local neighborhood surrounding a triple. To this effect, our paper proposes a novel attention based feature embedding that captures both entity and relation features in any given entity's neighborhood. Additionally, we also encapsulate relation clusters and multihop relations in our model. Our empirical study offers insights into the efficacy of our attention based model and we show marked performance gains in comparison to state of the art methods on all datasets.

We propose a novel attention gate (AG) model for medical imaging that automatically learns to focus on target structures of varying shapes and sizes. Models trained with AGs implicitly learn to suppress irrelevant regions in an input image while highlighting salient features useful for a specific task. This enables us to eliminate the necessity of using explicit external tissue/organ localisation modules of cascaded convolutional neural networks (CNNs). AGs can be easily integrated into standard CNN architectures such as the U-Net model with minimal computational overhead while increasing the model sensitivity and prediction accuracy. The proposed Attention U-Net architecture is evaluated on two large CT abdominal datasets for multi-class image segmentation. Experimental results show that AGs consistently improve the prediction performance of U-Net across different datasets and training sizes while preserving computational efficiency. The code for the proposed architecture is publicly available.