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For the point cloud registration task, a significant challenge arises from non-overlapping points that consume extensive computational resources while negatively affecting registration accuracy. In this paper, we introduce a dynamic approach, widely utilized to improve network efficiency in computer vision tasks, to the point cloud registration task. We employ an iterative registration process on point cloud data multiple times to identify regions where matching points cluster, ultimately enabling us to remove noisy points. Specifically, we begin with deep global sampling to perform coarse global registration. Subsequently, we employ the proposed refined node proposal module to further narrow down the registration region and perform local registration. Furthermore, we utilize a spatial consistency-based classifier to evaluate the results of each registration stage. The model terminates once it reaches sufficient confidence, avoiding unnecessary computations. Extended experiments demonstrate that our model significantly reduces time consumption compared to other methods with similar results, achieving a speed improvement of over 41% on indoor dataset (3DMatch) and 33% on outdoor datasets (KITTI) while maintaining competitive registration recall requirements.

With the rise in popularity of digital Atlases to communicate spatial variation, there is an increasing need for robust small-area estimates. However, current small-area estimation methods suffer from various modeling problems when data are very sparse or when estimates are required for areas with very small populations. These issues are particularly heightened when modeling proportions. Additionally, recent work has shown significant benefits in modeling at both the individual and area levels. We propose a two-stage Bayesian hierarchical small area estimation approach for proportions that can: account for survey design; reduce direct estimate instability; and generate prevalence estimates for small areas with no survey data. Using a simulation study we show that, compared with existing Bayesian small area estimation methods, our approach can provide optimal predictive performance (Bayesian mean relative root mean squared error, mean absolute relative bias and coverage) of proportions under a variety of data conditions, including very sparse and unstable data. To assess the model in practice, we compare modeled estimates of current smoking prevalence for 1,630 small areas in Australia using the 2017-2018 National Health Survey data combined with 2016 census data.

In this paper, we develop a personalized video relighting algorithm that produces high-quality and temporally consistent relit videos under any pose, expression, and lighting condition in real-time. Existing relighting algorithms typically rely either on publicly available synthetic data, which yields poor relighting results, or instead on light stage data which is difficult to obtain. We show that by just capturing video of a user watching YouTube videos on a monitor we can train a personalized algorithm capable of performing high-quality relighting under any condition. Our key contribution is a novel neural relighting architecture that effectively separates the intrinsic appearance features - the geometry and reflectance of the face - from the source lighting and then combines them with the target lighting to generate a relit image. This neural network architecture enables smoothing of intrinsic appearance features leading to temporally stable video relighting. Both qualitative and quantitative evaluations show that our architecture improves portrait image relighting quality and temporal consistency over state-of-the-art approaches on both casually captured `Light Stage at Your Desk' (LSYD) and light-stage-captured `One Light At a Time' (OLAT) datasets.

Adjustable hyperparameters of machine learning models typically impact various key trade-offs such as accuracy, fairness, robustness, or inference cost. Our goal in this paper is to find a configuration that adheres to user-specified limits on certain risks while being useful with respect to other conflicting metrics. We solve this by combining Bayesian Optimization (BO) with rigorous risk-controlling procedures, where our core idea is to steer BO towards an efficient testing strategy. Our BO method identifies a set of Pareto optimal configurations residing in a designated region of interest. The resulting candidates are statistically verified and the best-performing configuration is selected with guaranteed risk levels. We demonstrate the effectiveness of our approach on a range of tasks with multiple desiderata, including low error rates, equitable predictions, handling spurious correlations, managing rate and distortion in generative models, and reducing computational costs.

In this paper, we consider the problem of recovering random graph signals from nonlinear measurements. We formulate the maximum a-posteriori probability (MAP) estimator, which results in a nonconvex optimization problem. Conventional iterative methods for minimizing nonconvex problems are sensitive to the initialization, have high computational complexity, and do not utilize the underlying graph structure behind the data. In this paper we propose two new estimators that are both based on the Gauss-Newton method: 1) the elementwise graph-frequency-domain MAP (eGFD-MAP) estimator; and 2) the graph signal processing MAP (GSP-MAP) estimator. At each iteration, these estimators are updated by the outputs of two graph filters, with the previous state estimator and the residual as the input graph signals. The eGFD-MAP estimator is an ad-hoc method that minimizes the MAP objective function in the graph frequency domain and neglects mixed-derivatives of different graph frequencies in the Jacobian matrix as well as off-diagonal elements in the covariance matrices. Consequently, it updates the elements of the graph signal independently, which reduces the computational complexity compared to the conventional MAP estimator. The GSP-MAP estimator is based on optimizing the graph filters at each iteration of the Gauss-Newton algorithm. We state conditions under which the eGFD-MAP and GSP- MAP estimators coincide with the MAP estimator, in the case of an observation model with orthogonal graph frequencies. We evaluate the performance of the estimators for nonlinear graph signal recovery tasks with synthetic data and with the real-world problem of state estimation in power systems. These simulations show the advantages of the proposed estimators in terms of computational complexity, mean-squared-error, and robustness to the initialization of the iterative algorithms.

In this paper, we investigate covert communications in a simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS)-aided rate-splitting multiple access (RSMA) system. Under the RSMA principles, the messages for the covert user (Bob) and public user (Grace) are converted to the common and private streams at the legitimate transmitter (Alice) to realize downlink transmissions, while the STAR-RIS is deployed not only to aid the public transmissions from Alice to Grace, but also to shield the covert transmissions from Alice to Bob against the warden (Willie). To characterize the covert performance of the considered STAR-RIS-aided RSMA (STAR-RIS-RSMA) system, we derive analytical expression for the minimum average detection error probability of Willie, based on which a covert rate maximization problem is formulated. To maximize Bob's covert rate while confusing Willie's monitoring, the transmit power allocation, common rate allocation, and STAR-RIS reflection/transmission beamforming are jointly optimized subject to Grace's quality of service (QoS) requirements. The non-convex covert rate maximization problem, consisting of highly coupled system parameters are decoupled into three sub-problems of transmit power allocation, common rate allocation, and STAR-RIS reflection/transmission beamforming, respectively. To obtain the rank-one constrained optimal solution for the sub-problem of optimizing the STAR-RIS reflection/transmission beamforming, a penalty-based successive convex approximation scheme is developed. Moreover, an alternative optimization (AO) algorithm is designed to determine the optimal solution for the sub-problem of optimizing the transmit power allocation, while the original problem is overall solved by a new AO algorithm.

Motivated by Tucker tensor decomposition, this paper imposes low-rank structures to the column and row spaces of coefficient matrices in a multivariate infinite-order vector autoregression (VAR), which leads to a supervised factor model with two factor modelings being conducted to responses and predictors simultaneously. Interestingly, the stationarity condition implies an intrinsic weak group sparsity mechanism of infinite-order VAR, and hence a rank-constrained group Lasso estimation is considered for high-dimensional linear time series. Its non-asymptotic properties are discussed thoughtfully by balancing the estimation, approximation and truncation errors. Moreover, an alternating gradient descent algorithm with thresholding is designed to search for high-dimensional estimates, and its theoretical justifications, including statistical and convergence analysis, are also provided. Theoretical and computational properties of the proposed methodology are verified by simulation experiments, and the advantages over existing methods are demonstrated by two real examples.

Distributed representations provide a vector space that captures meaningful relationships between data instances. The distributed nature of these representations, however, entangles together multiple attributes or concepts of data instances (e.g., the topic or sentiment of a text, characteristics of the author (age, gender, etc), etc). Recent work has proposed the task of concept erasure, in which rather than making a concept predictable, the goal is to remove an attribute from distributed representations while retaining other information from the original representation space as much as possible. In this paper, we propose a new distance metric learning-based objective, the Kernelized Rate-Distortion Maximizer (KRaM), for performing concept erasure. KRaM fits a transformation of representations to match a specified distance measure (defined by a labeled concept to erase) using a modified rate-distortion function. Specifically, KRaM's objective function aims to make instances with similar concept labels dissimilar in the learned representation space while retaining other information. We find that optimizing KRaM effectively erases various types of concepts: categorical, continuous, and vector-valued variables from data representations across diverse domains. We also provide a theoretical analysis of several properties of KRaM's objective. To assess the quality of the learned representations, we propose an alignment score to evaluate their similarity with the original representation space. Additionally, we conduct experiments to showcase KRaM's efficacy in various settings, from erasing binary gender variables in word embeddings to vector-valued variables in GPT-3 representations.

In this paper, we aim to create weak alignment supervision from an existing hybrid system to aid the end-to-end modeling of automatic speech recognition. Towards this end, we use the existing hybrid ASR system to produce triphone alignments of the training audios. We then create a cross-entropy loss at a certain layer of the encoder using the derived alignments. In contrast to the general one-hot cross-entropy losses, here we use a cross-entropy loss with a label smoothing parameter to regularize the supervision. As a comparison, we also conduct the experiments with one-hot cross-entropy losses and CTC losses with loss weighting. The results show that placing the weak alignment supervision with the label smoothing parameter of 0.5 at the third encoder layer outperforms the other two approaches and leads to about 5\% relative WER reduction on the TED-LIUM 2 dataset over the baseline. We see similar improvements when applying the method out-of-the-box on a Tagalog end-to-end ASR system.

We present a large-scale study on unsupervised spatiotemporal representation learning from videos. With a unified perspective on four recent image-based frameworks, we study a simple objective that can easily generalize all these methods to space-time. Our objective encourages temporally-persistent features in the same video, and in spite of its simplicity, it works surprisingly well across: (i) different unsupervised frameworks, (ii) pre-training datasets, (iii) downstream datasets, and (iv) backbone architectures. We draw a series of intriguing observations from this study, e.g., we discover that encouraging long-spanned persistency can be effective even if the timespan is 60 seconds. In addition to state-of-the-art results in multiple benchmarks, we report a few promising cases in which unsupervised pre-training can outperform its supervised counterpart. Code is made available at //github.com/facebookresearch/SlowFast