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Object detection on Lidar point cloud data is a promising technology for autonomous driving and robotics which has seen a significant rise in performance and accuracy during recent years. Particularly uncertainty estimation is a crucial component for down-stream tasks and deep neural networks remain error-prone even for predictions with high confidence. Previously proposed methods for quantifying prediction uncertainty tend to alter the training scheme of the detector or rely on prediction sampling which results in vastly increased inference time. In order to address these two issues, we propose LidarMetaDetect (LMD), a light-weight post-processing scheme for prediction quality estimation. Our method can easily be added to any pre-trained Lidar object detector without altering anything about the base model and is purely based on post-processing, therefore, only leading to a negligible computational overhead. Our experiments show a significant increase of statistical reliability in separating true from false predictions. We propose and evaluate an additional application of our method leading to the detection of annotation errors. Explicit samples and a conservative count of annotation error proposals indicates the viability of our method for large-scale datasets like KITTI and nuScenes. On the widely-used nuScenes test dataset, 43 out of the top 100 proposals of our method indicate, in fact, erroneous annotations.

Label error is a ubiquitous problem in annotated data. Large amounts of label error substantially degrades the quality of deep learning models. Existing methods to tackle the label error problem largely focus on the classification task, and either rely on task specific architecture or require non-trivial additional computations, which is undesirable or even unattainable for industry usage. In this paper, we propose LEDO: a model-agnostic and computationally efficient framework for Label Error Detection and Overwrite. LEDO is based on Monte Carlo Dropout combined with uncertainty metrics, and can be easily generalized to multiple tasks and data sets. Applying LEDO to an industry opinion-based question answering system demonstrates it is effective at improving accuracy in all the core models. Specifically, LEDO brings 1.1% MRR gain for the retrieval model, 1.5% PR AUC improvement for the machine reading comprehension model, and 0.9% rise in the Average Precision for the ranker, on top of the strong baselines with a large-scale social media dataset. Importantly, LEDO is computationally efficient compared to methods that require loss function change, and cost-effective as the resulting data can be used in the same continuous training pipeline for production. Further analysis shows that these gains come from an improved decision boundary after cleaning the label errors existed in the training data.

This paper presents a new distance metric to compare two continuous probability density functions. The main advantage of this metric is that, unlike other statistical measurements, it can provide an analytic, closed-form expression for a mixture of Gaussian distributions while satisfying all metric properties. These characteristics enable fast, stable, and efficient calculations, which are highly desirable in real-world signal processing applications. The application in mind is Gaussian Mixture Reduction (GMR), which is widely used in density estimation, recursive tracking, and belief propagation. To address this problem, we developed a novel algorithm dubbed the Optimization-based Greedy GMR (OGGMR), which employs our metric as a criterion to approximate a high-order Gaussian mixture with a lower order. Experimental results show that the OGGMR algorithm is significantly faster and more efficient than state-of-the-art GMR algorithms while retaining the geometric shape of the original mixture.

Constrained Markov Decision Processes (CMDPs) are one of the common ways to model safe reinforcement learning problems, where the safety objectives are modeled by constraint functions. Lagrangian-based dual or primal-dual algorithms provide efficient methods for learning in CMDPs. For these algorithms, the currently known regret bounds in the finite-horizon setting allow for a \textit{cancellation of errors}; that is, one can compensate for a constraint violation in one episode with a strict constraint satisfaction in another episode. However, in practical applications, we do not consider such a behavior safe. In this paper, we overcome this weakness by proposing a novel model-based dual algorithm \textsc{OptAug-CMDP} for tabular finite-horizon CMDPs. Our algorithm is motivated by the augmented Lagrangian method and can be performed efficiently. We show that during $K$ episodes of exploring the CMDP, our algorithm obtains a regret of $\tilde{O}(\sqrt{K})$ for both the objective and the constraint violation. Unlike existing Lagrangian approaches, our algorithm achieves this regret without the need for the cancellation of errors.

Visual localization is a fundamental task for various applications including autonomous driving and robotics. Prior methods focus on extracting large amounts of often redundant locally reliable features, resulting in limited efficiency and accuracy, especially in large-scale environments under challenging conditions. Instead, we propose to extract globally reliable features by implicitly embedding high-level semantics into both the detection and description processes. Specifically, our semantic-aware detector is able to detect keypoints from reliable regions (e.g. building, traffic lane) and suppress unreliable areas (e.g. sky, car) implicitly instead of relying on explicit semantic labels. This boosts the accuracy of keypoint matching by reducing the number of features sensitive to appearance changes and avoiding the need of additional segmentation networks at test time. Moreover, our descriptors are augmented with semantics and have stronger discriminative ability, providing more inliers at test time. Particularly, experiments on long-term large-scale visual localization Aachen Day-Night and RobotCar-Seasons datasets demonstrate that our model outperforms previous local features and gives competitive accuracy to advanced matchers but is about 2 and 3 times faster when using 2k and 4k keypoints, respectively.

Cycle-consistent generative adversarial networks have been widely used in non-parallel voice conversion (VC). Their ability to learn mappings between source and target features without relying on parallel training data eliminates the need for temporal alignments. However, most methods decouple the conversion of acoustic features from synthesizing the audio signal by using separate models for conversion and waveform synthesis. This work unifies conversion and synthesis into a single model, thereby eliminating the need for a separate vocoder. By leveraging cycle-consistent training and a self-supervised auxiliary training task, our model is able to efficiently generate converted high-quality raw audio waveforms. Subjective listening tests show that our method outperforms the baseline in whispered speech conversion (up to 6.7% relative improvement), and mean opinion score predictions yield competitive results in conventional VC (between 0.5% and 2.4% relative improvement).

Detecting change-points in data is challenging because of the range of possible types of change and types of behaviour of data when there is no change. Statistically efficient methods for detecting a change will depend on both of these features, and it can be difficult for a practitioner to develop an appropriate detection method for their application of interest. We show how to automatically generate new offline detection methods based on training a neural network. Our approach is motivated by many existing tests for the presence of a change-point being representable by a simple neural network, and thus a neural network trained with sufficient data should have performance at least as good as these methods. We present theory that quantifies the error rate for such an approach, and how it depends on the amount of training data. Empirical results show that, even with limited training data, its performance is competitive with the standard CUSUM-based classifier for detecting a change in mean when the noise is independent and Gaussian, and can substantially outperform it in the presence of auto-correlated or heavy-tailed noise. Our method also shows strong results in detecting and localising changes in activity based on accelerometer data.

Video instance segmentation (VIS) is the task that requires simultaneously classifying, segmenting and tracking object instances of interest in video. Recent methods typically develop sophisticated pipelines to tackle this task. Here, we propose a new video instance segmentation framework built upon Transformers, termed VisTR, which views the VIS task as a direct end-to-end parallel sequence decoding/prediction problem. Given a video clip consisting of multiple image frames as input, VisTR outputs the sequence of masks for each instance in the video in order directly. At the core is a new, effective instance sequence matching and segmentation strategy, which supervises and segments instances at the sequence level as a whole. VisTR frames the instance segmentation and tracking in the same perspective of similarity learning, thus considerably simplifying the overall pipeline and is significantly different from existing approaches. Without bells and whistles, VisTR achieves the highest speed among all existing VIS models, and achieves the best result among methods using single model on the YouTube-VIS dataset. For the first time, we demonstrate a much simpler and faster video instance segmentation framework built upon Transformers, achieving competitive accuracy. We hope that VisTR can motivate future research for more video understanding tasks.

The low resolution of objects of interest in aerial images makes pedestrian detection and action detection extremely challenging tasks. Furthermore, using deep convolutional neural networks to process large images can be demanding in terms of computational requirements. In order to alleviate these challenges, we propose a two-step, yes and no question answering framework to find specific individuals doing one or multiple specific actions in aerial images. First, a deep object detector, Single Shot Multibox Detector (SSD), is used to generate object proposals from small aerial images. Second, another deep network, is used to learn a latent common sub-space which associates the high resolution aerial imagery and the pedestrian action labels that are provided by the human-based sources

In this paper, we propose a novel multi-task learning architecture, which incorporates recent advances in attention mechanisms. Our approach, the Multi-Task Attention Network (MTAN), consists of a single shared network containing a global feature pool, together with task-specific soft-attention modules, which are trainable in an end-to-end manner. These attention modules allow for learning of task-specific features from the global pool, whilst simultaneously allowing for features to be shared across different tasks. The architecture can be built upon any feed-forward neural network, is simple to implement, and is parameter efficient. Experiments on the CityScapes dataset show that our method outperforms several baselines in both single-task and multi-task learning, and is also more robust to the various weighting schemes in the multi-task loss function. We further explore the effectiveness of our method through experiments over a range of task complexities, and show how our method scales well with task complexity compared to baselines.