Photorealistic 3D reconstruction of street scenes is a critical technique for developing real-world simulators for autonomous driving. Despite the efficacy of Neural Radiance Fields (NeRF) for driving scenes, 3D Gaussian Splatting (3DGS) emerges as a promising direction due to its faster speed and more explicit representation. However, most existing street 3DGS methods require tracked 3D vehicle bounding boxes to decompose the static and dynamic elements for effective reconstruction, limiting their applications for in-the-wild scenarios. To facilitate efficient 3D scene reconstruction without costly annotations, we propose a self-supervised street Gaussian ($\textit{S}^3$Gaussian) method to decompose dynamic and static elements from 4D consistency. We represent each scene with 3D Gaussians to preserve the explicitness and further accompany them with a spatial-temporal field network to compactly model the 4D dynamics. We conduct extensive experiments on the challenging Waymo-Open dataset to evaluate the effectiveness of our method. Our $\textit{S}^3$Gaussian demonstrates the ability to decompose static and dynamic scenes and achieves the best performance without using 3D annotations. Code is available at: //github.com/nnanhuang/S3Gaussian/.
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In the metric distortion problem there is a set of candidates $C$ and voters $V$ in the same metric space. The goal is to select a candidate minimizing the social cost: the sum of distances of the selected candidate from all the voters, and the challenge arises from the algorithm receiving only ordinaL input: each voter's ranking of candidate, while the objective function is cardinal, determined by the underlying metric. The distortion of an algorithm is its worst-case approximation factor of the optimal social cost. A key concept here is the (p,q)-veto core, with $p\in \Delta(V)$ and $q\in \Delta(C)$ being normalized weight vectors representing voters' veto power and candidates' support, respectively. The (p,q)-veto core corresponds to a set of winners from a specific class of deterministic algorithms. Notably, the optimal distortion of $3$ is obtained from this class, by selecting veto core candidates using uniform $p$ and $q$ proportional to candidates' plurality scores. Bounding the distortion of other algorithms from this class is an open problem. Our contribution is twofold. First, we establish upper bounds on the distortion of candidates from the (p,q)-veto core for arbitrary weight vectors $p$ and $q$. Second, we revisit the metric distortion problem through the \emph{learning-augmented} framework, which equips the algorithm with a (machine-learned) prediction regarding the optimal candidate. The quality of this prediction is unknown, and the goal is to optimize the algorithm's performance under accurate predictions (consistency), while simultaneously providing worst-case guarantees under arbitrarily inaccurate predictions (robustness). We propose an algorithm that chooses candidates from the (p,q)-veto core, using a prediction-guided q vector and, leveraging our distortion bounds, we prove that this algorithm achieves the optimal robustness-consistency trade-off.
Error-bounded lossy compression is a critical technique for significantly reducing scientific data volumes. Compared to CPU-based compressors, GPU-based compressors exhibit substantially higher throughputs, fitting better for today's HPC applications. However, the critical limitations of existing GPU-based compressors are their low compression ratios and qualities, severely restricting their applicability. To overcome these, we introduce a new GPU-based error-bounded scientific lossy compressor named cuSZ-$i$, with the following contributions: (1) A novel GPU-optimized interpolation-based prediction method significantly improves the compression ratio and decompression data quality. (2) The Huffman encoding module in cuSZ-$i$ is optimized for better efficiency. (3) cuSZ-$i$ is the first to integrate the NVIDIA Bitcomp-lossless as an additional compression-ratio-enhancing module. Evaluations show that cuSZ-$i$ significantly outperforms other latest GPU-based lossy compressors in compression ratio under the same error bound (hence, the desired quality), showcasing a 476% advantage over the second-best. This leads to cuSZ-$i$'s optimized performance in several real-world use cases.
Although end-to-end robot learning has shown some success for robot manipulation, the learned policies are often not sufficiently robust to variations in object pose or geometry. To improve the policy generalization, we introduce spatially-grounded parameterized motion primitives in our method HACMan++. Specifically, we propose an action representation consisting of three components: what primitive type (such as grasp or push) to execute, where the primitive will be grounded (e.g. where the gripper will make contact with the world), and how the primitive motion is executed, such as parameters specifying the push direction or grasp orientation. These three components define a novel discrete-continuous action space for reinforcement learning. Our framework enables robot agents to learn to chain diverse motion primitives together and select appropriate primitive parameters to complete long-horizon manipulation tasks. By grounding the primitives on a spatial location in the environment, our method is able to effectively generalize across object shape and pose variations. Our approach significantly outperforms existing methods, particularly in complex scenarios demanding both high-level sequential reasoning and object generalization. With zero-shot sim-to-real transfer, our policy succeeds in challenging real-world manipulation tasks, with generalization to unseen objects. Videos can be found on the project website: //sgmp-rss2024.github.io.
In this paper, we address the challenge of differential privacy in the context of graph cuts, specifically focusing on the minimum $k$-cut and multiway cut problems. We introduce edge-differentially private algorithms that achieve nearly optimal performance for these problems. For the multiway cut problem, we first provide a private algorithm with a multiplicative approximation ratio that matches the state-of-the-art non-private algorithm. We then present a tight information-theoretic lower bound on the additive error, demonstrating that our algorithm on weighted graphs is near-optimal for constant $k$. For the minimum $k$-cut problem, our algorithms leverage a known bound on the number of approximate $k$-cuts, resulting in a private algorithm with optimal additive error $O(k\log n)$ for fixed privacy parameter. We also establish a information-theoretic lower bound that matches this additive error. Additionally, we give an efficient private algorithm for $k$-cut even for non-constant $k$, including a polynomial-time 2-approximation with an additive error of $\widetilde{O}(k^{1.5})$.
When verifying liveness properties on a transition system, it is often necessary to discard spurious violating paths by making assumptions on which paths represent realistic executions. Capturing that some property holds under such an assumption in a logical formula is challenging and error-prone, particularly in the modal $\mu$-calculus. In this paper, we present template formulae in the modal $\mu$-calculus that can be instantiated to a broad range of liveness properties. We consider the following assumptions: progress, justness, weak fairness, strong fairness, and hyperfairness, each with respect to actions. The correctness of these formulae has been proven.
We present a detailed study of cardinality-aware top-$k$ classification, a novel approach that aims to learn an accurate top-$k$ set predictor while maintaining a low cardinality. We introduce a new target loss function tailored to this setting that accounts for both the classification error and the cardinality of the set predicted. To optimize this loss function, we propose two families of surrogate losses: cost-sensitive comp-sum losses and cost-sensitive constrained losses. Minimizing these loss functions leads to new cardinality-aware algorithms that we describe in detail in the case of both top-$k$ and threshold-based classifiers. We establish $H$-consistency bounds for our cardinality-aware surrogate loss functions, thereby providing a strong theoretical foundation for our algorithms. We report the results of extensive experiments on CIFAR-10, CIFAR-100, ImageNet, and SVHN datasets demonstrating the effectiveness and benefits of our cardinality-aware algorithms.
We study the edge-coloring problem in simple $n$-vertex $m$-edge graphs with maximum degree $\Delta$. This is one of the most classical and fundamental graph-algorithmic problems. Vizing's celebrated theorem provides $(\Delta+1)$-edge-coloring in $O(m\cdot n)$ deterministic time. This running time was improved to $O\left(m\cdot\min\left\{\Delta\cdot\log n,\sqrt{n}\right\}\right)$, and very recently to randomized $\tilde{O}\left(m\cdot n^{1/3}\right)$. A randomized $(1+\varepsilon)\Delta$-edge-coloring algorithm can be computed in $O\left(m\cdot\frac{\log^6 n}{\varepsilon^2}\right)$ time, and for large values of $\Delta$, this task requires randomized $O\left(\frac{m\cdot\log\varepsilon^{-1}}{\varepsilon^2}\right)$ time. It was however open if there exists a deterministic near-linear time algorithm for this basic problem. We devise a simple deterministic $(1+\varepsilon)\Delta$-edge-coloring algorithm with running time $O\left(m\cdot\frac{\log n}{\varepsilon}\right)$. A randomized variant of our algorithm has running time $O(m\cdot(\varepsilon^{-18}+\log(\varepsilon\cdot\Delta)))$. We also study edge-coloring of graphs with arboricity at most $\alpha$. A randomized computation of $(\Delta+1)$-edge-coloring requires $\tilde{O}\left(\min\{m\cdot\sqrt{n},m\cdot\Delta\}\cdot\frac{\alpha}{\Delta}\right)$ time. Deterministically, this task can be done in $O\left(m\cdot\alpha^7\cdot\log n\right)$ time. However, for large values of $\alpha$, these algorithms require super-linear time. We devise a deterministic $(\Delta+\varepsilon\alpha)$-edge-coloring algorithm with running time $O\left(\frac{m\cdot\log n}{\varepsilon^7}\right)$. A randomized version of our algorithm requires $O\left(\frac{m\cdot\log n}{\varepsilon}\right)$ expected time. Our algorithm is based on a novel two-way degree-splitting, which we devise in this paper. We believe that this technique is of independent interest.
Kuroda's translation embeds classical first-order logic into intuitionistic logic, through the insertion of double negations. Recently, Brown and Rizkallah extended this translation to higher-order logic. In this paper, we adapt it for theories encoded in higher-order logic in the lambdaPi-calculus modulo theory, a logical framework that extends lambda-calculus with dependent types and user-defined rewrite rules. We develop a tool that implements Kuroda's translation for proofs written in Dedukti, a proof language based on the lambdaPi-calculus modulo theory.
The "Harmony Lemma", as formulated by Sangiorgi & Walker, establishes the equivalence between the labelled transition semantics and the reduction semantics in the $\pi$-calculus. Despite being a widely known and accepted result for the standard $\pi$-calculus, this assertion has never been rigorously proven, formally or informally. Hence, its validity may not be immediately apparent when considering extensions of the $\pi$-calculus. Contributing to the second challenge of the Concurrent Calculi Formalization Benchmark -- a set of challenges tackling the main issues related to the mechanization of concurrent systems -- we present a formalization of this result for the fragment of the $\pi$-calculus examined in the Benchmark. Our formalization is implemented in Beluga and draws inspiration from the HOAS formalization of the LTS semantics popularized by Honsell et al. In passing, we introduce a couple of useful encoding techniques for handling telescopes and lexicographic induction.
Click-through rate (CTR) prediction plays a critical role in recommender systems and online advertising. The data used in these applications are multi-field categorical data, where each feature belongs to one field. Field information is proved to be important and there are several works considering fields in their models. In this paper, we proposed a novel approach to model the field information effectively and efficiently. The proposed approach is a direct improvement of FwFM, and is named as Field-matrixed Factorization Machines (FmFM, or $FM^2$). We also proposed a new explanation of FM and FwFM within the FmFM framework, and compared it with the FFM. Besides pruning the cross terms, our model supports field-specific variable dimensions of embedding vectors, which acts as soft pruning. We also proposed an efficient way to minimize the dimension while keeping the model performance. The FmFM model can also be optimized further by caching the intermediate vectors, and it only takes thousands of floating-point operations (FLOPs) to make a prediction. Our experiment results show that it can out-perform the FFM, which is more complex. The FmFM model's performance is also comparable to DNN models which require much more FLOPs in runtime.
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