Dense depth and surface normal predictors should possess the equivariant property to cropping-and-resizing -- cropping the input image should result in cropping the same output image. However, we find that state-of-the-art depth and normal predictors, despite having strong performances, surprisingly do not respect equivariance. The problem exists even when crop-and-resize data augmentation is employed during training. To remedy this, we propose an equivariant regularization technique, consisting of an averaging procedure and a self-consistency loss, to explicitly promote cropping-and-resizing equivariance in depth and normal networks. Our approach can be applied to both CNN and Transformer architectures, does not incur extra cost during testing, and notably improves the supervised and semi-supervised learning performance of dense predictors on Taskonomy tasks. Finally, finetuning with our loss on unlabeled images improves not only equivariance but also accuracy of state-of-the-art depth and normal predictors when evaluated on NYU-v2. GitHub link: //github.com/mikuhatsune/equivariance
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We establish the existence theory of several commonly used finite element (FE) nonlinear fully discrete solutions, and the convergence theory of a linearized iteration. First, it is shown for standard FE, SUPG and edge-averaged method respectively that the stiffness matrix is a column M-matrix under certain conditions, and then the existence theory of these three FE nonlinear fully discrete solutions is presented by using Brouwer's fixed point theorem. Second, the contraction of a commonly used linearized iterative method-Gummel iteration is proven, and then the convergence theory is established for the iteration. At last, a numerical experiment is shown to verifies the theories.
We examine the linear regression problem in a challenging high-dimensional setting with correlated predictors to explain and predict relevant quantities, with explicitly allowing the regression coefficient to vary from sparse to dense. Most classical high-dimensional regression estimators require some degree of sparsity. We discuss the more recent concepts of variable screening and random projection as computationally fast dimension reduction tools, and propose a new random projection matrix tailored to the linear regression problem with a theoretical bound on the gain in expected prediction error over conventional random projections. Around this new random projection, we built the Sparse Projected Averaged Regression (SPAR) method combining probabilistic variable screening steps with the random projection steps to obtain an ensemble of small linear models. In difference to existing methods, we introduce a thresholding parameter to obtain some degree of sparsity. In extensive simulations and two real data applications we guide through the elements of this method and compare prediction and variable selection performance to various competitors. For prediction, our method performs at least as good as the best competitors in most settings with a high number of truly active variables, while variable selection remains a hard task for all methods in high dimensions.
Efficient resource allocation and scheduling algorithms are essential for various distributed applications, ranging from wireless networks and cloud computing platforms to autonomous multi-agent systems and swarm robotic networks. However, real-world environments are often plagued by uncertainties and noise, leading to sub-optimal performance and increased vulnerability of traditional algorithms. This paper addresses the challenge of robust resource allocation and scheduling in the presence of noise and disturbances. The proposed study introduces a novel sign-based dynamics for developing robust-to-noise algorithms distributed over a multi-agent network that can adaptively handle external disturbances. Leveraging concepts from convex optimization theory, control theory, and network science the framework establishes a principled approach to design algorithms that can maintain key properties such as resource-demand balance and constraint feasibility. Meanwhile, notions of uniform-connectivity and versatile networking conditions are also addressed.
Precisely predicting the future trajectories of surrounding traffic participants is a crucial but challenging problem in autonomous driving, due to complex interactions between traffic agents, map context and traffic rules. Vector-based approaches have recently shown to achieve among the best performances on trajectory prediction benchmarks. These methods model simple interactions between traffic agents but don't distinguish between relation-type and attributes like their distance along the road. Furthermore, they represent lanes only by sequences of vectors representing center lines and ignore context information like lane dividers and other road elements. We present a novel approach for vector-based trajectory prediction that addresses these shortcomings by leveraging three crucial sources of information: First, we model interactions between traffic agents by a semantic scene graph, that accounts for the nature and important features of their relation. Second, we extract agent-centric image-based map features to model the local map context. Finally, we generate anchor paths to enforce the policy in multi-modal prediction to permitted trajectories only. Each of these three enhancements shows advantages over the baseline model HoliGraph.
Our work presents a novel approach to shape optimization, with the twofold objective to improve the efficiency of global optimization algorithms while promoting the generation of high-quality designs during the optimization process free of geometrical anomalies. This is accomplished by reducing the number of the original design variables defining a new reduced subspace where the geometrical variance is maximized and modeling the underlying generative process of the data via probabilistic linear latent variable models such as factor analysis and probabilistic principal component analysis. We show that the data follows approximately a Gaussian distribution when the shape modification method is linear and the design variables are sampled uniformly at random, due to the direct application of the central limit theorem. The degree of anomalousness is measured in terms of Mahalanobis distance, and the paper demonstrates that abnormal designs tend to exhibit a high value of this metric. This enables the definition of a new optimization model where anomalous geometries are penalized and consequently avoided during the optimization loop. The procedure is demonstrated for hull shape optimization of the DTMB 5415 model, extensively used as an international benchmark for shape optimization problems. The global optimization routine is carried out using Bayesian optimization and the DIRECT algorithm. From the numerical results, the new framework improves the convergence of global optimization algorithms, while only designs with high-quality geometrical features are generated through the optimization routine thereby avoiding the wastage of precious computationally expensive simulations.
Achievability in information theory refers to demonstrating a coding strategy that accomplishes a prescribed performance benchmark for the underlying task. In quantum information theory, the crafted Hayashi-Nagaoka operator inequality is an essential technique in proving a wealth of one-shot achievability bounds since it effectively resembles a union bound in various problems. In this work, we show that the pretty-good measurement naturally plays a role as the union bound as well. A judicious application of it considerably simplifies the derivation of one-shot achievability for classical-quantum (c-q) channel coding via an elegant three-line proof. The proposed analysis enjoys the following favorable features. (i) The established one-shot bound admits a closed-form expression as in the celebrated Holevo-Helstrom Theorem. Namely, the error probability of sending $M$ messages through a c-q channel is upper bounded by the minimum error of distinguishing the joint channel input-output state against $(M-1)$ decoupled products states. (ii) Our bound directly yields asymptotic results in the large deviation, small deviation, and moderate deviation regimes in a unified manner. (iii) The coefficients incurred in applying the Hayashi-Nagaoka operator inequality are no longer needed. Hence, the derived one-shot bound sharpens existing results relying on the Hayashi-Nagaoka operator inequality. In particular, we obtain the tightest achievable $\epsilon$-one-shot capacity for c-q channel coding heretofore, improving the third-order coding rate in the asymptotic scenario. (iv) Our result holds for infinite-dimensional Hilbert space. (v) The proposed method applies to deriving one-shot achievability for classical data compression with quantum side information, entanglement-assisted classical communication over quantum channels, and various quantum network information-processing protocols.
Although robust statistical estimators are less affected by outlying observations, their computation is usually more challenging. This is particularly the case in high-dimensional sparse settings. The availability of new optimization procedures, mainly developed in the computer science domain, offers new possibilities for the field of robust statistics. This paper investigates how such procedures can be used for robust sparse association estimators. The problem can be split into a robust estimation step followed by an optimization for the remaining decoupled, (bi-)convex problem. A combination of the augmented Lagrangian algorithm and adaptive gradient descent is implemented to also include suitable constraints for inducing sparsity. We provide results concerning the precision of the algorithm and show the advantages over existing algorithms in this context. High-dimensional empirical examples underline the usefulness of this procedure. Extensions to other robust sparse estimators are possible.
We consider the rate-limited quantum-to-classical optimal transport in terms of output-constrained rate-distortion coding for both finite-dimensional and continuous-variable quantum-to-classical systems with limited classical common randomness. The main coding theorem provides a single-letter characterization of the achievable rate region of a lossy quantum measurement source coding for an exact construction of the destination distribution (or the equivalent quantum state) while maintaining a threshold of distortion from the source state according to a generally defined distortion observable. The constraint on the output space fixes the output distribution to an IID predefined probability mass function. Therefore, this problem can also be viewed as information-constrained optimal transport which finds the optimal cost of transporting the source quantum state to the destination classical distribution via a quantum measurement with limited communication rate and common randomness. We develop a coding framework for continuous-variable quantum systems by employing a clipping projection and a dequantization block and using our finite-dimensional coding theorem. Moreover, for the Gaussian quantum systems, we derive an analytical solution for rate-limited Wasserstein distance of order 2, along with a Gaussian optimality theorem, showing that Gaussian measurement optimizes the rate in a system with Gaussian quantum source and Gaussian destination distribution. The results further show that in contrast to the classical Wasserstein distance of Gaussian distributions, which corresponds to an infinite transmission rate, in the Quantum Gaussian measurement system, the optimal transport is achieved with a finite transmission rate due to the inherent noise of the quantum measurement imposed by Heisenberg's uncertainty principle.
We investigate the role of various demonstration components in the in-context learning (ICL) performance of large language models (LLMs). Specifically, we explore the impacts of ground-truth labels, input distribution, and complementary explanations, particularly when these are altered or perturbed. We build on previous work, which offers mixed findings on how these elements influence ICL. To probe these questions, we employ explainable NLP (XNLP) methods and utilize saliency maps of contrastive demonstrations for both qualitative and quantitative analysis. Our findings reveal that flipping ground-truth labels significantly affects the saliency, though it's more noticeable in larger LLMs. Our analysis of the input distribution at a granular level reveals that changing sentiment-indicative terms in a sentiment analysis task to neutral ones does not have as substantial an impact as altering ground-truth labels. Finally, we find that the effectiveness of complementary explanations in boosting ICL performance is task-dependent, with limited benefits seen in sentiment analysis tasks compared to symbolic reasoning tasks. These insights are critical for understanding the functionality of LLMs and guiding the development of effective demonstrations, which is increasingly relevant in light of the growing use of LLMs in applications such as ChatGPT. Our research code is publicly available at //github.com/paihengxu/XICL.
Multi-modal 3D scene understanding has gained considerable attention due to its wide applications in many areas, such as autonomous driving and human-computer interaction. Compared to conventional single-modal 3D understanding, introducing an additional modality not only elevates the richness and precision of scene interpretation but also ensures a more robust and resilient understanding. This becomes especially crucial in varied and challenging environments where solely relying on 3D data might be inadequate. While there has been a surge in the development of multi-modal 3D methods over past three years, especially those integrating multi-camera images (3D+2D) and textual descriptions (3D+language), a comprehensive and in-depth review is notably absent. In this article, we present a systematic survey of recent progress to bridge this gap. We begin by briefly introducing a background that formally defines various 3D multi-modal tasks and summarizes their inherent challenges. After that, we present a novel taxonomy that delivers a thorough categorization of existing methods according to modalities and tasks, exploring their respective strengths and limitations. Furthermore, comparative results of recent approaches on several benchmark datasets, together with insightful analysis, are offered. Finally, we discuss the unresolved issues and provide several potential avenues for future research.
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