This paper seeks to solve Multi-Source Domain Adaptation (MSDA), which aims to mitigate data distribution shifts when transferring knowledge from multiple labeled source domains to an unlabeled target domain. We propose a novel MSDA framework based on dictionary learning and optimal transport. We interpret each domain in MSDA as an empirical distribution. As such, we express each domain as a Wasserstein barycenter of dictionary atoms, which are empirical distributions. We propose a novel algorithm, DaDiL, for learning via mini-batches: (i) atom distributions; (ii) a matrix of barycentric coordinates. Based on our dictionary, we propose two novel methods for MSDA: DaDil-R, based on the reconstruction of labeled samples in the target domain, and DaDiL-E, based on the ensembling of classifiers learned on atom distributions. We evaluate our methods in 3 benchmarks: Caltech-Office, Office 31, and CRWU, where we improved previous state-of-the-art by 3.15%, 2.29%, and 7.71% in classification performance. Finally, we show that interpolations in the Wasserstein hull of learned atoms provide data that can generalize to the target domain.
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Background: Rim+ lesions in multiple sclerosis (MS), detectable via Quantitative Susceptibility Mapping (QSM), correlate with increased disability. Existing literature lacks quantitative analysis of these lesions. We introduce RimSet for quantitative identification and characterization of rim+ lesions on QSM. Methods: RimSet combines RimSeg, an unsupervised segmentation method using level-set methodology, and radiomic measurements with Local Binary Pattern texture descriptors. We validated RimSet using simulated QSM images and an in vivo dataset of 172 MS subjects with 177 rim+ and 3986 rim-lesions. Results: RimSeg achieved a 78.7% Dice score against the ground truth, with challenges in partial rim lesions. RimSet detected rim+ lesions with a partial ROC AUC of 0.808 and PR AUC of 0.737, surpassing existing methods. QSMRim-Net showed the lowest mean square error (0.85) and high correlation (0.91; 95% CI: 0.88, 0.93) with expert annotations at the subject level.
Generalized Labeled Multi-Bernoulli (GLMB) densities arise in a host of multi-object system applications analogous to Gaussians in single-object filtering. However, computing the GLMB filtering density requires solving NP-hard problems. To alleviate this computational bottleneck, we develop a linear complexity Gibbs sampling framework for GLMB density computation. Specifically, we propose a tempered Gibbs sampler that exploits the structure of the GLMB filtering density to achieve an $\mathcal{O}(T(P+M))$ complexity, where $T$ is the number of iterations of the algorithm, $P$ and $M$ are the number hypothesized objects and measurements. This innovation enables the GLMB filter implementation to be reduced from an $\mathcal{O}(TP^{2}M)$ complexity to $\mathcal{O}(T(P+M+\log T)+PM)$. Moreover, the proposed framework provides the flexibility for trade-offs between tracking performance and computational load. Convergence of the proposed Gibbs sampler is established, and numerical studies are presented to validate the proposed GLMB filter implementation.
We propose Stable Yet Memory Bounded Open-Loop (SYMBOL) planning, a general memory bounded approach to partially observable open-loop planning. SYMBOL maintains an adaptive stack of Thompson Sampling bandits, whose size is bounded by the planning horizon and can be automatically adapted according to the underlying domain without any prior domain knowledge beyond a generative model. We empirically test SYMBOL in four large POMDP benchmark problems to demonstrate its effectiveness and robustness w.r.t. the choice of hyperparameters and evaluate its adaptive memory consumption. We also compare its performance with other open-loop planning algorithms and POMCP.
Programmers increasingly rely on Large Language Models (LLMs) for code generation. However, misalignment between programmers' goals and generated code complicates the code evaluation process and demands frequent switching between prompt authoring and code evaluation. Yet, current LLM-driven code assistants lack sufficient scaffolding to help programmers format intentions from their overarching goals, a crucial step before translating these intentions into natural language prompts. To address this gap, we adopted an iterative design process to gain insights into programmers' strategies when using LLMs for programming. Building on our findings, we created CoLadder, a system that supports programmers by facilitating hierarchical task decomposition, direct code segment manipulation, and result evaluation during prompt authoring. A user study with 12 experienced programmers showed that CoLadder is effective in helping programmers externalize their problem-solving intentions flexibly, improving their ability to evaluate and modify code across various abstraction levels, from goal to final code implementation.
This paper introduces a learnable Deformable Hypothesis Sampler (DeformSampler) to address the challenging issue of noisy depth estimation for accurate PatchMatch Multi-View Stereo (MVS). We observe that the heuristic depth hypothesis sampling modes employed by PatchMatch MVS solvers are insensitive to (i) the piece-wise smooth distribution of depths across the object surface, and (ii) the implicit multi-modal distribution of depth prediction probabilities along the ray direction on the surface points. Accordingly, we develop DeformSampler to learn distribution-sensitive sample spaces to (i) propagate depths consistent with the scene's geometry across the object surface, and (ii) fit a Laplace Mixture model that approaches the point-wise probabilities distribution of the actual depths along the ray direction. We integrate DeformSampler into a learnable PatchMatch MVS system to enhance depth estimation in challenging areas, such as piece-wise discontinuous surface boundaries and weakly-textured regions. Experimental results on DTU and Tanks \& Temples datasets demonstrate its superior performance and generalization capabilities compared to state-of-the-art competitors. Code is available at //github.com/Geo-Tell/DS-PMNet.
The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to dynamic and challenging situations, such as poor lighting conditions and motion blur. To tackle this issue, we propose a tightly-coupled LiDAR-visual SLAM based on geometric features, which includes two sub-systems (LiDAR and monocular visual SLAM) and a fusion framework. The fusion framework associates the depth and semantics of the multi-modal geometric features to complement the visual line landmarks and to add direction optimization in Bundle Adjustment (BA). This further constrains visual odometry. On the other hand, the entire line segment detected by the visual subsystem overcomes the limitation of the LiDAR subsystem, which can only perform the local calculation for geometric features. It adjusts the direction of linear feature points and filters out outliers, leading to a higher accurate odometry system. Finally, we employ a module to detect the subsystem's operation, providing the LiDAR subsystem's output as a complementary trajectory to our system while visual subsystem tracking fails. The evaluation results on the public dataset M2DGR, gathered from ground robots across various indoor and outdoor scenarios, show that our system achieves more accurate and robust pose estimation compared to current state-of-the-art multi-modal methods.
Few-shot Knowledge Graph (KG) completion is a focus of current research, where each task aims at querying unseen facts of a relation given its few-shot reference entity pairs. Recent attempts solve this problem by learning static representations of entities and references, ignoring their dynamic properties, i.e., entities may exhibit diverse roles within task relations, and references may make different contributions to queries. This work proposes an adaptive attentional network for few-shot KG completion by learning adaptive entity and reference representations. Specifically, entities are modeled by an adaptive neighbor encoder to discern their task-oriented roles, while references are modeled by an adaptive query-aware aggregator to differentiate their contributions. Through the attention mechanism, both entities and references can capture their fine-grained semantic meanings, and thus render more expressive representations. This will be more predictive for knowledge acquisition in the few-shot scenario. Evaluation in link prediction on two public datasets shows that our approach achieves new state-of-the-art results with different few-shot sizes.
Deep Learning (DL) is vulnerable to out-of-distribution and adversarial examples resulting in incorrect outputs. To make DL more robust, several posthoc anomaly detection techniques to detect (and discard) these anomalous samples have been proposed in the recent past. This survey tries to provide a structured and comprehensive overview of the research on anomaly detection for DL based applications. We provide a taxonomy for existing techniques based on their underlying assumptions and adopted approaches. We discuss various techniques in each of the categories and provide the relative strengths and weaknesses of the approaches. Our goal in this survey is to provide an easier yet better understanding of the techniques belonging to different categories in which research has been done on this topic. Finally, we highlight the unsolved research challenges while applying anomaly detection techniques in DL systems and present some high-impact future research directions.
The problem of Multiple Object Tracking (MOT) consists in following the trajectory of different objects in a sequence, usually a video. In recent years, with the rise of Deep Learning, the algorithms that provide a solution to this problem have benefited from the representational power of deep models. This paper provides a comprehensive survey on works that employ Deep Learning models to solve the task of MOT on single-camera videos. Four main steps in MOT algorithms are identified, and an in-depth review of how Deep Learning was employed in each one of these stages is presented. A complete experimental comparison of the presented works on the three MOTChallenge datasets is also provided, identifying a number of similarities among the top-performing methods and presenting some possible future research directions.
We propose a novel single shot object detection network named Detection with Enriched Semantics (DES). Our motivation is to enrich the semantics of object detection features within a typical deep detector, by a semantic segmentation branch and a global activation module. The segmentation branch is supervised by weak segmentation ground-truth, i.e., no extra annotation is required. In conjunction with that, we employ a global activation module which learns relationship between channels and object classes in a self-supervised manner. Comprehensive experimental results on both PASCAL VOC and MS COCO detection datasets demonstrate the effectiveness of the proposed method. In particular, with a VGG16 based DES, we achieve an mAP of 81.7 on VOC2007 test and an mAP of 32.8 on COCO test-dev with an inference speed of 31.5 milliseconds per image on a Titan Xp GPU. With a lower resolution version, we achieve an mAP of 79.7 on VOC2007 with an inference speed of 13.0 milliseconds per image.
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