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Real-time object pose estimation is necessary for many robot manipulation algorithms. However, state-of-the-art methods for object pose estimation are trained for a specific set of objects; these methods thus need to be retrained to estimate the pose of each new object, often requiring tens of GPU-days of training for optimal performance. \revisef{In this paper, we propose the OSSID framework,} leveraging a slow zero-shot pose estimator to self-supervise the training of a fast detection algorithm. This fast detector can then be used to filter the input to the pose estimator, drastically improving its inference speed. We show that this self-supervised training exceeds the performance of existing zero-shot detection methods on two widely used object pose estimation and detection datasets, without requiring any human annotations. Further, we show that the resulting method for pose estimation has a significantly faster inference speed, due to the ability to filter out large parts of the image. Thus, our method for self-supervised online learning of a detector (trained using pseudo-labels from a slow pose estimator) leads to accurate pose estimation at real-time speeds, without requiring human annotations. Supplementary materials and code can be found at //georgegu1997.github.io/OSSID/

We consider stochastic differential equations (SDEs) driven by small L\'evy noise with some unknown parameters, and propose a new type of least squares estimators based on discrete samples from the SDEs. To approximate the increments of a process from the SDEs, we shall use not the usual Euler method, but the Adams method, that is, a well-known numerical approximation of the solution to the ordinary differential equation appearing in the limit of the SDE. We show the consistency of the proposed estimators as well as the asymptotic distribution in a suitable observation scheme. We also show that our estimators can be better than the usual LSE based on the Euler method in the finite sample performance.

With the rapid rise of neural architecture search, the ability to understand its complexity from the perspective of a search algorithm is desirable. Recently, Traor\'e et al. have proposed the framework of Fitness Landscape Footprint to help describe and compare neural architecture search problems. It attempts at describing why a search strategy might be successful, struggle or fail on a target task. Our study leverages this methodology in the context of searching across sensors, including sensor data fusion. In particular, we apply the Fitness Landscape Footprint to the real-world image classification problem of So2Sat LCZ42, in order to identify the most beneficial sensor to our neural network hyper-parameter optimization problem. From the perspective of distributions of fitness, our findings indicate a similar behaviour of the search space for all sensors: the longer the training time, the larger the overall fitness, and more flatness in the landscapes (less ruggedness and deviation). Regarding sensors, the better the fitness they enable (Sentinel-2), the better the search trajectories (smoother, higher persistence). Results also indicate very similar search behaviour for sensors that can be decently fitted by the search space (Sentinel-2 and fusion).

One of the most critical aspects of enabling next-generation wireless technologies is developing an accurate and consistent channel model to be validated effectively with the help of real-world measurements. From this point of view, remarkable research has recently been conducted to model propagation channels involving the modification of the wireless propagation environment through the inclusion of reconfigurable intelligent surfaces (RISs). This study mainly aims to present a vision on channel modeling strategies for the RIS-empowered communications systems considering the state-of-the-art channel and propagation modeling efforts in the literature. Moreover, it is also desired to draw attention to open-source and standard-compliant physical channel modeling efforts to provide comprehensive insights regarding the practical use-cases of RISs in future wireless networks.

We present a new finite-sample analysis of M-estimators of locations in $\mathbb{R}^d$ using the tool of the influence function. In particular, we show that the deviations of an M-estimator can be controlled thanks to its influence function (or its score function) and then, we use concentration inequality on M-estimators to investigate the robust estimation of the mean in high dimension in a corrupted setting (adversarial corruption setting) for bounded and unbounded score functions. For a sample of size $n$ and covariance matrix $\Sigma$, we attain the minimax speed $\sqrt{Tr(\Sigma)/n}+\sqrt{\|\Sigma\|_{op}\log(1/\delta)/n}$ with probability larger than $1-\delta$ in a heavy-tailed setting. One of the major advantages of our approach compared to others recently proposed is that our estimator is tractable and fast to compute even in very high dimension with a complexity of $O(nd\log(Tr(\Sigma)))$ where $n$ is the sample size and $\Sigma$ is the covariance matrix of the inliers. In practice, the code that we make available for this article proves to be very fast.

In the last decade, several studies have proposed the use of automated techniques to estimate the effort of agile software development. In this paper we perform a close replication and extension of a seminal work proposing the use of Deep Learning for agile effort estimation (namely Deep-SE), which has set the state-of-the-art since. Specifically, we replicate three of the original research questions aiming at investigating the effectiveness of Deep-SE for both within-project and cross-project effort estimation. We benchmark Deep-SE against three baseline techniques (i.e., Random, Mean and Median effort prediction) and a previously proposed method to estimate agile software project development effort (dubbed TF/IDF-SE), as done in the original study. To this end, we use both the data from the original study and a new larger dataset of 31,960 issues, which we mined from 29 open-source projects. Using more data allows us to strengthen our confidence in the results and further mitigate the threat to the external validity of the study. We also extend the original study by investigating two additional research questions. One evaluates the accuracy of Deep-SE when the training set is augmented with issues from all other projects available in the repository at the time of estimation, and the other examines whether an expensive pre-training step used by the original Deep-SE, has any beneficial effect on its accuracy and convergence speed. The results of our replication show that Deep-SE outperforms the Median baseline estimator and TF/IDF-SE in only very few cases with statistical significance (8/42 and 9/32 cases, respectively), thus confounding previous findings on the efficacy of Deep-SE. The two additional RQs revealed that neither augmenting the training set nor pre-training Deep-SE play a role in improving its accuracy and convergence speed. ...

Modeling multivariate time series has long been a subject that has attracted researchers from a diverse range of fields including economics, finance, and traffic. A basic assumption behind multivariate time series forecasting is that its variables depend on one another but, upon looking closely, it is fair to say that existing methods fail to fully exploit latent spatial dependencies between pairs of variables. In recent years, meanwhile, graph neural networks (GNNs) have shown high capability in handling relational dependencies. GNNs require well-defined graph structures for information propagation which means they cannot be applied directly for multivariate time series where the dependencies are not known in advance. In this paper, we propose a general graph neural network framework designed specifically for multivariate time series data. Our approach automatically extracts the uni-directed relations among variables through a graph learning module, into which external knowledge like variable attributes can be easily integrated. A novel mix-hop propagation layer and a dilated inception layer are further proposed to capture the spatial and temporal dependencies within the time series. The graph learning, graph convolution, and temporal convolution modules are jointly learned in an end-to-end framework. Experimental results show that our proposed model outperforms the state-of-the-art baseline methods on 3 of 4 benchmark datasets and achieves on-par performance with other approaches on two traffic datasets which provide extra structural information.

We aim to better understand attention over nodes in graph neural networks (GNNs) and identify factors influencing its effectiveness. We particularly focus on the ability of attention GNNs to generalize to larger, more complex or noisy graphs. Motivated by insights from the work on Graph Isomorphism Networks, we design simple graph reasoning tasks that allow us to study attention in a controlled environment. We find that under typical conditions the effect of attention is negligible or even harmful, but under certain conditions it provides an exceptional gain in performance of more than 60% in some of our classification tasks. Satisfying these conditions in practice is challenging and often requires optimal initialization or supervised training of attention. We propose an alternative recipe and train attention in a weakly-supervised fashion that approaches the performance of supervised models, and, compared to unsupervised models, improves results on several synthetic as well as real datasets. Source code and datasets are available at //github.com/bknyaz/graph_attention_pool.

In this paper, from a theoretical perspective, we study how powerful graph neural networks (GNNs) can be for learning approximation algorithms for combinatorial problems. To this end, we first establish a new class of GNNs that can solve strictly a wider variety of problems than existing GNNs. Then, we bridge the gap between GNN theory and the theory of distributed local algorithms to theoretically demonstrate that the most powerful GNN can learn approximation algorithms for the minimum dominating set problem and the minimum vertex cover problem with some approximation ratios and that no GNN can perform better than with these ratios. This paper is the first to elucidate approximation ratios of GNNs for combinatorial problems. Furthermore, we prove that adding coloring or weak-coloring to each node feature improves these approximation ratios. This indicates that preprocessing and feature engineering theoretically strengthen model capabilities.

This paper addresses the problem of viewpoint estimation of an object in a given image. It presents five key insights that should be taken into consideration when designing a CNN that solves the problem. Based on these insights, the paper proposes a network in which (i) The architecture jointly solves detection, classification, and viewpoint estimation. (ii) New types of data are added and trained on. (iii) A novel loss function, which takes into account both the geometry of the problem and the new types of data, is propose. Our network improves the state-of-the-art results for this problem by 9.8%.