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Empathy is critical for effective and satisfactory conversational communication. Prior efforts to measure conversational empathy mostly focus on expressed communicative intents -- that is, the way empathy is expressed. Yet, these works ignore the fact that conversation is also a collaboration involving both speakers and listeners. In contrast, we propose a multi-dimensional empathy evaluation framework to measure both expressed intents from the speaker's perspective and perceived empathy from the listener's perspective. We apply our proposed framework to analyze our internal customer-service dialogue. We find the two dimensions (expressed intent types and perceived empathy) are inter-connected, and perceived empathy has a high correlation with dialogue satisfaction levels. To reduce the annotation cost, we explore different options to automatically measure conversational empathy: prompting LLMs and training language model-based classifiers. Our experiments show that prompting methods with even popular models like GPT-4 and Flan family models perform relatively poorly on both public and our internal datasets. In contrast, instruction-finetuned classifiers based on Flan-T5 family models outperform prior works and competitive baselines. We conduct a detailed ablation study to give more insights into instruction finetuning method's strong performance.

Scanning real-life scenes with modern registration devices typically gives incomplete point cloud representations, primarily due to the limitations of partial scanning, 3D occlusions, and dynamic light conditions. Recent works on processing incomplete point clouds have always focused on point cloud completion. However, these approaches do not ensure consistency between the completed point cloud and the captured images regarding color and geometry. We propose using Generative Point-based NeRF (GPN) to reconstruct and repair a partial cloud by fully utilizing the scanning images and the corresponding reconstructed cloud. The repaired point cloud can achieve multi-view consistency with the captured images at high spatial resolution. For the finetunes of a single scene, we optimize the global latent condition by incorporating an Auto-Decoder architecture while retaining multi-view consistency. As a result, the generated point clouds are smooth, plausible, and geometrically consistent with the partial scanning images. Extensive experiments on ShapeNet demonstrate that our works achieve competitive performances to the other state-of-the-art point cloud-based neural scene rendering and editing performances.

Event cameras are bio-inspired sensors that capture the per-pixel intensity changes asynchronously and produce event streams encoding the time, pixel position, and polarity (sign) of the intensity changes. Event cameras possess a myriad of advantages over canonical frame-based cameras, such as high temporal resolution, high dynamic range, low latency, etc. Being capable of capturing information in challenging visual conditions, event cameras have the potential to overcome the limitations of frame-based cameras in the computer vision and robotics community. In very recent years, deep learning (DL) has been brought to this emerging field and inspired active research endeavors in mining its potential. However, there is still a lack of taxonomies in DL techniques for event-based vision. We first scrutinize the typical event representations with quality enhancement methods as they play a pivotal role as inputs to the DL models. We then provide a comprehensive survey of existing DL-based methods by structurally grouping them into two major categories: 1) image/video reconstruction and restoration; 2) event-based scene understanding and 3D vision. We conduct benchmark experiments for the existing methods in some representative research directions, i.e., image reconstruction, deblurring, and object recognition, to identify some critical insights and problems. Finally, we have discussions regarding the challenges and provide new perspectives for inspiring more research studies.

The autonomous driving community has shown significant interest in 3D occupancy prediction, driven by its exceptional geometric perception and general object recognition capabilities. To achieve this, current works try to construct a Tri-Perspective View (TPV) or Occupancy (OCC) representation extending from the Bird-Eye-View perception. However, compressed views like TPV representation lose 3D geometry information while raw and sparse OCC representation requires heavy but redundant computational costs. To address the above limitations, we propose Compact Occupancy TRansformer (COTR), with a geometry-aware occupancy encoder and a semantic-aware group decoder to reconstruct a compact 3D OCC representation. The occupancy encoder first generates a compact geometrical OCC feature through efficient explicit-implicit view transformation. Then, the occupancy decoder further enhances the semantic discriminability of the compact OCC representation by a coarse-to-fine semantic grouping strategy. Empirical experiments show that there are evident performance gains across multiple baselines, e.g., COTR outperforms baselines with a relative improvement of 8%-15%, demonstrating the superiority of our method.

Model-based approaches to imaging, like specialized image enhancements in astronomy, facilitate explanations of relationships between observed inputs and computed outputs. These models may be expressed with extended matrix-vector (EMV) algebra, especially when they involve only scalars, vectors, and matrices, and with n-mode or index notations, when they involve multidimensional arrays, also called numeric tensors or, simply, tensors. While this paper features an example, inspired by exoplanet imaging, that employs tensors to reveal (inverse) 2D fast Fourier transforms in an image enhancement model, the work is actually about the tensor algebra and software, or tensor frameworks, available for model-based imaging. The paper proposes a Ricci-notation tensor (RT) framework, comprising a dual-variant index notation, with Einstein summation convention, and codesigned object-oriented software, called the RTToolbox for MATLAB. Extensions to Ricci notation offer novel representations for entrywise, pagewise, and broadcasting operations popular in EMV frameworks for imaging. Complementing the EMV algebra computable with MATLAB, the RTToolbox demonstrates programmatic and computational efficiency via careful design of numeric tensor and dual-variant index classes. Compared to its closest competitor, also a numeric tensor framework that uses index notation, the RT framework enables superior ways to model imaging problems and, thereby, to develop solutions.

Localization and mapping are critical tasks for various applications such as autonomous vehicles and robotics. The challenges posed by outdoor environments present particular complexities due to their unbounded characteristics. In this work, we present MM-Gaussian, a LiDAR-camera multi-modal fusion system for localization and mapping in unbounded scenes. Our approach is inspired by the recently developed 3D Gaussians, which demonstrate remarkable capabilities in achieving high rendering quality and fast rendering speed. Specifically, our system fully utilizes the geometric structure information provided by solid-state LiDAR to address the problem of inaccurate depth encountered when relying solely on visual solutions in unbounded, outdoor scenarios. Additionally, we utilize 3D Gaussian point clouds, with the assistance of pixel-level gradient descent, to fully exploit the color information in photos, thereby achieving realistic rendering effects. To further bolster the robustness of our system, we designed a relocalization module, which assists in returning to the correct trajectory in the event of a localization failure. Experiments conducted in multiple scenarios demonstrate the effectiveness of our method.

Similarity search, the task of identifying objects most similar to a given query object under a specific metric, has gathered significant attention due to its practical applications. However, the absence of coordinate information to accelerate similarity search and the high computational cost of measuring object similarity hinder the efficiency of existing CPU-based methods. Additionally, these methods struggle to meet the demand for high throughput data management. To address these challenges, we propose GTS, a GPU-based tree index designed for the parallel processing of similarity search in general metric spaces, where only the distance metric for measuring object similarity is known. The GTS index utilizes a pivot-based tree structure to efficiently prune objects and employs list tables to facilitate GPU computing. To efficiently manage concurrent similarity queries with limited GPU memory, we have developed a two-stage search method that combines batch processing and sequential strategies to optimize memory usage. The paper also introduces an effective update strategy for the proposed GPU-based index, encompassing streaming data updates and batch data updates. Additionally, we present a cost model to evaluate search performance. Extensive experiments on five real-life datasets demonstrate that GTS achieves efficiency gains of up to two orders of magnitude over existing CPU baselines and up to 20x efficiency improvements compared to state-of-the-art GPU-based methods.

In the realm of video object tracking, auxiliary modalities such as depth, thermal, or event data have emerged as valuable assets to complement the RGB trackers. In practice, most existing RGB trackers learn a single set of parameters to use them across datasets and applications. However, a similar single-model unification for multi-modality tracking presents several challenges. These challenges stem from the inherent heterogeneity of inputs -- each with modality-specific representations, the scarcity of multi-modal datasets, and the absence of all the modalities at all times. In this work, we introduce Un-Track, a Unified Tracker of a single set of parameters for any modality. To handle any modality, our method learns their common latent space through low-rank factorization and reconstruction techniques. More importantly, we use only the RGB-X pairs to learn the common latent space. This unique shared representation seamlessly binds all modalities together, enabling effective unification and accommodating any missing modality, all within a single transformer-based architecture. Our Un-Track achieves +8.1 absolute F-score gain, on the DepthTrack dataset, by introducing only +2.14 (over 21.50) GFLOPs with +6.6M (over 93M) parameters, through a simple yet efficient prompting strategy. Extensive comparisons on five benchmark datasets with different modalities show that Un-Track surpasses both SOTA unified trackers and modality-specific counterparts, validating our effectiveness and practicality. The source code is publicly available at //github.com/Zongwei97/UnTrack.

We present SAM, a biologically-plausible selective attention-driven modulation approach to enhance classification models in a continual learning setting. Inspired by neurophysiological evidence that the primary visual cortex does not contribute to object manifold untangling for categorization and that primordial attention biases are still embedded in the modern brain, we propose to employ auxiliary saliency prediction features as a modulation signal to drive and stabilize the learning of a sequence of non-i.i.d. classification tasks. Experimental results confirm that SAM effectively enhances the performance (in some cases up to about twenty percent points) of state-of-the-art continual learning methods, both in class-incremental and task-incremental settings. Moreover, we show that attention-based modulation successfully encourages the learning of features that are more robust to the presence of spurious features and to adversarial attacks than baseline methods. Code is available at: //github.com/perceivelab/SAM.

To retrieve more relevant, appropriate and useful documents given a query, finding clues about that query through the text is crucial. Recent deep learning models regard the task as a term-level matching problem, which seeks exact or similar query patterns in the document. However, we argue that they are inherently based on local interactions and do not generalise to ubiquitous, non-consecutive contextual relationships.In this work, we propose a novel relevance matching model based on graph neural networks to leverage the document-level word relationships for ad-hoc retrieval. In addition to the local interactions, we explicitly incorporate all contexts of a term through the graph-of-word text format. Matching patterns can be revealed accordingly to provide a more accurate relevance score. Our approach significantly outperforms strong baselines on two ad-hoc benchmarks. We also experimentally compare our model with BERT and show our ad-vantages on long documents.