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Multi-modal 3D object detectors are dedicated to exploring secure and reliable perception systems for autonomous driving (AD).Although achieving state-of-the-art (SOTA) performance on clean benchmark datasets, they tend to overlook the complexity and harsh conditions of real-world environments. With the emergence of visual foundation models (VFMs), opportunities and challenges are presented for improving the robustness and generalization of multi-modal 3D object detection in AD. Therefore, we propose RoboFusion, a robust framework that leverages VFMs like SAM to tackle out-of-distribution (OOD) noise scenarios. We first adapt the original SAM for AD scenarios named SAM-AD. To align SAM or SAM-AD with multi-modal methods, we then introduce AD-FPN for upsampling the image features extracted by SAM. We employ wavelet decomposition to denoise the depth-guided images for further noise reduction and weather interference. At last, we employ self-attention mechanisms to adaptively reweight the fused features, enhancing informative features while suppressing excess noise. In summary, RoboFusion significantly reduces noise by leveraging the generalization and robustness of VFMs, thereby enhancing the resilience of multi-modal 3D object detection. Consequently, RoboFusion achieves SOTA performance in noisy scenarios, as demonstrated by the KITTI-C and nuScenes-C benchmarks. Code is available at //github.com/adept-thu/RoboFusion.

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The emergence of large language models (LLMs) has substantially influenced natural language processing, demonstrating exceptional results across various tasks. In this study, we employ ``Introspective Tips" to facilitate LLMs in self-optimizing their decision-making. By introspectively examining trajectories, LLM refines its policy by generating succinct and valuable tips. Our method enhances the agent's performance in both few-shot and zero-shot learning situations by considering three essential scenarios: learning from the agent's past experiences, integrating expert demonstrations, and generalizing across diverse games. Importantly, we accomplish these improvements without fine-tuning the LLM parameters; rather, we adjust the prompt to generalize insights from the three aforementioned situations. Our framework not only supports but also emphasizes the advantage of employing LLM in in-contxt decision-making. Experiments involving over 100 games in TextWorld illustrate the superior performance of our approach.

Generalization to out-of-distribution (OOD) data is a capability natural to humans yet challenging for machines to reproduce. This is because most learning algorithms strongly rely on the i.i.d.~assumption on source/target data, which is often violated in practice due to domain shift. Domain generalization (DG) aims to achieve OOD generalization by using only source data for model learning. Since first introduced in 2011, research in DG has made great progresses. In particular, intensive research in this topic has led to a broad spectrum of methodologies, e.g., those based on domain alignment, meta-learning, data augmentation, or ensemble learning, just to name a few; and has covered various vision applications such as object recognition, segmentation, action recognition, and person re-identification. In this paper, for the first time a comprehensive literature review is provided to summarize the developments in DG for computer vision over the past decade. Specifically, we first cover the background by formally defining DG and relating it to other research fields like domain adaptation and transfer learning. Second, we conduct a thorough review into existing methods and present a categorization based on their methodologies and motivations. Finally, we conclude this survey with insights and discussions on future research directions.

Meta reinforcement learning (meta-RL) extracts knowledge from previous tasks and achieves fast adaptation to new tasks. Despite recent progress, efficient exploration in meta-RL remains a key challenge in sparse-reward tasks, as it requires quickly finding informative task-relevant experiences in both meta-training and adaptation. To address this challenge, we explicitly model an exploration policy learning problem for meta-RL, which is separated from exploitation policy learning, and introduce a novel empowerment-driven exploration objective, which aims to maximize information gain for task identification. We derive a corresponding intrinsic reward and develop a new off-policy meta-RL framework, which efficiently learns separate context-aware exploration and exploitation policies by sharing the knowledge of task inference. Experimental evaluation shows that our meta-RL method significantly outperforms state-of-the-art baselines on various sparse-reward MuJoCo locomotion tasks and more complex sparse-reward Meta-World tasks.

Sequential recommendation (SR) is to accurately recommend a list of items for a user based on her current accessed ones. While new-coming users continuously arrive in the real world, one crucial task is to have inductive SR that can produce embeddings of users and items without re-training. Given user-item interactions can be extremely sparse, another critical task is to have transferable SR that can transfer the knowledge derived from one domain with rich data to another domain. In this work, we aim to present the holistic SR that simultaneously accommodates conventional, inductive, and transferable settings. We propose a novel deep learning-based model, Relational Temporal Attentive Graph Neural Networks (RetaGNN), for holistic SR. The main idea of RetaGNN is three-fold. First, to have inductive and transferable capabilities, we train a relational attentive GNN on the local subgraph extracted from a user-item pair, in which the learnable weight matrices are on various relations among users, items, and attributes, rather than nodes or edges. Second, long-term and short-term temporal patterns of user preferences are encoded by a proposed sequential self-attention mechanism. Third, a relation-aware regularization term is devised for better training of RetaGNN. Experiments conducted on MovieLens, Instagram, and Book-Crossing datasets exhibit that RetaGNN can outperform state-of-the-art methods under conventional, inductive, and transferable settings. The derived attention weights also bring model explainability.

Conventional unsupervised multi-source domain adaptation (UMDA) methods assume all source domains can be accessed directly. This neglects the privacy-preserving policy, that is, all the data and computations must be kept decentralized. There exists three problems in this scenario: (1) Minimizing the domain distance requires the pairwise calculation of the data from source and target domains, which is not accessible. (2) The communication cost and privacy security limit the application of UMDA methods (e.g., the domain adversarial training). (3) Since users have no authority to check the data quality, the irrelevant or malicious source domains are more likely to appear, which causes negative transfer. In this study, we propose a privacy-preserving UMDA paradigm named Knowledge Distillation based Decentralized Domain Adaptation (KD3A), which performs domain adaptation through the knowledge distillation on models from different source domains. KD3A solves the above problems with three components: (1) A multi-source knowledge distillation method named Knowledge Vote to learn high-quality domain consensus knowledge. (2) A dynamic weighting strategy named Consensus Focus to identify both the malicious and irrelevant domains. (3) A decentralized optimization strategy for domain distance named BatchNorm MMD. The extensive experiments on DomainNet demonstrate that KD3A is robust to the negative transfer and brings a 100x reduction of communication cost compared with other decentralized UMDA methods. Moreover, our KD3A significantly outperforms state-of-the-art UMDA approaches.

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.

Joint image-text embedding is the bedrock for most Vision-and-Language (V+L) tasks, where multimodality inputs are jointly processed for visual and textual understanding. In this paper, we introduce UNITER, a UNiversal Image-TExt Representation, learned through large-scale pre-training over four image-text datasets (COCO, Visual Genome, Conceptual Captions, and SBU Captions), which can power heterogeneous downstream V+L tasks with joint multimodal embeddings. We design three pre-training tasks: Masked Language Modeling (MLM), Image-Text Matching (ITM), and Masked Region Modeling (MRM, with three variants). Different from concurrent work on multimodal pre-training that apply joint random masking to both modalities, we use conditioned masking on pre-training tasks (i.e., masked language/region modeling is conditioned on full observation of image/text). Comprehensive analysis shows that conditioned masking yields better performance than unconditioned masking. We also conduct a thorough ablation study to find an optimal setting for the combination of pre-training tasks. Extensive experiments show that UNITER achieves new state of the art across six V+L tasks (over nine datasets), including Visual Question Answering, Image-Text Retrieval, Referring Expression Comprehension, Visual Commonsense Reasoning, Visual Entailment, and NLVR2.

Named entity recognition (NER) in Chinese is essential but difficult because of the lack of natural delimiters. Therefore, Chinese Word Segmentation (CWS) is usually considered as the first step for Chinese NER. However, models based on word-level embeddings and lexicon features often suffer from segmentation errors and out-of-vocabulary (OOV) words. In this paper, we investigate a Convolutional Attention Network called CAN for Chinese NER, which consists of a character-based convolutional neural network (CNN) with local-attention layer and a gated recurrent unit (GRU) with global self-attention layer to capture the information from adjacent characters and sentence contexts. Also, compared to other models, not depending on any external resources like lexicons and employing small size of char embeddings make our model more practical. Extensive experimental results show that our approach outperforms state-of-the-art methods without word embedding and external lexicon resources on different domain datasets including Weibo, MSRA and Chinese Resume NER dataset.

Distant supervision can effectively label data for relation extraction, but suffers from the noise labeling problem. Recent works mainly perform soft bag-level noise reduction strategies to find the relatively better samples in a sentence bag, which is suboptimal compared with making a hard decision of false positive samples in sentence level. In this paper, we introduce an adversarial learning framework, which we named DSGAN, to learn a sentence-level true-positive generator. Inspired by Generative Adversarial Networks, we regard the positive samples generated by the generator as the negative samples to train the discriminator. The optimal generator is obtained until the discrimination ability of the discriminator has the greatest decline. We adopt the generator to filter distant supervision training dataset and redistribute the false positive instances into the negative set, in which way to provide a cleaned dataset for relation classification. The experimental results show that the proposed strategy significantly improves the performance of distant supervision relation extraction comparing to state-of-the-art systems.

Salient object detection is a fundamental problem and has been received a great deal of attentions in computer vision. Recently deep learning model became a powerful tool for image feature extraction. In this paper, we propose a multi-scale deep neural network (MSDNN) for salient object detection. The proposed model first extracts global high-level features and context information over the whole source image with recurrent convolutional neural network (RCNN). Then several stacked deconvolutional layers are adopted to get the multi-scale feature representation and obtain a series of saliency maps. Finally, we investigate a fusion convolution module (FCM) to build a final pixel level saliency map. The proposed model is extensively evaluated on four salient object detection benchmark datasets. Results show that our deep model significantly outperforms other 12 state-of-the-art approaches.

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