Monocular depth estimation is scale-ambiguous, and thus requires scale supervision to produce metric predictions. Even so, the resulting models will be geometry-specific, with learned scales that cannot be directly transferred across domains. Because of that, recent works focus instead on relative depth, eschewing scale in favor of improved up-to-scale zero-shot transfer. In this work we introduce ZeroDepth, a novel monocular depth estimation framework capable of predicting metric scale for arbitrary test images from different domains and camera parameters. This is achieved by (i) the use of input-level geometric embeddings that enable the network to learn a scale prior over objects; and (ii) decoupling the encoder and decoder stages, via a variational latent representation that is conditioned on single frame information. We evaluated ZeroDepth targeting both outdoor (KITTI, DDAD, nuScenes) and indoor (NYUv2) benchmarks, and achieved a new state-of-the-art in both settings using the same pre-trained model, outperforming methods that train on in-domain data and require test-time scaling to produce metric estimates.
相關內容
In recommendation literature, explainability and fairness are becoming two prominent perspectives to consider. However, prior works have mostly addressed them separately, for instance by explaining to consumers why a certain item was recommended or mitigating disparate impacts in recommendation utility. None of them has leveraged explainability techniques to inform unfairness mitigation. In this paper, we propose an approach that relies on counterfactual explanations to augment the set of user-item interactions, such that using them while inferring recommendations leads to fairer outcomes. Modeling user-item interactions as a bipartite graph, our approach augments the latter by identifying new user-item edges that not only can explain the original unfairness by design, but can also mitigate it. Experiments on two public data sets show that our approach effectively leads to a better trade-off between fairness and recommendation utility compared with state-of-the-art mitigation procedures. We further analyze the characteristics of added edges to highlight key unfairness patterns. Source code available at //github.com/jackmedda/RS-BGExplainer/tree/cikm2023.
In many parameter estimation problems, the exact model is unknown and is assumed to belong to a set of candidate models. In such cases, a predetermined data-based selection rule selects a parametric model from a set of candidates before the parameter estimation. The existing framework for estimation under model misspecification does not account for the selection process that led to the misspecified model. Moreover, in post-model-selection estimation, there are multiple candidate models chosen based on the observations, making the interpretation of the assumed model in the misspecified setting non-trivial. In this work, we present three interpretations to address the problem of non-Bayesian post-model-selection estimation as an estimation under model misspecification problem: the naive interpretation, the normalized interpretation, and the selective inference interpretation, and discuss their properties. For each of these interpretations, we developed the corresponding misspecified maximum likelihood estimator and the misspecified Cram$\acute{\text{e}}$r-Rao-type lower bound. The relations between the estimators and the performance bounds, as well as their properties, are discussed. Finally, we demonstrate the performance of the proposed estimators and bounds via simulations of estimation after channel selection. We show that the proposed performance bounds are more informative than the oracle Cram$\acute{\text{e}}$r-Rao Bound (CRB), where the third interpretation (selective inference) results in the lowest mean-squared-error (MSE) among the estimators.
Collecting diverse sets of training images for RGB-D semantic image segmentation is not always possible. In particular, when robots need to operate in privacy-sensitive areas like homes, the collection is often limited to a small set of locations. As a consequence, the annotated images lack diversity in appearance and approaches for RGB-D semantic image segmentation tend to overfit the training data. In this paper, we thus introduce semantic RGB-D image synthesis to address this problem. It requires synthesising a realistic-looking RGB-D image for a given semantic label map. Current approaches, however, are uni-modal and cannot cope with multi-modal data. Indeed, we show that extending uni-modal approaches to multi-modal data does not perform well. In this paper, we therefore propose a generator for multi-modal data that separates modal-independent information of the semantic layout from the modal-dependent information that is needed to generate an RGB and a depth image, respectively. Furthermore, we propose a discriminator that ensures semantic consistency between the label maps and the generated images and perceptual similarity between the real and generated images. Our comprehensive experiments demonstrate that the proposed method outperforms previous uni-modal methods by a large margin and that the accuracy of an approach for RGB-D semantic segmentation can be significantly improved by mixing real and generated images during training.
We propose to learn non-convex regularizers with a prescribed upper bound on their weak-convexity modulus. Such regularizers give rise to variational denoisers that minimize a convex energy. They rely on few parameters (less than 15,000) and offer a signal-processing interpretation as they mimic handcrafted sparsity-promoting regularizers. Through numerical experiments, we show that such denoisers outperform convex-regularization methods as well as the popular BM3D denoiser. Additionally, the learned regularizer can be deployed to solve inverse problems with iterative schemes that provably converge. For both CT and MRI reconstruction, the regularizer generalizes well and offers an excellent tradeoff between performance, number of parameters, guarantees, and interpretability when compared to other data-driven approaches.
Machine Learning (ML), particularly deep learning, has seen vast advancements, leading to the rise of Machine Learning-Enabled Systems (MLS). However, numerous software engineering challenges persist in propelling these MLS into production, largely due to various run-time uncertainties that impact the overall Quality of Service (QoS). These uncertainties emanate from ML models, software components, and environmental factors. Self-adaptation techniques present potential in managing run-time uncertainties, but their application in MLS remains largely unexplored. As a solution, we propose the concept of a Machine Learning Model Balancer, focusing on managing uncertainties related to ML models by using multiple models. Subsequently, we introduce AdaMLS, a novel self-adaptation approach that leverages this concept and extends the traditional MAPE-K loop for continuous MLS adaptation. AdaMLS employs lightweight unsupervised learning for dynamic model switching, thereby ensuring consistent QoS. Through a self-adaptive object detection system prototype, we demonstrate AdaMLS's effectiveness in balancing system and model performance. Preliminary results suggest AdaMLS surpasses naive and single state-of-the-art models in QoS guarantees, heralding the advancement towards self-adaptive MLS with optimal QoS in dynamic environments.
Dynamic participation has recently become a crucial requirement for devising permissionless consensus protocols. This notion, originally formalized by Pass and Shi (ASIACRYPT 2017) through their "sleepy model", captures the essence of a system's ability to handle participants joining or leaving during a protocol execution. A dynamically available consensus protocol preserves safety and liveness while allowing dynamic participation. Blockchain protocols, such as Bitcoin's consensus protocol, have implicitly adopted this concept. In the context of Ethereum's consensus protocol, Gasper, Neu, Tas, and Tse (S&P 2021) presented an attack against LMD-GHOST -- the component of Gasper designed to ensure dynamic availability. Consequently, LMD-GHOST results unable to fulfill its intended function of providing dynamic availability for the protocol. Despite attempts to mitigate this issue, the modified protocol still does not achieve dynamic availability, highlighting the need for more secure dynamically available protocols. In this work, we present RLMD-GHOST, a synchronous consensus protocol that not only ensures dynamic availability but also maintains safety during bounded periods of asynchrony. This protocol is particularly appealing for practical systems where strict synchrony assumptions may not always hold, contrary to general assumptions in standard synchronous protocols. Additionally, we present the "generalized sleepy model", within which our results are proven. Building upon the original sleepy model proposed by Pass and Shi, our model extends it with more generalized and stronger constraints on the corruption and sleepiness power of the adversary. This approach allows us to explore a wide range of dynamic participation regimes, spanning from complete dynamic participation to no dynamic participation, i.e., with every participant online.
Over the past few decades, ubiquitous sensors and systems have been an integral part of humans' everyday life. They augment human capabilities and provide personalized experiences across diverse contexts such as healthcare, education, and transportation. However, the widespread adoption of ubiquitous computing has also brought forth concerns regarding fairness and equitable treatment. As these systems can make automated decisions that impact individuals, it is essential to ensure that they do not perpetuate biases or discriminate against specific groups. While fairness in ubiquitous computing has been an acknowledged concern since the 1990s, it remains understudied within the field. To bridge this gap, we propose a framework that incorporates fairness considerations into system design, including prioritizing stakeholder perspectives, inclusive data collection, fairness-aware algorithms, appropriate evaluation criteria, enhancing human engagement while addressing privacy concerns, and interactive improvement and regular monitoring. Our framework aims to guide the development of fair and unbiased ubiquitous computing systems, ensuring equal treatment and positive societal impact.
Recently, a considerable literature has grown up around the theme of Graph Convolutional Network (GCN). How to effectively leverage the rich structural information in complex graphs, such as knowledge graphs with heterogeneous types of entities and relations, is a primary open challenge in the field. Most GCN methods are either restricted to graphs with a homogeneous type of edges (e.g., citation links only), or focusing on representation learning for nodes only instead of jointly propagating and updating the embeddings of both nodes and edges for target-driven objectives. This paper addresses these limitations by proposing a novel framework, namely the Knowledge Embedding based Graph Convolutional Network (KE-GCN), which combines the power of GCNs in graph-based belief propagation and the strengths of advanced knowledge embedding (a.k.a. knowledge graph embedding) methods, and goes beyond. Our theoretical analysis shows that KE-GCN offers an elegant unification of several well-known GCN methods as specific cases, with a new perspective of graph convolution. Experimental results on benchmark datasets show the advantageous performance of KE-GCN over strong baseline methods in the tasks of knowledge graph alignment and entity classification.
Knowledge graph embedding, which aims to represent entities and relations as low dimensional vectors (or matrices, tensors, etc.), has been shown to be a powerful technique for predicting missing links in knowledge graphs. Existing knowledge graph embedding models mainly focus on modeling relation patterns such as symmetry/antisymmetry, inversion, and composition. However, many existing approaches fail to model semantic hierarchies, which are common in real-world applications. To address this challenge, we propose a novel knowledge graph embedding model---namely, Hierarchy-Aware Knowledge Graph Embedding (HAKE)---which maps entities into the polar coordinate system. HAKE is inspired by the fact that concentric circles in the polar coordinate system can naturally reflect the hierarchy. Specifically, the radial coordinate aims to model entities at different levels of the hierarchy, and entities with smaller radii are expected to be at higher levels; the angular coordinate aims to distinguish entities at the same level of the hierarchy, and these entities are expected to have roughly the same radii but different angles. Experiments demonstrate that HAKE can effectively model the semantic hierarchies in knowledge graphs, and significantly outperforms existing state-of-the-art methods on benchmark datasets for the link prediction task.
Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis, thereby allowing manual manipulation in predicting the final answer.
小貼士
登錄享
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191