Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown scene, given a limited measurement budget. We propose a novel mapless planning framework to iteratively plan the next best camera view based on collected image measurements. A key aspect of our approach is a new technique for uncertainty estimation in image-based neural rendering, which guides measurement acquisition at the most uncertain view among view candidates, thus maximising the information value during data collection. By incrementally adding new measurements into our image collection, our approach efficiently explores an unknown scene in a mapless manner. We show that our uncertainty estimation is generalisable and valuable for view planning in unknown scenes. Our planning experiments using synthetic and real-world data verify that our uncertainty-guided approach finds informative images leading to more accurate scene representations when compared against baselines.
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In this paper, we present the decomposed triplane-hash neural radiance fields (DT-NeRF), a framework that significantly improves the photorealistic rendering of talking faces and achieves state-of-the-art results on key evaluation datasets. Our architecture decomposes the facial region into two specialized triplanes: one specialized for representing the mouth, and the other for the broader facial features. We introduce audio features as residual terms and integrate them as query vectors into our model through an audio-mouth-face transformer. Additionally, our method leverages the capabilities of Neural Radiance Fields (NeRF) to enrich the volumetric representation of the entire face through additive volumetric rendering techniques. Comprehensive experimental evaluations corroborate the effectiveness and superiority of our proposed approach.
Large language models (LLMs) have achieved great success in general domains of natural language processing. In this paper, we bring LLMs to the realm of geoscience with the objective of advancing research and applications in this field. To this end, we present the first-ever LLM in geoscience, K2, alongside a suite of resources developed to further promote LLM research within geoscience. For instance, we have curated the first geoscience instruction tuning dataset, GeoSignal, which aims to align LLM responses to geoscience-related user queries. Additionally, we have established the first geoscience benchmark, GeoBench, to evaluate LLMs in the context of geoscience. In this work, we experiment with a complete recipe to adapt a pre-trained general-domain LLM to the geoscience domain. Specifically, we further train the LLaMA-7B model on 5.5B tokens of geoscience text corpus, including over 1 million pieces of geoscience literature, and utilize GeoSignal's supervised data to fine-tune the model. Moreover, we share a protocol that can efficiently gather domain-specific data and construct domain-supervised data, even in situations where manpower is scarce. Meanwhile, we equip K2 with the abilities of using tools to be a naive geoscience aide. Experiments conducted on the GeoBench demonstrate the effectiveness of our approach and datasets on geoscience knowledge understanding and utilization.We open-source all the training data and K2 model checkpoints at //github.com/davendw49/k2.
In this paper, we propose a novel training strategy called SupFusion, which provides an auxiliary feature level supervision for effective LiDAR-Camera fusion and significantly boosts detection performance. Our strategy involves a data enhancement method named Polar Sampling, which densifies sparse objects and trains an assistant model to generate high-quality features as the supervision. These features are then used to train the LiDAR-Camera fusion model, where the fusion feature is optimized to simulate the generated high-quality features. Furthermore, we propose a simple yet effective deep fusion module, which contiguously gains superior performance compared with previous fusion methods with SupFusion strategy. In such a manner, our proposal shares the following advantages. Firstly, SupFusion introduces auxiliary feature-level supervision which could boost LiDAR-Camera detection performance without introducing extra inference costs. Secondly, the proposed deep fusion could continuously improve the detector's abilities. Our proposed SupFusion and deep fusion module is plug-and-play, we make extensive experiments to demonstrate its effectiveness. Specifically, we gain around 2% 3D mAP improvements on KITTI benchmark based on multiple LiDAR-Camera 3D detectors.
A noisy training set usually leads to the degradation of the generalization and robustness of neural networks. In this paper, we propose a novel theoretically guaranteed clean sample selection framework for learning with noisy labels. Specifically, we first present a Scalable Penalized Regression (SPR) method, to model the linear relation between network features and one-hot labels. In SPR, the clean data are identified by the zero mean-shift parameters solved in the regression model. We theoretically show that SPR can recover clean data under some conditions. Under general scenarios, the conditions may be no longer satisfied; and some noisy data are falsely selected as clean data. To solve this problem, we propose a data-adaptive method for Scalable Penalized Regression with Knockoff filters (Knockoffs-SPR), which is provable to control the False-Selection-Rate (FSR) in the selected clean data. To improve the efficiency, we further present a split algorithm that divides the whole training set into small pieces that can be solved in parallel to make the framework scalable to large datasets. While Knockoffs-SPR can be regarded as a sample selection module for a standard supervised training pipeline, we further combine it with a semi-supervised algorithm to exploit the support of noisy data as unlabeled data. Experimental results on several benchmark datasets and real-world noisy datasets show the effectiveness of our framework and validate the theoretical results of Knockoffs-SPR. Our code and pre-trained models are available at //github.com/Yikai-Wang/Knockoffs-SPR.
Heavily relying on 3D annotations limits the real-world application of 3D object detection. In this paper, we propose a method that does not demand any 3D annotation, while being able to predict fully oriented 3D bounding boxes. Our method, called Recursive Cross-View (RCV), utilizes the three-view principle to convert 3D detection into multiple 2D detection tasks, requiring only a subset of 2D labels. We propose a recursive paradigm, in which instance segmentation and 3D bounding box generation by Cross-View are implemented recursively until convergence. Specifically, our proposed method involves the use of a frustum for each 2D bounding box, which is then followed by the recursive paradigm that ultimately generates a fully oriented 3D box, along with its corresponding class and score. Note that, class and score are given by the 2D detector. Estimated on the SUN RGB-D and KITTI datasets, our method outperforms existing image-based approaches. To justify that our method can be quickly used to new tasks, we implement it on two real-world scenarios, namely 3D human detection and 3D hand detection. As a result, two new 3D annotated datasets are obtained, which means that RCV can be viewed as a (semi-) automatic 3D annotator. Furthermore, we deploy RCV on a depth sensor, which achieves detection at 7 fps on a live RGB-D stream. RCV is the first 3D detection method that yields fully oriented 3D boxes without consuming 3D labels.
Link prediction is a very fundamental task on graphs. Inspired by traditional path-based methods, in this paper we propose a general and flexible representation learning framework based on paths for link prediction. Specifically, we define the representation of a pair of nodes as the generalized sum of all path representations, with each path representation as the generalized product of the edge representations in the path. Motivated by the Bellman-Ford algorithm for solving the shortest path problem, we show that the proposed path formulation can be efficiently solved by the generalized Bellman-Ford algorithm. To further improve the capacity of the path formulation, we propose the Neural Bellman-Ford Network (NBFNet), a general graph neural network framework that solves the path formulation with learned operators in the generalized Bellman-Ford algorithm. The NBFNet parameterizes the generalized Bellman-Ford algorithm with 3 neural components, namely INDICATOR, MESSAGE and AGGREGATE functions, which corresponds to the boundary condition, multiplication operator, and summation operator respectively. The NBFNet is very general, covers many traditional path-based methods, and can be applied to both homogeneous graphs and multi-relational graphs (e.g., knowledge graphs) in both transductive and inductive settings. Experiments on both homogeneous graphs and knowledge graphs show that the proposed NBFNet outperforms existing methods by a large margin in both transductive and inductive settings, achieving new state-of-the-art results.
In this paper, we present a comprehensive review of the imbalance problems in object detection. To analyze the problems in a systematic manner, we introduce a problem-based taxonomy. Following this taxonomy, we discuss each problem in depth and present a unifying yet critical perspective on the solutions in the literature. In addition, we identify major open issues regarding the existing imbalance problems as well as imbalance problems that have not been discussed before. Moreover, in order to keep our review up to date, we provide an accompanying webpage which catalogs papers addressing imbalance problems, according to our problem-based taxonomy. Researchers can track newer studies on this webpage available at: //github.com/kemaloksuz/ObjectDetectionImbalance .
This paper proposes a recommender system to alleviate the cold-start problem that can estimate user preferences based on only a small number of items. To identify a user's preference in the cold state, existing recommender systems, such as Netflix, initially provide items to a user; we call those items evidence candidates. Recommendations are then made based on the items selected by the user. Previous recommendation studies have two limitations: (1) the users who consumed a few items have poor recommendations and (2) inadequate evidence candidates are used to identify user preferences. We propose a meta-learning-based recommender system called MeLU to overcome these two limitations. From meta-learning, which can rapidly adopt new task with a few examples, MeLU can estimate new user's preferences with a few consumed items. In addition, we provide an evidence candidate selection strategy that determines distinguishing items for customized preference estimation. We validate MeLU with two benchmark datasets, and the proposed model reduces at least 5.92% mean absolute error than two comparative models on the datasets. We also conduct a user study experiment to verify the evidence selection strategy.
We consider an interesting problem-salient instance segmentation in this paper. Other than producing bounding boxes, our network also outputs high-quality instance-level segments. Taking into account the category-independent property of each target, we design a single stage salient instance segmentation framework, with a novel segmentation branch. Our new branch regards not only local context inside each detection window but also its surrounding context, enabling us to distinguish the instances in the same scope even with obstruction. Our network is end-to-end trainable and runs at a fast speed (40 fps when processing an image with resolution 320x320). We evaluate our approach on a publicly available benchmark and show that it outperforms other alternative solutions. We also provide a thorough analysis of the design choices to help readers better understand the functions of each part of our network. The source code can be found at \url{//github.com/RuochenFan/S4Net}.
In this paper we address issues with image retrieval benchmarking on standard and popular Oxford 5k and Paris 6k datasets. In particular, annotation errors, the size of the dataset, and the level of challenge are addressed: new annotation for both datasets is created with an extra attention to the reliability of the ground truth. Three new protocols of varying difficulty are introduced. The protocols allow fair comparison between different methods, including those using a dataset pre-processing stage. For each dataset, 15 new challenging queries are introduced. Finally, a new set of 1M hard, semi-automatically cleaned distractors is selected. An extensive comparison of the state-of-the-art methods is performed on the new benchmark. Different types of methods are evaluated, ranging from local-feature-based to modern CNN based methods. The best results are achieved by taking the best of the two worlds. Most importantly, image retrieval appears far from being solved.
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