Point cloud completion aims to recover the complete shape based on a partial observation. Existing methods require either complete point clouds or multiple partial observations of the same object for learning. In contrast to previous approaches, we present Partial2Complete (P2C), the first self-supervised framework that completes point cloud objects using training samples consisting of only a single incomplete point cloud per object. Specifically, our framework groups incomplete point clouds into local patches as input and predicts masked patches by learning prior information from different partial objects. We also propose Region-Aware Chamfer Distance to regularize shape mismatch without limiting completion capability, and devise the Normal Consistency Constraint to incorporate a local planarity assumption, encouraging the recovered shape surface to be continuous and complete. In this way, P2C no longer needs multiple observations or complete point clouds as ground truth. Instead, structural cues are learned from a category-specific dataset to complete partial point clouds of objects. We demonstrate the effectiveness of our approach on both synthetic ShapeNet data and real-world ScanNet data, showing that P2C produces comparable results to methods trained with complete shapes, and outperforms methods learned with multiple partial observations. Code is available at //github.com/CuiRuikai/Partial2Complete.
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By utilizing global navigation satellite system (GNSS) position and velocity measurements, the fusion between the GNSS and the inertial navigation system provides accurate and robust navigation information. When considering land vehicles,like autonomous ground vehicles,off-road vehicles or mobile robots,a GNSS-based heading angle measurement can be obtained and used in parallel to the position measurement to bound the heading angle drift. Yet, at low vehicle speeds (less than 2m/s) such a model-based heading measurement fails to provide satisfactory performance. This paper proposes GHNet, a deep-learning framework capable of accurately regressing the heading angle for vehicles operating at low speeds. We demonstrate that GHNet outperforms the current model-based approach for simulation and experimental datasets.
Causal-Story: Local Causal Attention Utilizing Parameter-Efficient Tuning For Visual Story Synthesis
The excellent text-to-image synthesis capability of diffusion models has driven progress in synthesizing coherent visual stories. The current state-of-the-art method combines the features of historical captions, historical frames, and the current captions as conditions for generating the current frame. However, this method treats each historical frame and caption as the same contribution. It connects them in order with equal weights, ignoring that not all historical conditions are associated with the generation of the current frame. To address this issue, we propose Causal-Story. This model incorporates a local causal attention mechanism that considers the causal relationship between previous captions, frames, and current captions. By assigning weights based on this relationship, Causal-Story generates the current frame, thereby improving the global consistency of story generation. We evaluated our model on the PororoSV and FlintstonesSV datasets and obtained state-of-the-art FID scores, and the generated frames also demonstrate better storytelling in visuals. The source code of Causal-Story can be obtained from //github.com/styufo/Causal-Story.
The malicious use and widespread dissemination of deepfake pose a significant crisis of trust. Current deepfake detection models can generally recognize forgery images by training on a large dataset. However, the accuracy of detection models degrades significantly on images generated by new deepfake methods due to the difference in data distribution. To tackle this issue, we present a novel incremental learning framework that improves the generalization of deepfake detection models by continual learning from a small number of new samples. To cope with different data distributions, we propose to learn a domain-invariant representation based on supervised contrastive learning, preventing overfit to the insufficient new data. To mitigate catastrophic forgetting, we regularize our model in both feature-level and label-level based on a multi-perspective knowledge distillation approach. Finally, we propose to select both central and hard representative samples to update the replay set, which is beneficial for both domain-invariant representation learning and rehearsal-based knowledge preserving. We conduct extensive experiments on four benchmark datasets, obtaining the new state-of-the-art average forgetting rate of 7.01 and average accuracy of 85.49 on FF++, DFDC-P, DFD, and CDF2. Our code is released at //github.com/DeepFakeIL/DFIL.
Due to their highly structured characteristics, faces are easier to recover than natural scenes for blind image super-resolution. Therefore, we can extract the degradation representation of an image from the low-quality and recovered face pairs. Using the degradation representation, realistic low-quality images can then be synthesized to fine-tune the super-resolution model for the real-world low-quality image. However, such a procedure is time-consuming and laborious, and the gaps between recovered faces and the ground-truths further increase the optimization uncertainty. To facilitate efficient model adaptation towards image-specific degradations, we propose a method dubbed MetaF2N, which leverages the contained Faces to fine-tune model parameters for adapting to the whole Natural image in a Meta-learning framework. The degradation extraction and low-quality image synthesis steps are thus circumvented in our MetaF2N, and it requires only one fine-tuning step to get decent performance. Considering the gaps between the recovered faces and ground-truths, we further deploy a MaskNet for adaptively predicting loss weights at different positions to reduce the impact of low-confidence areas. To evaluate our proposed MetaF2N, we have collected a real-world low-quality dataset with one or multiple faces in each image, and our MetaF2N achieves superior performance on both synthetic and real-world datasets. Source code, pre-trained models, and collected datasets are available at //github.com/yinzhicun/MetaF2N.
Variable selection on the large-scale networks has been extensively studied in the literature. While most of the existing methods are limited to the local functionals especially the graph edges, this paper focuses on selecting the discrete hub structures of the networks. Specifically, we propose an inferential method, called StarTrek filter, to select the hub nodes with degrees larger than a certain thresholding level in the high dimensional graphical models and control the false discovery rate (FDR). Discovering hub nodes in the networks is challenging: there is no straightforward statistic for testing the degree of a node due to the combinatorial structures; complicated dependence in the multiple testing problem is hard to characterize and control. In methodology, the StarTrek filter overcomes this by constructing p-values based on the maximum test statistics via the Gaussian multiplier bootstrap. In theory, we show that the StarTrek filter can control the FDR by providing accurate bounds on the approximation errors of the quantile estimation and addressing the dependence structures among the maximal statistics. To this end, we establish novel Cram\'er-type comparison bounds for the high dimensional Gaussian random vectors. Comparing to the Gaussian comparison bound via the Kolmogorov distance established by \citet{chernozhukov2014anti}, our Cram\'er-type comparison bounds establish the relative difference between the distribution functions of two high dimensional Gaussian random vectors. We illustrate the validity of the StarTrek filter in a series of numerical experiments and apply it to the genotype-tissue expression dataset to discover central regulator genes.
We introduce a new debiasing framework for high-dimensional linear regression that bypasses the restrictions on covariate distributions imposed by modern debiasing technology. We study the prevalent setting where the number of features and samples are both large and comparable. In this context, state-of-the-art debiasing technology uses a degrees-of-freedom correction to remove shrinkage bias of regularized estimators and conduct inference. However, this method requires that the observed samples are i.i.d., the covariates follow a mean zero Gaussian distribution, and reliable covariance matrix estimates for observed features are available. This approach struggles when (i) covariates are non-Gaussian with heavy tails or asymmetric distributions, (ii) rows of the design exhibit heterogeneity or dependencies, and (iii) reliable feature covariance estimates are lacking. To address these, we develop a new strategy where the debiasing correction is a rescaled gradient descent step (suitably initialized) with step size determined by the spectrum of the sample covariance matrix. Unlike prior work, we assume that eigenvectors of this matrix are uniform draws from the orthogonal group. We show this assumption remains valid in diverse situations where traditional debiasing fails, including designs with complex row-column dependencies, heavy tails, asymmetric properties, and latent low-rank structures. We establish asymptotic normality of our proposed estimator (centered and scaled) under various convergence notions. Moreover, we develop a consistent estimator for its asymptotic variance. Lastly, we introduce a debiased Principal Component Regression (PCR) technique using our Spectrum-Aware approach. In varied simulations and real data experiments, we observe that our method outperforms degrees-of-freedom debiasing by a margin.
The motivations of users to make interactions can be divided into static preference and dynamic interest. To accurately model user representations over time, recent studies in sequential recommendation utilize information propagation and evolution to mine from batches of arriving interactions. However, they ignore the fact that people are easily influenced by the recent actions of other users in the contextual scenario, and applying evolution across all historical interactions dilutes the importance of recent ones, thus failing to model the evolution of dynamic interest accurately. To address this issue, we propose a Context-Aware Pseudo-Multi-Task Recommender System (CPMR) to model the evolution in both historical and contextual scenarios by creating three representations for each user and item under different dynamics: static embedding, historical temporal states, and contextual temporal states. To dually improve the performance of temporal states evolution and incremental recommendation, we design a Pseudo-Multi-Task Learning (PMTL) paradigm by stacking the incremental single-target recommendations into one multi-target task for joint optimization. Within the PMTL paradigm, CPMR employs a shared-bottom network to conduct the evolution of temporal states across historical and contextual scenarios, as well as the fusion of them at the user-item level. In addition, CPMR incorporates one real tower for incremental predictions, and two pseudo towers dedicated to updating the respective temporal states based on new batches of interactions. Experimental results on four benchmark recommendation datasets show that CPMR consistently outperforms state-of-the-art baselines and achieves significant gains on three of them. The code is available at: //github.com/DiMarzioBian/CPMR.
Collision detection is essential to virtually all robotics applications. However, traditional geometric collision detection methods generally require pre-existing workspace geometry representations; thus, they are unable to infer the collision detection function from sampled data when geometric information is unavailable. Learning-based approaches can overcome this limitation. Following this line of research, we present DeepCollide, an implicit neural representation method for approximating the collision detection function from sampled collision data. As shown by our theoretical analysis and empirical evidence, DeepCollide presents clear benefits over the state-of-the-art, as it relates to time cost scalability with respect to training data and DoF, as well as the ability to accurately express complex workspace geometries. We publicly release our code.
The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.
We study the problem of efficient semantic segmentation for large-scale 3D point clouds. By relying on expensive sampling techniques or computationally heavy pre/post-processing steps, most existing approaches are only able to be trained and operate over small-scale point clouds. In this paper, we introduce RandLA-Net, an efficient and lightweight neural architecture to directly infer per-point semantics for large-scale point clouds. The key to our approach is to use random point sampling instead of more complex point selection approaches. Although remarkably computation and memory efficient, random sampling can discard key features by chance. To overcome this, we introduce a novel local feature aggregation module to progressively increase the receptive field for each 3D point, thereby effectively preserving geometric details. Extensive experiments show that our RandLA-Net can process 1 million points in a single pass with up to 200X faster than existing approaches. Moreover, our RandLA-Net clearly surpasses state-of-the-art approaches for semantic segmentation on two large-scale benchmarks Semantic3D and SemanticKITTI.
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