This paper presents a novel evaluation framework for Out-of-Distribution (OOD) detection that aims to assess the performance of machine learning models in more realistic settings. We observed that the real-world requirements for testing OOD detection methods are not satisfied by the current testing protocols. They usually encourage methods to have a strong bias towards a low level of diversity in normal data. To address this limitation, we propose new OOD test datasets (CIFAR-10-R, CIFAR-100-R, and ImageNet-30-R) that can allow researchers to benchmark OOD detection performance under realistic distribution shifts. Additionally, we introduce a Generalizability Score (GS) to measure the generalization ability of a model during OOD detection. Our experiments demonstrate that improving the performance on existing benchmark datasets does not necessarily improve the usability of OOD detection models in real-world scenarios. While leveraging deep pre-trained features has been identified as a promising avenue for OOD detection research, our experiments show that state-of-the-art pre-trained models tested on our proposed datasets suffer a significant drop in performance. To address this issue, we propose a post-processing stage for adapting pre-trained features under these distribution shifts before calculating the OOD scores, which significantly enhances the performance of state-of-the-art pre-trained models on our benchmarks.
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Semi-inductive link prediction (LP) in knowledge graphs (KG) is the task of predicting facts for new, previously unseen entities based on context information. Although new entities can be integrated by retraining the model from scratch in principle, such an approach is infeasible for large-scale KGs, where retraining is expensive and new entities may arise frequently. In this paper, we propose and describe a large-scale benchmark to evaluate semi-inductive LP models. The benchmark is based on and extends Wikidata5M: It provides transductive, k-shot, and 0-shot LP tasks, each varying the available information from (i) only KG structure, to (ii) including textual mentions, and (iii) detailed descriptions of the entities. We report on a small study of recent approaches and found that semi-inductive LP performance is far from transductive performance on long-tail entities throughout all experiments. The benchmark provides a test bed for further research into integrating context and textual information in semi-inductive LP models.
This paper presents Diver Interest via Pointing in Three Dimensions (DIP-3D), a method to relay an object of interest from a diver to an autonomous underwater vehicle (AUV) by pointing that includes three-dimensional distance information to discriminate between multiple objects in the AUV's camera image. Traditional dense stereo vision for distance estimation underwater is challenging because of the relative lack of saliency of scene features and degraded lighting conditions. Yet, including distance information is necessary for robotic perception of diver pointing when multiple objects appear within the robot's image plane. We subvert the challenges of underwater distance estimation by using sparse reconstruction of keypoints to perform pose estimation on both the left and right images from the robot's stereo camera. Triangulated pose keypoints, along with a classical object detection method, enable DIP-3D to infer the location of an object of interest when multiple objects are in the AUV's field of view. By allowing the scuba diver to point at an arbitrary object of interest and enabling the AUV to autonomously decide which object the diver is pointing to, this method will permit more natural interaction between AUVs and human scuba divers in underwater-human robot collaborative tasks.
This paper introduces a new benchmark dataset, Open-Structure, for evaluating visual odometry and SLAM methods, which directly equips point and line measurements, correspondences, structural associations, and co-visibility factor graphs instead of providing raw images. Based on the proposed benchmark dataset, these 2D or 3D data can be directly input to different stages of SLAM pipelines to avoid the impact of the data preprocessing modules in ablation experiments. First, we propose a dataset generator for real-world and simulated scenarios. In real-world scenes, it maintains the same observations and occlusions as actual feature extraction results. Those generated simulation sequences enhance the dataset's diversity by introducing various carefully designed trajectories and observations. Second, a SLAM baseline is proposed using our dataset to evaluate widely used modules in camera pose tracking, parametrization, and optimization modules. By evaluating these state-of-the-art algorithms across different scenarios, we discern each module's strengths and weaknesses within the camera tracking and optimization process. Our dataset and baseline are available at \url{//github.com/yanyan-li/Open-Structure}.
In this paper, we propose a new class of Control Barrier Functions (CBFs) for Unmanned Ground Vehicles (UGVs) that help avoid collisions with kinematic (non-zero velocity) obstacles. While the current forms of CBFs have been successful in guaranteeing safety/collision avoidance with static obstacles, extensions for the dynamic case have seen limited success. Moreover, with the UGV models like the unicycle or the bicycle, applications of existing CBFs have been conservative in terms of control, i.e., steering/thrust control has not been possible under certain scenarios. Drawing inspiration from the classical use of collision cones for obstacle avoidance in trajectory planning, we introduce its novel CBF formulation with theoretical guarantees on safety for both the unicycle and bicycle models. The main idea is to ensure that the velocity of the obstacle w.r.t. the vehicle is always pointing away from the vehicle. Accordingly, we construct a constraint that ensures that the velocity vector always avoids a cone of vectors pointing at the vehicle. The efficacy of this new control methodology is later verified by Pybullet simulations on TurtleBot3 and F1Tenth.
This paper investigates the transferability of debiasing techniques across different languages within multilingual models. We examine the applicability of these techniques in English, French, German, and Dutch. Using multilingual BERT (mBERT), we demonstrate that cross-lingual transfer of debiasing techniques is not only feasible but also yields promising results. Surprisingly, our findings reveal no performance disadvantages when applying these techniques to non-English languages. Using translations of the CrowS-Pairs dataset, our analysis identifies SentenceDebias as the best technique across different languages, reducing bias in mBERT by an average of 13%. We also find that debiasing techniques with additional pretraining exhibit enhanced cross-lingual effectiveness for the languages included in the analyses, particularly in lower-resource languages. These novel insights contribute to a deeper understanding of bias mitigation in multilingual language models and provide practical guidance for debiasing techniques in different language contexts.
In this paper, we propose a novel method for 3D scene and object reconstruction from sparse multi-view images. Different from previous methods that leverage extra information such as depth or generalizable features across scenes, our approach leverages the scene properties embedded in the multi-view inputs to create precise pseudo-labels for optimization without any prior training. Specifically, we introduce a geometry-guided approach that improves surface reconstruction accuracy from sparse views by leveraging spherical harmonics to predict the novel radiance while holistically considering all color observations for a point in the scene. Also, our pipeline exploits proxy geometry and correctly handles the occlusion in generating the pseudo-labels of radiance, which previous image-warping methods fail to avoid. Our method, dubbed Ray Augmentation (RayAug), achieves superior results on DTU and Blender datasets without requiring prior training, demonstrating its effectiveness in addressing the problem of sparse view reconstruction. Our pipeline is flexible and can be integrated into other implicit neural reconstruction methods for sparse views.
This paper aims to explore the potential of combining Deep Reinforcement Learning (DRL) with Knowledge Distillation (KD) by distilling various DRL algorithms and studying their distillation effects. By doing so, the computational burden of deep models could be reduced while maintaining the performance. The primary objective is to provide a benchmark for evaluating the performance of different DRL algorithms that have been refined using KD techniques. By distilling these algorithms, the goal is to develop efficient and fast DRL models. This research is expected to provide valuable insights that can facilitate further advancements in this promising direction. By exploring the combination of DRL and KD, this work aims to promote the development of models that require fewer GPU resources, learn more quickly, and make faster decisions in complex environments. The results of this research have the capacity to significantly advance the field of DRL and pave the way for the future deployment of resource-efficient, decision-making intelligent systems.
This paper primarily focuses on evaluating and benchmarking the robustness of visual representations in the context of object assembly tasks. Specifically, it investigates the alignment and insertion of objects with geometrical extrusions and intrusions, commonly referred to as a peg-in-hole task. The accuracy required to detect and orient the peg and the hole geometry in SE(3) space for successful assembly poses significant challenges. Addressing this, we employ a general framework in visuomotor policy learning that utilizes visual pretraining models as vision encoders. Our study investigates the robustness of this framework when applied to a dual-arm manipulation setup, specifically to the grasp variations. Our quantitative analysis shows that existing pretrained models fail to capture the essential visual features necessary for this task. However, a visual encoder trained from scratch consistently outperforms the frozen pretrained models. Moreover, we discuss rotation representations and associated loss functions that substantially improve policy learning. We present a novel task scenario designed to evaluate the progress in visuomotor policy learning, with a specific focus on improving the robustness of intricate assembly tasks that require both geometrical and spatial reasoning. Videos, additional experiments, dataset, and code are available at //bit.ly/geometric-peg-in-hole .
We propose the Medial Skeletal Diagram, a novel skeletal representation that tackles the prevailing issues around compactness and reconstruction accuracy in existing skeletal representations. Our approach augments the continuous elements in the medial axis representation to effectively shift the complexity away from discrete elements. To that end, we introduce generalized enveloping primitives, an enhancement of the standard primitives in medial axis, which ensures efficient coverage of intricate local features of the input shape and substantially reduces the number of discrete elements required. Moreover, we present a computational framework that constructs a medial skeletal diagram from an arbitrary closed manifold mesh. Our optimization pipeline ensures that the resulting medial skeletal diagram comprehensively covers the input shape with the fewest primitives. Additionally, each optimized primitive undergoes a post-refinement process to guarantee an accurate match with the source mesh in both geometry and tessellation. We validate our approach on a comprehensive benchmark of 100 shapes, demonstrating its compactness of the discrete elements and superior reconstruction accuracy across a variety of cases. Furthermore, we exemplify the versatility of our representation in downstream applications such as shape optimization, shape generation, mesh decomposition, mesh alignment, mesh compression, and user-interactive design.
In this paper, we propose a novel Feature Decomposition and Reconstruction Learning (FDRL) method for effective facial expression recognition. We view the expression information as the combination of the shared information (expression similarities) across different expressions and the unique information (expression-specific variations) for each expression. More specifically, FDRL mainly consists of two crucial networks: a Feature Decomposition Network (FDN) and a Feature Reconstruction Network (FRN). In particular, FDN first decomposes the basic features extracted from a backbone network into a set of facial action-aware latent features to model expression similarities. Then, FRN captures the intra-feature and inter-feature relationships for latent features to characterize expression-specific variations, and reconstructs the expression feature. To this end, two modules including an intra-feature relation modeling module and an inter-feature relation modeling module are developed in FRN. Experimental results on both the in-the-lab databases (including CK+, MMI, and Oulu-CASIA) and the in-the-wild databases (including RAF-DB and SFEW) show that the proposed FDRL method consistently achieves higher recognition accuracy than several state-of-the-art methods. This clearly highlights the benefit of feature decomposition and reconstruction for classifying expressions.
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