Label-efficient LiDAR-based 3D object detection is currently dominated by weakly/semi-supervised methods. Instead of exclusively following one of them, we propose MixSup, a more practical paradigm simultaneously utilizing massive cheap coarse labels and a limited number of accurate labels for Mixed-grained Supervision. We start by observing that point clouds are usually textureless, making it hard to learn semantics. However, point clouds are geometrically rich and scale-invariant to the distances from sensors, making it relatively easy to learn the geometry of objects, such as poses and shapes. Thus, MixSup leverages massive coarse cluster-level labels to learn semantics and a few expensive box-level labels to learn accurate poses and shapes. We redesign the label assignment in mainstream detectors, which allows them seamlessly integrated into MixSup, enabling practicality and universality. We validate its effectiveness in nuScenes, Waymo Open Dataset, and KITTI, employing various detectors. MixSup achieves up to 97.31% of fully supervised performance, using cheap cluster annotations and only 10% box annotations. Furthermore, we propose PointSAM based on the Segment Anything Model for automated coarse labeling, further reducing the annotation burden. The code is available at //github.com/BraveGroup/PointSAM-for-MixSup.
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The ability of Large Language Models (LLMs) to critique and refine their reasoning is crucial for their application in evaluation, feedback provision, and self-improvement. This paper introduces CriticBench, a comprehensive benchmark designed to assess LLMs' abilities to critique and rectify their reasoning across a variety of tasks. CriticBench encompasses five reasoning domains: mathematical, commonsense, symbolic, coding, and algorithmic. It compiles 15 datasets and incorporates responses from three LLM families. Utilizing CriticBench, we evaluate and dissect the performance of 17 LLMs in generation, critique, and correction reasoning, i.e., GQC reasoning. Our findings reveal: (1) a linear relationship in GQC capabilities, with critique-focused training markedly enhancing performance; (2) a task-dependent variation in correction effectiveness, with logic-oriented tasks being more amenable to correction; (3) GQC knowledge inconsistencies that decrease as model size increases; and (4) an intriguing inter-model critiquing dynamic, where stronger models are better at critiquing weaker ones, while weaker models can surprisingly surpass stronger ones in their self-critique. We hope these insights into the nuanced critique-correct reasoning of LLMs will foster further research in LLM critique and self-improvement.
CLIP-based classifiers rely on the prompt containing a {class name} that is known to the text encoder. That is, CLIP performs poorly on new classes or the classes whose names rarely appear on the Internet (e.g., scientific names of birds). For fine-grained classification, we propose PEEB - an explainable and editable classifier to (1) express the class name into a set of pre-defined text descriptors that describe the visual parts of that class; and (2) match the embeddings of the detected parts to their textual descriptors in each class to compute a logit score for classification. In a zero-shot setting where the class names are unknown, PEEB outperforms CLIP by a large margin (~10x in accuracy). Compared to part-based classifiers, PEEB is not only the state-of-the-art on the supervised-learning setting (88.80% accuracy) but also the first to enable users to edit the class definitions to form a new classifier without retraining. Compared to concept bottleneck models, PEEB is also the state-of-the-art in both zero-shot and supervised learning settings.
A common problem for composite images is the incompatibility of their foreground and background components. Image harmonization aims to solve this problem, making the whole image look more authentic and coherent. Most existing solutions predict lookup tables (LUTs) or reconstruct images, utilizing various attributes of composite images. Recent approaches have primarily focused on employing global transformations like normalization and color curve rendering to achieve visual consistency, and they often overlook the importance of local visual coherence. We present a patch-based harmonization network consisting of novel Patch-based normalization (PN) blocks and a feature extractor based on statistical color transfer. Extensive experiments demonstrate the network's high generalization capability for different domains. Our network achieves state-of-the-art results on the iHarmony4 dataset. Also, we created a new human portrait harmonization dataset based on FFHQ and checked the proposed method to show the generalization ability by achieving the best metrics on it. The benchmark experiments confirm that the suggested patch-based normalization block and feature extractor effectively improve the network's capability to harmonize portraits. Our code and model baselines are publicly available.
Achieving efficient and consistent localization a prior map remains challenging in robotics. Conventional keyframe-based approaches often suffers from sub-optimal viewpoints due to limited field of view (FOV) and/or constrained motion, thus degrading the localization performance. To address this issue, we design a real-time tightly-coupled Neural Radiance Fields (NeRF)-aided visual-inertial navigation system (VINS). In particular, by effectively leveraging the NeRF's potential to synthesize novel views, the proposed NeRF-VINS overcomes the limitations of traditional keyframe-based maps (with limited views) and optimally fuses IMU, monocular images, and synthetically rendered images within an efficient filter-based framework. This tightly-coupled fusion enables efficient 3D motion tracking with bounded errors. We extensively compare the proposed NeRF-VINS against the state-of-the-art methods that use prior map information and demonstrate its ability to perform real-time localization, at over 10 Hz, on a resource-constrained Jetson AGX Orin embedded platform.
Effectively representing heterogeneous tabular datasets for meta-learning remains an open problem. Previous approaches rely on predefined meta-features, for example, statistical measures or landmarkers. Encoder-based models, such as Dataset2Vec, allow us to extract significant meta-features automatically without human intervention. This research introduces a novel encoder-based representation of tabular datasets implemented within the liltab package available on GitHub //github.com/azoz01/liltab. Our package is based on an established model for heterogeneous tabular data proposed in [Iwata and Kumagai, 2020]. The proposed approach employs a different model for encoding feature relationships, generating alternative representations compared to existing methods like Dataset2Vec. Both of them leverage the fundamental assumption of dataset similarity learning. In this work, we evaluate Dataset2Vec and liltab on two common meta-tasks - representing entire datasets and hyperparameter optimization warm-start. However, validation on an independent metaMIMIC dataset highlights the nuanced challenges in representation learning. We show that general representations may not suffice for some meta-tasks where requirements are not explicitly considered during extraction. [Iwata and Kumagai, 2020] Tomoharu Iwata and Atsutoshi Kumagai. Meta-learning from Tasks with Heterogeneous Attribute Spaces. In Advances in Neural Information Processing Systems, 2020.
Recent studies have focused on enhancing the performance of 3D object detection models. Among various approaches, ground-truth sampling has been proposed as an augmentation technique to address the challenges posed by limited ground-truth data. However, an inherent issue with ground-truth sampling is its tendency to increase false positives. Therefore, this study aims to overcome the limitations of ground-truth sampling and improve the performance of 3D object detection models by developing a new augmentation technique called false-positive sampling. False-positive sampling involves retraining the model using point clouds that are identified as false positives in the model's predictions. We propose an algorithm that utilizes both ground-truth and false-positive sampling and an algorithm for building the false-positive sample database. Additionally, we analyze the principles behind the performance enhancement due to false-positive sampling and propose a technique that applies the concept of curriculum learning to the sampling strategy that encompasses both false-positive and ground-truth sampling techniques. Our experiments demonstrate that models utilizing false-positive sampling show a reduction in false positives and exhibit improved object detection performance. On the KITTI and Waymo Open datasets, models with false-positive sampling surpass the baseline models by a large margin.
Recent achievements in deep learning (DL) have shown its potential for predicting traffic flows. Such predictions are beneficial for understanding the situation and making decisions in traffic control. However, most state-of-the-art DL models are considered "black boxes" with little to no transparency for end users with respect to the underlying mechanisms. Some previous work tried to "open the black boxes" and increase the interpretability of how predictions are generated. However, it still remains challenging to handle complex models on large-scale spatio-temporal data and discover salient spatial and temporal patterns that significantly influence traffic flows. To overcome the challenges, we present TrafPS, a visual analytics approach for interpreting traffic prediction outcomes to support decision-making in traffic management and urban planning. The measurements, region SHAP and trajectory SHAP, are proposed to quantify the impact of flow patterns on urban traffic at different levels. Based on the task requirement from the domain experts, we employ an interactive visual interface for multi-aspect exploration and analysis of significant flow patterns. Two real-world case studies demonstrate the effectiveness of TrafPS in identifying key routes and decision-making support for urban planning.
Transformer-based pretrained language models (T-PTLMs) have achieved great success in almost every NLP task. The evolution of these models started with GPT and BERT. These models are built on the top of transformers, self-supervised learning and transfer learning. Transformed-based PTLMs learn universal language representations from large volumes of text data using self-supervised learning and transfer this knowledge to downstream tasks. These models provide good background knowledge to downstream tasks which avoids training of downstream models from scratch. In this comprehensive survey paper, we initially give a brief overview of self-supervised learning. Next, we explain various core concepts like pretraining, pretraining methods, pretraining tasks, embeddings and downstream adaptation methods. Next, we present a new taxonomy of T-PTLMs and then give brief overview of various benchmarks including both intrinsic and extrinsic. We present a summary of various useful libraries to work with T-PTLMs. Finally, we highlight some of the future research directions which will further improve these models. We strongly believe that this comprehensive survey paper will serve as a good reference to learn the core concepts as well as to stay updated with the recent happenings in T-PTLMs.
Most object recognition approaches predominantly focus on learning discriminative visual patterns while overlooking the holistic object structure. Though important, structure modeling usually requires significant manual annotations and therefore is labor-intensive. In this paper, we propose to "look into object" (explicitly yet intrinsically model the object structure) through incorporating self-supervisions into the traditional framework. We show the recognition backbone can be substantially enhanced for more robust representation learning, without any cost of extra annotation and inference speed. Specifically, we first propose an object-extent learning module for localizing the object according to the visual patterns shared among the instances in the same category. We then design a spatial context learning module for modeling the internal structures of the object, through predicting the relative positions within the extent. These two modules can be easily plugged into any backbone networks during training and detached at inference time. Extensive experiments show that our look-into-object approach (LIO) achieves large performance gain on a number of benchmarks, including generic object recognition (ImageNet) and fine-grained object recognition tasks (CUB, Cars, Aircraft). We also show that this learning paradigm is highly generalizable to other tasks such as object detection and segmentation (MS COCO). Project page: //github.com/JDAI-CV/LIO.
Most existing event extraction (EE) methods merely extract event arguments within the sentence scope. However, such sentence-level EE methods struggle to handle soaring amounts of documents from emerging applications, such as finance, legislation, health, etc., where event arguments always scatter across different sentences, and even multiple such event mentions frequently co-exist in the same document. To address these challenges, we propose a novel end-to-end model, Doc2EDAG, which can generate an entity-based directed acyclic graph to fulfill the document-level EE (DEE) effectively. Moreover, we reformalize a DEE task with the no-trigger-words design to ease the document-level event labeling. To demonstrate the effectiveness of Doc2EDAG, we build a large-scale real-world dataset consisting of Chinese financial announcements with the challenges mentioned above. Extensive experiments with comprehensive analyses illustrate the superiority of Doc2EDAG over state-of-the-art methods. Data and codes can be found at //github.com/dolphin-zs/Doc2EDAG.
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