We present AGL-NET, a novel learning-based method for global localization using LiDAR point clouds and satellite maps. AGL-NET tackles two critical challenges: bridging the representation gap between image and points modalities for robust feature matching, and handling inherent scale discrepancies between global view and local view. To address these challenges, AGL-NET leverages a unified network architecture with a novel two-stage matching design. The first stage extracts informative neural features directly from raw sensor data and performs initial feature matching. The second stage refines this matching process by extracting informative skeleton features and incorporating a novel scale alignment step to rectify scale variations between LiDAR and map data. Furthermore, a novel scale and skeleton loss function guides the network toward learning scale-invariant feature representations, eliminating the need for pre-processing satellite maps. This significantly improves real-world applicability in scenarios with unknown map scales. To facilitate rigorous performance evaluation, we introduce a meticulously designed dataset within the CARLA simulator specifically tailored for metric localization training and assessment. The code and dataset will be made publicly available.
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Real world re-identfication (ReID) algorithms aim to map new observations of an object to previously recorded instances. These systems are often constrained by quantity and size of the stored embeddings. To combat this scaling problem, we attempt to shrink the size of these vectors by using a variety of compression techniques. In this paper, we benchmark quantization-aware-training along with three different dimension reduction methods: iterative structured pruning, slicing the embeddings at initialize, and using low rank embeddings. We find that ReID embeddings can be compressed by up to 96x with minimal drop in performance. This implies that modern re-identification paradigms do not fully leverage the high dimensional latent space, opening up further research to increase the capabilities of these systems.
We propose an unsupervised adaptation framework, Self-TAught Recognizer (STAR), which leverages unlabeled data to enhance the robustness of automatic speech recognition (ASR) systems in diverse target domains, such as noise and accents. STAR is developed for prevalent speech foundation models based on Transformer-related architecture with auto-regressive decoding (e.g., Whisper, Canary). Specifically, we propose a novel indicator that empirically integrates step-wise information during decoding to assess the token-level quality of pseudo labels without ground truth, thereby guiding model updates for effective unsupervised adaptation. Experimental results show that STAR achieves an average of 13.5% relative reduction in word error rate across 14 target domains, and it sometimes even approaches the upper-bound performance of supervised adaptation. Surprisingly, we also observe that STAR prevents the adapted model from the common catastrophic forgetting problem without recalling source-domain data. Furthermore, STAR exhibits high data efficiency that only requires less than one-hour unlabeled data, and seamless generality to alternative large speech models and speech translation tasks. Our code aims to open source to the research communities.
In geostatistics, traditional spatial models often rely on the Gaussian Process (GP) to fit stationary covariances to data. It is well known that this approach becomes computationally infeasible when dealing with large data volumes, necessitating the use of approximate methods. A powerful class of methods approximate the GP as a sum of basis functions with random coefficients. Although this technique offers computational efficiency, it does not inherently guarantee a stationary covariance. To mitigate this issue, the basis functions can be "normalized" to maintain a constant marginal variance, avoiding unwanted artifacts and edge effects. This allows for the fitting of nearly stationary models to large, potentially non-stationary datasets, providing a rigorous base to extend to more complex problems. Unfortunately, the process of normalizing these basis functions is computationally demanding. To address this, we introduce two fast and accurate algorithms to the normalization step, allowing for efficient prediction on fine grids. The practical value of these algorithms is showcased in the context of a spatial analysis on a large dataset, where significant computational speedups are achieved. While implementation and testing are done specifically within the LatticeKrig framework, these algorithms can be adapted to other basis function methods operating on regular grids.
Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements in radar sensing, resulting in better accuracy and higher resolution, radar is emerging as a viable alternative to lidar as the primary sensor for mapping. In this paper, we propose a radar-centric dynamic occupancy grid mapping algorithm with adaptations to the state computation, inverse sensor model, and field-of-view computation tailored to the specifics of radar measurements. We extensively evaluate our approach using real data to demonstrate its effectiveness and establish the first benchmark for radar-based dynamic occupancy grid mapping using the publicly available Radarscenes dataset.
Unsupervised Outlier Detection (UOD) is an important data mining task. With the advance of deep learning, deep Outlier Detection (OD) has received broad interest. Most deep UOD models are trained exclusively on clean datasets to learn the distribution of the normal data, which requires huge manual efforts to clean the real-world data if possible. Instead of relying on clean datasets, some approaches directly train and detect on unlabeled contaminated datasets, leading to the need for methods that are robust to such conditions. Ensemble methods emerged as a superior solution to enhance model robustness against contaminated training sets. However, the training time is greatly increased by the ensemble. In this study, we investigate the impact of outliers on the training phase, aiming to halt training on unlabeled contaminated datasets before performance degradation. Initially, we noted that blending normal and anomalous data causes AUC fluctuations, a label-dependent measure of detection accuracy. To circumvent the need for labels, we propose a zero-label entropy metric named Loss Entropy for loss distribution, enabling us to infer optimal stopping points for training without labels. Meanwhile, we theoretically demonstrate negative correlation between entropy metric and the label-based AUC. Based on this, we develop an automated early-stopping algorithm, EntropyStop, which halts training when loss entropy suggests the maximum model detection capability. We conduct extensive experiments on ADBench (including 47 real datasets), and the overall results indicate that AutoEncoder (AE) enhanced by our approach not only achieves better performance than ensemble AEs but also requires under 1\% of training time. Lastly, our proposed metric and early-stopping approach are evaluated on other deep OD models, exhibiting their broad potential applicability.
This paper presents RTLFixer, a novel framework enabling automatic syntax errors fixing for Verilog code with Large Language Models (LLMs). Despite LLM's promising capabilities, our analysis indicates that approximately 55% of errors in LLM-generated Verilog are syntax-related, leading to compilation failures. To tackle this issue, we introduce a novel debugging framework that employs Retrieval-Augmented Generation (RAG) and ReAct prompting, enabling LLMs to act as autonomous agents in interactively debugging the code with feedback. This framework demonstrates exceptional proficiency in resolving syntax errors, successfully correcting about 98.5% of compilation errors in our debugging dataset, comprising 212 erroneous implementations derived from the VerilogEval benchmark. Our method leads to 32.3% and 10.1% increase in pass@1 success rates in the VerilogEval-Machine and VerilogEval-Human benchmarks, respectively.
Point cloud-based large scale place recognition is fundamental for many applications like Simultaneous Localization and Mapping (SLAM). Although many models have been proposed and have achieved good performance by learning short-range local features, long-range contextual properties have often been neglected. Moreover, the model size has also become a bottleneck for their wide applications. To overcome these challenges, we propose a super light-weight network model termed SVT-Net for large scale place recognition. Specifically, on top of the highly efficient 3D Sparse Convolution (SP-Conv), an Atom-based Sparse Voxel Transformer (ASVT) and a Cluster-based Sparse Voxel Transformer (CSVT) are proposed to learn both short-range local features and long-range contextual features in this model. Consisting of ASVT and CSVT, SVT-Net can achieve state-of-the-art on benchmark datasets in terms of both accuracy and speed with a super-light model size (0.9M). Meanwhile, two simplified versions of SVT-Net are introduced, which also achieve state-of-the-art and further reduce the model size to 0.8M and 0.4M respectively.
Conventional unsupervised multi-source domain adaptation (UMDA) methods assume all source domains can be accessed directly. This neglects the privacy-preserving policy, that is, all the data and computations must be kept decentralized. There exists three problems in this scenario: (1) Minimizing the domain distance requires the pairwise calculation of the data from source and target domains, which is not accessible. (2) The communication cost and privacy security limit the application of UMDA methods (e.g., the domain adversarial training). (3) Since users have no authority to check the data quality, the irrelevant or malicious source domains are more likely to appear, which causes negative transfer. In this study, we propose a privacy-preserving UMDA paradigm named Knowledge Distillation based Decentralized Domain Adaptation (KD3A), which performs domain adaptation through the knowledge distillation on models from different source domains. KD3A solves the above problems with three components: (1) A multi-source knowledge distillation method named Knowledge Vote to learn high-quality domain consensus knowledge. (2) A dynamic weighting strategy named Consensus Focus to identify both the malicious and irrelevant domains. (3) A decentralized optimization strategy for domain distance named BatchNorm MMD. The extensive experiments on DomainNet demonstrate that KD3A is robust to the negative transfer and brings a 100x reduction of communication cost compared with other decentralized UMDA methods. Moreover, our KD3A significantly outperforms state-of-the-art UMDA approaches.
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.
We propose a novel single shot object detection network named Detection with Enriched Semantics (DES). Our motivation is to enrich the semantics of object detection features within a typical deep detector, by a semantic segmentation branch and a global activation module. The segmentation branch is supervised by weak segmentation ground-truth, i.e., no extra annotation is required. In conjunction with that, we employ a global activation module which learns relationship between channels and object classes in a self-supervised manner. Comprehensive experimental results on both PASCAL VOC and MS COCO detection datasets demonstrate the effectiveness of the proposed method. In particular, with a VGG16 based DES, we achieve an mAP of 81.7 on VOC2007 test and an mAP of 32.8 on COCO test-dev with an inference speed of 31.5 milliseconds per image on a Titan Xp GPU. With a lower resolution version, we achieve an mAP of 79.7 on VOC2007 with an inference speed of 13.0 milliseconds per image.
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