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3D deep learning models are shown to be as vulnerable to adversarial examples as 2D models. However, existing attack methods are still far from stealthy and suffer from severe performance degradation in the physical world. Although 3D data is highly structured, it is difficult to bound the perturbations with simple metrics in the Euclidean space. In this paper, we propose a novel $\epsilon$-isometric ($\epsilon$-ISO) attack to generate natural and robust 3D adversarial examples in the physical world by considering the geometric properties of 3D objects and the invariance to physical transformations. For naturalness, we constrain the adversarial example to be $\epsilon$-isometric to the original one by adopting the Gaussian curvature as a surrogate metric guaranteed by a theoretical analysis. For invariance to physical transformations, we propose a maxima over transformation (MaxOT) method that actively searches for the most harmful transformations rather than random ones to make the generated adversarial example more robust in the physical world. Experiments on typical point cloud recognition models validate that our approach can significantly improve the attack success rate and naturalness of the generated 3D adversarial examples than the state-of-the-art attack methods.

Online relevance feedback (RF) is widely utilized in instance search (INS) tasks to further refine imperfect ranking results, but it often has low interaction efficiency. The active learning (AL) technique addresses this problem by selecting valuable feedback candidates. However, mainstream AL methods require an initial labeled set for a cold start and are often computationally complex to solve. Therefore, they cannot fully satisfy the requirements for online RF in interactive INS tasks. To address this issue, we propose a confidence-aware active feedback method (CAAF) that is specifically designed for online RF in interactive INS tasks. Inspired by the explicit difficulty modeling scheme in self-paced learning, CAAF utilizes a pairwise manifold ranking loss to evaluate the ranking confidence of each unlabeled sample. The ranking confidence improves not only the interaction efficiency by indicating valuable feedback candidates but also the ranking quality by modulating the diffusion weights in manifold ranking. In addition, we design two acceleration strategies, an approximate optimization scheme and a top-K search scheme, to reduce the computational complexity of CAAF. Extensive experiments on both image INS tasks and video INS tasks searching for buildings, landscapes, persons, and human behaviors demonstrate the effectiveness of the proposed method. Notably, in the real-world, large-scale video INS task of NIST TRECVID 2021, CAAF uses 25% fewer feedback samples to achieve a performance that is nearly equivalent to the champion solution. Moreover, with the same number of feedback samples, CAAF's mAP is 51.9%, significantly surpassing the champion solution by 5.9%. Code is available at //github.com/nercms-mmap/caaf.

We explore a novel method to perceive and manipulate 3D articulated objects that generalizes to enable a robot to articulate unseen classes of objects. We propose a vision-based system that learns to predict the potential motions of the parts of a variety of articulated objects to guide downstream motion planning of the system to articulate the objects. To predict the object motions, we train a neural network to output a dense vector field representing the point-wise motion direction of the points in the point cloud under articulation. We then deploy an analytical motion planner based on this vector field to achieve a policy that yields maximum articulation. We train the vision system entirely in simulation, and we demonstrate the capability of our system to generalize to unseen object instances and novel categories in both simulation and the real world, deploying our policy on a Sawyer robot with no finetuning. Results show that our system achieves state-of-the-art performance in both simulated and real-world experiments.

Detection of out-of-distribution samples is one of the critical tasks for real-world applications of computer vision. The advancement of deep learning has enabled us to analyze real-world data which contain unexplained samples, accentuating the need to detect out-of-distribution instances more than before. GAN-based approaches have been widely used to address this problem due to their ability to perform distribution fitting; however, they are accompanied by training instability and mode collapse. We propose a simple yet efficient reconstruction-based method that avoids adding complexities to compensate for the limitations of GAN models while outperforming them. Unlike previous reconstruction-based works that only utilize reconstruction error or generated samples, our proposed method simultaneously incorporates both of them in the detection task. Our model, which we call "Connective Novelty Detection" has two subnetworks, an autoencoder, and a binary classifier. The autoencoder learns the representation of the positive class by reconstructing them. Then, the model creates negative and connected positive examples using real and generated samples. Negative instances are generated via manipulating the real data, so their distribution is close to the positive class to achieve a more accurate boundary for the classifier. To boost the robustness of the detection to reconstruction error, connected positive samples are created by combining the real and generated samples. Finally, the binary classifier is trained using connected positive and negative examples. We demonstrate a considerable improvement in novelty detection over state-of-the-art methods on MNIST and Caltech-256 datasets.

Compared with multi-class classification, multi-label classification that contains more than one class is more suitable in real life scenarios. Obtaining fully labeled high-quality datasets for multi-label classification problems, however, is extremely expensive, and sometimes even infeasible, with respect to annotation efforts, especially when the label spaces are too large. This motivates the research on partial-label classification, where only a limited number of labels are annotated and the others are missing. To address this problem, we first propose a pseudo-label based approach to reduce the cost of annotation without bringing additional complexity to the existing classification networks. Then we quantitatively study the impact of missing labels on the performance of classifier. Furthermore, by designing a novel loss function, we are able to relax the requirement that each instance must contain at least one positive label, which is commonly used in most existing approaches. Through comprehensive experiments on three large-scale multi-label image datasets, i.e. MS-COCO, NUS-WIDE, and Pascal VOC12, we show that our method can handle the imbalance between positive labels and negative labels, while still outperforming existing missing-label learning approaches in most cases, and in some cases even approaches with fully labeled datasets.

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of such perception system especially for the sake of path planning, motion prediction, collision avoidance, etc. Generally, stereo or monocular images with corresponding 3D point clouds are already standard layout for 3D object detection, out of which point clouds are increasingly prevalent with accurate depth information being provided. Despite existing efforts, 3D object detection on point clouds is still in its infancy due to high sparseness and irregularity of point clouds by nature, misalignment view between camera view and LiDAR bird's eye of view for modality synergies, occlusions and scale variations at long distances, etc. Recently, profound progress has been made in 3D object detection, with a large body of literature being investigated to address this vision task. As such, we present a comprehensive review of the latest progress in this field covering all the main topics including sensors, fundamentals, and the recent state-of-the-art detection methods with their pros and cons. Furthermore, we introduce metrics and provide quantitative comparisons on popular public datasets. The avenues for future work are going to be judiciously identified after an in-deep analysis of the surveyed works. Finally, we conclude this paper.

Deep Learning has revolutionized the fields of computer vision, natural language understanding, speech recognition, information retrieval and more. However, with the progressive improvements in deep learning models, their number of parameters, latency, resources required to train, etc. have all have increased significantly. Consequently, it has become important to pay attention to these footprint metrics of a model as well, not just its quality. We present and motivate the problem of efficiency in deep learning, followed by a thorough survey of the five core areas of model efficiency (spanning modeling techniques, infrastructure, and hardware) and the seminal work there. We also present an experiment-based guide along with code, for practitioners to optimize their model training and deployment. We believe this is the first comprehensive survey in the efficient deep learning space that covers the landscape of model efficiency from modeling techniques to hardware support. Our hope is that this survey would provide the reader with the mental model and the necessary understanding of the field to apply generic efficiency techniques to immediately get significant improvements, and also equip them with ideas for further research and experimentation to achieve additional gains.

Conventionally, spatiotemporal modeling network and its complexity are the two most concentrated research topics in video action recognition. Existing state-of-the-art methods have achieved excellent accuracy regardless of the complexity meanwhile efficient spatiotemporal modeling solutions are slightly inferior in performance. In this paper, we attempt to acquire both efficiency and effectiveness simultaneously. First of all, besides traditionally treating H x W x T video frames as space-time signal (viewing from the Height-Width spatial plane), we propose to also model video from the other two Height-Time and Width-Time planes, to capture the dynamics of video thoroughly. Secondly, our model is designed based on 2D CNN backbones and model complexity is well kept in mind by design. Specifically, we introduce a novel multi-view fusion (MVF) module to exploit video dynamics using separable convolution for efficiency. It is a plug-and-play module and can be inserted into off-the-shelf 2D CNNs to form a simple yet effective model called MVFNet. Moreover, MVFNet can be thought of as a generalized video modeling framework and it can specialize to be existing methods such as C2D, SlowOnly, and TSM under different settings. Extensive experiments are conducted on popular benchmarks (i.e., Something-Something V1 & V2, Kinetics, UCF-101, and HMDB-51) to show its superiority. The proposed MVFNet can achieve state-of-the-art performance with 2D CNN's complexity.

Named entity recognition (NER) is the task to identify text spans that mention named entities, and to classify them into predefined categories such as person, location, organization etc. NER serves as the basis for a variety of natural language applications such as question answering, text summarization, and machine translation. Although early NER systems are successful in producing decent recognition accuracy, they often require much human effort in carefully designing rules or features. In recent years, deep learning, empowered by continuous real-valued vector representations and semantic composition through nonlinear processing, has been employed in NER systems, yielding stat-of-the-art performance. In this paper, we provide a comprehensive review on existing deep learning techniques for NER. We first introduce NER resources, including tagged NER corpora and off-the-shelf NER tools. Then, we systematically categorize existing works based on a taxonomy along three axes: distributed representations for input, context encoder, and tag decoder. Next, we survey the most representative methods for recent applied techniques of deep learning in new NER problem settings and applications. Finally, we present readers with the challenges faced by NER systems and outline future directions in this area.

Deep learning has yielded state-of-the-art performance on many natural language processing tasks including named entity recognition (NER). However, this typically requires large amounts of labeled data. In this work, we demonstrate that the amount of labeled training data can be drastically reduced when deep learning is combined with active learning. While active learning is sample-efficient, it can be computationally expensive since it requires iterative retraining. To speed this up, we introduce a lightweight architecture for NER, viz., the CNN-CNN-LSTM model consisting of convolutional character and word encoders and a long short term memory (LSTM) tag decoder. The model achieves nearly state-of-the-art performance on standard datasets for the task while being computationally much more efficient than best performing models. We carry out incremental active learning, during the training process, and are able to nearly match state-of-the-art performance with just 25\% of the original training data.