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Precise localization is critical for autonomous vehicles. We present a self-supervised learning method that employs Transformers for the first time for the task of outdoor localization using LiDAR data. We propose a pre-text task that reorganizes the slices of a $360^\circ$ LiDAR scan to leverage its axial properties. Our model, called Slice Transformer, employs multi-head attention while systematically processing the slices. To the best of our knowledge, this is the first instance of leveraging multi-head attention for outdoor point clouds. We additionally introduce the Perth-WA dataset, which provides a large-scale LiDAR map of Perth city in Western Australia, covering $\sim$4km$^2$ area. Localization annotations are provided for Perth-WA. The proposed localization method is thoroughly evaluated on Perth-WA and Appollo-SouthBay datasets. We also establish the efficacy of our self-supervised learning approach for the common downstream task of object classification using ModelNet40 and ScanNN datasets. The code and Perth-WA data will be publicly released.

Programming-by-example (PBE) systems aim to alleviate the burden of programming. However, user-specified examples are often ambiguous, leaving multiple programs to satisfy the specification. Consequently, in most prior work, users have had to provide additional examples, particularly negative ones, to further constrain the search over compatible programs. Recent work resolves additional ambiguity by modeling program synthesis tasks as pragmatic communication, showing promising results on a graphics domain using a rudimentary user-study. We adapt pragmatic reasoning to a sub-domain of regular expressions and rigorously study its usability as a means of communication both with and without the ability to provide negative examples. Our user study (N=30) demonstrates that, with a pragmatic synthesizer, end-users can more successfully communicate a target regex using positive examples alone (95%) compared to using a non-pragmatic synthesizer (51%). Further, users can communicate more efficiently (57% fewer examples) with a pragmatic synthesizer compared to a non-pragmatic one.

Weakly hard real-time systems can, to some degree, tolerate deadline misses, but their schedulability still needs to be analyzed to ensure their quality of service. Such analysis usually occurs at early design stages to provide implementation guidelines to engineers so that they can make better design decisions. Estimating worst-case execution times (WCET) is a key input to schedulability analysis. However, early on during system design, estimating WCET values is challenging and engineers usually determine them as plausible ranges based on their domain knowledge. Our approach aims at finding restricted, safe WCET sub-ranges given a set of ranges initially estimated by experts in the context of weakly hard real-time systems. To this end, we leverage (1) multi-objective search aiming at maximizing the violation of weakly hard constraints in order to find worst-case scheduling scenarios and (2) polynomial logistic regression to infer safe WCET ranges with a probabilistic interpretation. We evaluated our approach by applying it to an industrial system in the satellite domain and several realistic synthetic systems. The results indicate that our approach significantly outperforms a baseline relying on random search without learning, and estimates safe WCET ranges with a high degree of confidence in practical time (< 23h).

Optical metasurfaces composed of precisely engineered nanostructures have gained significant attention for their ability to manipulate light and implement distinct functionalities based on the properties of the incident field. Computational imaging systems have started harnessing this capability to produce sets of coded measurements that benefit certain tasks when paired with digital post-processing. Inspired by these works, we introduce a new system that uses a birefringent metasurface with a polarizer-mosaicked photosensor to capture four optically-coded measurements in a single exposure. We apply this system to the task of incoherent opto-electronic filtering, where digital spatial-filtering operations are replaced by simpler, per-pixel sums across the four polarization channels, independent of the spatial filter size. In contrast to previous work on incoherent opto-electronic filtering that can realize only one spatial filter, our approach can realize a continuous family of filters from a single capture, with filters being selected from the family by adjusting the post-capture digital summation weights. To find a metasurface that can realize a set of user-specified spatial filters, we introduce a form of gradient descent with a novel regularizer that encourages light efficiency and a high signal-to-noise ratio. We demonstrate several examples in simulation and with fabricated prototypes, including some with spatial filters that have prescribed variations with respect to depth and wavelength. Visit the Project Page at //deanhazineh.github.io/publications/Multi_Image_Synthesis/MIS_Home.html

We represent 3D shape by structured 2D representations of fixed length making it feasible to apply well investigated 2D convolutional neural networks (CNN) for both discriminative and geometric tasks on 3D shapes. We first provide a general introduction to such structured descriptors, analyze their different forms and show how a simple 2D CNN can be used to achieve good classification result. With a specialized classification network for images and our structured representation, we achieve the classification accuracy of 99.7\% in the ModelNet40 test set - improving the previous state-of-the-art by a large margin. We finally provide a novel framework for performing the geometric task of 3D segmentation using 2D CNNs and the structured representation - concluding the utility of such descriptors for both discriminative and geometric tasks.

Implicit regularization is an important way to interpret neural networks. Recent theory starts to explain implicit regularization with the model of deep matrix factorization (DMF) and analyze the trajectory of discrete gradient dynamics in the optimization process. These discrete gradient dynamics are relatively small but not infinitesimal, thus fitting well with the practical implementation of neural networks. Currently, discrete gradient dynamics analysis has been successfully applied to shallow networks but encounters the difficulty of complex computation for deep networks. In this work, we introduce another discrete gradient dynamics approach to explain implicit regularization, i.e. landscape analysis. It mainly focuses on gradient regions, such as saddle points and local minima. We theoretically establish the connection between saddle point escaping (SPE) stages and the matrix rank in DMF. We prove that, for a rank-R matrix reconstruction, DMF will converge to a second-order critical point after R stages of SPE. This conclusion is further experimentally verified on a low-rank matrix reconstruction problem. This work provides a new theory to analyze implicit regularization in deep learning.

Neural networks (NN) have demonstrated remarkable capabilities in various tasks, but their computation-intensive nature demands faster and more energy-efficient hardware implementations. Optics-based platforms, using technologies such as silicon photonics and spatial light modulators, offer promising avenues for achieving this goal. However, training multiple trainable layers in tandem with these physical systems poses challenges, as they are difficult to fully characterize and describe with differentiable functions, hindering the use of error backpropagation algorithm. The recently introduced Forward-Forward Algorithm (FFA) eliminates the need for perfect characterization of the learning system and shows promise for efficient training with large numbers of programmable parameters. The FFA does not require backpropagating an error signal to update the weights, rather the weights are updated by only sending information in one direction. The local loss function for each set of trainable weights enables low-power analog hardware implementations without resorting to metaheuristic algorithms or reinforcement learning. In this paper, we present an experiment utilizing multimode nonlinear wave propagation in an optical fiber demonstrating the feasibility of the FFA approach using an optical system. The results show that incorporating optical transforms in multilayer NN architectures trained with the FFA, can lead to performance improvements, even with a relatively small number of trainable weights. The proposed method offers a new path to the challenge of training optical NNs and provides insights into leveraging physical transformations for enhancing NN performance.

The generation and verification of quantum states are fundamental tasks for quantum information processing that have recently been investigated by Irani, Natarajan, Nirkhe, Rao and Yuen [CCC 2022], Rosenthal and Yuen [ITCS 2022], Metger and Yuen [FOCS 2023] under the term \emph{state synthesis}. This paper studies this concept from the viewpoint of quantum distributed computing, and especially distributed quantum Merlin-Arthur (dQMA) protocols. We first introduce a novel task, on a line, called state generation with distributed inputs (SGDI). In this task, the goal is to generate the quantum state $U\ket{\psi}$ at the rightmost node of the line, where $\ket{\psi}$ is a quantum state given at the leftmost node and $U$ is a unitary matrix whose description is distributed over the nodes of the line. We give a dQMA protocol for SGDI and utilize this protocol to construct a dQMA protocol for the Set Equality problem studied by Naor, Parter and Yogev [SODA 2020], and complement our protocol by showing classical lower bounds for this problem. Our second contribution is a dQMA protocol, based on a recent work by Zhu and Hayashi [Physical Review A, 2019], to create EPR-pairs between adjacent nodes of a network without quantum communication. As an application of this dQMA protocol, we prove a general result showing how to convert any dQMA protocol on an arbitrary network into another dQMA protocol where the verification stage does not require any quantum communication.

We propose a novel method for automatic reasoning on knowledge graphs based on debate dynamics. The main idea is to frame the task of triple classification as a debate game between two reinforcement learning agents which extract arguments -- paths in the knowledge graph -- with the goal to promote the fact being true (thesis) or the fact being false (antithesis), respectively. Based on these arguments, a binary classifier, called the judge, decides whether the fact is true or false. The two agents can be considered as sparse, adversarial feature generators that present interpretable evidence for either the thesis or the antithesis. In contrast to other black-box methods, the arguments allow users to get an understanding of the decision of the judge. Since the focus of this work is to create an explainable method that maintains a competitive predictive accuracy, we benchmark our method on the triple classification and link prediction task. Thereby, we find that our method outperforms several baselines on the benchmark datasets FB15k-237, WN18RR, and Hetionet. We also conduct a survey and find that the extracted arguments are informative for users.

Object detection typically assumes that training and test data are drawn from an identical distribution, which, however, does not always hold in practice. Such a distribution mismatch will lead to a significant performance drop. In this work, we aim to improve the cross-domain robustness of object detection. We tackle the domain shift on two levels: 1) the image-level shift, such as image style, illumination, etc, and 2) the instance-level shift, such as object appearance, size, etc. We build our approach based on the recent state-of-the-art Faster R-CNN model, and design two domain adaptation components, on image level and instance level, to reduce the domain discrepancy. The two domain adaptation components are based on H-divergence theory, and are implemented by learning a domain classifier in adversarial training manner. The domain classifiers on different levels are further reinforced with a consistency regularization to learn a domain-invariant region proposal network (RPN) in the Faster R-CNN model. We evaluate our newly proposed approach using multiple datasets including Cityscapes, KITTI, SIM10K, etc. The results demonstrate the effectiveness of our proposed approach for robust object detection in various domain shift scenarios.