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Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D occupancy prediction, which estimates the detailed occupancy states and semantics of a scene, is an emerging task to overcome these limitations. To support 3D occupancy prediction, we develop a label generation pipeline that produces dense, visibility-aware labels for any given scene. This pipeline comprises three stages: voxel densification, occlusion reasoning, and image-guided voxel refinement. We establish two benchmarks, derived from the Waymo Open Dataset and the nuScenes Dataset, namely Occ3D-Waymo and Occ3D-nuScenes benchmarks. Furthermore, we provide an extensive analysis of the proposed dataset with various baseline models. Lastly, we propose a new model, dubbed Coarse-to-Fine Occupancy (CTF-Occ) network, which demonstrates superior performance on the Occ3D benchmarks. The code, data, and benchmarks are released at //tsinghua-mars-lab.github.io/Occ3D/.

相關內容

 3D是英文“Three Dimensions”的簡稱,中文是指三維、三個維度、三個坐標,即有長、有寬、有高,換句話說,就是立體的,是相對于只有長和寬的平面(2D)而言。

Existing evaluation benchmarks of language models of code (code LMs) focus almost exclusively on whether the LMs can generate functionally-correct code. In real-world software engineering, developers think beyond functional correctness. They have requirements on "how" a functionality should be implemented to meet overall system design objectives like efficiency, security, and maintainability. They would also trust the code LMs more if the LMs demonstrate robust understanding of requirements and code semantics. We propose a new benchmark NoFunEval to evaluate code LMs on non-functional requirements and simple classification instances for both functional and non-functional requirements. We propose a prompting method, Coding Concepts (CoCo), as a way for a developer to communicate the domain knowledge to the LMs. We conduct an extensive evaluation of twenty-two code LMs. Our finding is that they generally falter when tested on our benchmark, hinting at fundamental blindspots in their training setups. Surprisingly, even the classification accuracy on functional-correctness instances derived from the popular HumanEval benchmark is low, calling in question the depth of their comprehension and the source of their success in generating functionally-correct code in the first place. We will release our benchmark and evaluation scripts publicly at //aka.ms/NoFunEval.

We introduce CroissantLLM, a 1.3B language model pretrained on a set of 3T English and French tokens, to bring to the research and industrial community a high-performance, fully open-sourced bilingual model that runs swiftly on consumer-grade local hardware. To that end, we pioneer the approach of training an intrinsically bilingual model with a 1:1 English-to-French pretraining data ratio, a custom tokenizer, and bilingual finetuning datasets. We release the training dataset, notably containing a French split with manually curated, high-quality, and varied data sources. To assess performance outside of English, we craft a novel benchmark, FrenchBench, consisting of an array of classification and generation tasks, covering various orthogonal aspects of model performance in the French Language. Additionally, rooted in transparency and to foster further Large Language Model research, we release codebases, and dozens of checkpoints across various model sizes, training data distributions, and training steps, as well as fine-tuned Chat models, and strong translation models. We evaluate our model through the FMTI framework, and validate 81 % of the transparency criteria, far beyond the scores of even most open initiatives. This work enriches the NLP landscape, breaking away from previous English-centric work in order to strengthen our understanding of multilinguality in language models.

Artificial Intelligence techniques can be used to classify a patient's physical activities and predict vital signs for remote patient monitoring. Regression analysis based on non-linear models like deep learning models has limited explainability due to its black-box nature. This can require decision-makers to make blind leaps of faith based on non-linear model results, especially in healthcare applications. In non-invasive monitoring, patient data from tracking sensors and their predisposing clinical attributes act as input features for predicting future vital signs. Explaining the contributions of various features to the overall output of the monitoring application is critical for a clinician's decision-making. In this study, an Explainable AI for Quantitative analysis (QXAI) framework is proposed with post-hoc model explainability and intrinsic explainability for regression and classification tasks in a supervised learning approach. This was achieved by utilizing the Shapley values concept and incorporating attention mechanisms in deep learning models. We adopted the artificial neural networks (ANN) and attention-based Bidirectional LSTM (BiLSTM) models for the prediction of heart rate and classification of physical activities based on sensor data. The deep learning models achieved state-of-the-art results in both prediction and classification tasks. Global explanation and local explanation were conducted on input data to understand the feature contribution of various patient data. The proposed QXAI framework was evaluated using PPG-DaLiA data to predict heart rate and mobile health (MHEALTH) data to classify physical activities based on sensor data. Monte Carlo approximation was applied to the framework to overcome the time complexity and high computation power requirements required for Shapley value calculations.

Large monolithic generative models trained on massive amounts of data have become an increasingly dominant approach in AI research. In this paper, we argue that we should instead construct large generative systems by composing smaller generative models together. We show how such a compositional generative approach enables us to learn distributions in a more data-efficient manner, enabling generalization to parts of the data distribution unseen at training time. We further show how this enables us to program and construct new generative models for tasks completely unseen at training. Finally, we show that in many cases, we can discover separate compositional components from data.

Primal-dual methods have a natural application in Safe Reinforcement Learning (SRL), posed as a constrained policy optimization problem. In practice however, applying primal-dual methods to SRL is challenging, due to the inter-dependency of the learning rate (LR) and Lagrangian multipliers (dual variables) each time an embedded unconstrained RL problem is solved. In this paper, we propose, analyze and evaluate adaptive primal-dual (APD) methods for SRL, where two adaptive LRs are adjusted to the Lagrangian multipliers so as to optimize the policy in each iteration. We theoretically establish the convergence, optimality and feasibility of the APD algorithm. Finally, we conduct numerical evaluation of the practical APD algorithm with four well-known environments in Bullet-Safey-Gym employing two state-of-the-art SRL algorithms: PPO-Lagrangian and DDPG-Lagrangian. All experiments show that the practical APD algorithm outperforms (or achieves comparable performance) and attains more stable training than the constant LR cases. Additionally, we substantiate the robustness of selecting the two adaptive LRs by empirical evidence.

In this study, a novel deep learning algorithm for object detection, named MelNet, was introduced. MelNet underwent training utilizing the KITTI dataset for object detection. Following 300 training epochs, MelNet attained an mAP (mean average precision) score of 0.732. Additionally, three alternative models -YOLOv5, EfficientDet, and Faster-RCNN-MobileNetv3- were trained on the KITTI dataset and juxtaposed with MelNet for object detection. The outcomes underscore the efficacy of employing transfer learning in certain instances. Notably, preexisting models trained on prominent datasets (e.g., ImageNet, COCO, and Pascal VOC) yield superior results. Another finding underscores the viability of creating a new model tailored to a specific scenario and training it on a specific dataset. This investigation demonstrates that training MelNet exclusively on the KITTI dataset also surpasses EfficientDet after 150 epochs. Consequently, post-training, MelNet's performance closely aligns with that of other pre-trained models.

The advent of Large Models marks a new era in machine learning, significantly outperforming smaller models by leveraging vast datasets to capture and synthesize complex patterns. Despite these advancements, the exploration into scaling, especially in the audio generation domain, remains limited, with previous efforts didn't extend into the high-fidelity (HiFi) 44.1kHz domain and suffering from both spectral discontinuities and blurriness in the high-frequency domain, alongside a lack of robustness against out-of-domain data. These limitations restrict the applicability of models to diverse use cases, including music and singing generation. Our work introduces Enhanced Various Audio Generation via Scalable Generative Adversarial Networks (EVA-GAN), yields significant improvements over previous state-of-the-art in spectral and high-frequency reconstruction and robustness in out-of-domain data performance, enabling the generation of HiFi audios by employing an extensive dataset of 36,000 hours of 44.1kHz audio, a context-aware module, a Human-In-The-Loop artifact measurement toolkit, and expands the model to approximately 200 million parameters. Demonstrations of our work are available at //double-blind-eva-gan.cc.

The problem of Multiple Object Tracking (MOT) consists in following the trajectory of different objects in a sequence, usually a video. In recent years, with the rise of Deep Learning, the algorithms that provide a solution to this problem have benefited from the representational power of deep models. This paper provides a comprehensive survey on works that employ Deep Learning models to solve the task of MOT on single-camera videos. Four main steps in MOT algorithms are identified, and an in-depth review of how Deep Learning was employed in each one of these stages is presented. A complete experimental comparison of the presented works on the three MOTChallenge datasets is also provided, identifying a number of similarities among the top-performing methods and presenting some possible future research directions.

With the capability of modeling bidirectional contexts, denoising autoencoding based pretraining like BERT achieves better performance than pretraining approaches based on autoregressive language modeling. However, relying on corrupting the input with masks, BERT neglects dependency between the masked positions and suffers from a pretrain-finetune discrepancy. In light of these pros and cons, we propose XLNet, a generalized autoregressive pretraining method that (1) enables learning bidirectional contexts by maximizing the expected likelihood over all permutations of the factorization order and (2) overcomes the limitations of BERT thanks to its autoregressive formulation. Furthermore, XLNet integrates ideas from Transformer-XL, the state-of-the-art autoregressive model, into pretraining. Empirically, XLNet outperforms BERT on 20 tasks, often by a large margin, and achieves state-of-the-art results on 18 tasks including question answering, natural language inference, sentiment analysis, and document ranking.

Sentiment analysis is a widely studied NLP task where the goal is to determine opinions, emotions, and evaluations of users towards a product, an entity or a service that they are reviewing. One of the biggest challenges for sentiment analysis is that it is highly language dependent. Word embeddings, sentiment lexicons, and even annotated data are language specific. Further, optimizing models for each language is very time consuming and labor intensive especially for recurrent neural network models. From a resource perspective, it is very challenging to collect data for different languages. In this paper, we look for an answer to the following research question: can a sentiment analysis model trained on a language be reused for sentiment analysis in other languages, Russian, Spanish, Turkish, and Dutch, where the data is more limited? Our goal is to build a single model in the language with the largest dataset available for the task, and reuse it for languages that have limited resources. For this purpose, we train a sentiment analysis model using recurrent neural networks with reviews in English. We then translate reviews in other languages and reuse this model to evaluate the sentiments. Experimental results show that our robust approach of single model trained on English reviews statistically significantly outperforms the baselines in several different languages.

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