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Local feature matching aims at establishing sparse correspondences between a pair of images. Recently, detector-free methods present generally better performance but are not satisfactory in image pairs with large scale differences. In this paper, we propose Patch Area Transportation with Subdivision (PATS) to tackle this issue. Instead of building an expensive image pyramid, we start by splitting the original image pair into equal-sized patches and gradually resizing and subdividing them into smaller patches with the same scale. However, estimating scale differences between these patches is non-trivial since the scale differences are determined by both relative camera poses and scene structures, and thus spatially varying over image pairs. Moreover, it is hard to obtain the ground truth for real scenes. To this end, we propose patch area transportation, which enables learning scale differences in a self-supervised manner. In contrast to bipartite graph matching, which only handles one-to-one matching, our patch area transportation can deal with many-to-many relationships. PATS improves both matching accuracy and coverage, and shows superior performance in downstream tasks, such as relative pose estimation, visual localization, and optical flow estimation. The source code is available at \url{//zju3dv.github.io/pats/}.

Metamodels, or the regression analysis of Monte Carlo simulation (MCS) results, provide a powerful tool to summarize MCS findings. However, an as of yet unexplored approach is the use of multilevel metamodels (MLMM) that better account for the dependent data structure of MCS results that arises from fitting multiple models to the same simulated data set. In this study, we articulate the theoretical rationale for the MLMM and illustrate how it can dramatically improve efficiency over the traditional regression approach, better account for complex MCS designs, and provide new insights into the generalizability of MCS findings.

Many applications in Reinforcement Learning (RL) usually have noise or stochasticity present in the environment. Beyond their impact on learning, these uncertainties lead the exact same policy to perform differently, i.e. yield different return, from one roll-out to another. Common evaluation procedures in RL summarise the consequent return distributions using solely the expected return, which does not account for the spread of the distribution. Our work defines this spread as the policy reproducibility: the ability of a policy to obtain similar performance when rolled out many times, a crucial property in some real-world applications. We highlight that existing procedures that only use the expected return are limited on two fronts: first an infinite number of return distributions with a wide range of performance-reproducibility trade-offs can have the same expected return, limiting its effectiveness when used for comparing policies; second, the expected return metric does not leave any room for practitioners to choose the best trade-off value for considered applications. In this work, we address these limitations by recommending the use of Lower Confidence Bound, a metric taken from Bayesian optimisation that provides the user with a preference parameter to choose a desired performance-reproducibility trade-off. We also formalise and quantify policy reproducibility, and demonstrate the benefit of our metrics using extensive experiments of popular RL algorithms on common uncertain RL tasks.

End-to-end (E2E) automatic speech recognition (ASR) methods exhibit remarkable performance. However, since the performance of such methods is intrinsically linked to the context present in the training data, E2E-ASR methods do not perform as desired for unseen user contexts (e.g., technical terms, personal names, and playlists). Thus, E2E-ASR methods must be easily contextualized by the user or developer. This paper proposes an attention-based contextual biasing method that can be customized using an editable phrase list (referred to as a bias list). The proposed method can be trained effectively by combining a bias phrase index loss and special tokens to detect the bias phrases in the input speech data. In addition, to improve the contextualization performance during inference further, we propose a bias phrase boosted (BPB) beam search algorithm based on the bias phrase index probability. Experimental results demonstrate that the proposed method consistently improves the word error rate and the character error rate of the target phrases in the bias list on both the Librispeech-960 (English) and our in-house (Japanese) dataset, respectively.

The accuracy and fairness of perception systems in autonomous driving are crucial, particularly for vulnerable road users. Mainstream research has looked into improving the performance metrics for classification accuracy. However, the hidden traits of bias inheritance in the AI models, class imbalances and disparities in the datasets are often overlooked. In this context, our study examines the class imbalances for vulnerable road users by focusing on class distribution analysis, performance evaluation, and bias impact assessment. We identify the concern of imbalances in class representation, leading to potential biases in detection accuracy. Utilizing popular CNN models and Vision Transformers (ViTs) with the nuScenes dataset, our performance evaluation reveals detection disparities for underrepresented classes. We propose a methodology for model optimization and bias mitigation, which includes data augmentation, resampling, and metric-specific learning. Using the proposed mitigation approaches, we see improvement in IoU(%) and NDS(%) metrics from 71.3 to 75.6 and 80.6 to 83.7 respectively, for the CNN model. Similarly, for ViT, we observe improvement in IoU and NDS metrics from 74.9 to 79.2 and 83.8 to 87.1 respectively. This research contributes to developing more reliable models and datasets, enhancing inclusiveness for minority classes.

Low-rank compression, a popular model compression technique that produces compact convolutional neural networks (CNNs) with low rankness, has been well-studied in the literature. On the other hand, low-rank training, as an alternative way to train low-rank CNNs from scratch, has been exploited little yet. Unlike low-rank compression, low-rank training does not need pre-trained full-rank models, and the entire training phase is always performed on the low-rank structure, bringing attractive benefits for practical applications. However, the existing low-rank training solutions still face several challenges, such as a considerable accuracy drop and/or still needing to update full-size models during the training. In this paper, we perform a systematic investigation on low-rank CNN training. By identifying the proper low-rank format and performance-improving strategy, we propose ELRT, an efficient low-rank training solution for high-accuracy, high-compactness, low-rank CNN models. Our extensive evaluation results for training various CNNs on different datasets demonstrate the effectiveness of ELRT.

The application of artificial intelligence to simulate air-to-air combat scenarios is attracting increasing attention. To date the high-dimensional state and action spaces, the high complexity of situation information (such as imperfect and filtered information, stochasticity, incomplete knowledge about mission targets) and the nonlinear flight dynamics pose significant challenges for accurate air combat decision-making. These challenges are exacerbated when multiple heterogeneous agents are involved. We propose a hierarchical multi-agent reinforcement learning framework for air-to-air combat with multiple heterogeneous agents. In our framework, the decision-making process is divided into two stages of abstraction, where heterogeneous low-level policies control the action of individual units, and a high-level commander policy issues macro commands given the overall mission targets. Low-level policies are trained for accurate unit combat control. Their training is organized in a learning curriculum with increasingly complex training scenarios and league-based self-play. The commander policy is trained on mission targets given pre-trained low-level policies. The empirical validation advocates the advantages of our design choices.

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.

Distant supervision can effectively label data for relation extraction, but suffers from the noise labeling problem. Recent works mainly perform soft bag-level noise reduction strategies to find the relatively better samples in a sentence bag, which is suboptimal compared with making a hard decision of false positive samples in sentence level. In this paper, we introduce an adversarial learning framework, which we named DSGAN, to learn a sentence-level true-positive generator. Inspired by Generative Adversarial Networks, we regard the positive samples generated by the generator as the negative samples to train the discriminator. The optimal generator is obtained until the discrimination ability of the discriminator has the greatest decline. We adopt the generator to filter distant supervision training dataset and redistribute the false positive instances into the negative set, in which way to provide a cleaned dataset for relation classification. The experimental results show that the proposed strategy significantly improves the performance of distant supervision relation extraction comparing to state-of-the-art systems.

ASR (automatic speech recognition) systems like Siri, Alexa, Google Voice or Cortana has become quite popular recently. One of the key techniques enabling the practical use of such systems in people's daily life is deep learning. Though deep learning in computer vision is known to be vulnerable to adversarial perturbations, little is known whether such perturbations are still valid on the practical speech recognition. In this paper, we not only demonstrate such attacks can happen in reality, but also show that the attacks can be systematically conducted. To minimize users' attention, we choose to embed the voice commands into a song, called CommandSong. In this way, the song carrying the command can spread through radio, TV or even any media player installed in the portable devices like smartphones, potentially impacting millions of users in long distance. In particular, we overcome two major challenges: minimizing the revision of a song in the process of embedding commands, and letting the CommandSong spread through the air without losing the voice "command". Our evaluation demonstrates that we can craft random songs to "carry" any commands and the modify is extremely difficult to be noticed. Specially, the physical attack that we play the CommandSongs over the air and record them can success with 94 percentage.