In this paper, we use Prior-data Fitted Networks (PFNs) as a flexible surrogate for Bayesian Optimization (BO). PFNs are neural processes that are trained to approximate the posterior predictive distribution (PPD) through in-context learning on any prior distribution that can be efficiently sampled from. We describe how this flexibility can be exploited for surrogate modeling in BO. We use PFNs to mimic a naive Gaussian process (GP), an advanced GP, and a Bayesian Neural Network (BNN). In addition, we show how to incorporate further information into the prior, such as allowing hints about the position of optima (user priors), ignoring irrelevant dimensions, and performing non-myopic BO by learning the acquisition function. The flexibility underlying these extensions opens up vast possibilities for using PFNs for BO. We demonstrate the usefulness of PFNs for BO in a large-scale evaluation on artificial GP samples and three different hyperparameter optimization testbeds: HPO-B, Bayesmark, and PD1. We publish code alongside trained models at github.com/automl/PFNs4BO.
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Large language models (LLMs) have achieved great success in general domains of natural language processing. In this paper, we bring LLMs to the realm of geoscience with the objective of advancing research and applications in this field. To this end, we present the first-ever LLM in geoscience, K2, alongside a suite of resources developed to further promote LLM research within geoscience. For instance, we have curated the first geoscience instruction tuning dataset, GeoSignal, which aims to align LLM responses to geoscience-related user queries. Additionally, we have established the first geoscience benchmark, GeoBench, to evaluate LLMs in the context of geoscience. In this work, we experiment with a complete recipe to adapt a pre-trained general-domain LLM to the geoscience domain. Specifically, we further train the LLaMA-7B model on 5.5B tokens of geoscience text corpus, including over 1 million pieces of geoscience literature, and utilize GeoSignal's supervised data to fine-tune the model. Moreover, we share a protocol that can efficiently gather domain-specific data and construct domain-supervised data, even in situations where manpower is scarce. Meanwhile, we equip K2 with the abilities of using tools to be a naive geoscience aide. Experiments conducted on the GeoBench demonstrate the effectiveness of our approach and datasets on geoscience knowledge understanding and utilization.We open-source all the training data and K2 model checkpoints at //github.com/davendw49/k2.
In this paper, we propose a novel training strategy called SupFusion, which provides an auxiliary feature level supervision for effective LiDAR-Camera fusion and significantly boosts detection performance. Our strategy involves a data enhancement method named Polar Sampling, which densifies sparse objects and trains an assistant model to generate high-quality features as the supervision. These features are then used to train the LiDAR-Camera fusion model, where the fusion feature is optimized to simulate the generated high-quality features. Furthermore, we propose a simple yet effective deep fusion module, which contiguously gains superior performance compared with previous fusion methods with SupFusion strategy. In such a manner, our proposal shares the following advantages. Firstly, SupFusion introduces auxiliary feature-level supervision which could boost LiDAR-Camera detection performance without introducing extra inference costs. Secondly, the proposed deep fusion could continuously improve the detector's abilities. Our proposed SupFusion and deep fusion module is plug-and-play, we make extensive experiments to demonstrate its effectiveness. Specifically, we gain around 2% 3D mAP improvements on KITTI benchmark based on multiple LiDAR-Camera 3D detectors.
In this paper, we present a dataset for the computational study of a number of Modern Greek dialects. It consists of raw text data from four dialects of Modern Greek, Cretan, Pontic, Northern Greek and Cypriot Greek. The dataset is of considerable size, albeit imbalanced, and presents the first attempt to create large scale dialectal resources of this type for Modern Greek dialects. We then use the dataset to perform dialect idefntification. We experiment with traditional ML algorithms, as well as simple DL architectures. The results show very good performance on the task, potentially revealing that the dialects in question have distinct enough characteristics allowing even simple ML models to perform well on the task. Error analysis is performed for the top performing algorithms showing that in a number of cases the errors are due to insufficient dataset cleaning.
This paper presents a novel semantic representation, WISeR, that overcomes challenges for Abstract Meaning Representation (AMR). Despite its strengths, AMR is not easily applied to languages or domains without predefined semantic frames, and its use of numbered arguments results in semantic role labels, which are not directly interpretable and are semantically overloaded for parsers. We examine the numbered arguments of predicates in AMR and convert them to thematic roles that do not require reference to semantic frames. We create a new corpus of 1K English dialogue sentences annotated in both WISeR and AMR. WISeR shows stronger inter-annotator agreement for beginner and experienced annotators, with beginners becoming proficient in WISeR annotation more quickly. Finally, we train a state-of-the-art parser on the AMR 3.0 corpus and a WISeR corpus converted from AMR 3.0. The parser is evaluated on these corpora and our dialogue corpus. The WISeR model exhibits higher accuracy than its AMR counterpart across the board, demonstrating that WISeR is easier for parsers to learn.
Fair machine learning is a thriving and vibrant research topic. In this paper, we propose Fairness as a Service (FaaS), a secure, verifiable and privacy-preserving protocol to computes and verify the fairness of any machine learning (ML) model. In the deisgn of FaaS, the data and outcomes are represented through cryptograms to ensure privacy. Also, zero knowledge proofs guarantee the well-formedness of the cryptograms and underlying data. FaaS is model--agnostic and can support various fairness metrics; hence, it can be used as a service to audit the fairness of any ML model. Our solution requires no trusted third party or private channels for the computation of the fairness metric. The security guarantees and commitments are implemented in a way that every step is securely transparent and verifiable from the start to the end of the process. The cryptograms of all input data are publicly available for everyone, e.g., auditors, social activists and experts, to verify the correctness of the process. We implemented FaaS to investigate performance and demonstrate the successful use of FaaS for a publicly available data set with thousands of entries.
This paper proposes a novel LiDAR-Inertial odometry (LIO), named SR-LIO, based on an iterated extended Kalman filter (iEKF) framework. We adapt the sweep reconstruction method, which segments and reconstructs raw input sweeps from spinning LiDAR to obtain reconstructed sweeps with higher frequency. We found that such method can effectively reduce the time interval for each iterated state update, improving the state estimation accuracy and enabling the usage of iEKF framework for fusing high-frequency IMU and low-frequency LiDAR. To prevent inaccurate trajectory caused by multiple distortion correction to a particular point, we further propose to perform distortion correction for each segment. Experimental results on four public datasets demonstrate that our SR-LIO outperforms all existing state-of-the-art methods on accuracy, and reducing the time interval of iterated state update via the proposed sweep reconstruction can improve the accuracy and frequency of estimated states. The source code of SR-LIO is publicly available for the development of the community.
In this paper, we propose consensus-based optimization for saddle point problems (CBO-SP), a novel multi-particle metaheuristic derivative-free optimization method capable of provably finding global Nash equilibria. Following the idea of swarm intelligence, the method employs a group of interacting particles, which perform a minimization over one variable and a maximization over the other. This paradigm permits a passage to the mean-field limit, which makes the method amenable to theoretical analysis and allows to obtain rigorous convergence guarantees under reasonable assumptions about the initialization and the objective function, which most notably include nonconvex-nonconcave objectives.
This paper proposes LONER, the first real-time LiDAR SLAM algorithm that uses a neural implicit scene representation. Existing implicit mapping methods for LiDAR show promising results in large-scale reconstruction, but either require groundtruth poses or run slower than real-time. In contrast, LONER uses LiDAR data to train an MLP to estimate a dense map in real-time, while simultaneously estimating the trajectory of the sensor. To achieve real-time performance, this paper proposes a novel information-theoretic loss function that accounts for the fact that different regions of the map may be learned to varying degrees throughout online training. The proposed method is evaluated qualitatively and quantitatively on two open-source datasets. This evaluation illustrates that the proposed loss function converges faster and leads to more accurate geometry reconstruction than other loss functions used in depth-supervised neural implicit frameworks. Finally, this paper shows that LONER estimates trajectories competitively with state-of-the-art LiDAR SLAM methods, while also producing dense maps competitive with existing real-time implicit mapping methods that use groundtruth poses.
We consider an interesting problem-salient instance segmentation in this paper. Other than producing bounding boxes, our network also outputs high-quality instance-level segments. Taking into account the category-independent property of each target, we design a single stage salient instance segmentation framework, with a novel segmentation branch. Our new branch regards not only local context inside each detection window but also its surrounding context, enabling us to distinguish the instances in the same scope even with obstruction. Our network is end-to-end trainable and runs at a fast speed (40 fps when processing an image with resolution 320x320). We evaluate our approach on a publicly available benchmark and show that it outperforms other alternative solutions. We also provide a thorough analysis of the design choices to help readers better understand the functions of each part of our network. The source code can be found at \url{//github.com/RuochenFan/S4Net}.
In this paper we address issues with image retrieval benchmarking on standard and popular Oxford 5k and Paris 6k datasets. In particular, annotation errors, the size of the dataset, and the level of challenge are addressed: new annotation for both datasets is created with an extra attention to the reliability of the ground truth. Three new protocols of varying difficulty are introduced. The protocols allow fair comparison between different methods, including those using a dataset pre-processing stage. For each dataset, 15 new challenging queries are introduced. Finally, a new set of 1M hard, semi-automatically cleaned distractors is selected. An extensive comparison of the state-of-the-art methods is performed on the new benchmark. Different types of methods are evaluated, ranging from local-feature-based to modern CNN based methods. The best results are achieved by taking the best of the two worlds. Most importantly, image retrieval appears far from being solved.
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