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A standard practice in developing image recognition models is to train a model on a specific image resolution and then deploy it. However, in real-world inference, models often encounter images different from the training sets in resolution and/or subject to natural variations such as weather changes, noise types and compression artifacts. While traditional solutions involve training multiple models for different resolutions or input variations, these methods are computationally expensive and thus do not scale in practice. To this end, we propose a novel neural network model, parallel-structured and all-component Fourier neural operator (PAC-FNO), that addresses the problem. Unlike conventional feed-forward neural networks, PAC-FNO operates in the frequency domain, allowing it to handle images of varying resolutions within a single model. We also propose a two-stage algorithm for training PAC-FNO with a minimal modification to the original, downstream model. Moreover, the proposed PAC-FNO is ready to work with existing image recognition models. Extensively evaluating methods with seven image recognition benchmarks, we show that the proposed PAC-FNO improves the performance of existing baseline models on images with various resolutions by up to 77.1% and various types of natural variations in the images at inference.

There has been an increasing interest in large speech models that can perform multiple speech processing tasks in a single model. Such models usually adopt the encoder-decoder or decoder-only architecture due to their popularity and good performance in many domains. However, autoregressive models can be slower during inference compared to non-autoregressive models and also have potential risks of hallucination. Though prior studies observed promising results of non-autoregressive models for certain tasks at small scales, it remains unclear if they can be scaled to speech-to-text generation in diverse languages and tasks. Inspired by the Open Whisper-style Speech Model (OWSM) project, we propose OWSM-CTC, a novel encoder-only speech foundation model based on Connectionist Temporal Classification (CTC). It is trained on 180k hours of public audio data for multilingual automatic speech recognition (ASR), speech translation (ST), and language identification (LID). Compared to encoder-decoder OWSM, our OWSM-CTC achieves competitive results on ASR and up to 25% relative improvement on ST, while it is more robust and 3 to 4 times faster for inference. OWSM-CTC also improves the long-form ASR result with 20x speed-up. We will publicly release our codebase, pre-trained model, and training logs to promote open science in speech foundation models.

Current approaches for 3D scene graph prediction rely on labeled datasets to train models for a fixed set of known object classes and relationship categories. We present Open3DSG, an alternative approach to learn 3D scene graph prediction in an open world without requiring labeled scene graph data. We co-embed the features from a 3D scene graph prediction backbone with the feature space of powerful open world 2D vision language foundation models. This enables us to predict 3D scene graphs from 3D point clouds in a zero-shot manner by querying object classes from an open vocabulary and predicting the inter-object relationships from a grounded LLM with scene graph features and queried object classes as context. Open3DSG is the first 3D point cloud method to predict not only explicit open-vocabulary object classes, but also open-set relationships that are not limited to a predefined label set, making it possible to express rare as well as specific objects and relationships in the predicted 3D scene graph. Our experiments show that Open3DSG is effective at predicting arbitrary object classes as well as their complex inter-object relationships describing spatial, supportive, semantic and comparative relationships.

Retrieval-augmented large language models (LLMs) have demonstrated efficacy in knowledge-intensive tasks such as open-domain QA, addressing inherent challenges in knowledge update and factual inadequacy. However, inconsistencies between retrieval knowledge and the necessary knowledge for LLMs, leading to a decline in LLM's answer quality. This paper introduces BIDER, an approach that refines retrieval documents into Key Supporting Evidence (KSE) through knowledge synthesis, supervised fine-tuning (SFT), and preference alignment. We train BIDER by learning from crafting KSE, while maximizing its output to align with LLM's information acquisition preferences through reinforcement learning. Evaluations across five datasets show BIDER boosts LLMs' answer quality by 7% while reducing input content length in retrieval documents by 80%, outperforming existing methods. The proposed KSE simulation effectively equips LLMs with essential information for accurate question answering.

Widely adopted motion forecasting datasets substitute the observed sensory inputs with higher-level abstractions such as 3D boxes and polylines. These sparse shapes are inferred through annotating the original scenes with perception systems' predictions. Such intermediate representations tie the quality of the motion forecasting models to the performance of computer vision models. Moreover, the human-designed explicit interfaces between perception and motion forecasting typically pass only a subset of the semantic information present in the original sensory input. To study the effect of these modular approaches, design new paradigms that mitigate these limitations, and accelerate the development of end-to-end motion forecasting models, we augment the Waymo Open Motion Dataset (WOMD) with large-scale, high-quality, diverse LiDAR data for the motion forecasting task. The new augmented dataset WOMD-LiDAR consists of over 100,000 scenes that each spans 20 seconds, consisting of well-synchronized and calibrated high quality LiDAR point clouds captured across a range of urban and suburban geographies (//waymo.com/open/data/motion/). Compared to Waymo Open Dataset (WOD), WOMD-LiDAR dataset contains 100x more scenes. Furthermore, we integrate the LiDAR data into the motion forecasting model training and provide a strong baseline. Experiments show that the LiDAR data brings improvement in the motion forecasting task. We hope that WOMD-LiDAR will provide new opportunities for boosting end-to-end motion forecasting models.

Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer in geometrically uninformative environments that are known to deteriorate point cloud registration performance and push optimization toward divergence along weakly constrained directions. To overcome this issue, this work proposes i) a robust fine-grained localizability detection module, and ii) a localizability-aware constrained ICP optimization module, which couples with the localizability detection module in a unified manner. The proposed localizability detection is achieved by utilizing the correspondences between the scan and the map to analyze the alignment strength against the principal directions of the optimization as part of its fine-grained LiDAR localizability analysis. In the second part, this localizability analysis is then integrated into the scan-to-map point cloud registration to generate drift-free pose updates by enforcing controlled updates or leaving the degenerate directions of the optimization unchanged. The proposed method is thoroughly evaluated and compared to state-of-the-art methods in simulated and real-world experiments, demonstrating the performance and reliability improvement in LiDAR-challenging environments. In all experiments, the proposed framework demonstrates accurate and generalizable localizability detection and robust pose estimation without environment-specific parameter tuning.

5G New Radio (NR) has stringent demands on both performance and complexity for the design of low-density parity-check (LDPC) decoding algorithms and corresponding VLSI implementations. Furthermore, decoders must fully support the wide range of all 5G NR blocklengths and code rates, which is a significant challenge. In this paper, we present a high-performance and low-complexity LDPC decoder, tailor-made to fulfill the 5G requirements. First, to close the gap between belief propagation (BP) decoding and its approximations in hardware, we propose an extension of adjusted min-sum decoding, called generalized adjusted min-sum (GA-MS) decoding. This decoding algorithm flexibly truncates the incoming messages at the check node level and carefully approximates the non-linear functions of BP decoding to balance the error-rate and hardware complexity. Numerical results demonstrate that the proposed fixed-point GAMS has only a minor gap of 0.1 dB compared to floating-point BP under various scenarios of 5G standard specifications. Secondly, we present a fully reconfigurable 5G NR LDPC decoder implementation based on GA-MS decoding. Given that memory occupies a substantial portion of the decoder area, we adopt multiple data compression and approximation techniques to reduce 42.2% of the memory overhead. The corresponding 28nm FD-SOI ASIC decoder has a core area of 1.823 mm2 and operates at 895 MHz. It is compatible with all 5G NR LDPC codes and achieves a peak throughput of 24.42 Gbps and a maximum area efficiency of 13.40 Gbps/mm2 at 4 decoding iterations.

The increasing demand for personalized interactions with large language models (LLMs) calls for the development of methodologies capable of accurately and efficiently identifying user opinions and preferences. Retrieval augmentation emerges as an effective strategy, as it can accommodate a vast number of users without the costs from fine-tuning. Existing research, however, has largely focused on enhancing the retrieval stage and devoted limited exploration toward optimizing the representation of the database, a crucial aspect for tasks such as personalization. In this work, we examine the problem from a novel angle, focusing on how data can be better represented for more efficient retrieval in the context of LLM customization. To tackle this challenge, we introduce Persona-DB, a simple yet effective framework consisting of a hierarchical construction process to improve generalization across task contexts and collaborative refinement to effectively bridge knowledge gaps among users. In the task of response forecasting, Persona-DB demonstrates superior efficiency in maintaining accuracy with a significantly reduced retrieval size, a critical advantage in scenarios with extensive histories or limited context windows. Our experiments also indicate a marked improvement of over 15% under cold-start scenarios, when users have extremely sparse data. Furthermore, our analysis reveals the increasing importance of collaborative knowledge as the retrieval capacity expands.

Consecutive frames in a video contain redundancy, but they may also contain relevant complementary information for the detection task. The objective of our work is to leverage this complementary information to improve detection. Therefore, we propose a spatio-temporal fusion framework (STF). We first introduce multi-frame and single-frame attention modules that allow a neural network to share feature maps between nearby frames to obtain more robust object representations. Second, we introduce a dual-frame fusion module that merges feature maps in a learnable manner to improve them. Our evaluation is conducted on three different benchmarks including video sequences of moving road users. The performed experiments demonstrate that the proposed spatio-temporal fusion module leads to improved detection performance compared to baseline object detectors. Code is available at //github.com/noreenanwar/STF-module

Generative commonsense reasoning which aims to empower machines to generate sentences with the capacity of reasoning over a set of concepts is a critical bottleneck for text generation. Even the state-of-the-art pre-trained language generation models struggle at this task and often produce implausible and anomalous sentences. One reason is that they rarely consider incorporating the knowledge graph which can provide rich relational information among the commonsense concepts. To promote the ability of commonsense reasoning for text generation, we propose a novel knowledge graph augmented pre-trained language generation model KG-BART, which encompasses the complex relations of concepts through the knowledge graph and produces more logical and natural sentences as output. Moreover, KG-BART can leverage the graph attention to aggregate the rich concept semantics that enhances the model generalization on unseen concept sets. Experiments on benchmark CommonGen dataset verify the effectiveness of our proposed approach by comparing with several strong pre-trained language generation models, particularly KG-BART outperforms BART by 5.80, 4.60, in terms of BLEU-3, 4. Moreover, we also show that the generated context by our model can work as background scenarios to benefit downstream commonsense QA tasks.