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We provide methods which recover planar scene geometry by utilizing the transient histograms captured by a class of close-range time-of-flight (ToF) distance sensor. A transient histogram is a one dimensional temporal waveform which encodes the arrival time of photons incident on the ToF sensor. Typically, a sensor processes the transient histogram using a proprietary algorithm to produce distance estimates, which are commonly used in several robotics applications. Our methods utilize the transient histogram directly to enable recovery of planar geometry more accurately than is possible using only proprietary distance estimates, and consistent recovery of the albedo of the planar surface, which is not possible with proprietary distance estimates alone. This is accomplished via a differentiable rendering pipeline, which simulates the transient imaging process, allowing direct optimization of scene geometry to match observations. To validate our methods, we capture 3,800 measurements of eight planar surfaces from a wide range of viewpoints, and show that our method outperforms the proprietary-distance-estimate baseline by an order of magnitude in most scenarios. We demonstrate a simple robotics application which uses our method to sense the distance to and slope of a planar surface from a sensor mounted on the end effector of a robot arm.

Automatic semantic change methods try to identify the changes that appear over time in the meaning of words by analyzing their usage in diachronic corpora. In this paper, we analyze different strategies to create static and contextual word embedding models, i.e., Word2Vec and ELMo, on real-world English and Romanian datasets. To test our pipeline and determine the performance of our models, we first evaluate both word embedding models on an English dataset (SEMEVAL-CCOHA). Afterward, we focus our experiments on a Romanian dataset, and we underline different aspects of semantic changes in this low-resource language, such as meaning acquisition and loss. The experimental results show that, depending on the corpus, the most important factors to consider are the choice of model and the distance to calculate a score for detecting semantic change.

Clans are representations of generalized algebraic theories that contain more information than the finite-limit categories associated to the l.f.p. categories of models via Gabriel-Ulmer duality. Refining Gabriel-Ulmer duality to account for this additional information, this article presents a duality theory between clans and l.f.p. categories equipped with a weak factorization system subject to axioms.

One-class classification (OCC) is a longstanding method for anomaly detection. With the powerful representation capability of the pre-trained backbone, OCC methods have witnessed significant performance improvements. Typically, most of these OCC methods employ transfer learning to enhance the discriminative nature of the pre-trained backbone's features, thus achieving remarkable efficacy. While most current approaches emphasize feature transfer strategies, we argue that the optimization objective space within OCC methods could also be an underlying critical factor influencing performance. In this work, we conducted a thorough investigation into the optimization objective of OCC. Through rigorous theoretical analysis and derivation, we unveil a key insights: any space with the suitable norm can serve as an equivalent substitute for the hypersphere center, without relying on the distribution assumption of training samples. Further, we provide guidelines for determining the feasible domain of norms for the OCC optimization objective. This novel insight sparks a simple and data-agnostic deep one-class classification method. Our method is straightforward, with a single 1x1 convolutional layer as a trainable projector and any space with suitable norm as the optimization objective. Extensive experiments validate the reliability and efficacy of our findings and the corresponding methodology, resulting in state-of-the-art performance in both one-class classification and industrial vision anomaly detection and segmentation tasks.

Bayesian classifiers perform well when each of the features is completely independent of the other which is not always valid in real world application. The aim of this study is to implement and compare the performances of each variant of Bayesian classifier (Multinomial, Bernoulli, and Gaussian) on anomaly detection in network intrusion, and to investigate whether there is any association between each variant assumption and their performance. Our investigation showed that each variant of Bayesian algorithm blindly follows its assumption regardless of feature property, and that the assumption is the single most important factor that influences their accuracy. Experimental results show that Bernoulli has accuracy of 69.9% test (71% train), Multinomial has accuracy of 31.2% test (31.2% train), while Gaussian has accuracy of 81.69% test (82.84% train). Going deeper, we investigated and found that each Naive Bayes variants performances and accuracy is largely due to each classifier assumption, Gaussian classifier performed best on anomaly detection due to its assumption that features follow normal distributions which are continuous, while multinomial classifier have a dismal performance as it simply assumes discreet and multinomial distribution.

Recently, graph neural networks have been gaining a lot of attention to simulate dynamical systems due to their inductive nature leading to zero-shot generalizability. Similarly, physics-informed inductive biases in deep-learning frameworks have been shown to give superior performance in learning the dynamics of physical systems. There is a growing volume of literature that attempts to combine these two approaches. Here, we evaluate the performance of thirteen different graph neural networks, namely, Hamiltonian and Lagrangian graph neural networks, graph neural ODE, and their variants with explicit constraints and different architectures. We briefly explain the theoretical formulation highlighting the similarities and differences in the inductive biases and graph architecture of these systems. We evaluate these models on spring, pendulum, gravitational, and 3D deformable solid systems to compare the performance in terms of rollout error, conserved quantities such as energy and momentum, and generalizability to unseen system sizes. Our study demonstrates that GNNs with additional inductive biases, such as explicit constraints and decoupling of kinetic and potential energies, exhibit significantly enhanced performance. Further, all the physics-informed GNNs exhibit zero-shot generalizability to system sizes an order of magnitude larger than the training system, thus providing a promising route to simulate large-scale realistic systems.

As soon as abstract mathematical computations were adapted to computation on digital computers, the problem of efficient representation, manipulation, and communication of the numerical values in those computations arose. Strongly related to the problem of numerical representation is the problem of quantization: in what manner should a set of continuous real-valued numbers be distributed over a fixed discrete set of numbers to minimize the number of bits required and also to maximize the accuracy of the attendant computations? This perennial problem of quantization is particularly relevant whenever memory and/or computational resources are severely restricted, and it has come to the forefront in recent years due to the remarkable performance of Neural Network models in computer vision, natural language processing, and related areas. Moving from floating-point representations to low-precision fixed integer values represented in four bits or less holds the potential to reduce the memory footprint and latency by a factor of 16x; and, in fact, reductions of 4x to 8x are often realized in practice in these applications. Thus, it is not surprising that quantization has emerged recently as an important and very active sub-area of research in the efficient implementation of computations associated with Neural Networks. In this article, we survey approaches to the problem of quantizing the numerical values in deep Neural Network computations, covering the advantages/disadvantages of current methods. With this survey and its organization, we hope to have presented a useful snapshot of the current research in quantization for Neural Networks and to have given an intelligent organization to ease the evaluation of future research in this area.

This work considers the question of how convenient access to copious data impacts our ability to learn causal effects and relations. In what ways is learning causality in the era of big data different from -- or the same as -- the traditional one? To answer this question, this survey provides a comprehensive and structured review of both traditional and frontier methods in learning causality and relations along with the connections between causality and machine learning. This work points out on a case-by-case basis how big data facilitates, complicates, or motivates each approach.

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.

While it is nearly effortless for humans to quickly assess the perceptual similarity between two images, the underlying processes are thought to be quite complex. Despite this, the most widely used perceptual metrics today, such as PSNR and SSIM, are simple, shallow functions, and fail to account for many nuances of human perception. Recently, the deep learning community has found that features of the VGG network trained on the ImageNet classification task has been remarkably useful as a training loss for image synthesis. But how perceptual are these so-called "perceptual losses"? What elements are critical for their success? To answer these questions, we introduce a new Full Reference Image Quality Assessment (FR-IQA) dataset of perceptual human judgments, orders of magnitude larger than previous datasets. We systematically evaluate deep features across different architectures and tasks and compare them with classic metrics. We find that deep features outperform all previous metrics by huge margins. More surprisingly, this result is not restricted to ImageNet-trained VGG features, but holds across different deep architectures and levels of supervision (supervised, self-supervised, or even unsupervised). Our results suggest that perceptual similarity is an emergent property shared across deep visual representations.