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Risk perception plays a key role in shaping the collective behavior of moving animal groups, yet the effects of variation in perceived risk within groups is unknown. Here, we merge two subgroups of fish with different levels of perceived risk, manipulated through habituation to the experimental arena, and quantitatively analyze their movement. Fish with heightened risk perception tend to occupy more central positions within the group, consistent with the selfish herd hypothesis. This behavior appears to be driven by adjusted local interactions with nearby individuals. Compared to more habituated fish, these individuals also exhibit greater coordination, shorter burst-and-coast dynamics, more efficient information transmission, and a stronger tendency to adopt follower roles. To validate the findings, we develop a machine learning tool that successfully classifies the subgroup identity of individual fish. Our study demonstrates how differences in local-scale inter-individual interactions can drive spatial assortment within groups, based on heterogeneity in the perception of risk., Comment: Main paper (12 pages) + Supplementary Information (14 pages)

Stress changes in the Earth's crust induced by an earthquake typically trigger other earthquakes. Identifying such aftershocks is an important step in seismic hazard assessment but has remained challenging. Here we demonstrate that earthquake catalogs without triggering can lead to spurious Omori-Utsu and productivity relations for the commonly used nearest-neighbor declustering method. However, we show that the robustness of the Omori-Utsu exponent on newly introduced parameters of the method allows to identify true aftershocks. For a natural swarm catalog, which lacks a clear distinction between triggered and background events, we reveal that the catalog is dominated by aftershocks., Comment: Main paper (6 pages) + Supplementary Material (17 pages)

Online object segmentation and tracking in Lidar point clouds enables autonomous agents to understand their surroundings and make safe decisions. Unfortunately, manual annotations for these tasks are prohibitively costly. We tackle this problem with the task of class-agnostic unsupervised online instance segmentation and tracking. To that end, we leverage an instance segmentation backbone and propose a new training recipe that enables the online tracking of objects. Our network is trained on pseudo-labels, eliminating the need for manual annotations. We conduct an evaluation using metrics adapted for temporal instance segmentation. Computing these metrics requires temporally-consistent instance labels. When unavailable, we construct these labels using the available 3D bounding boxes and semantic labels in the dataset. We compare our method against strong baselines and demonstrate its superiority across two different outdoor Lidar datasets.

We tackle the challenging problem of source-free unsupervised domain adaptation (SFUDA) for 3D semantic segmentation. It amounts to performing domain adaptation on an unlabeled target domain without any access to source data; the available information is a model trained to achieve good performance on the source domain. A common issue with existing SFUDA approaches is that performance degrades after some training time, which is a by product of an under-constrained and ill-posed problem. We discuss two strategies to alleviate this issue. First, we propose a sensible way to regularize the learning problem. Second, we introduce a novel criterion based on agreement with a reference model. It is used (1) to stop the training when appropriate and (2) as validator to select hyperparameters without any knowledge on the target domain. Our contributions are easy to implement and readily amenable for all SFUDA methods, ensuring stable improvements over all baselines. We validate our findings on various 3D lidar settings, achieving state-of-the-art performance. The project repository (with code) is: github.com/valeoai/TTYD., Comment: Accepted to ECCV 2024. Project repository: github.com/valeoai/TTYD

Annotating lidar point clouds for autonomous driving is a notoriously expensive and time-consuming task. In this work, we show that the quality of recent self-supervised lidar scan representations allows a great reduction of the annotation cost. Our method has two main steps. First, we show that self-supervised representations allow a simple and direct selection of highly informative lidar scans to annotate: training a network on these selected scans leads to much better results than a random selection of scans and, more interestingly, to results on par with selections made by SOTA active learning methods. In a second step, we leverage the same self-supervised representations to cluster points in our selected scans. Asking the annotator to classify each cluster, with a single click per cluster, then permits us to close the gap with fully-annotated training sets, while only requiring one thousandth of the point labels.

Motion forecasting is crucial in autonomous driving systems to anticipate the future trajectories of surrounding agents such as pedestrians, vehicles, and traffic signals. In end-to-end forecasting, the model must jointly detect and track from sensor data (cameras or LiDARs) the past trajectories of the different elements of the scene and predict their future locations. We depart from the current trend of tackling this task via end-to-end training from perception to forecasting, and instead use a modular approach. We individually build and train detection, tracking and forecasting modules. We then only use consecutive finetuning steps to integrate the modules better and alleviate compounding errors. We conduct an in-depth study on the finetuning strategies and it reveals that our simple yet effective approach significantly improves performance on the end-to-end forecasting benchmark. Consequently, our solution ranks first in the Argoverse 2 End-to-end Forecasting Challenge, with 63.82 mAPf. We surpass forecasting results by +17.1 points over last year's winner and by +13.3 points over this year's runner-up. This remarkable performance in forecasting can be explained by our modular paradigm, which integrates finetuning strategies and significantly outperforms the end-to-end-trained counterparts. The code, model weights and results are made available https://github.com/valeoai/valeo4cast., Comment: Winning solution of the Argoverse 2 "Unified Detection, Tracking, and Forecasting" challenge; work accepted at Road++ ECCVW 2024

Context. In order to understand the formation of the first stars, which set the transition between the Dark Ages and Cosmic Dawn epochs, it is necessary to provide a detailed description of the physics at work within the first clouds of gas which, during their gravitational collapse, will set the conditions for stars to be form through the mechanism of thermal instability. Aims. Our objective is to study in detail the molecular cooling of gas in the halos preceding the formation of the first stars. We are furthermore assessing the sensitivity of the 21cm hydrogen line to this cooling channel. Results. We present the CHEMFAST code, that we developed to compute the cosmological 21cm neutral hydrogen line inside collapsing matter overdensity. We precisely track evolution in the abundances of ions, atoms and molecules through a network of chemical reactions. Computing the molecular thermal function due to the excitation of the rotational levels of the H2 molecule, we find it strongly affects the gas temperature inside collapsing clouds of $10^8$ M$_\odot$. The gas temperature falls at the end of the collapse, when the molecular cooling takes over the heating due to gravitation. Conclusions. We find that the 21cm brightness temperature inside the collapsing cloud presents an emission feature, different from the one predicted in expansion scenario. It moreover follows the same behavior as the gas temperature, as it is also strongly affected by the molecular cooling. This makes it a promising probe in order to map the collapsing halos and thermal processes at work inside them., Comment: 20+5 pages, 9 figures. Comments welcome

Self-supervised image backbones can be used to address complex 2D tasks (e.g., semantic segmentation, object discovery) very efficiently and with little or no downstream supervision. Ideally, 3D backbones for lidar should be able to inherit these properties after distillation of these powerful 2D features. The most recent methods for image-to-lidar distillation on autonomous driving data show promising results, obtained thanks to distillation methods that keep improving. Yet, we still notice a large performance gap when measuring the quality of distilled and fully supervised features by linear probing. In this work, instead of focusing only on the distillation method, we study the effect of three pillars for distillation: the 3D backbone, the pretrained 2D backbones, and the pretraining dataset. In particular, thanks to our scalable distillation method named ScaLR, we show that scaling the 2D and 3D backbones and pretraining on diverse datasets leads to a substantial improvement of the feature quality. This allows us to significantly reduce the gap between the quality of distilled and fully-supervised 3D features, and to improve the robustness of the pretrained backbones to domain gaps and perturbations., Comment: The code is available at https://github.com/valeoai/ScaLR

We present a surprisingly simple and efficient method for self-supervision of 3D backbone on automotive Lidar point clouds. We design a contrastive loss between features of Lidar scans captured in the same scene. Several such approaches have been proposed in the literature from PointConstrast, which uses a contrast at the level of points, to the state-of-the-art TARL, which uses a contrast at the level of segments, roughly corresponding to objects. While the former enjoys a great simplicity of implementation, it is surpassed by the latter, which however requires a costly pre-processing. In BEVContrast, we define our contrast at the level of 2D cells in the Bird's Eye View plane. Resulting cell-level representations offer a good trade-off between the point-level representations exploited in PointContrast and segment-level representations exploited in TARL: we retain the simplicity of PointContrast (cell representations are cheap to compute) while surpassing the performance of TARL in downstream semantic segmentation., Comment: Accepted to 3DV 2024

The recent enthusiasm for open-world vision systems show the high interest of the community to perform perception tasks outside of the closed-vocabulary benchmark setups which have been so popular until now. Being able to discover objects in images/videos without knowing in advance what objects populate the dataset is an exciting prospect. But how to find objects without knowing anything about them? Recent works show that it is possible to perform class-agnostic unsupervised object localization by exploiting self-supervised pre-trained features. We propose here a survey of unsupervised object localization methods that discover objects in images without requiring any manual annotation in the era of self-supervised ViTs. We gather links of discussed methods in the repository https://github.com/valeoai/Awesome-Unsupervised-Object-Localization., Comment: IJCV 2024

Moving animal groups transmit information through propagating waves or behavioral cascades, exhibiting characteristics akin to systems near a critical point from statistical physics. Using data from freely swimming schooling fish in an experimental tank, we investigate spontaneous behavioral cascades involving turning avalanches, where large directional shifts propagate across the group. We analyze several avalanche metrics and provide a detailed picture of the dynamics associated to turning avalanches, employing tools from avalanche behavior in condensed matter physics and seismology. Our results identify power-law distributions and robust scale-free behaviour through data collapses and scaling relationships, confirming a necessary condition for criticality in fish schools. We explore the biological function of turning avalanches and link them to collective decision-making processes in selecting a new movement direction for the school. We report relevant boundary effects arising from interactions with the tank walls and influential roles of boundary individuals. Finally, spatial and temporal correlations in avalanches are explored using the concept of aftershocks from seismology, revealing clustering of avalanche events below a designated timescale and an Omori law with a faster decay rate than observed in earthquakes., Comment: Main paper (14 pages) + Supplemental Material (4 pages)

Many matrices associated with fast transforms posess a certain low-rank property characterized by the existence of several block partitionings of the matrix, where each block is of low rank. Provided that these partitionings are known, there exist algorithms, called butterfly factorization algorithms, that approximate the matrix into a product of sparse factors, thus enabling a rapid evaluation of the associated linear operator. This paper proposes a new method to identify algebraically these block partitionings for a matrix admitting a butterfly factorization, without any analytical assumption on its entries., Comment: in French language. XXIX{\`e}me Colloque Francophone de Traitement du Signal et des Images, Aug 2023, Grenoble, France

Animals moving together in groups are believed to interact among each other with effective social forces, such as attraction, repulsion and alignment. Such forces can be inferred using 'force maps', i.e. by analysing the dependency of the acceleration of a focal individual on relevant variables. Here we introduce a force map technique suitable for the analysis of the alignment forces experienced by individuals. After validating it using an agent-based model, we apply the force map to experimental data of schooling fish. We observe signatures of an effective alignment force with faster neighbours, and an unexpected anti-alignment with slower neighbours. Instead of an explicit anti-alignment behaviour, we suggest that the observed pattern is the result of a selective attention mechanism, where fish pay less attention to slower neighbours. This mechanism implies the existence of temporal leadership interactions based on relative speeds between neighbours. We present support for this hypothesis both from agent-based modelling, as well as from exploring leader-follower relationships in the experimental data., Comment: Main paper (14 pages) + Supplementary Information (18 pages)

We propose SeedAL, a method to seed active learning for efficient annotation of 3D point clouds for semantic segmentation. Active Learning (AL) iteratively selects relevant data fractions to annotate within a given budget, but requires a first fraction of the dataset (a 'seed') to be already annotated to estimate the benefit of annotating other data fractions. We first show that the choice of the seed can significantly affect the performance of many AL methods. We then propose a method for automatically constructing a seed that will ensure good performance for AL. Assuming that images of the point clouds are available, which is common, our method relies on powerful unsupervised image features to measure the diversity of the point clouds. It selects the point clouds for the seed by optimizing the diversity under an annotation budget, which can be done by solving a linear optimization problem. Our experiments demonstrate the effectiveness of our approach compared to random seeding and existing methods on both the S3DIS and SemanticKitti datasets. Code is available at https://github.com/nerminsamet/seedal., Comment: ICCV 2023

Learning models on one labeled dataset that generalize well on another domain is a difficult task, as several shifts might happen between the data domains. This is notably the case for lidar data, for which models can exhibit large performance discrepancies due for instance to different lidar patterns or changes in acquisition conditions. This paper addresses the corresponding Unsupervised Domain Adaptation (UDA) task for semantic segmentation. To mitigate this problem, we introduce an unsupervised auxiliary task of learning an implicit underlying surface representation simultaneously on source and target data. As both domains share the same latent representation, the model is forced to accommodate discrepancies between the two sources of data. This novel strategy differs from classical minimization of statistical divergences or lidar-specific domain adaptation techniques. Our experiments demonstrate that our method achieves a better performance than the current state of the art, both in real-to-real and synthetic-to-real scenarios., Comment: Accepted as spotlight to 3DV 2024. Project repository: github.com/valeoai/SALUDA

Casting semantic segmentation of outdoor LiDAR point clouds as a 2D problem, e.g., via range projection, is an effective and popular approach. These projection-based methods usually benefit from fast computations and, when combined with techniques which use other point cloud representations, achieve state-of-the-art results. Today, projection-based methods leverage 2D CNNs but recent advances in computer vision show that vision transformers (ViTs) have achieved state-of-the-art results in many image-based benchmarks. In this work, we question if projection-based methods for 3D semantic segmentation can benefit from these latest improvements on ViTs. We answer positively but only after combining them with three key ingredients: (a) ViTs are notoriously hard to train and require a lot of training data to learn powerful representations. By preserving the same backbone architecture as for RGB images, we can exploit the knowledge from long training on large image collections that are much cheaper to acquire and annotate than point clouds. We reach our best results with pre-trained ViTs on large image datasets. (b) We compensate ViTs' lack of inductive bias by substituting a tailored convolutional stem for the classical linear embedding layer. (c) We refine pixel-wise predictions with a convolutional decoder and a skip connection from the convolutional stem to combine low-level but fine-grained features of the the convolutional stem with the high-level but coarse predictions of the ViT encoder. With these ingredients, we show that our method, called RangeViT, outperforms existing projection-based methods on nuScenes and SemanticKITTI. The code is available at https://github.com/valeoai/rangevit., Comment: CVPR 2023. Code at https://github.com/valeoai/rangevit

Semantic segmentation of point clouds in autonomous driving datasets requires techniques that can process large numbers of points efficiently. Sparse 3D convolutions have become the de-facto tools to construct deep neural networks for this task: they exploit point cloud sparsity to reduce the memory and computational loads and are at the core of today's best methods. In this paper, we propose an alternative method that reaches the level of state-of-the-art methods without requiring sparse convolutions. We actually show that such level of performance is achievable by relying on tools a priori unfit for large scale and high-performing 3D perception. In particular, we propose a novel 3D backbone, WaffleIron, made almost exclusively of MLPs and dense 2D convolutions and present how to train it to reach high performance on SemanticKITTI and nuScenes. We believe that WaffleIron is a compelling alternative to backbones using sparse 3D convolutions, especially in frameworks and on hardware where those convolutions are not readily available., Comment: Accepted at ICCV23. Code available at https://github.com/valeoai/WaffleIron

Recent advances in self-supervised visual representation learning have paved the way for unsupervised methods tackling tasks such as object discovery and instance segmentation. However, discovering objects in an image with no supervision is a very hard task; what are the desired objects, when to separate them into parts, how many are there, and of what classes? The answers to these questions depend on the tasks and datasets of evaluation. In this work, we take a different approach and propose to look for the background instead. This way, the salient objects emerge as a by-product without any strong assumption on what an object should be. We propose FOUND, a simple model made of a single $conv1\times1$ initialized with coarse background masks extracted from self-supervised patch-based representations. After fast training and refining these seed masks, the model reaches state-of-the-art results on unsupervised saliency detection and object discovery benchmarks. Moreover, we show that our approach yields good results in the unsupervised semantic segmentation retrieval task. The code to reproduce our results is available at https://github.com/valeoai/FOUND., Comment: CVPR 2023

We propose a new self-supervised method for pre-training the backbone of deep perception models operating on point clouds. The core idea is to train the model on a pretext task which is the reconstruction of the surface on which the 3D points are sampled, and to use the underlying latent vectors as input to the perception head. The intuition is that if the network is able to reconstruct the scene surface, given only sparse input points, then it probably also captures some fragments of semantic information, that can be used to boost an actual perception task. This principle has a very simple formulation, which makes it both easy to implement and widely applicable to a large range of 3D sensors and deep networks performing semantic segmentation or object detection. In fact, it supports a single-stream pipeline, as opposed to most contrastive learning approaches, allowing training on limited resources. We conducted extensive experiments on various autonomous driving datasets, involving very different kinds of lidars, for both semantic segmentation and object detection. The results show the effectiveness of our method to learn useful representations without any annotation, compared to existing approaches. Code is available at https://github.com/valeoai/ALSO, Comment: CVPR 2023

Predictive performance of machine learning models trained with empirical risk minimization (ERM) can degrade considerably under distribution shifts. The presence of spurious correlations in training datasets leads ERM-trained models to display high loss when evaluated on minority groups not presenting such correlations. Extensive attempts have been made to develop methods improving worst-group robustness. However, they require group information for each training input or at least, a validation set with group labels to tune their hyperparameters, which may be expensive to get or unknown a priori. In this paper, we address the challenge of improving group robustness without group annotation during training or validation. To this end, we propose to partition the training dataset into groups based on Gram matrices of features extracted by an ``identification'' model and to apply robust optimization based on these pseudo-groups. In the realistic context where no group labels are available, our experiments show that our approach not only improves group robustness over ERM but also outperforms all recent baselines, Comment: Long version (Previous version: OOD-CV Workshop @ ECCV 2022)

We introduce a regularization loss based on kernel mean embeddings with rotation-invariant kernels on the hypersphere (also known as dot-product kernels) for self-supervised learning of image representations. Besides being fully competitive with the state of the art, our method significantly reduces time and memory complexity for self-supervised training, making it implementable for very large embedding dimensions on existing devices and more easily adjustable than previous methods to settings with limited resources. Our work follows the major paradigm where the model learns to be invariant to some predefined image transformations (cropping, blurring, color jittering, etc.), while avoiding a degenerate solution by regularizing the embedding distribution. Our particular contribution is to propose a loss family promoting the embedding distribution to be close to the uniform distribution on the hypersphere, with respect to the maximum mean discrepancy pseudometric. We demonstrate that this family encompasses several regularizers of former methods, including uniformity-based and information-maximization methods, which are variants of our flexible regularization loss with different kernels. Beyond its practical consequences for state-of-the-art self-supervised learning with limited resources, the proposed generic regularization approach opens perspectives to leverage more widely the literature on kernel methods in order to improve self-supervised learning methods.

While sensitivity analysis improves the transparency and reliability of mathematical models, its uptake by modelers is still scarce. This is partially explained by its technical requirements, which may be hard to understand and implement by the non-specialist. Here we propose a sensitivity analysis approach based on the concept of discrepancy that is as easy to understand as the visual inspection of input-output scatterplots. Firstly, we show that some discrepancy measures are able to rank the most influential parameters of a model almost as accurately as the variance-based total sensitivity index. We then introduce an ersatz-discrepancy whose performance as a sensitivity measure matches that of the best-performing discrepancy algorithms, is simple to implement, easier to interpret and orders of magnitude faster.

Here we briefly reflect on the philosophical foundations that ground the quest towards ever-detailed models and identify four practical dangers derived from this pursuit: explosion of the model's uncertainty space, model black-boxing, computational exhaustion and model attachment. We argue that the growth of a mathematical model should be carefully and continuously pondered lest models become extraneous constructs chasing the Cartesian dream., Comment: This is a draft of a chapter that has been accepted for publication by Oxford University Press in the forthcoming book "Views on Mathematical Modelling", edited by Andrea Saltelli and Monica Di Fiore and due for publication in 2023

Segmenting or detecting objects in sparse Lidar point clouds are two important tasks in autonomous driving to allow a vehicle to act safely in its 3D environment. The best performing methods in 3D semantic segmentation or object detection rely on a large amount of annotated data. Yet annotating 3D Lidar data for these tasks is tedious and costly. In this context, we propose a self-supervised pre-training method for 3D perception models that is tailored to autonomous driving data. Specifically, we leverage the availability of synchronized and calibrated image and Lidar sensors in autonomous driving setups for distilling self-supervised pre-trained image representations into 3D models. Hence, our method does not require any point cloud nor image annotations. The key ingredient of our method is the use of superpixels which are used to pool 3D point features and 2D pixel features in visually similar regions. We then train a 3D network on the self-supervised task of matching these pooled point features with the corresponding pooled image pixel features. The advantages of contrasting regions obtained by superpixels are that: (1) grouping together pixels and points of visually coherent regions leads to a more meaningful contrastive task that produces features well adapted to 3D semantic segmentation and 3D object detection; (2) all the different regions have the same weight in the contrastive loss regardless of the number of 3D points sampled in these regions; (3) it mitigates the noise produced by incorrect matching of points and pixels due to occlusions between the different sensors. Extensive experiments on autonomous driving datasets demonstrate the ability of our image-to-Lidar distillation strategy to produce 3D representations that transfer well on semantic segmentation and object detection tasks., Comment: Accepted to CVPR2022

Behavioral contagion and the presence of behavioral cascades are natural features in groups of animals showing collective motion, such as schooling fish or grazing herbivores. Here we study empirical behavioral cascades observed in fish schools defined as avalanches of consecutive large changes in the heading direction of the trajectory of fish. In terms of a minimum turning angle introduced to define a large change, avalanches are characterized by distributions of size and duration showing scale-free signatures, reminiscent of self-organized critical behavior. We observe that avalanches are generally triggered by a small number of fish, which act as effective leaders that induce large rearrangements of the group's trajectory. This observation motivates the proposal of a simple model, based in the classical Vicsek model of collective motion, in which a given individual acts as a leader subject to random heading reorientations. The model reproduces qualitatively the empirical avalanche behavior observed in real schools, and hints towards a connection between effective leadership and avalanche behavior in collective movement., Comment: 16 pages, 11 figures

Variance-based sensitivity indices have established themselves as a reference among practitioners of sensitivity analysis of model outputs. A variance-based sensitivity analysis typically produces the first-order sensitivity indices $S_j$ and the so-called total-effect sensitivity indices $T_j$ for the uncertain factors of the mathematical model under analysis. The cost of the analysis depends upon the number of model evaluations needed to obtain stable and accurate values of the estimates. While efficient estimation procedures are available for $S_j$, this availability is less the case for $T_j$. When estimating these indices, one can either use a sample-based approach whose computational cost depends on the number of factors or use approaches based on meta modelling/emulators. The present work focuses on sample-based estimation procedures for $T_j$ and tests different avenues to achieve an algorithmic improvement over the existing best practices. To improve the exploration of the space of the input factors (design) and the formula to compute the indices (estimator), we propose strategies based on the concepts of economy and explorativity. We then discuss how several existing estimators perform along these characteristics. We conclude that: a) sample-based approaches based on the use of multiple matrices to enhance the economy are outperformed by designs using fewer matrices but with better explorativity; b) among the latter, asymmetric designs perform the best and outperform symmetric designs having corrective terms for spurious correlations; c) improving on the existing best practices is fraught with difficulties; and d) ameliorating the results comes at the cost of introducing extra design parameters., Comment: arXiv admin note: text overlap with arXiv:1703.05799

In dynamical systems, basins of attraction connect a given set of initial conditions in phase space to their asymptotic states. The basin entropy and related tools quantify the unpredictability in the final state of a system when there is an initial perturbation or uncertainty in the initial state. Based on the basin entropy, the $\ln 2$ criterion allows for efficient testing of fractal basin boundaries at a fixed resolution. Here, we extend this criterion into a new test with improved sensitivity that we call the \textit{$S_{bb}$ fractality test}. Using the same single scale information, the $S_{bb}$ fractality test allows for the detection of fractal boundaries in many more cases than the $\ln 2$ criterion. The new test is illustrated with the paradigmatic driven Duffing oscillator, and the results are compared with the classical approach given by the uncertainty exponent. We believe that this work can prove particularly useful to study both high-dimensional systems and experimental basins of attraction.