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In recent times, the need for effective super-resolution (SR) techniques has surged, especially for large-scale images ranging 2K to 8K resolutions. For DNN-based SISR, decomposing images into overlapping patches is typically necessary due to computational constraints. In such patch-decomposing scheme, one can allocate computational resources differently based on each patch's difficulty to further improve efficiency while maintaining SR performance. However, this approach has a limitation: computational resources is uniformly allocated within a patch, leading to lower efficiency when the patch contain pixels with varying levels of restoration difficulty. To address the issue, we propose the Pixel-level Classifier for Single Image Super-Resolution (PCSR), a novel method designed to distribute computational resources adaptively at the pixel level. A PCSR model comprises a backbone, a pixel-level classifier, and a set of pixel-level upsamplers with varying capacities. The pixel-level classifier assigns each pixel to an appropriate upsampler based on its restoration difficulty, thereby optimizing computational resource usage. Our method allows for performance and computational cost balance during inference without re-training. Our experiments demonstrate PCSR's advantage over existing patch-distributing methods in PSNR-FLOP trade-offs across different backbone models and benchmarks. The code is available at https://github.com/3587jjh/PCSR., Comment: Accepted by ECCV 2024

We revisit a simple idea for machine learning on graphs, where a random walk on a graph produces a machine-readable record, and this record is processed by a deep neural network to directly make vertex-level or graph-level predictions. We refer to these stochastic machines as random walk neural networks, and show that we can design them to be isomorphism invariant while capable of universal approximation of graph functions in probability. A useful finding is that almost any kind of record of random walk guarantees probabilistic invariance as long as the vertices are anonymized. This enables us to record random walks in plain text and adopt a language model to read these text records to solve graph tasks. We further establish a parallelism to message passing neural networks using tools from Markov chain theory, and show that over-smoothing in message passing is alleviated by construction in random walk neural networks, while over-squashing manifests as probabilistic under-reaching. We show that random walk neural networks based on pre-trained language models can solve several hard problems on graphs, such as separating strongly regular graphs where the 3-WL test fails, counting substructures, and transductive classification on arXiv citation network without training. Code is available at https://github.com/jw9730/random-walk., Comment: 41 pages, 11 figures

This paper considers program synthesis in the context of computational hardness, asking the question: How hard is it to determine whether a given synthesis problem has a solution or not? To answer this question, this paper studies program synthesis for a basic imperative, Turing-complete language IMP, for which this paper proves that program synthesis is $\Sigma_3^0$-\emph{complete} in the arithmetical hierarchy. The proof of this fact relies on a fully constructive encoding of program synthesis (which is typically formulated as a second-order query) as a first-order formula in the standard model of arithmetic (i.e., Peano arithmetic). Constructing such a formula then allows us to reduce the decision problem for COF (the set of functions which diverge only on a finite set of inputs), which is well-known to be a $\Sigma_3^0$-complete problem, into the constructed first-order representation of synthesis. In addition to this main result, we also consider the hardness of variants of synthesis problems, such as those introduced in previous work to make program synthesis more tractable (e.g., synthesis over finite examples). To the best of our knowledge, this paper is the first to give a first-order characterization of program synthesis in general, and precisely define the computability of synthesis problems and their variants.

We study law enforcement guided by data-informed predictions of "hot spots" for likely criminal offenses. Such "predictive" enforcement could lead to data being selectively and disproportionately collected from neighborhoods targeted for enforcement by the prediction. Predictive enforcement that fails to account for this endogenous "datafication" may lead to the over-policing of traditionally high-crime neighborhoods and performs poorly, in particular, in some cases as poorly as if no data were used. Endogenizing the incentives for criminal offenses identifies additional deterrence benefits from the informationally efficient use of data.

Distributed Deep Learning (DDL), as a paradigm, dictates the use of GPU-based clusters as the optimal infrastructure for training large-scale Deep Neural Networks (DNNs). However, the high cost of such resources makes them inaccessible to many users. Public cloud services, particularly Spot Virtual Machines (VMs), offer a cost-effective alternative, but their unpredictable availability poses a significant challenge to the crucial checkpointing process in DDL. To address this, we introduce DeepVM, a novel solution that recommends cost-effective cluster configurations by intelligently balancing the use of Spot and On-Demand VMs. DeepVM leverages a four-stage process that analyzes instance performance using the FLOPP (FLoating-point Operations Per Price) metric, performs architecture-level analysis with linear programming, and identifies the optimal configuration for the user-specific needs. Extensive simulations and real-world deployments in the AWS environment demonstrate that DeepVM consistently outperforms other policies, reducing training costs and overall makespan. By enabling cost-effective checkpointing with Spot VMs, DeepVM opens up DDL to a wider range of users and facilitates a more efficient training of complex DNNs., Comment: 14 pages, 8 figures

White balance (WB) algorithms in many commercial cameras assume single and uniform illumination, leading to undesirable results when multiple lighting sources with different chromaticities exist in the scene. Prior research on multi-illuminant WB typically predicts illumination at the pixel level without fully grasping the scene's actual lighting conditions, including the number and color of light sources. This often results in unnatural outcomes lacking in overall consistency. To handle this problem, we present a deep white balancing model that leverages the slot attention, where each slot is in charge of representing individual illuminants. This design enables the model to generate chromaticities and weight maps for individual illuminants, which are then fused to compose the final illumination map. Furthermore, we propose the centroid-matching loss, which regulates the activation of each slot based on the color range, thereby enhancing the model to separate illumination more effectively. Our method achieves the state-of-the-art performance on both single- and multi-illuminant WB benchmarks, and also offers additional information such as the number of illuminants in the scene and their chromaticity. This capability allows for illumination editing, an application not feasible with prior methods., Comment: CVPR 2024

Unrealizability logic (UL) was proposed by Kim et al. as the first Hoare-style proof system for proving properties that hold for an infinite set of programs (defined by a regular tree grammar). The goal of our work is to automate reasoning and proof generation for UL. A key ingredient in UL is the notion of nonterminal summaries-inductive facts that characterize recursive nonterminals in the grammar that defines the set of programs. They are analogous to procedure summaries in Hoare logic. The goal of automating UL led us to reformulate the inference rules-in particular, introducing a unified rule for nonterminal summaries, called the rule of adaptation, which draws inspiration from how procedure summaries are handled in Hoare logic. In the same way that verification conditions can be used to synthesize loop invariants for Hoare logic proofs, our reformulation of UL reduces the problem of synthesizing a nonterminal summary to a Syntax-Guided Synthesis problem. We implement Wuldo, the first checker and synthesizer for UL. Wuldo can express proofs beyond the reach of existing tools, including proofs that establish how infinitely many programs behave on infinitely many inputs, and in some cases Wuldo can even synthesize the needed nonterminal summaries., Comment: 30 pages, 5 figures, 2 tables

Existing Global Path Planning (GPP) algorithms predominantly presume planning in static environments. This assumption immensely limits their applications to Unmanned Surface Vehicles (USVs) that typically navigate in dynamic environments. To address this limitation, we present OkayPlan, a GPP algorithm capable of generating safe and short paths in dynamic scenarios at a real-time executing speed (125 Hz on a desktop-class computer). Specifically, we approach the challenge of dynamic obstacle avoidance by formulating the path planning problem as an Obstacle Kinematics Augmented Optimization Problem (OKAOP), which can be efficiently resolved through a PSO-based optimizer at a real-time speed. Meanwhile, a Dynamic Prioritized Initialization (DPI) mechanism that adaptively initializes potential solutions for the optimization problem is established to further ameliorate the solution quality. Additionally, a relaxation strategy that facilitates the autonomous tuning of OkayPlan's hyperparameters in dynamic environments is devised. Comprehensive experiments, including comparative evaluations, ablation studies, and \textcolor{black}{applications to 3D physical simulation platforms}, have been conducted to substantiate the efficacy of our approach. Results indicate that OkayPlan outstrips existing methods in terms of path safety, length optimality, and computational efficiency, establishing it as a potent GPP technique for dynamic environments. The video and code associated with this paper are accessible at https://github.com/XinJingHao/OkayPlan., Comment: 19 pages, 17 figures, 9 tables

We present a general framework for symmetrizing an arbitrary neural-network architecture and making it equivariant with respect to a given group. We build upon the proposals of Kim et al. (2023); Kaba et al. (2023) for symmetrization, and improve them by replacing their conversion of neural features into group representations, with an optimization whose loss intuitively measures the distance between group orbits. This change makes our approach applicable to a broader range of matrix groups, such as the Lorentz group O(1, 3), than these two proposals. We experimentally show our method's competitiveness on the SO(2) image classification task, and also its increased generality on the task with O(1, 3). Our implementation will be made accessible at https://github.com/tiendatnguyen-vision/Orbit-symmetrize., Comment: 16 pages, 1 figure

The binding problem in artificial neural networks is actively explored with the goal of achieving human-level recognition skills through the comprehension of the world in terms of symbol-like entities. Especially in the field of computer vision, object-centric learning (OCL) is extensively researched to better understand complex scenes by acquiring object representations or slots. While recent studies in OCL have made strides with complex images or videos, the interpretability and interactivity over object representation remain largely uncharted, still holding promise in the field of OCL. In this paper, we introduce a novel method, Slot Attention with Image Augmentation (SlotAug), to explore the possibility of learning interpretable controllability over slots in a self-supervised manner by utilizing an image augmentation strategy. We also devise the concept of sustainability in controllable slots by introducing iterative and reversible controls over slots with two proposed submethods: Auxiliary Identity Manipulation and Slot Consistency Loss. Extensive empirical studies and theoretical validation confirm the effectiveness of our approach, offering a novel capability for interpretable and sustainable control of object representations.

Pretraining molecular representations from large unlabeled data is essential for molecular property prediction due to the high cost of obtaining ground-truth labels. While there exist various 2D graph-based molecular pretraining approaches, these methods struggle to show statistically significant gains in predictive performance. Recent work have thus instead proposed 3D conformer-based pretraining under the task of denoising, which led to promising results. During downstream finetuning, however, models trained with 3D conformers require accurate atom-coordinates of previously unseen molecules, which are computationally expensive to acquire at scale. In light of this limitation, we propose D&D, a self-supervised molecular representation learning framework that pretrains a 2D graph encoder by distilling representations from a 3D denoiser. With denoising followed by cross-modal knowledge distillation, our approach enjoys use of knowledge obtained from denoising as well as painless application to downstream tasks with no access to accurate conformers. Experiments on real-world molecular property prediction datasets show that the graph encoder trained via D&D can infer 3D information based on the 2D graph and shows superior performance and label-efficiency against other baselines., Comment: 16 pages, 5 figures

We present a novel framework to overcome the limitations of equivariant architectures in learning functions with group symmetries. In contrary to equivariant architectures, we use an arbitrary base model such as an MLP or a transformer and symmetrize it to be equivariant to the given group by employing a small equivariant network that parameterizes the probabilistic distribution underlying the symmetrization. The distribution is end-to-end trained with the base model which can maximize performance while reducing sample complexity of symmetrization. We show that this approach ensures not only equivariance to given group but also universal approximation capability in expectation. We implement our method on various base models, including patch-based transformers that can be initialized from pretrained vision transformers, and test them for a wide range of symmetry groups including permutation and Euclidean groups and their combinations. Empirical tests show competitive results against tailored equivariant architectures, suggesting the potential for learning equivariant functions for diverse groups using a non-equivariant universal base architecture. We further show evidence of enhanced learning in symmetric modalities, like graphs, when pretrained from non-symmetric modalities, like vision. Code is available at https://github.com/jw9730/lps., Comment: 32 pages, 11 figures

Deep Reinforcement Learning (DRL) has exhibited efficacy in resolving the Local Path Planning (LPP) problem. However, such application in the real world is immensely limited due to the deficient training efficiency and generalization capability of DRL. To alleviate these two issues, a solution named Color is proposed, which consists of an Actor-Sharer-Learner (ASL) training framework and a mobile robot-oriented simulator Sparrow. Specifically, the ASL intends to improve the training efficiency of DRL algorithms. It employs a Vectorized Data Collection (VDC) mode to expedite data acquisition, decouples the data collection from model optimization by multithreading, and partially connects the two procedures by harnessing a Time Feedback Mechanism (TFM) to evade data underuse or overuse. Meanwhile, the Sparrow simulator utilizes a 2D grid-based world, simplified kinematics, and conversion-free data flow to achieve a lightweight design. The lightness facilitates vectorized diversity, allowing diversified simulation setups across extensive copies of the vectorized environments, resulting in a notable enhancement in the generalization capability of the DRL algorithm being trained. Comprehensive experiments, comprising 57 DRL benchmark environments, 32 simulated and 36 real-world LPP scenarios, have been conducted to corroborate the superiority of our method in terms of efficiency and generalization. The code and the video of this paper are accessible at https://github.com/XinJingHao/Color., Comment: 15 pages

Object-centric learning (OCL) aspires general and compositional understanding of scenes by representing a scene as a collection of object-centric representations. OCL has also been extended to multi-view image and video datasets to apply various data-driven inductive biases by utilizing geometric or temporal information in the multi-image data. Single-view images carry less information about how to disentangle a given scene than videos or multi-view images do. Hence, owing to the difficulty of applying inductive biases, OCL for single-view images remains challenging, resulting in inconsistent learning of object-centric representation. To this end, we introduce a novel OCL framework for single-view images, SLot Attention via SHepherding (SLASH), which consists of two simple-yet-effective modules on top of Slot Attention. The new modules, Attention Refining Kernel (ARK) and Intermediate Point Predictor and Encoder (IPPE), respectively, prevent slots from being distracted by the background noise and indicate locations for slots to focus on to facilitate learning of object-centric representation. We also propose a weak semi-supervision approach for OCL, whilst our proposed framework can be used without any assistant annotation during the inference. Experiments show that our proposed method enables consistent learning of object-centric representation and achieves strong performance across four datasets. Code is available at \url{https://github.com/object-understanding/SLASH}.

Dense prediction tasks are a fundamental class of problems in computer vision. As supervised methods suffer from high pixel-wise labeling cost, a few-shot learning solution that can learn any dense task from a few labeled images is desired. Yet, current few-shot learning methods target a restricted set of tasks such as semantic segmentation, presumably due to challenges in designing a general and unified model that is able to flexibly and efficiently adapt to arbitrary tasks of unseen semantics. We propose Visual Token Matching (VTM), a universal few-shot learner for arbitrary dense prediction tasks. It employs non-parametric matching on patch-level embedded tokens of images and labels that encapsulates all tasks. Also, VTM flexibly adapts to any task with a tiny amount of task-specific parameters that modulate the matching algorithm. We implement VTM as a powerful hierarchical encoder-decoder architecture involving ViT backbones where token matching is performed at multiple feature hierarchies. We experiment VTM on a challenging variant of Taskonomy dataset and observe that it robustly few-shot learns various unseen dense prediction tasks. Surprisingly, it is competitive with fully supervised baselines using only 10 labeled examples of novel tasks (0.004% of full supervision) and sometimes outperforms using 0.1% of full supervision. Codes are available at https://github.com/GitGyun/visual_token_matching.

We consider the problem of establishing that a program-synthesis problem is unrealizable (i.e., has no solution in a given search space of programs). Prior work on unrealizability has developed some automatic techniques to establish that a problem is unrealizable; however, these techniques are all black-box, meaning that they conceal the reasoning behind why a synthesis problem is unrealizable. In this paper, we present a Hoare-style reasoning system, called unrealizability logic for establishing that a program-synthesis problem is unrealizable. To the best of our knowledge, unrealizability logic is the first proof system for overapproximating the execution of an infinite set of imperative programs. The logic provides a general, logical system for building checkable proofs about unrealizability. Similar to how Hoare logic distills the fundamental concepts behind algorithms and tools to prove the correctness of programs, unrealizability logic distills into a single logical system the fundamental concepts that were hidden within prior tools capable of establishing that a program-synthesis problem is unrealizable.

To overcome the quadratic cost of self-attention, recent works have proposed various sparse attention modules, most of which fall under one of two groups: 1) sparse attention under a hand-crafted patterns and 2) full attention followed by a sparse variant of softmax such as $\alpha$-entmax. Unfortunately, the first group lacks adaptability to data while the second still requires quadratic cost in training. In this work, we propose SBM-Transformer, a model that resolves both problems by endowing each attention head with a mixed-membership Stochastic Block Model (SBM). Then, each attention head data-adaptively samples a bipartite graph, the adjacency of which is used as an attention mask for each input. During backpropagation, a straight-through estimator is used to flow gradients beyond the discrete sampling step and adjust the probabilities of sampled edges based on the predictive loss. The forward and backward cost are thus linear to the number of edges, which each attention head can also choose flexibly based on the input. By assessing the distribution of graphs, we theoretically show that SBM-Transformer is a universal approximator for arbitrary sequence-to-sequence functions in expectation. Empirical evaluations under the LRA and GLUE benchmarks demonstrate that our model outperforms previous efficient variants as well as the original Transformer with full attention. Our implementation can be found in https://github.com/sc782/SBM-Transformer ., Comment: 19 pages, 8 figures

Many problems in computer vision and machine learning can be cast as learning on hypergraphs that represent higher-order relations. Recent approaches for hypergraph learning extend graph neural networks based on message passing, which is simple yet fundamentally limited in modeling long-range dependencies and expressive power. On the other hand, tensor-based equivariant neural networks enjoy maximal expressiveness, but their application has been limited in hypergraphs due to heavy computation and strict assumptions on fixed-order hyperedges. We resolve these problems and present Equivariant Hypergraph Neural Network (EHNN), the first attempt to realize maximally expressive equivariant layers for general hypergraph learning. We also present two practical realizations of our framework based on hypernetworks (EHNN-MLP) and self-attention (EHNN-Transformer), which are easy to implement and theoretically more expressive than most message passing approaches. We demonstrate their capability in a range of hypergraph learning problems, including synthetic k-edge identification, semi-supervised classification, and visual keypoint matching, and report improved performances over strong message passing baselines. Our implementation is available at https://github.com/jw9730/ehnn., Comment: 29 pages, 2 figures

We show that standard Transformers without graph-specific modifications can lead to promising results in graph learning both in theory and practice. Given a graph, we simply treat all nodes and edges as independent tokens, augment them with token embeddings, and feed them to a Transformer. With an appropriate choice of token embeddings, we prove that this approach is theoretically at least as expressive as an invariant graph network (2-IGN) composed of equivariant linear layers, which is already more expressive than all message-passing Graph Neural Networks (GNN). When trained on a large-scale graph dataset (PCQM4Mv2), our method coined Tokenized Graph Transformer (TokenGT) achieves significantly better results compared to GNN baselines and competitive results compared to Transformer variants with sophisticated graph-specific inductive bias. Our implementation is available at https://github.com/jw9730/tokengt., Comment: 26 pages, 8 figures

Trajectory optimization (TO) aims to find a sequence of valid states while minimizing costs. However, its fine validation process is often costly due to computationally expensive collision searches, otherwise coarse searches lower the safety of the system losing a precise solution. To resolve the issues, we introduce a new collision-distance estimator, GraphDistNet, that can precisely encode the structural information between two geometries by leveraging edge feature-based convolutional operations, and also efficiently predict a batch of collision distances and gradients through 25,000 random environments with a maximum of 20 unforeseen objects. Further, we show the adoption of attention mechanism enables our method to be easily generalized in unforeseen complex geometries toward TO. Our evaluation show GraphDistNet outperforms state-of-the-art baseline methods in both simulated and real world tasks., Comment: 8 pages, 7 figures, RA-L 2022 published version

Generic Event Boundary Detection (GEBD) is a newly suggested video understanding task that aims to find one level deeper semantic boundaries of events. Bridging the gap between natural human perception and video understanding, it has various potential applications, including interpretable and semantically valid video parsing. Still at an early development stage, existing GEBD solvers are simple extensions of relevant video understanding tasks, disregarding GEBD's distinctive characteristics. In this paper, we propose a novel framework for unsupervised/supervised GEBD, by using the Temporal Self-similarity Matrix (TSM) as the video representation. The new Recursive TSM Parsing (RTP) algorithm exploits local diagonal patterns in TSM to detect boundaries, and it is combined with the Boundary Contrastive (BoCo) loss to train our encoder to generate more informative TSMs. Our framework can be applied to both unsupervised and supervised settings, with both achieving state-of-the-art performance by a huge margin in GEBD benchmark. Especially, our unsupervised method outperforms the previous state-of-the-art "supervised" model, implying its exceptional efficacy.

We present a generalization of Transformers to any-order permutation invariant data (sets, graphs, and hypergraphs). We begin by observing that Transformers generalize DeepSets, or first-order (set-input) permutation invariant MLPs. Then, based on recently characterized higher-order invariant MLPs, we extend the concept of self-attention to higher orders and propose higher-order Transformers for order-$k$ data ($k=2$ for graphs and $k>2$ for hypergraphs). Unfortunately, higher-order Transformers turn out to have prohibitive complexity $\mathcal{O}(n^{2k})$ to the number of input nodes $n$. To address this problem, we present sparse higher-order Transformers that have quadratic complexity to the number of input hyperedges, and further adopt the kernel attention approach to reduce the complexity to linear. In particular, we show that the sparse second-order Transformers with kernel attention are theoretically more expressive than message passing operations while having an asymptotically identical complexity. Our models achieve significant performance improvement over invariant MLPs and message-passing graph neural networks in large-scale graph regression and set-to-(hyper)graph prediction tasks. Our implementation is available at https://github.com/jw9730/hot., Comment: 21 pages, 5 figures

The purpose of this paper is to examine the opportunities and barriers of Integrated Human-Machine Intelligence (IHMI) in civil engineering. Integrating artificial intelligence's high efficiency and repeatability with humans' adaptability in various contexts can advance timely and reliable decision-making during civil engineering projects and emergencies. Successful cases in other domains, such as biomedical science, healthcare, and transportation, showed the potential of IHMI in data-driven, knowledge-based decision-making in numerous civil engineering applications. However, whether the industry and academia are ready to embrace the era of IHMI and maximize its benefit to the industry is still questionable due to several knowledge gaps. This paper thus calls for future studies in exploring the value, method, and challenges of applying IHMI in civil engineering. Our systematic review of the literature and motivating cases has identified four knowledge gaps in achieving effective IHMI in civil engineering. First, it is unknown what types of tasks in the civil engineering domain can be assisted by AI and to what extent. Second, the interface between human and AI in civil engineering-related tasks need more precise and formal definition. Third, the barriers that impede collecting detailed behavioral data from humans and contextual environments deserve systematic classification and prototyping. Lastly, it is unknown what expected and unexpected impacts will IHMI have on the AEC industry and entrepreneurship. Analyzing these knowledge gaps led to a list of identified research questions. This paper will lay the foundation for identifying relevant studies to form a research roadmap to address the four knowledge gaps identified.

Generic Event Boundary Detection (GEBD) is a newly introduced task that aims to detect "general" event boundaries that correspond to natural human perception. In this paper, we introduce a novel contrastive learning based approach to deal with the GEBD. Our intuition is that the feature similarity of the video snippet would significantly vary near the event boundaries, while remaining relatively the same in the remaining part of the video. In our model, Temporal Self-similarity Matrix (TSM) is utilized as an intermediate representation which takes on a role as an information bottleneck. With our model, we achieved significant performance boost compared to the given baselines. Our code is available at https://github.com/hello-jinwoo/LOVEU-CVPR2021.