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Anomaly detection is critical in surveillance systems and patrol robots by identifying anomalous regions in images for early warning. Depending on whether reference data are utilized, anomaly detection can be categorized into anomaly detection with reference and anomaly detection without reference. Currently, anomaly detection without reference, which is closely related to out-of-distribution (OoD) object detection, struggles with learning anomalous patterns due to the difficulty of collecting sufficiently large and diverse anomaly datasets with the inherent rarity and novelty of anomalies. Alternatively, anomaly detection with reference employs the scheme of change detection to identify anomalies by comparing semantic changes between a reference image and a query one. However, there are very few ADr works due to the scarcity of public datasets in this domain. In this paper, we aim to address this gap by introducing the UMAD Benchmark Dataset. To our best knowledge, this is the first benchmark dataset designed specifically for anomaly detection with reference in robotic patrolling scenarios, e.g., where an autonomous robot is employed to detect anomalous objects by comparing a reference and a query video sequences. The reference sequences can be taken by the robot along a specified route when there are no anomalous objects in the scene. The query sequences are captured online by the robot when it is patrolling in the same scene following the same route. Our benchmark dataset is elaborated such that each query image can find a corresponding reference based on accurate robot localization along the same route in the prebuilt 3D map, with which the reference and query images can be geometrically aligned using adaptive warping. Besides the proposed benchmark dataset, we evaluate the baseline models of ADr on this dataset., Comment: Accepted by the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024, project code at https://github.com/IMRL/UMAD

Mixture of Experts (MoE) offers remarkable performance and computational efficiency by selectively activating subsets of model parameters. Traditionally, MoE models use homogeneous experts, each with identical capacity. However, varying complexity in input data necessitates experts with diverse capabilities, while homogeneous MoE hinders effective expert specialization and efficient parameter utilization. In this study, we propose a novel Heterogeneous Mixture of Experts (HMoE), where experts differ in size and thus possess diverse capacities. This heterogeneity allows for more specialized experts to handle varying token complexities more effectively. To address the imbalance in expert activation, we propose a novel training objective that encourages the frequent activation of smaller experts, enhancing computational efficiency and parameter utilization. Extensive experiments demonstrate that HMoE achieves lower loss with fewer activated parameters and outperforms conventional homogeneous MoE models on various pre-training evaluation benchmarks. Codes will be released upon acceptance.

The autonomous mapping of large-scale urban scenes presents significant challenges for autonomous robots. To mitigate the challenges, global planning, such as utilizing prior GPS trajectories from OpenStreetMap (OSM), is often used to guide the autonomous navigation of robots for mapping. However, due to factors like complex terrain, unexpected body movement, and sensor noise, the uncertainty of the robot's pose estimates inevitably increases over time, ultimately leading to the failure of robotic mapping. To address this issue, we propose a novel active loop closure procedure, enabling the robot to actively re-plan the previously planned GPS trajectory. The method can guide the robot to re-visit the previous places where the loop-closure detection can be performed to trigger the back-end optimization, effectively reducing errors and uncertainties in pose estimation. The proposed active loop closure mechanism is implemented and embedded into a real-time OSM-guided robot mapping framework. Empirical results on several large-scale outdoor scenarios demonstrate its effectiveness and promising performance.

Instruction-following is particularly crucial for large language models (LLMs) to support diverse user requests. While existing work has made progress in aligning LLMs with human preferences, evaluating their capabilities on instruction following remains a challenge due to complexity and diversity of real-world user instructions. While existing evaluation methods focus on general skills, they suffer from two main shortcomings, i.e., lack of fine-grained task-level evaluation and reliance on singular instruction expression. To address these problems, this paper introduces DINGO, a fine-grained and diverse instruction-following evaluation dataset that has two main advantages: (1) DINGO is based on a manual annotated, fine-grained and multi-level category tree with 130 nodes derived from real-world user requests; (2) DINGO includes diverse instructions, generated by both GPT-4 and human experts. Through extensive experiments, we demonstrate that DINGO can not only provide more challenging and comprehensive evaluation for LLMs, but also provide task-level fine-grained directions to further improve LLMs.

In this article, we present a stabilization feedback law with integral action for conservative abstract linear systems subjected to actuator nonlinearity. Based on the designed control law, we first prove the well-posedness and global asymptotic stability of the origin of the closed-loop system by constructing a weak Lyapunov functional. Secondly, as an illustration, we apply the results to a wave equation coupled with an ordinary differential equation (ODE) at the boundary. Finally, we give the simulation results to illustrate the effectiveness of our method.

In the field of autonomous driving, two important features of autonomous driving car systems are the explainability of decision logic and the accuracy of environmental perception. This paper introduces DME-Driver, a new autonomous driving system that enhances the performance and reliability of autonomous driving system. DME-Driver utilizes a powerful vision language model as the decision-maker and a planning-oriented perception model as the control signal generator. To ensure explainable and reliable driving decisions, the logical decision-maker is constructed based on a large vision language model. This model follows the logic employed by experienced human drivers and makes decisions in a similar manner. On the other hand, the generation of accurate control signals relies on precise and detailed environmental perception, which is where 3D scene perception models excel. Therefore, a planning oriented perception model is employed as the signal generator. It translates the logical decisions made by the decision-maker into accurate control signals for the self-driving cars. To effectively train the proposed model, a new dataset for autonomous driving was created. This dataset encompasses a diverse range of human driver behaviors and their underlying motivations. By leveraging this dataset, our model achieves high-precision planning accuracy through a logical thinking process.

Despite the great success of large language models (LLMs) in various tasks, they suffer from generating hallucinations. We introduce Truth Forest, a method that enhances truthfulness in LLMs by uncovering hidden truth representations using multi-dimensional orthogonal probes. Specifically, it creates multiple orthogonal bases for modeling truth by incorporating orthogonal constraints into the probes. Moreover, we introduce Random Peek, a systematic technique considering an extended range of positions within the sequence, reducing the gap between discerning and generating truth features in LLMs. By employing this approach, we improved the truthfulness of Llama-2-7B from 40.8\% to 74.5\% on TruthfulQA. Likewise, significant improvements are observed in fine-tuned models. We conducted a thorough analysis of truth features using probes. Our visualization results show that orthogonal probes capture complementary truth-related features, forming well-defined clusters that reveal the inherent structure of the dataset., Comment: Accepted as AAAI 2024

Vehicle-to-Everything (V2X) collaborative perception has recently gained significant attention due to its capability to enhance scene understanding by integrating information from various agents, e.g., vehicles, and infrastructure. However, current works often treat the information from each agent equally, ignoring the inherent domain gap caused by the utilization of different LiDAR sensors of each agent, thus leading to suboptimal performance. In this paper, we propose DI-V2X, that aims to learn Domain-Invariant representations through a new distillation framework to mitigate the domain discrepancy in the context of V2X 3D object detection. DI-V2X comprises three essential components: a domain-mixing instance augmentation (DMA) module, a progressive domain-invariant distillation (PDD) module, and a domain-adaptive fusion (DAF) module. Specifically, DMA builds a domain-mixing 3D instance bank for the teacher and student models during training, resulting in aligned data representation. Next, PDD encourages the student models from different domains to gradually learn a domain-invariant feature representation towards the teacher, where the overlapping regions between agents are employed as guidance to facilitate the distillation process. Furthermore, DAF closes the domain gap between the students by incorporating calibration-aware domain-adaptive attention. Extensive experiments on the challenging DAIR-V2X and V2XSet benchmark datasets demonstrate DI-V2X achieves remarkable performance, outperforming all the previous V2X models. Code is available at https://github.com/Serenos/DI-V2X, Comment: aaai2024

The efficacy of availability poisoning, a method of poisoning data by injecting imperceptible perturbations to prevent its use in model training, has been a hot subject of investigation. Previous research suggested that it was difficult to effectively counteract such poisoning attacks. However, the introduction of various defense methods has challenged this notion. Due to the rapid progress in this field, the performance of different novel methods cannot be accurately validated due to variations in experimental setups. To further evaluate the attack and defense capabilities of these poisoning methods, we have developed a benchmark -- APBench for assessing the efficacy of adversarial poisoning. APBench consists of 9 state-of-the-art availability poisoning attacks, 8 defense algorithms, and 4 conventional data augmentation techniques. We also have set up experiments with varying different poisoning ratios, and evaluated the attacks on multiple datasets and their transferability across model architectures. We further conducted a comprehensive evaluation of 2 additional attacks specifically targeting unsupervised models. Our results reveal the glaring inadequacy of existing attacks in safeguarding individual privacy. APBench is open source and available to the deep learning community: https://github.com/lafeat/apbench.

Vision Transformer (ViT) has performed remarkably in various computer vision tasks. Nonetheless, affected by the massive amount of parameters, ViT usually suffers from serious overfitting problems with a relatively limited number of training samples. In addition, ViT generally demands heavy computing resources, which limit its deployment on resource-constrained devices. As a type of model-compression method, model binarization is potentially a good choice to solve the above problems. Compared with the full-precision one, the model with the binarization method replaces complex tensor multiplication with simple bit-wise binary operations and represents full-precision model parameters and activations with only 1-bit ones, which potentially solves the problem of model size and computational complexity, respectively. In this paper, we investigate a binarized ViT model. Empirically, we observe that the existing binarization technology designed for Convolutional Neural Networks (CNN) cannot migrate well to a ViT's binarization task. We also find that the decline of the accuracy of the binary ViT model is mainly due to the information loss of the Attention module and the Value vector. Therefore, we propose a novel model binarization technique, called Group Superposition Binarization (GSB), to deal with these issues. Furthermore, in order to further improve the performance of the binarization model, we have investigated the gradient calculation procedure in the binarization process and derived more proper gradient calculation equations for GSB to reduce the influence of gradient mismatch. Then, the knowledge distillation technique is introduced to alleviate the performance degradation caused by model binarization. Analytically, model binarization can limit the parameters search space during parameter updates while training a model...., Comment: Accepted by Neural Networks

Unlearnable example attacks are data poisoning techniques that can be used to safeguard public data against unauthorized use for training deep learning models. These methods add stealthy perturbations to the original image, thereby making it difficult for deep learning models to learn from these training data effectively. Current research suggests that adversarial training can, to a certain degree, mitigate the impact of unlearnable example attacks, while common data augmentation methods are not effective against such poisons. Adversarial training, however, demands considerable computational resources and can result in non-trivial accuracy loss. In this paper, we introduce the UEraser method, which outperforms current defenses against different types of state-of-the-art unlearnable example attacks through a combination of effective data augmentation policies and loss-maximizing adversarial augmentations. In stark contrast to the current SOTA adversarial training methods, UEraser uses adversarial augmentations, which extends beyond the confines of $ \ell_p $ perturbation budget assumed by current unlearning attacks and defenses. It also helps to improve the model's generalization ability, thus protecting against accuracy loss. UEraser wipes out the unlearning effect with error-maximizing data augmentations, thus restoring trained model accuracies. Interestingly, UEraser-Lite, a fast variant without adversarial augmentations, is also highly effective in preserving clean accuracies. On challenging unlearnable CIFAR-10, CIFAR-100, SVHN, and ImageNet-subset datasets produced with various attacks, it achieves results that are comparable to those obtained during clean training. We also demonstrate its efficacy against possible adaptive attacks. Our code is open source and available to the deep learning community: https://github.com/lafeat/ueraser., Comment: UEraser introduces adversarial augmentations to suppress unlearnable example attacks and outperforms current defenses

Monocular 3D object detection has become a mainstream approach in automatic driving for its easy application. A prominent advantage is that it does not need LiDAR point clouds during the inference. However, most current methods still rely on 3D point cloud data for labeling the ground truths used in the training phase. This inconsistency between the training and inference makes it hard to utilize the large-scale feedback data and increases the data collection expenses. To bridge this gap, we propose a new weakly supervised monocular 3D objection detection method, which can train the model with only 2D labels marked on images. To be specific, we explore three types of consistency in this task, i.e. the projection, multi-view and direction consistency, and design a weakly-supervised architecture based on these consistencies. Moreover, we propose a new 2D direction labeling method in this task to guide the model for accurate rotation direction prediction. Experiments show that our weakly-supervised method achieves comparable performance with some fully supervised methods. When used as a pre-training method, our model can significantly outperform the corresponding fully-supervised baseline with only 1/3 3D labels. https://github.com/weakmono3d/weakmono3d, Comment: CVPR 2023

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face domain generalization issues. Unlike 2D images whose domains usually pertain to the texture information present in them, the features derived from a 3D point cloud are affected by the distribution of the points. The lack of a 3D domain adaptation benchmark leads to the common practice of training a model on one benchmark (e.g. Waymo) and then assessing it on another dataset (e.g. KITTI). This setting results in two distinct domain gaps: scenarios and sensors, making it difficult to analyze and evaluate the method accurately. To tackle this problem, this paper presents LiDAR Dataset with Cross Sensors (LiDAR-CS Dataset), which contains large-scale annotated LiDAR point cloud under six groups of different sensors but with the same corresponding scenarios, captured from hybrid realistic LiDAR simulator. To our knowledge, LiDAR-CS Dataset is the first dataset that addresses the sensor-related gaps in the domain of 3D object detection in real traffic. Furthermore, we evaluate and analyze the performance using various baseline detectors and demonstrated its potential applications. Project page: https://opendriving.github.io/lidar-cs., Comment: 8 pages

Open software supply chain attacks, once successful, can exact heavy costs in mission-critical applications. As open-source ecosystems for deep learning flourish and become increasingly universal, they present attackers previously unexplored avenues to code-inject malicious backdoors in deep neural network models. This paper proposes Flareon, a small, stealthy, seemingly harmless code modification that specifically targets the data augmentation pipeline with motion-based triggers. Flareon neither alters ground-truth labels, nor modifies the training loss objective, nor does it assume prior knowledge of the victim model architecture, training data, and training hyperparameters. Yet, it has a surprisingly large ramification on training -- models trained under Flareon learn powerful target-conditional (or "any2any") backdoors. The resulting models can exhibit high attack success rates for any target choices and better clean accuracies than backdoor attacks that not only seize greater control, but also assume more restrictive attack capabilities. We also demonstrate the effectiveness of Flareon against recent defenses. Flareon is fully open-source and available online to the deep learning community: https://github.com/lafeat/flareon.

Adversarial attacks can deceive neural networks by adding tiny perturbations to their input data. Ensemble defenses, which are trained to minimize attack transferability among sub-models, offer a promising research direction to improve robustness against such attacks while maintaining a high accuracy on natural inputs. We discover, however, that recent state-of-the-art (SOTA) adversarial attack strategies cannot reliably evaluate ensemble defenses, sizeably overestimating their robustness. This paper identifies the two factors that contribute to this behavior. First, these defenses form ensembles that are notably difficult for existing gradient-based method to attack, due to gradient obfuscation. Second, ensemble defenses diversify sub-model gradients, presenting a challenge to defeat all sub-models simultaneously, simply summing their contributions may counteract the overall attack objective; yet, we observe that ensemble may still be fooled despite most sub-models being correct. We therefore introduce MORA, a model-reweighing attack to steer adversarial example synthesis by reweighing the importance of sub-model gradients. MORA finds that recent ensemble defenses all exhibit varying degrees of overestimated robustness. Comparing it against recent SOTA white-box attacks, it can converge orders of magnitude faster while achieving higher attack success rates across all ensemble models examined with three different ensemble modes (i.e., ensembling by either softmax, voting or logits). In particular, most ensemble defenses exhibit near or exactly 0% robustness against MORA with $\ell^\infty$ perturbation within 0.02 on CIFAR-10, and 0.01 on CIFAR-100. We make MORA open source with reproducible results and pre-trained models; and provide a leaderboard of ensemble defenses under various attack strategies., Comment: To appear in NeurIPS 2022. Project repository: https://github.com/lafeat/mora

Dominated point cloud-based 3D object detectors in autonomous driving scenarios rely heavily on the huge amount of accurately labeled samples, however, 3D annotation in the point cloud is extremely tedious, expensive and time-consuming. To reduce the dependence on large supervision, semi-supervised learning (SSL) based approaches have been proposed. The Pseudo-Labeling methodology is commonly used for SSL frameworks, however, the low-quality predictions from the teacher model have seriously limited its performance. In this work, we propose a new Pseudo-Labeling framework for semi-supervised 3D object detection, by enhancing the teacher model to a proficient one with several necessary designs. First, to improve the recall of pseudo labels, a Spatialtemporal Ensemble (STE) module is proposed to generate sufficient seed boxes. Second, to improve the precision of recalled boxes, a Clusteringbased Box Voting (CBV) module is designed to get aggregated votes from the clustered seed boxes. This also eliminates the necessity of sophisticated thresholds to select pseudo labels. Furthermore, to reduce the negative influence of wrongly pseudo-labeled samples during the training, a soft supervision signal is proposed by considering Box-wise Contrastive Learning (BCL). The effectiveness of our model is verified on both ONCE and Waymo datasets. For example, on ONCE, our approach significantly improves the baseline by 9.51 mAP. Moreover, with half annotations, our model outperforms the oracle model with full annotations on Waymo.

Existing approaches for unsupervised point cloud pre-training are constrained to either scene-level or point/voxel-level instance discrimination. Scene-level methods tend to lose local details that are crucial for recognizing the road objects, while point/voxel-level methods inherently suffer from limited receptive field that is incapable of perceiving large objects or context environments. Considering region-level representations are more suitable for 3D object detection, we devise a new unsupervised point cloud pre-training framework, called ProposalContrast, that learns robust 3D representations by contrasting region proposals. Specifically, with an exhaustive set of region proposals sampled from each point cloud, geometric point relations within each proposal are modeled for creating expressive proposal representations. To better accommodate 3D detection properties, ProposalContrast optimizes with both inter-cluster and inter-proposal separation, i.e., sharpening the discriminativeness of proposal representations across semantic classes and object instances. The generalizability and transferability of ProposalContrast are verified on various 3D detectors (i.e., PV-RCNN, CenterPoint, PointPillars and PointRCNN) and datasets (i.e., KITTI, Waymo and ONCE)., Comment: Accepted to ECCV 2022. Code: https://github.com/yinjunbo/ProposalContrast

The advent of large-scale pre-trained language models has contributed greatly to the recent progress in natural language processing. Many state-of-the-art language models are first trained on a large text corpus and then fine-tuned on downstream tasks. Despite its recent success and wide adoption, fine-tuning a pre-trained language model often suffers from overfitting, which leads to poor generalizability due to the extremely high complexity of the model and the limited training samples from downstream tasks. To address this problem, we propose a novel and effective fine-tuning framework, named Layerwise Noise Stability Regularization (LNSR). Specifically, we propose to inject the standard Gaussian noise or In-manifold noise and regularize hidden representations of the fine-tuned model. We first provide theoretical analyses to support the efficacy of our method. We then demonstrate the advantages of the proposed method over other state-of-the-art algorithms including L2-SP, Mixout and SMART. While these previous works only verify the effectiveness of their methods on relatively simple text classification tasks, we also verify the effectiveness of our method on question answering tasks, where the target problem is much more difficult and more training examples are available. Furthermore, extensive experimental results indicate that the proposed algorithm can not only enhance the in-domain performance of the language models but also improve the domain generalization performance on out-of-domain data., Comment: Accepted by TNNLS

Cross-spectrum depth estimation aims to provide a depth map in all illumination conditions with a pair of dual-spectrum images. It is valuable for autonomous vehicle applications when the vehicle is equipped with two cameras of different modalities. However, images captured by different-modality cameras can be photometrically quite different. Therefore, cross-spectrum depth estimation is a very challenging problem. Moreover, the shortage of large-scale open-source datasets also retards further research in this field. In this paper, we propose an unsupervised visible-light image guided cross-spectrum (i.e., thermal and visible-light, TIR-VIS in short) depth estimation framework given a pair of RGB and thermal images captured from a visible-light camera and a thermal one. We first adopt a base depth estimation network using RGB-image pairs. Then we propose a multi-scale feature transfer network to transfer features from the TIR-VIS domain to the VIS domain at the feature level to fit the trained depth estimation network. At last, we propose a cross-spectrum depth cycle consistency to improve the depth result of dual-spectrum image pairs. Meanwhile, we release a large dual-spectrum depth estimation dataset with visible-light and far-infrared stereo images captured in different scenes to the society. The experiment result shows that our method achieves better performance than the compared existing methods. Our datasets is available at https://github.com/whitecrow1027/VIS-TIR-Datasets.

Federated learning (FL) allows multiple clients to collectively train a high-performance global model without sharing their private data. However, the key challenge in federated learning is that the clients have significant statistical heterogeneity among their local data distributions, which would cause inconsistent optimized local models on the client-side. To address this fundamental dilemma, we propose a novel federated learning algorithm with local drift decoupling and correction (FedDC). Our FedDC only introduces lightweight modifications in the local training phase, in which each client utilizes an auxiliary local drift variable to track the gap between the local model parameter and the global model parameters. The key idea of FedDC is to utilize this learned local drift variable to bridge the gap, i.e., conducting consistency in parameter-level. The experiment results and analysis demonstrate that FedDC yields expediting convergence and better performance on various image classification tasks, robust in partial participation settings, non-iid data, and heterogeneous clients., Comment: 28 pages, 13 figures, to be published in CVPR2022

Grounding a command to the visual environment is an essential ingredient for interactions between autonomous vehicles and humans. In this work, we study the problem of language grounding for autonomous vehicles, which aims to localize a region in a visual scene according to a natural language command from a passenger. Prior work only employs the top layer representations of a vision-and-language pre-trained model to predict the region referred to by the command. However, such a method omits the useful features encoded in other layers, and thus results in inadequate understanding of the input scene and command. To tackle this limitation, we present the first layer fusion approach for this task. Since different visual regions may require distinct types of features to disambiguate them from each other, we further propose the region-specific dynamic (RSD) layer attention to adaptively fuse the multimodal information across layers for each region. Extensive experiments on the Talk2Car benchmark demonstrate that our approach helps predict more accurate regions and outperforms state-of-the-art methods., Comment: Submitted to IROS 2022

Central to active learning (AL) is what data should be selected for annotation. Existing works attempt to select highly uncertain or informative data for annotation. Nevertheless, it remains unclear how selected data impacts the test performance of the task model used in AL. In this work, we explore such an impact by theoretically proving that selecting unlabeled data of higher gradient norm leads to a lower upper-bound of test loss, resulting in better test performance. However, due to the lack of label information, directly computing gradient norm for unlabeled data is infeasible. To address this challenge, we propose two schemes, namely expected-gradnorm and entropy-gradnorm. The former computes the gradient norm by constructing an expected empirical loss while the latter constructs an unsupervised loss with entropy. Furthermore, we integrate the two schemes in a universal AL framework. We evaluate our method on classical image classification and semantic segmentation tasks. To demonstrate its competency in domain applications and its robustness to noise, we also validate our method on a cellular imaging analysis task, namely cryo-Electron Tomography subtomogram classification. Results demonstrate that our method achieves superior performance against the state of the art. Our source code is available at https://github.com/xulabs/aitom/blob/master/doc/projects/al_gradnorm.md., Comment: 13 pages

The operation and management of intelligent transportation systems (ITS), such as traffic monitoring, relies on real-time data aggregation of vehicular traffic information, including vehicular types (e.g., cars, trucks, and buses), in the critical roads and highways. While traditional approaches based on vehicular-embedded GPS sensors or camera networks would either invade drivers' privacy or require high deployment cost, this paper introduces a low-cost method, namely SenseMag, to recognize the vehicular type using a pair of non-invasive magnetic sensors deployed on the straight road section. SenseMag filters out noises and segments received magnetic signals by the exact time points that the vehicle arrives or departs from every sensor node. Further, SenseMag adopts a hierarchical recognition model to first estimate the speed/velocity, then identify the length of vehicle using the predicted speed, sampling cycles, and the distance between the sensor nodes. With the vehicle length identified and the temporal/spectral features extracted from the magnetic signals, SenseMag classify the types of vehicles accordingly. Some semi-automated learning techniques have been adopted for the design of filters, features, and the choice of hyper-parameters. Extensive experiment based on real-word field deployment (on the highways in Shenzhen, China) shows that SenseMag significantly outperforms the existing methods in both classification accuracy and the granularity of vehicle types (i.e., 7 types by SenseMag versus 4 types by the existing work in comparisons). To be specific, our field experiment results validate that SenseMag is with at least $90\%$ vehicle type classification accuracy and less than 5\% vehicle length classification error., Comment: Accepted by IEEE Internet of Things Journal

Fine-tuning pre-trained language models such as BERT has become a common practice dominating leaderboards across various NLP tasks. Despite its recent success and wide adoption, this process is unstable when there are only a small number of training samples available. The brittleness of this process is often reflected by the sensitivity to random seeds. In this paper, we propose to tackle this problem based on the noise stability property of deep nets, which is investigated in recent literature (Arora et al., 2018; Sanyal et al., 2020). Specifically, we introduce a novel and effective regularization method to improve fine-tuning on NLP tasks, referred to as Layer-wise Noise Stability Regularization (LNSR). We extend the theories about adding noise to the input and prove that our method gives a stabler regularization effect. We provide supportive evidence by experimentally confirming that well-performing models show a low sensitivity to noise and fine-tuning with LNSR exhibits clearly higher generalizability and stability. Furthermore, our method also demonstrates advantages over other state-of-the-art algorithms including L2-SP (Li et al., 2018), Mixout (Lee et al., 2020) and SMART (Jiang et al., 2020)., Comment: Proceedings of the 2021 Conference of the North American Chapter of the Association for Computational Linguistics: Human Language Technologies

Inefficient traffic control may cause numerous problems such as traffic congestion and energy waste. This paper proposes a novel multi-agent reinforcement learning method, named KS-DDPG (Knowledge Sharing Deep Deterministic Policy Gradient) to achieve optimal control by enhancing the cooperation between traffic signals. By introducing the knowledge-sharing enabled communication protocol, each agent can access to the collective representation of the traffic environment collected by all agents. The proposed method is evaluated through two experiments respectively using synthetic and real-world datasets. The comparison with state-of-the-art reinforcement learning-based and conventional transportation methods demonstrate the proposed KS-DDPG has significant efficiency in controlling large-scale transportation networks and coping with fluctuations in traffic flow. In addition, the introduced communication mechanism has also been proven to speed up the convergence of the model without significantly increasing the computational burden.

Deep convolutional neural networks are susceptible to adversarial attacks. They can be easily deceived to give an incorrect output by adding a tiny perturbation to the input. This presents a great challenge in making CNNs robust against such attacks. An influx of new defense techniques have been proposed to this end. In this paper, we show that latent features in certain "robust" models are surprisingly susceptible to adversarial attacks. On top of this, we introduce a unified $\ell_\infty$-norm white-box attack algorithm which harnesses latent features in its gradient descent steps, namely LAFEAT. We show that not only is it computationally much more efficient for successful attacks, but it is also a stronger adversary than the current state-of-the-art across a wide range of defense mechanisms. This suggests that model robustness could be contingent on the effective use of the defender's hidden components, and it should no longer be viewed from a holistic perspective., Comment: Accepted as an oral paper in Conference on Computer Vision and Pattern Recognition (CVPR) 2021. 11 pages, 6 figures, 3 tables

While recent studies on semi-supervised learning have shown remarkable progress in leveraging both labeled and unlabeled data, most of them presume a basic setting of the model is randomly initialized. In this work, we consider semi-supervised learning and transfer learning jointly, leading to a more practical and competitive paradigm that can utilize both powerful pre-trained models from source domain as well as labeled/unlabeled data in the target domain. To better exploit the value of both pre-trained weights and unlabeled target examples, we introduce adaptive consistency regularization that consists of two complementary components: Adaptive Knowledge Consistency (AKC) on the examples between the source and target model, and Adaptive Representation Consistency (ARC) on the target model between labeled and unlabeled examples. Examples involved in the consistency regularization are adaptively selected according to their potential contributions to the target task. We conduct extensive experiments on popular benchmarks including CIFAR-10, CUB-200, and MURA, by fine-tuning the ImageNet pre-trained ResNet-50 model. Results show that our proposed adaptive consistency regularization outperforms state-of-the-art semi-supervised learning techniques such as Pseudo Label, Mean Teacher, and FixMatch. Moreover, our algorithm is orthogonal to existing methods and thus able to gain additional improvements on top of MixMatch and FixMatch. Our code is available at https://github.com/SHI-Labs/Semi-Supervised-Transfer-Learning., Comment: CVPR 2021

A technological revolution is occurring in the field of robotics with the data-driven deep learning technology. However, building datasets for each local robot is laborious. Meanwhile, data islands between local robots make data unable to be utilized collaboratively. To address this issue, the work presents Peer-Assisted Robotic Learning (PARL) in robotics, which is inspired by the peer-assisted learning in cognitive psychology and pedagogy. PARL implements data collaboration with the framework of cloud robotic systems. Both data and models are shared by robots to the cloud after semantic computing and training locally. The cloud converges the data and performs augmentation, integration, and transferring. Finally, fine tune this larger shared dataset in the cloud to local robots. Furthermore, we propose the DAT Network (Data Augmentation and Transferring Network) to implement the data processing in PARL. DAT Network can realize the augmentation of data from multi-local robots. We conduct experiments on a simplified self-driving task for robots (cars). DAT Network has a significant improvement in the augmentation in self-driving scenarios. Along with this, the self-driving experimental results also demonstrate that PARL is capable of improving learning effects with data collaboration of local robots.

Federated Learning (FL) creates an ecosystem for multiple agents to collaborate on building models with data privacy consideration. The method for contribution measurement of each agent in the FL system is critical for fair credits allocation but few are proposed. In this paper, we develop a real-time contribution measurement method FedCM that is simple but powerful. The method defines the impact of each agent, comprehensively considers the current round and the previous round to obtain the contribution rate of each agent with attention aggregation. Moreover, FedCM updates contribution every round, which enable it to perform in real-time. Real-time is not considered by the existing approaches, but it is critical for FL systems to allocate computing power, communication resources, etc. Compared to the state-of-the-art method, the experimental results show that FedCM is more sensitive to data quantity and data quality under the premise of real-time. Furthermore, we developed federated learning open-source software based on FedCM. The software has been applied to identify COVID-19 based on medical images.

We propose an integrated approach to active exploration by exploiting the Cartographer method as the base SLAM module for submap creation and performing efficient frontier detection in the geometrically co-aligned submaps induced by graph optimization. We also carry out analysis on the reachability of frontiers and their clusters to ensure that the detected frontier can be reached by robot. Our method is tested on a mobile robot in real indoor scene to demonstrate the effectiveness and efficiency of our approach.

Humans are capable of learning a new behavior by observing others to perform the skill. Similarly, robots can also implement this by imitation learning. Furthermore, if with external guidance, humans can master the new behavior more efficiently. So, how can robots achieve this? To address the issue, we present a novel framework named FIL. It provides a heterogeneous knowledge fusion mechanism for cloud robotic systems. Then, a knowledge fusion algorithm in FIL is proposed. It enables the cloud to fuse heterogeneous knowledge from local robots and generate guide models for robots with service requests. After that, we introduce a knowledge transfer scheme to facilitate local robots acquiring knowledge from the cloud. With FIL, a robot is capable of utilizing knowledge from other robots to increase its imitation learning in accuracy and efficiency. Compared with transfer learning and meta-learning, FIL is more suitable to be deployed in cloud robotic systems. Finally, we conduct experiments of a self-driving task for robots (cars). The experimental results demonstrate that the shared model generated by FIL increases imitation learning efficiency of local robots in cloud robotic systems., Comment: arXiv admin note: substantial text overlap with arXiv:1909.00895

In this paper, a global descriptor for a LiDAR point cloud, called LiDAR Iris, is proposed for fast and accurate loop-closure detection. A binary signature image can be obtained for each point cloud after several LoG-Gabor filtering and thresholding operations on the LiDAR-Iris image representation. Given two point clouds, their similarities can be calculated as the Hamming distance of two corresponding binary signature images extracted from the two point clouds, respectively. Our LiDAR-Iris method can achieve a pose-invariant loop-closure detection at a descriptor level with the Fourier transform of the LiDAR-Iris representation if assuming a 3D (x,y,yaw) pose space, although our method can generally be applied to a 6D pose space by re-aligning point clouds with an additional IMU sensor. Experimental results on five road-scene sequences demonstrate its excellent performance in loop-closure detection., Comment: IROS 2020

In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization methods become unreliable when the sunlight changes greatly. Therefore, inexpensive and reliable methods are required. In this paper, we propose a stereo visual localization method based on the prior LiDAR map. Different from the conventional visual localization system, we design a novel visual optimization model by matching planar information between the LiDAR map and visual image. Bundle adjustment is built by using coplanarity constraints. To solve the optimization problem, we use a graph-based optimization algorithm and a local window optimization method. Finally, we estimate a full six degrees of freedom (DOF) pose without scale drift. To validate the efficiency, the proposed method has been tested on the KITTI dataset. The results show that our method is more robust and accurate than the state-of-art ORB-SLAM2., Comment: 6 pages, 5 figures, The 2019 IEEE International Conference on Robotics and Biomimetics

Modern deep Convolutional Neural Networks (CNNs) are computationally demanding, yet real applications often require high throughput and low latency. To help tackle these problems, we propose Tomato, a framework designed to automate the process of generating efficient CNN accelerators. The generated design is pipelined and each convolution layer uses different arithmetics at various precisions. Using Tomato, we showcase state-of-the-art multi-precision multi-arithmetic networks, including MobileNet-V1, running on FPGAs. To our knowledge, this is the first multi-precision multi-arithmetic auto-generation framework for CNNs. In software, Tomato fine-tunes pretrained networks to use a mixture of short powers-of-2 and fixed-point weights with a minimal loss in classification accuracy. The fine-tuned parameters are combined with the templated hardware designs to automatically produce efficient inference circuits in FPGAs. We demonstrate how our approach significantly reduces model sizes and computation complexities, and permits us to pack a complete ImageNet network onto a single FPGA without accessing off-chip memories for the first time. Furthermore, we show how Tomato produces implementations of networks with various sizes running on single or multiple FPGAs. To the best of our knowledge, our automatically generated accelerators outperform closest FPGA-based competitors by at least 2-4x for lantency and throughput; the generated accelerator runs ImageNet classification at a rate of more than 3000 frames per second., Comment: To be published in International Conference on Field Programmable Technology 2019

Humans are capable of learning a new behavior by observing others perform the skill. Robots can also implement this by imitation learning. Furthermore, if with external guidance, humans will master the new behavior more efficiently. So how can robots implement this? To address the issue, we present Federated Imitation Learning (FIL) in the paper. Firstly, a knowledge fusion algorithm deployed on the cloud for fusing knowledge from local robots is presented. Then, effective transfer learning methods in FIL are introduced. With FIL, a robot is capable of utilizing knowledge from other robots to increase its imitation learning. FIL considers information privacy and data heterogeneity when robots share knowledge. It is suitable to be deployed in cloud robotic systems. Finally, we conduct experiments of a simplified self-driving task for robots (cars). The experimental results demonstrate that FIL is capable of increasing imitation learning of local robots in cloud robotic systems.

Deep convolutional neural networks (CNNs) are powerful tools for a wide range of vision tasks, but the enormous amount of memory and compute resources required by CNNs pose a challenge in deploying them on constrained devices. Existing compression techniques, while excelling at reducing model sizes, struggle to be computationally friendly. In this paper, we attend to the statistical properties of sparse CNNs and present focused quantization, a novel quantization strategy based on power-of-two values, which exploits the weight distributions after fine-grained pruning. The proposed method dynamically discovers the most effective numerical representation for weights in layers with varying sparsities, significantly reducing model sizes. Multiplications in quantized CNNs are replaced with much cheaper bit-shift operations for efficient inference. Coupled with lossless encoding, we built a compression pipeline that provides CNNs with high compression ratios (CR), low computation cost and minimal loss in accuracy. In ResNet-50, we achieved a 18.08x CR with only 0.24% loss in top-5 accuracy, outperforming existing compression methods. We fully compressed a ResNet-18 and found that it is not only higher in CR and top-5 accuracy, but also more hardware efficient as it requires fewer logic gates to implement when compared to other state-of-the-art quantization methods assuming the same throughput., Comment: To appear in NeurIPS 2019, this is the same paper adapted for viewing on arXiv. TL;DR: Better size/accuracy trade-off of compressed sparse models with focused quantization. 11 pages, 5 figures, 4 tables

Convolutional Neural Networks (CNNs) are widely used to solve classification tasks in computer vision. However, they can be tricked into misclassifying specially crafted `adversarial' samples -- and samples built to trick one model often work alarmingly well against other models trained on the same task. In this paper we introduce Sitatapatra, a system designed to block the transfer of adversarial samples. It diversifies neural networks using a key, as in cryptography, and provides a mechanism for detecting attacks. What's more, when adversarial samples are detected they can typically be traced back to the individual device that was used to develop them. The run-time overheads are minimal permitting the use of Sitatapatra on constrained systems.

Making deep convolutional neural networks more accurate typically comes at the cost of increased computational and memory resources. In this paper, we reduce this cost by exploiting the fact that the importance of features computed by convolutional layers is highly input-dependent, and propose feature boosting and suppression (FBS), a new method to predictively amplify salient convolutional channels and skip unimportant ones at run-time. FBS introduces small auxiliary connections to existing convolutional layers. In contrast to channel pruning methods which permanently remove channels, it preserves the full network structures and accelerates convolution by dynamically skipping unimportant input and output channels. FBS-augmented networks are trained with conventional stochastic gradient descent, making it readily available for many state-of-the-art CNNs. We compare FBS to a range of existing channel pruning and dynamic execution schemes and demonstrate large improvements on ImageNet classification. Experiments show that FBS can respectively provide $5\times$ and $2\times$ savings in compute on VGG-16 and ResNet-18, both with less than $0.6\%$ top-5 accuracy loss., Comment: 14 pages, 5 figures, 4 tables, published as a conference paper at ICLR 2019

The paper deals with the control and regulation by integral controllers forthe nonlinear systems governed by scalar quasi-linear hyperbolic partial differentialequations. Both the control input and the measured output are located on the boundary.The closed-loop stabilization of the linearized model with the designed integral controlleris proved first by using the method of spectral analysis and then by the Lyapunov directmethod. Based on the elaborated Lyapunov function we prove local exponential stabilityof the nonlinear closed-loop system with the same controller. The output regulationto the set-point with zero static error by the integral controller is shown uponthe nonlinear system. Numerical simulations by the Preissmann scheme are carriedout to validate the robustness performance of the designed controllerto face to unknown constant disturbances.