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Biomass estimation of oilseed rape is crucial for optimizing crop productivity and breeding strategies. While UAV-based imaging has advanced high-throughput phenotyping, current methods often rely on orthophoto images, which struggle with overlapping leaves and incomplete structural information in complex field environments. This study integrates 3D Gaussian Splatting (3DGS) with the Segment Anything Model (SAM) for precise 3D reconstruction and biomass estimation of oilseed rape. UAV multi-view oblique images from 36 angles were used to perform 3D reconstruction, with the SAM module enhancing point cloud segmentation. The segmented point clouds were then converted into point cloud volumes, which were fitted to ground-measured biomass using linear regression. The results showed that 3DGS (7k and 30k iterations) provided high accuracy, with peak signal-to-noise ratios (PSNR) of 27.43 and 29.53 and training times of 7 and 49 minutes, respectively. This performance exceeded that of structure from motion (SfM) and mipmap Neural Radiance Fields (Mip-NeRF), demonstrating superior efficiency. The SAM module achieved high segmentation accuracy, with a mean intersection over union (mIoU) of 0.961 and an F1-score of 0.980. Additionally, a comparison of biomass extraction models found the point cloud volume model to be the most accurate, with an determination coefficient (R2) of 0.976, root mean square error (RMSE) of 2.92 g/plant, and mean absolute percentage error (MAPE) of 6.81%, outperforming both the plot crop volume and individual crop volume models. This study highlights the potential of combining 3DGS with multi-view UAV imaging for improved biomass phenotyping.

We provide an algorithm for the simultaneous system identification and model predictive control of nonlinear systems. The algorithm has finite-time near-optimality guarantees and asymptotically converges to the optimal (non-causal) controller. Particularly, the algorithm enjoys sublinear dynamic regret, defined herein as the suboptimality against an optimal clairvoyant controller that knows how the unknown disturbances and system dynamics will adapt to its actions. The algorithm is self-supervised and applies to control-affine systems with unknown dynamics and disturbances that can be expressed in reproducing kernel Hilbert spaces. Such spaces can model external disturbances and modeling errors that can even be adaptive to the system's state and control input. For example, they can model wind and wave disturbances to aerial and marine vehicles, or inaccurate model parameters such as inertia of mechanical systems. The algorithm first generates random Fourier features that are used to approximate the unknown dynamics or disturbances. Then, it employs model predictive control based on the current learned model of the unknown dynamics (or disturbances). The model of the unknown dynamics is updated online using least squares based on the data collected while controlling the system. We validate our algorithm in both hardware experiments and physics-based simulations. The simulations include (i) a cart-pole aiming to maintain the pole upright despite inaccurate model parameters, and (ii) a quadrotor aiming to track reference trajectories despite unmodeled aerodynamic drag effects. The hardware experiments include a quadrotor aiming to track a circular trajectory despite unmodeled aerodynamic drag effects, ground effects, and wind disturbances., Comment: 18 pages, 13 figures

Reliable uncertainty estimation plays a crucial role in various safety-critical applications such as medical diagnosis and autonomous driving. In recent years, Bayesian neural networks (BayesNNs) have gained substantial research and industrial interests due to their capability to make accurate predictions with reliable uncertainty estimation. However, the algorithmic complexity and the resulting hardware performance of BayesNNs hinder their adoption in real-life applications. To bridge this gap, this paper proposes an algorithm and hardware co-design framework that can generate field-programmable gate array (FPGA)-based accelerators for efficient BayesNNs. At the algorithm level, we propose novel multi-exit dropout-based BayesNNs with reduced computational and memory overheads while achieving high accuracy and quality of uncertainty estimation. At the hardware level, this paper introduces a transformation framework that can generate FPGA-based accelerators for the proposed efficient multi-exit BayesNNs. Several optimization techniques such as the mix of spatial and temporal mappings are introduced to reduce resource consumption and improve the overall hardware performance. Comprehensive experiments demonstrate that our approach can achieve higher energy efficiency compared to CPU, GPU, and other state-of-the-art hardware implementations. To support the future development of this research, we have open-sourced our code at: https://github.com/os-hxfan/MCME_FPGA_Acc.git, Comment: arXiv admin note: text overlap with arXiv:2308.06849

This work addresses the challenge of video depth estimation, which expects not only per-frame accuracy but, more importantly, cross-frame consistency. Instead of directly developing a depth estimator from scratch, we reformulate the prediction task into a conditional generation problem. This allows us to leverage the prior knowledge embedded in existing video generation models, thereby reducing learning difficulty and enhancing generalizability. Concretely, we study how to tame the public Stable Video Diffusion (SVD) to predict reliable depth from input videos using a mixture of image depth and video depth datasets. We empirically confirm that a procedural training strategy -- first optimizing the spatial layers of SVD and then optimizing the temporal layers while keeping the spatial layers frozen -- yields the best results in terms of both spatial accuracy and temporal consistency. We further examine the sliding window strategy for inference on arbitrarily long videos. Our observations indicate a trade-off between efficiency and performance, with a one-frame overlap already producing favorable results. Extensive experimental results demonstrate the superiority of our approach, termed ChronoDepth, over existing alternatives, particularly in terms of the temporal consistency of the estimated depth. Additionally, we highlight the benefits of more consistent video depth in two practical applications: depth-conditioned video generation and novel view synthesis. Our project page is available at https://jhaoshao.github.io/ChronoDepth/.

Determining the location of an image anywhere on Earth is a complex visual task, which makes it particularly relevant for evaluating computer vision algorithms. Yet, the absence of standard, large-scale, open-access datasets with reliably localizable images has limited its potential. To address this issue, we introduce OpenStreetView-5M, a large-scale, open-access dataset comprising over 5.1 million geo-referenced street view images, covering 225 countries and territories. In contrast to existing benchmarks, we enforce a strict train/test separation, allowing us to evaluate the relevance of learned geographical features beyond mere memorization. To demonstrate the utility of our dataset, we conduct an extensive benchmark of various state-of-the-art image encoders, spatial representations, and training strategies. All associated codes and models can be found at https://github.com/gastruc/osv5m., Comment: CVPR 2024

Holistic understanding of urban scenes based on RGB images is a challenging yet important problem. It encompasses understanding both the geometry and appearance to enable novel view synthesis, parsing semantic labels, and tracking moving objects. Despite considerable progress, existing approaches often focus on specific aspects of this task and require additional inputs such as LiDAR scans or manually annotated 3D bounding boxes. In this paper, we introduce a novel pipeline that utilizes 3D Gaussian Splatting for holistic urban scene understanding. Our main idea involves the joint optimization of geometry, appearance, semantics, and motion using a combination of static and dynamic 3D Gaussians, where moving object poses are regularized via physical constraints. Our approach offers the ability to render new viewpoints in real-time, yielding 2D and 3D semantic information with high accuracy, and reconstruct dynamic scenes, even in scenarios where 3D bounding box detection are highly noisy. Experimental results on KITTI, KITTI-360, and Virtual KITTI 2 demonstrate the effectiveness of our approach., Comment: Our project page is at https://xdimlab.github.io/hugs_website

Let $\delta^{0}(D)$ be the minimum semi-degree of an oriented graph $D$. Jackson (1981) proved that every oriented graph $D$ with $\delta^{0}(D)\geq k$ contains a directed path of length $2k$ when $|V(D)|>2k+2$, and a directed Hamilton cycle when $|V(D)|\le 2k+2$. Stein~(2020) further conjectured that every oriented graph $D$ with $\delta^{0}(D)>k/2$ contains any orientated path of length $k$. Recently, Klimo\u{s}ov\'{a} and Stein (DM, 2023) introduced the minimum pseudo-semi-degree $\tilde\delta^0(D)$ (a slight weaker than the minimum semi-degree condition as $\tilde\delta^0(D)\ge \delta^0(D))$ and showed that every oriented graph $D$ with $\tilde\delta^{0}(D)\ge (3k-2)/4$ contains each antipath of length $k$ for $k\geq 3$. In this paper, we improve the result of Klimo\u{s}ov\'{a} and Stein by showing that for all $k\geq 2$, every oriented graph with $\tilde\delta^0(D)\ge(2k+1)/3$ contains either an antipath of length at least $k+1$ or an anticycle of length at least $k+1$. Furthermore, we answer a problem raised by Klimo\u{s}ov\'{a} and Stein in the negative., Comment: 11 pages

A red-black (RB) tree is a data structure with red and black nodes coloration. The red and black color of nodes make up the principal component for balancing a RB tree. A balanced tree has an equal number of black nodes on any simple path. But when a black leaf node is deleted, a double-black (DB) node is formed, thus, causing a reduction in black heights and the tree becomes unbalanced. Rebalancing a RB tree with a DB node is a fairly complex process. Teaching and learning the removal of DB nodes is also challenging. This paper introduces a simplified novel method which is a symbolic-algebraic arithmetic procedure for the removal of DB nodes and the rebalancing of black heights in RB trees. This simplified approach has enhanced student learning of the DB node removal in RB trees. Feedback from students showed the learnability, workability and acceptance of the symbolic-algebraic method in balancing RB trees after a delete operation., Comment: 18 pages

We study how to safely control nonlinear control-affine systems that are corrupted with bounded non-stochastic noise, i.e., noise that is unknown a priori and that is not necessarily governed by a stochastic model. We focus on safety constraints that take the form of time-varying convex constraints such as collision-avoidance and control-effort constraints. We provide an algorithm with bounded dynamic regret, i.e., bounded suboptimality against an optimal clairvoyant controller that knows the realization of the noise a prior. We are motivated by the future of autonomy where robots will autonomously perform complex tasks despite real-world unpredictable disturbances such as wind gusts. To develop the algorithm, we capture our problem as a sequential game between a controller and an adversary, where the controller plays first, choosing the control input, whereas the adversary plays second, choosing the noise's realization. The controller aims to minimize its cumulative tracking error despite being unable to know the noise's realization a prior. We validate our algorithm in simulated scenarios of (i) an inverted pendulum aiming to stay upright, and (ii) a quadrotor aiming to fly to a goal location through an unknown cluttered environment., Comment: Accepted by IEEE Robotics and Automation Letters

This paper presents DreamLLM, a learning framework that first achieves versatile Multimodal Large Language Models (MLLMs) empowered with frequently overlooked synergy between multimodal comprehension and creation. DreamLLM operates on two fundamental principles. The first focuses on the generative modeling of both language and image posteriors by direct sampling in the raw multimodal space. This approach circumvents the limitations and information loss inherent to external feature extractors like CLIP, and a more thorough multimodal understanding is obtained. Second, DreamLLM fosters the generation of raw, interleaved documents, modeling both text and image contents, along with unstructured layouts. This allows DreamLLM to learn all conditional, marginal, and joint multimodal distributions effectively. As a result, DreamLLM is the first MLLM capable of generating free-form interleaved content. Comprehensive experiments highlight DreamLLM's superior performance as a zero-shot multimodal generalist, reaping from the enhanced learning synergy. Project page: https://dreamllm.github.io., Comment: ICLR 2024 (Spotlight)

We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violation of convex time-varying constraints, and (ii) bounded dynamic regret, \ie bounded suboptimality against an optimal clairvoyant controller that knows the future noise a priori. The constraints bound the values of the state and of the control input such as to ensure collision avoidance and bounded control effort. We are motivated by the future of autonomy where robots will safely perform complex tasks despite real-world unpredictable disturbances such as wind and wake disturbances. To develop the algorithm, we capture our problem as a sequential game between a linear feedback controller and an adversary, assuming a known upper bound on the noise's magnitude. Particularly, at each step $t=1,\ldots, T$, first the controller chooses a linear feedback control gain $K_t \in \calK_t$, where $\calK_t$ is constructed such that it guarantees that the safety constraints will be satisfied; then, the adversary reveals the current noise $w_t$ and the controller suffers a loss $f_t(K_t)$ -- \eg $f_t$ represents the system's tracking error at $t$ upon the realization of the noise. The controller aims to minimize its cumulative loss, despite knowing $w_t$ only after $K_t$ has been chosen. We validate our algorithm in simulated scenarios of safe control of linear dynamical systems in the presence of bounded noise, Comment: A preliminary version of this paper has been accepted for publication in the IEEE Conference on Decision and Control (CDC)

Human-AI interactivity is a critical aspect that reflects the usability of multimodal large language models (MLLMs). However, existing end-to-end MLLMs only allow users to interact with them through language instructions, leading to the limitation of the interactive accuracy and efficiency. In this study, we present precise referring instructions that utilize diverse reference representations such as points and boxes as referring prompts to refer to the special region. This enables MLLMs to focus on the region of interest and achieve finer-grained interaction. Based on precise referring instruction, we propose ChatSpot, a unified end-to-end multimodal large language model that supports diverse forms of interactivity including mouse clicks, drag-and-drop, and drawing boxes, which provides a more flexible and seamless interactive experience. We also construct a multi-grained vision-language instruction-following dataset based on existing datasets and GPT-4 generating. Furthermore, we design a series of evaluation tasks to assess the effectiveness of region recognition and interaction. Experimental results showcase ChatSpot's promising performance., Comment: 15 pages, 8 figures

Depth perception is a crucial component of monoc-ular 3D detection tasks that typically involve ill-posed problems. In light of the success of sample mining techniques in 2D object detection, we propose a simple yet effective mining strategy for improving depth perception in 3D object detection. Concretely, we introduce a plain metric to evaluate the quality of depth predictions, which chooses the mined sample for the model. Moreover, we propose a Gradient-aware and Model-perceive Mining strategy (GMM) for depth learning, which exploits the predicted depth quality for better depth learning through easy mining. GMM is a general strategy that can be readily applied to several state-of-the-art monocular 3D detectors, improving the accuracy of depth prediction. Extensive experiments on the nuScenes dataset demonstrate that the proposed methods significantly improve the performance of 3D object detection while outperforming other state-of-the-art sample mining techniques by a considerable margin. On the nuScenes benchmark, GMM achieved the state-of-the-art (42.1% mAP and 47.3% NDS) performance in monocular object detection., Comment: 8 pages, 4 figures

Long-term temporal fusion is a crucial but often overlooked technique in camera-based Bird's-Eye-View (BEV) 3D perception. Existing methods are mostly in a parallel manner. While parallel fusion can benefit from long-term information, it suffers from increasing computational and memory overheads as the fusion window size grows. Alternatively, BEVFormer adopts a recurrent fusion pipeline so that history information can be efficiently integrated, yet it fails to benefit from longer temporal frames. In this paper, we explore an embarrassingly simple long-term recurrent fusion strategy built upon the LSS-based methods and find it already able to enjoy the merits from both sides, i.e., rich long-term information and efficient fusion pipeline. A temporal embedding module is further proposed to improve the model's robustness against occasionally missed frames in practical scenarios. We name this simple but effective fusing pipeline VideoBEV. Experimental results on the nuScenes benchmark show that VideoBEV obtains strong performance on various camera-based 3D perception tasks, including object detection (55.4\% mAP and 62.9\% NDS), segmentation (48.6\% vehicle mIoU), tracking (54.8\% AMOTA), and motion prediction (0.80m minADE and 0.463 EPA).

Recommendation systems have become popular and effective tools to help users discover their interesting items by modeling the user preference and item property based on implicit interactions (e.g., purchasing and clicking). Humans perceive the world by processing the modality signals (e.g., audio, text and image), which inspired researchers to build a recommender system that can understand and interpret data from different modalities. Those models could capture the hidden relations between different modalities and possibly recover the complementary information which can not be captured by a uni-modal approach and implicit interactions. The goal of this survey is to provide a comprehensive review of the recent research efforts on the multimodal recommendation. Specifically, it shows a clear pipeline with commonly used techniques in each step and classifies the models by the methods used. Additionally, a code framework has been designed that helps researchers new in this area to understand the principles and techniques, and easily runs the SOTA models. Our framework is located at: https://github.com/enoche/MMRec, Comment: 33 pages, 4 figures

User interaction data in recommender systems is a form of dyadic relation that reflects the preferences of users with items. Learning the representations of these two discrete sets of objects, users and items, is critical for recommendation. Recent multimodal recommendation models leveraging multimodal features (e.g., images and text descriptions) have been demonstrated to be effective in improving recommendation accuracy. However, state-of-the-art models enhance the dyadic relations between users and items by considering either user-user or item-item relations, leaving the high-order relations of the other side (i.e., users or items) unexplored. Furthermore, we experimentally reveal that the current multimodality fusion methods in the state-of-the-art models may degrade their recommendation performance. That is, without tainting the model architectures, these models can achieve even better recommendation accuracy with uni-modal information. On top of the finding, we propose a model that enhances the dyadic relations by learning Dual RepresentAtions of both users and items via constructing homogeneous Graphs for multimOdal recommeNdation. We name our model as DRAGON. Specifically, DRAGON constructs the user-user graph based on the commonly interacted items and the item-item graph from item multimodal features. It then utilizes graph learning on both the user-item heterogeneous graph and the homogeneous graphs (user-user and item-item) to obtain the dual representations of users and items. To capture information from each modality, DRAGON employs a simple yet effective fusion method, attentive concatenation, to derive the representations of users and items. Extensive experiments on three public datasets and seven baselines show that DRAGON can outperform the strongest baseline by 22.03% on average. Various ablation studies are conducted on DRAGON to validate its effectiveness., Comment: 17 pages, 3 figures

Projection operations are a typical computation bottleneck in online learning. In this paper, we enable projection-free online learning within the framework of Online Convex Optimization with Memory (OCO-M) -- OCO-M captures how the history of decisions affects the current outcome by allowing the online learning loss functions to depend on both current and past decisions. Particularly, we introduce the first projection-free meta-base learning algorithm with memory that minimizes dynamic regret, i.e., that minimizes the suboptimality against any sequence of time-varying decisions. We are motivated by artificial intelligence applications where autonomous agents need to adapt to time-varying environments in real-time, accounting for how past decisions affect the present. Examples of such applications are: online control of dynamical systems; statistical arbitrage; and time series prediction. The algorithm builds on the Online Frank-Wolfe (OFW) and Hedge algorithms. We demonstrate how our algorithm can be applied to the online control of linear time-varying systems in the presence of unpredictable process noise. To this end, we develop a controller with memory and bounded dynamic regret against any optimal time-varying linear feedback control policy. We validate our algorithm in simulated scenarios of online control of linear time-invariant systems., Comment: The version corrects proofs and updates presentation

This paper proposes an efficient multi-camera to Bird's-Eye-View (BEV) view transformation method for 3D perception, dubbed MatrixVT. Existing view transformers either suffer from poor transformation efficiency or rely on device-specific operators, hindering the broad application of BEV models. In contrast, our method generates BEV features efficiently with only convolutions and matrix multiplications (MatMul). Specifically, we propose describing the BEV feature as the MatMul of image feature and a sparse Feature Transporting Matrix (FTM). A Prime Extraction module is then introduced to compress the dimension of image features and reduce FTM's sparsity. Moreover, we propose the Ring \& Ray Decomposition to replace the FTM with two matrices and reformulate our pipeline to reduce calculation further. Compared to existing methods, MatrixVT enjoys a faster speed and less memory footprint while remaining deploy-friendly. Extensive experiments on the nuScenes benchmark demonstrate that our method is highly efficient but obtains results on par with the SOTA method in object detection and map segmentation tasks

We enable efficient and effective coordination in unpredictable environments, i.e., in environments whose future evolution is unknown a priori and even adversarial. We are motivated by the future of autonomy that involves multiple robots coordinating in dynamic, unstructured, and adversarial environments to complete complex tasks such as target tracking, environmental mapping, and area monitoring. Such tasks are often modeled as submodular maximization coordination problems. We introduce the first submodular coordination algorithm with bounded tracking regret, i.e., with bounded suboptimality with respect to optimal time-varying actions that know the future a priori. The bound gracefully degrades with the environments' capacity to change adversarially. It also quantifies how often the robots must re-select actions to "learn" to coordinate as if they knew the future a priori. The algorithm requires the robots to select actions sequentially based on the actions selected by the previous robots in the sequence. Particularly, the algorithm generalizes the seminal Sequential Greedy algorithm by Fisher et al. to unpredictable environments, leveraging submodularity and algorithms for the problem of tracking the best expert. We validate our algorithm in simulated scenarios of target tracking.

In this paper, we first recall the notion of (noncommutative) Poisson conformal algebras and describe some constructions of them. Then we study the formal distribution (noncommutative) Poisson algebras and coefficient (noncommutative) Poisson algebras. Next, we introduce the notion of conformal formal deformations of commutative associative conformal algebras and show that Poisson conformal algebras are the corresponding semi-classical limits. At last, we develop the cohomology theory of noncommutative Poisson conformal algebras and use this cohomology to study their deformations., Comment: 31 pages

Currently, detecting 3D objects in Bird's-Eye-View (BEV) is superior to other 3D detectors for autonomous driving and robotics. However, transforming image features into BEV necessitates special operators to conduct feature sampling. These operators are not supported on many edge devices, bringing extra obstacles when deploying detectors. To address this problem, we revisit the generation of BEV representation and propose detecting objects in perspective BEV -- a new BEV representation that does not require feature sampling. We demonstrate that perspective BEV features can likewise enjoy the benefits of the BEV paradigm. Moreover, the perspective BEV improves detection performance by addressing issues caused by feature sampling. We propose PersDet for high-performance object detection in perspective BEV space based on this discovery. While implementing a simple and memory-efficient structure, PersDet outperforms existing state-of-the-art monocular methods on the nuScenes benchmark, reaching 34.6% mAP and 40.8% NDS when using ResNet-50 as the backbone.

We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorithm that minimizes dynamic regret, i.e., that minimizes the suboptimality against an optimal clairvoyant controller that knows the unpredictable future a priori. Specifically, our algorithm minimizes the worst-case dynamic regret among all possible noise realizations given a worst-case total noise magnitude. To this end, the control algorithm accounts for three key challenges: safety constraints; partially-observed time-varying systems; and unpredictable process and measurement noise. We are motivated by the future of autonomy where robots will autonomously perform complex tasks despite unknown and unpredictable disturbances leveraging their on-board control and sensing capabilities. To synthesize our minimal-regret controller, we formulate a constrained semi-definite program based on a System Level Synthesis approach for partially-observed time-varying systems. We validate our algorithm in simulated scenarios, including trajectory tracking scenarios of a hovering quadrotor collecting GPS and IMU measurements. Our algorithm is observed to have better performance than either or both the $\mathcal{H}_2$ and $\mathcal{H}_\infty$ controllers, demonstrating a Best of Both Worlds performance., Comment: 8 pages, 3 figures

This study contributes to the recent discussions on indicating interdisciplinarity, i.e., going beyond catch-all metrics of interdisciplinarity. We propose a contextual framework to improve the granularity and usability of the existing methodology for interdisciplinary knowledge flow (IKF) in which scientific disciplines import and export knowledge from/to other disciplines. To characterize the knowledge exchange between disciplines, we recognize three aspects of IKF under this framework, namely, broadness, intensity, and homogeneity. We show how to utilize them to uncover different forms of interdisciplinarity, especially between disciplines with the largest volume of IKF. We apply this framework in two use cases, one at the level of disciplines and one at the level of journals, to show how it can offer a more holistic and detailed viewpoint on the interdisciplinarity of scientific entities than aggregated and context-unaware indicators. We further compare our proposed framework, an indicating process, with established indicators and discuss how such information tools on interdisciplinarity can assist science policy practices such as performance-based research funding systems and panel-based peer review processes.

This paper studies the multi-modal recommendation problem, where the item multi-modality information (e.g., images and textual descriptions) is exploited to improve the recommendation accuracy. Besides the user-item interaction graph, existing state-of-the-art methods usually use auxiliary graphs (e.g., user-user or item-item relation graph) to augment the learned representations of users and/or items. These representations are often propagated and aggregated on auxiliary graphs using graph convolutional networks, which can be prohibitively expensive in computation and memory, especially for large graphs. Moreover, existing multi-modal recommendation methods usually leverage randomly sampled negative examples in Bayesian Personalized Ranking (BPR) loss to guide the learning of user/item representations, which increases the computational cost on large graphs and may also bring noisy supervision signals into the training process. To tackle the above issues, we propose a novel self-supervised multi-modal recommendation model, dubbed BM3, which requires neither augmentations from auxiliary graphs nor negative samples. Specifically, BM3 first bootstraps latent contrastive views from the representations of users and items with a simple dropout augmentation. It then jointly optimizes three multi-modal objectives to learn the representations of users and items by reconstructing the user-item interaction graph and aligning modality features under both inter- and intra-modality perspectives. BM3 alleviates both the need for contrasting with negative examples and the complex graph augmentation from an additional target network for contrastive view generation. We show BM3 outperforms prior recommendation models on three datasets with number of nodes ranging from 20K to 200K, while achieving a 2-9X reduction in training time. Our code is available at https://github.com/enoche/BM3., Comment: Accepted by Proceedings of the ACM Web Conference 2023 (WWW'23)