United States

Monocular 3D motion capture (mocap) is beneficial to many applications. The use of a single camera, however, often fails to handle occlusions of different body parts and hence it is limited to capture relatively simple movements. We present a light-weight, hybrid mocap technique called HybridCap that augments the camera with only 4 Inertial Measurement Units (IMUs) in a novel learning-and-optimization framework. We first employ a weakly-supervised and hierarchical motion inference module based on cooperative pure residual recurrent blocks that serve as limb, body and root trackers as well as an inverse kinematics solver. Our network effectively narrows the search space of plausible motions via coarse-to-fine pose estimation and manages to tackle challenging movements with high efficiency. We further develop a hybrid optimization scheme that combines inertial feedback and visual cues to improve tracking accuracy. Extensive experiments on various datasets demonstrate HybridCap can robustly handle challenging movements ranging from fitness actions to Latin dance. It also achieves real-time performance up to 60 fps with state-of-the-art accuracy.

AAAI 2023

HybridCap: Inertia-aid Monocular Capture of Challenging Human Motions

mocap

pose estimation

[![](https://assets.underline.io/markdown_image/1/image/f25361a85b7c83a7476c0b3c1c0bb1b2.png)](https://drive.google.com/file/d/18jcAcciCBQHj6R07Dbpm2HCOBEIwAOCU/view?usp=sharing)


Dear Colleagues and Friends,

The 33rd IEEE International Conference on Robot and Human Interactive Communication, IEEE RO-MAN 2024, was held at Pasadena Convention Center in Pasadena, USA.

The theme of the IEEE RO-MAN 2024 was **“Embracing Human-Centered HRI”**.

With the continuous technological effort of understanding human needs, creating human-desired robotic systems, and developing real human user experiences, we are marching together towards building a promising and excellent human quality of life, all for our wellness and our next generation.

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IEEE RO-MAN 2024

The 33rd IEEE International Conference on Robot and Human Interactive Communication was held in Pasadena, California, USA. The theme of the IEEE RO-MAN 2024 was “Embracing Human-Centered HRI”.

poster

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-23 is the Thirty-Seventh AAAI Conference on Artificial Intelligence. The theme of this conference is to create collaborative bridges within and beyond AI. Like previous AAAI conferences, AAAI-23 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and two new activities: a Bridge Program and a Lab Program. Many of these activities are tailored to the theme of bridges and all are selected according to the highest standards, with additional programs for students and young researchers. 
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The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines.

Federated recommendation (FedRec) can train personalized recommenders without collecting user data, but the decentralized nature makes it susceptible to poisoning attacks. Most previous studies focus on the targeted attack to promote certain items, while the untargeted attack that aims to degrade the overall performance of the FedRec system remains less explored. In fact, untargeted attacks can disrupt the user experience and bring severe ﬁnancial loss to the service provider. However, existing untargeted attack methods are either inapplicable or ineffective against FedRec systems. In this paper, we delve into the untargeted attack and its defense for FedRec systems. (i) We propose ClusterAttack, a novel untargeted attack method. It uploads poisonous gradients that converge the item embeddings into several dense clusters, which make the recommender generate similar scores for these items in the same cluster and perturb the ranking order. (ii) We propose a uniformity-based defense mechanism (UNION) to protect FedRec systems from such attacks. We design a contrastive learning task that regularizes the item embeddings toward a uniform distribution. Then the server ﬁlters out these malicious gradients by estimating the uniformity of updated item embeddings. Experiments on two public datasets show that ClusterAttack can effectively degrade the performance of FedRec systems while circumventing many defense methods, and UNION can improve the resistance of the system against various untargeted attacks, including our ClusterAttack.

Untargeted Attack against Federated Recommendation Systems via Poisonous Item Embeddings and the Defense

Event cameras are a kind of bio-inspired imaging sensor, which asynchronously collect sparse event streams with many advantages. In this paper, we focus on building better and faster event-based object detectors. To this end, we first propose a computationally efficient event representation Hyper Histogram, which adequately preserves both the polarity and temporal information of events. Then we devise an Adaptive Event Conversion module, which converts events into Hyper Histograms according to event density via an adaptive queue. What's more, we introduce a novel event-based augmentation method Shadow Mosaic, which significantly improves the event sample diversity and enhances the generalization ability of detection models. We equip our proposed modules on three representative object detection models: YOLOv5, Deformable-DETR and RetinaNet. Experimental results on three event-based detection datasets (1Mpx, Gen1 and MVSEC-NIGHTL21) demonstrate that our proposed approach outperforms other state-of-the-art methods by a large margin, while achieving a much faster running speed (<14ms and <4ms for 50ms event data on the 1Mpx and Gen1 datasets).

Better and Faster: Adaptive Event Conversion for Event-based Object Detection

Recently, deep learning has emerged as a prominent
tool for video denoising. Most existing deep video denoising methods
are supervised over training samples with noise-free videos.
As collecting noise-free videos can be costly and challenging in
many applications, this paper aims at developing an unsupervised
deep learning method for video denoising which only uses a single
test noisy video for training. To train a video denoising network
without truth, an unsupervised loss is presented which provides
an unbiased estimator of its supervised counterpart defined on
noise-free video. In addition, a temporal attention mechanism is
proposed to exploit redundancy among frames. The experiments
on video denoising showed that the proposed unsupervised
method not only outperformed existing unsupervised ones, but
also remained very competitive against recent supervised deep
learning methods.

Unsupervised Deep Video Denoising with Untrained Network

Real-world recognition system often encounters the challenge of unseen labels. To identify such unseen labels, multi-label zero-shot learning (ML-ZSL) focuses on transferring knowledge by a pre-trained textual label embedding (e.g., GloVe). However, such methods only exploit single-modal knowledge from a language model, while ignoring the rich semantic information inherent in image-text pairs. Instead, recently developed open-vocabulary (OV) based methods succeed in exploiting such information of image-text pairs in object detection, and achieve impressive performance. Inspired by the success of OV-based methods, we propose a novel open-vocabulary framework, named multi-modal knowledge transfer (MKT), for multi-label classification. Specifically, our method exploits multi-modal knowledge of image-text pairs based on a vision and language pre-training (VLP) model. To facilitate transferring the image-text matching ability of VLP model, knowledge distillation is employed to guarantee the consistency of image and label embeddings, along with prompt tuning to further update the label embeddings. To further enable the recognition of multiple objects, a simple but effective two-stream module is developed to capture both local and global features. Extensive experimental results show that our method significantly outperforms state-of-the-art methods on public benchmark datasets.

Open-Vocabulary Multi-Label Classification via Multi-Modal Knowledge Transfer

The rapid development of single-cell RNA sequencing (scRNA-seq) technology allows us to study gene expression heterogeneity at the cellular level. Cell annotation is the basis for subsequent downstream analysis in single-cell data mining. Existing methods rarely explore the fine-grained semantic knowledge of novel cell types absent from the reference data and usually susceptible to batch effects on the classification of seen cell types.
Taking into consideration these limitations, this paper proposes a new and practical task called generalized cell type annotation and discovery for scRNA-seq data. In this task, cells of seen cell types are given class labels, while cells of novel cell types are given cluster labels instead of a unified “unassigned” label. To address this problem, we carefully design a comprehensive evaluation benchmark and propose a novel end-to-end algorithm framework called scGAD. Specifically, scGAD first builds the intrinsic correspondence across the reference and target data by retrieving the geometrically and semantically mutual nearest neighbors as anchor pairs. Then we introduce an anchor-based self-supervised learning module with a connectivity-aware attention mechanism to facilitate model prediction capability on unlabeled target data. To enhance the inter-type separation and intra-type compactness, we further propose a confidential prototypical self-supervised learning module to uncover the consensus category structure of the reference and target data. Extensive results on massive real datasets demonstrate the superiority of scGAD over various state-of-the-art clustering and annotation methods. 

Generalized Cell Type Annotation and Discovery for Single-cell RNA-seq Data

A decision tree recursively splits a feature space R^d and then assigns class labels based on the resulting partition. Decision trees have been part of the basic machine-learning toolkit for decades. A large body of work considers heuristic algorithms that compute a decision tree from training data, usually aiming to minimize in particular the size of the resulting tree. In contrast, little is known about the complexity of the underlying computational problem of computing a minimum-size tree for the given training data. We study this problem with respect to the number d of dimensions of the feature space R^d, which contains n training examples. We show that it can be solved in O(n^(2d + 1)) time, but under reasonable complexity-theoretic assumptions it is not possible to achieve f(d) * n^o(d / log d) running time. The problem is solvable in (dR)^O(dR) * n^(1+o(1)) time, if there are exactly two classes and R is an upper bound on the number of tree leaves labeled with the first class.

The Influence of Dimensions on the Complexity of Computing Decision Trees

In reinforcement learning (RL), a reward function that aligns exactly with a task's true performance metric is often necessarily sparse. For example, a true task metric might encode a reward of 1 upon success and 0 otherwise. The sparsity of these true task metrics can make them hard to learn from, so in practice they are often replaced with alternative dense reward functions. These dense reward functions are typically designed by experts through an ad hoc process of trial and error. In this process, experts manually search for a reward function that improves performance with respect to the task metric while also enabling an RL algorithm to learn faster. This process raises the question of whether the same reward function is optimal for all algorithms, i.e., whether the reward function can be overfit to a particular algorithm. In this paper, we study the consequences of this wide yet unexamined practice of trial-and-error reward design. We first conduct computational experiments that confirm that reward functions can be overfit to learning algorithms and their hyperparameters. We then conduct a controlled observation study which emulates expert practitioners' typical experiences of reward design, in which we similarly find evidence of reward function overfitting. We also find that experts' typical approach to reward design---of adopting a myopic strategy and weighing the relative goodness of each state-action pair---leads to misdesign through invalid task specifications, since RL algorithms use cumulative reward rather than rewards for individual state-action pairs as an optimization target.

Code and supporting data for all experiments: https://github.com/serenabooth/reward-design-perils.

The Perils of Trial-and-Error Reward Design: Misdesign through Overfitting and Invalid Task Specifications

Class-incremental learning (CIL) aims to train a classification model while the number of classes increases phase-by-phase. An inherent challenge of CIL is the stability-plasticity tradeoff, i.e., CIL models should keep stable to retain old knowledge and keep plastic to absorb new knowledge. However, none of the existing CIL models can achieve the optimal tradeoff in different data-receiving settings—where typically the training-from-half (TFH) setting needs more stability, but the training-from-scratch (TFS) needs more plasticity. To this end, we design an online learning method that can adaptively optimize the tradeoff without knowing the setting as a priori. Specifically, we first introduce the key hyperparameters that influence the tradeoff, e.g., knowledge distillation (KD) loss weights, learning rates, and classifier types. Then, we formulate the hyperparameter optimization process as an online Markov Decision Process (MDP) problem and propose a specific algorithm to solve it. We apply local estimated rewards and a classic bandit algorithm Exp3 (Auer et al. 2002) to address the issues when applying online MDP methods to the CIL protocol. Our method consistently improves top-performing CIL methods in both TFH and TFS settings, e.g., boosting the average accuracy of TFH and TFS by 2.2 percentage points on ImageNet-Full, compared to the state-of-the-art (Liu et al. 2021b).

Online Hyperparameter Optimization for Class-Incremental Learning

We provide a complete characterization for the computational complexity of finding approximate equilibria in two-action graphical games. We consider the two most well-studied approximation notions: $\varepsilon$-Nash equilibria ($\varepsilon$-NE) and $\varepsilon$-well-supported Nash equilibria ($\varepsilon$-WSNE), where $\varepsilon \in [0,1]$. We prove that computing an $\varepsilon$-NE is PPAD-complete for any constant $\varepsilon < 1/2$, while a very simple algorithm (namely, letting all players mix uniformly between their two actions) yields a $1/2$-NE. On the other hand, we show that computing an $\varepsilon$-WSNE is PPAD-complete for any constant $\varepsilon < 1$, while a $1$-WSNE is trivial to achieve, because any strategy profile is a $1$-WSNE. All of our lower bounds immediately also apply to graphical games with more than two actions per player.

Tight Inapproximability for Graphical Games

Understanding mathematical questions effectively is a crucial task, which can benefit many applications, such as difficulty estimation. Researchers have drawn much attention to designing pre-training models for question representations due to the scarcity of human annotations (e.g., labeling difficulty). However, unlike general free-format texts (e.g., user comments), mathematical questions are generally designed with explicit purposes and mathematical logic, and usually consist of more complex content, such as formulas, and related mathematical knowledge (e.g., Function). Therefore, the problem of holistically representing mathematical questions remains underexplored. To this end, in this paper, we propose a novel contrastive pre-training approach for mathematical question representations, namely QuesCo, which attempts to bring questions with more similar purposes closer. Specifically, we first design two-level question augmentations, including content-level and structure-level, which generate literally diverse question pairs with similar purposes. Then, to fully exploit hierarchical information of knowledge concepts, we propose a knowledge hierarchy-aware rank strategy (KHAR), which ranks the similarities between questions in a fine-grained manner. Next, we adopt a ranking contrastive learning task to optimize our model based on the augmented and ranked questions. We conduct extensive experiments on two real-world mathematical datasets. The experimental results demonstrate the effectiveness of our model.

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Untargeted Attack against Federated Recommendation Systems via Poisonous Item Embeddings and the Defense

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