United States

Predicting high-fidelity future human poses, from a historically observed sequence, is crucial for intelligent robots to interact with humans. Deep end-to-end learning approaches, which typically train a generic pre-trained model on external datasets and then directly apply it to all test samples, emerge as the dominant solution to solve this issue. Despite encouraging progress, they remain non-optimal, as the unique properties (e.g., motion style, rhythm) of a specific sequence cannot be adapted. More generally, once encountering out-of-distributions, the predicted poses tend to be unreliable. Motivated by this observation, we propose a novel test-time adaptation framework that leverages two self-supervised auxiliary tasks to help the primary forecasting network adapt to the test sequence. In the testing phase, our model can adjust the model parameters by several gradient updates to improve the generation quality. However, due to catastrophic forgetting, both auxiliary tasks typically have a low ability to automatically present the desired positive incentives for the final prediction performance. For this reason, we also propose a meta-auxiliary learning scheme for better adaptation. Extensive experiments show that the proposed approach achieves higher accuracy and more realistic visualization.

AAAI 2023

Meta-Auxiliary Learning for Adaptive Human Pose Prediction

hai: human-computer interaction

hai: human-aware planning and behavior prediction

cv: 3d computer vision

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.

poster

Spike camera, a new type of neuromorphic visual sensor that imitates the sampling mechanism of the primate fovea, can capture photons and output 40000 Hz binary spike streams. Benefiting from the asynchronous sampling mechanism, the spike camera can record fast-moving objects and clear images can be recovered from the spike stream at any specified timestamps without motion blurring. Despite these, due to the dense time sequence information of the discrete spike stream, it is not easy to directly apply the existing algorithms of traditional cameras to the spike camera. Therefore, it is necessary and interesting to explore a universally effective representation of dense spike streams to better fit various network architectures. In this paper, we propose to mine temporal-robust features of spikes in time-frequency space with wavelet transforms. We present a novel Wavelet-Guided Spike Enhancing (WGSE) paradigm consisting of three consecutive steps: multi-level wavelet transform, CNN-based learnable module, and inverse wavelet transform. With the assistance of WGSE, the new streaming representation of spikes can be learned. We demonstrate the effectiveness of WGSE on two downstream tasks, achieving state-of-the-art performance on the image reconstruction task and getting considerable performance on semantic segmentation. Furthermore, We build a new spike-based synthesized dataset for semantic segmentation. Code and Datasets are available at https://github.com/Leozhangjiyuan/WGSE-SpikeCamera.

Learning Temporal-ordered Representation for Spike Streams Based on Discrete Wavelet Transforms

We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective is then to prepare a set of paths and switching rules for each agent, ensuring that all correct agents reach their destinations without collisions or deadlocks, despite unforeseen crashes of other agents. Such planning is attractive to build reliable multi-robot systems. We present problem formalization, theoretical analysis such as computational complexities, and how to solve this offline planning problem.


Fault-Tolerant Offline Multi-Agent Path Planning

Recent Few-Shot Learning (FSL) methods put emphasis on generating a discriminative embedding features to precisely measure the similarity between support and query sets. Current CNN-based cross-attention approaches generate discriminative representations via enhancing the mutually semantic similar regions of support and query pairs. However, it suffers from two problems: CNN structure produces inaccurate attention map based on local features, and mutually similar backgrounds cause distraction. To alleviate these problems, we design a novel SpatialFormer structure to generate more accurate attention regions based on global features. Different from the traditional Transformer modeling intrinsic instance-level similarity which causes accuracy degradation in FSL, our SpatialFormer explores the semantic-level similarity between pair inputs to boost the performance. Then we derive two specific attention modules, named SpatialFormer Semantic Attention (SFSA) and SpatialFormer Target Attention (SFTA), to enhance the target object regions while reduce the background distraction. Particularly, SFSA highlights the regions with same semantic information between pair features, and SFTA finds potential foreground object regions of novel feature that are similar to base categories. Extensive experiments show that our methods are effective and achieve new state-of-the-art results on few-shot classification benchmarks.

SpatialFormer: Semantic and Target Aware Attentions for Few-Shot Learning

The traditional model upgrading paradigm for retrieval requires recomputing all gallery embeddings before deploying the new model (dubbed as "backfilling"), which is quite expensive and time-consuming considering billions of instances in industrial applications. BCT presents the first step towards backward-compatible model upgrades to get rid of backfilling. It is workable but leaves the new model in a dilemma between new feature discriminativeness and new-to-old compatibility due to the undifferentiated compatibility constraints. In this work, we propose Darwinian Model Upgrades (DMU), which disentangle the inheritance and variation in the model evolving with selective backward compatibility and forward adaptation, respectively. The old-to-new heritable knowledge is measured by old feature discriminativeness, and the gallery features, especially those of poor quality, are evolved in a lightweight manner to become more adaptive in the new latent space. We demonstrate the superiority of DMU through comprehensive experiments on large-scale landmark retrieval and face recognition benchmarks. DMU effectively alleviates the new-to-new degradation at the same time improving new-to-old compatibility, rendering a more proper model upgrading paradigm in large-scale retrieval systems.

Darwinian Model Upgrades: Model Evolving with Selective Compatibility

Spatial audio, which focuses on immersive 3D sound rendering, is widely applied in the acoustic industry. One of the key problems of current spatial audio rendering methods is the lack of personalization based on different anatomies of individuals, which is essential to produce accurate sound source positions. In this work, we address this problem from an interdisciplinary perspective. The rendering of spatial audio is strongly correlated with the 3D shape of human bodies, particularly ears. To this end, we propose to achieve personalized spatial audio by reconstructing 3D human ears with single-view images. First, to benchmark the ear reconstruction task, we introduce AudioEar3D, a high-quality 3D ear dataset consisting of 112 point cloud ear scans with RGB images. To self-supervisedly train a reconstruction model, we further collect a 2D ear dataset composed of 2,000 images, each one with manual annotation of occlusion and 55 landmarks, named AudioEar2D. To our knowledge, both datasets have the largest scale and best quality of their kinds for public use. Further, we propose AudioEarM, a reconstruction method guided by a depth estimation network that is trained on synthetic data, with two loss functions tailored for ear data. Lastly, to fill the gap between the vision and acoustics community, we develop a pipeline to integrate the reconstructed ear mesh with an off-the-shelf 3D human body and simulate a personalized Head-Related Transfer Function (HRTF), which is the core of spatial audio rendering. Code and data are publicly available\footnote{\url{https://github.com/seanywang0408/AudioEar}}.

AudioEar: Single-View Ear Reconstruction for Personalized Spatial Audio

    Point cloud panoptic segmentation is a challenging task that seeks a holistic solution for both semantic and instance segmentation to predict groupings of coherent points. Previous approaches treat semantic and instance segmentation as surrogate tasks, and they either use clustering methods or bounding boxes to gather instance groupings with costly computation and hand-craft designs in the instance segmentation task. In this paper, we propose a simple but effective point cloud unified panoptic segmentation (PUPS) framework, which use a set of point-level classifiers to directly predict semantic and instance groupings in an end-to-end manner. To realize PUPS, we introduce bipartite matching to our training pipeline so that our classifiers are able to exclusively predict groupings of instances, getting rid of hand-crafted designs, e.g. anchors and Non-Maximum Suppression (NMS). In order to achieve better grouping results, we utilize a transformer decoder to iteratively refine the point classifiers and develop a context-aware CutMix augmentation to overcome the class imbalance problem. As a result, PUPS achieves 1st place on the leader board of SemanticKITTI panoptic segmentation task and state-of-the-art results on nuScenes.

PUPS: Point Cloud Unified Panoptic Segmentation

Robust prediction of citywide traffic flows at different time periods plays a crucial role in intelligent transportation systems. While previous work has made great efforts to model spatio-temporal correlations, existing methods still suffer from two key limitations: i) Most models collectively predict all regions' flows without accounting for spatial heterogeneity, i.e., different regions may have skewed traffic flow distributions. ii) These models fail to capture the temporal heterogeneity induced by time-varying traffic patterns, as they typically model temporal correlations with a shared parameterized space for all time periods. To tackle these challenges, we propose a novel Heterogeneity-aware Spatio-Temporal (HeST) traffic prediction framework which enhances the traffic pattern representations to be reflective of both spatial and temporal heterogeneity, with auxiliary self-supervised learning paradigms. Specifically, our HeST is built over an integrated module with temporal and spatial convolutions for encoding the information across space and time. To achieve the adaptive spatio-temporal self-supervised learning, our HeST first performs the adaptive augmentation over the traffic flow graph data at both attribute- and structure-levels. On top of the augmented traffic graph, two auxiliary tasks are constructed to supplement the main traffic prediction task with spatial and temporal heterogeneity-aware self-supervised signals. Experiments on four benchmark datasets demonstrate that HeST consistently outperforms various state-of-the-art baselines. Since spatio-temporal heterogeneity widely exists in practical datasets, the proposed framework may also cast light on other similar applications. Source codes are available at https://github.com/Echo-Ji/HeST.

Spatio-Temporal Self-Supervised Learning for Traffic Flow Prediction

Source free domain adaptation (SFDA) transfers a single-source model to the unlabeled target domain without accessing the source data. With the intelligence development of various fields, a zoo of source models is more commonly available,  arising in a new setting called multi-source-free domain adaptation (MSFDA). We find that the critical inborn challenge of MSFDA is how to estimate the importance (contribution) of each source model. In this paper, we shed new Bayesian light on the fact that the posterior probability of source importance connects to discriminability and transferability. We propose Discriminability And Transferability Estimation (DATE), a universal solution for source importance estimation. Specifically, a proxy discriminability perception module equips with habitat uncertainty and density to evaluate each sample's surrounding environment. A source-similarity transferability perception module quantifies the data distribution similarity and encourages the transferability to be reasonably distributed with a domain diversity loss. Extensive experiments show that DATE can precisely and objectively estimate the source importance and outperform prior arts by non-trivial margins. Moreover, experiments demonstrate that DATE can take the most popular SFDA networks as backbones and make them become advanced MSFDA solutions.

Discriminability and Transferability Estimation: A Bayesian Source Importance Estimation Approach for Multi-Source-Free Domain Adaptation

Recently, the self-supervised pre-training paradigm has shown great potential in leveraging large-scale unlabeled data to improve downstream task performance. However, increasing the scale of unlabeled pre-training data in real-world scenarios requires prohibitive computational costs and faces the challenge of uncurated samples. To address these issues, we build a task-specific self-supervised pre-training framework from a data selection perspective based on a simple hypothesis that pre-training on the unlabeled samples with similar distribution to the target task can bring substantial performance gains. Buttressed by the hypothesis, we propose the first yet novel framework for Scalable and Efficient visual Pre-Training (SEPT) by introducing a retrieval pipeline for data selection. SEPT first leverage a self-supervised pre-trained model to extract the features of the entire unlabeled dataset for retrieval pipeline initialization. Then, for a specific target task, SEPT retrievals the most similar samples from the unlabeled dataset based on feature similarity for each target instance for pre-training. Finally, SEPT pre-trains the target model with the selected unlabeled samples in a self-supervised manner for target data finetuning. By decoupling the scale of pre-training and available upstream data for a target task, SEPT achieves high scalability of the upstream dataset and high efficiency of pre-training, resulting in high model architecture flexibility. Results on various downstream tasks demonstrate that SEPT can achieve competitive or even better performance compared with ImageNet pre-training while reducing the size of training samples by one magnitude without resorting to any extra annotations.

SEPT: Towards Scalable and Efficient Visual Pre-Training

Visible-Infrared Person Re-Identification (VI-ReID) is a challenging retrieval task under complex modality changes. Existing methods usually focus on extracting discriminative visual features while ignoring the reliability and commonality of visual features between different modalities. In this paper, we propose a novel deep learning framework named Progressive Modality-shared Transformer (PMT) for effective VI-ReID. To reduce the negative effect of modality gaps, we first take the gray-scale images as an auxiliary modality and propose a progressive learning strategy. Then, we propose a Modality-Shared Enhancement Loss (MSEL) to guide the model to explore more reliable identity information from modality-shared features. Finally, to cope with the problem of large intra-class differences and small inter-class differences, we propose a Discriminative Center Loss (DCL) combined with the MSEL to further improve the discrimination of reliable features. Extensive experiments on SYSU-MM01 and RegDB datasets show that our proposed framework performs better than most state-of-the-art methods. For model reproduction, we release the source code at https://github.com/hulu88/PMT.

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Learning Temporal-ordered Representation for Spike Streams Based on Discrete Wavelet Transforms

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