Canada

Global localization is a challenging task for intelligent robots, as its accuracy directly contributes to the performance of downstream navigation and planning tasks. However, existing literature focus more on the place retrieval and the success rate of localization, with limited attention given to the metrics of position estimation. In this paper, a single-shot global LiDAR localization method is proposed with the ultimate goal of achieving high position accuracy, inspired by the positioning approach of multi-constellation localization systems. Initially, we perform coarse localization using global descriptors and select observation points along with their corresponding coordinates based on the obtained coarse localization results. Coordinates can be acquired from a pre-built map, GNSS, or other devices. Then, a lightweight LiDAR odometry method is designed to estimate the distance between the retrieved data and the observation points. Ultimately, the localization problem is transformed into an optimization problem of solving a system of multiple sphere equations. The experimental results on the KITTI dataset and the self-collected dataset demonstrate that our method achieves an average localization error (including errors in the z-axis) of 0.89 meters. In addition, it achieves retrieval efficiency of 0.357 s per frame on the former dataset and 0.214 s per frame on the latter one. Code and data are available at https://github.com/jlurobot/multi-constellation-localization.

AAAI 2024

Multi-Constellation-Inspired Single-Shot Global LiDAR Localization

and navigation

state estimation

applications

mapping

localization

ICPR 2020 is the premier international conference on Pattern Recognition, gathering leading researchers from around the world to present their latest achievements in Pattern Analysis and Recognition, applied Artificial Intelligence and Machine Learning. The topic of the year is " Putting Artificial intelligence to work on Patterns". 
For the first time, ICPR has employed a two-round review process similar to journal submissions, with new papers allowed to be submitted in either the first or second round and papers submitted in the first round and not accepted allowed to be revised and re-submitted for second round review. 

In this edition of the **ICPR 2020** Conference, there are 1407 Oral/Poster presentations organized in five Tracks: 
- Artificial Intelligence, Machine Learning for Pattern Analysis; 
- Biometrics, Human Analysis and Behavior Understanding; Computer Vision, Robotics and Intelligent Systems; 
- Document and Media Analysis; and 
- Image and Signal Processing. 

The **ICPR 2020** Main Conference program also includes 7 Keynotes from prominent world-renowned scientists, 8 Tutorials, 28 Demos, 8 Challenges, 2 Panels, as well as an Industry/Sponsor Exhibition. In addition, 41 Workshops on a range of important current and emerging research topics complete the ICPR 2020 program. 


ICPR 2020

technical paper

We are pleased to announce the Thirty-Eighth AAAI Conference on Artificial Intelligence (AAAI-24), which will be held in Vancouver, British Columbia at the Vancouver Convention Centre – West Building from 20-27 February, 2024.

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-24 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.

We expect for AAAI-24 to be an in-person conference – one author of all accepted papers will be expected to present work in person unless there are exceptional circumstances that prevent this.<br><br><br><br>

In order to access the AAAI-24 event page you need to register [here](https://aaai.org/aaai-conference/registration/)

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. 

Deep learning methods on graph data have achieved remarkable efficacy across a variety of real-world applications, such as social network analysis and transaction risk detection. Nevertheless, recent studies have illuminated a concerning fact: even the most expressive Graph Neural Networks (GNNs) are vulnerable to graph adversarial attacks. While several methods have been proposed to enhance the robustness of GNN models against adversarial attacks, few have focused on a simple yet realistic approach: valuing the adversarial risks and focused safeguards at the node level. This empowers defenders to allocate heightened security level to vulnerable nodes, while lower to robust nodes. With this new perspective, we propose a novel graph defense strategy RisKeeper, such that the adversarial risk can be directly kept in the input graph. We start at valuing the adversarial risk, by introducing a cost-aware projected gradient descent attack that takes into account both cost avoidance and compliance with costs budgets. Subsequently, we present a learnable approach to ascertain the ideal security level for each individual node by solving a bi-level optimization problem. Through extensive experiments on four real-world datasets, we demonstrate that our method achieves superior performance surpassing state-of-the-art methods. Our in-depth case studies provide further insights into vulnerable and robust structural patterns, serving as inspiration for practitioners to exercise heightened vigilance.

Value at Adversarial Risk: A Graph Defense Strategy against Cost-Aware Attacks | VIDEO

Generating realistic human motion from given action descriptions has experienced significant advancements because of the emerging requirement of digital humans. While recent works have achieved impressive results in generating motion directly from textual action descriptions, they often support only a single modality of the control signal, which limits their application in the real digital human industry. This paper presents a Motion General-Purpose generaTor (MotionGPT) that can use multimodal control signals, e.g., text and single-frame poses, for generating consecutive human motions by treating multimodal signals as special input tokens in large language models (LLMs). Specifically, we first quantize multimodal control signals into discrete codes and then formulate them in a unified prompt instruction to ask the LLMs to generate the motion answer. Our MotionGPT demonstrates a unified human motion generation model with multimodal control signals by tuning a mere 0.4% of LLM parameters. To the best of our knowledge, MotionGPT is the first method to generate human motion by multimodal control signals, which we hope can shed light on this new direction. Visit our webpage at https://qiqiapink.github.io/MotionGPT/.

MotionGPT: Finetuned LLMs Are General-Purpose Motion Generators

Online handwriting recognition is pivotal in domains like note-taking, education, healthcare, and office tasks. Existing diagram recognition algorithms mainly rely on the temporal information of strokes, resulting in a decline in recognition performance when dealing with notes that have been modified or have no temporal information. The current datasets are drawn based on templates and cannot reflect the real free-drawing situation. To address these challenges, we present SpaceGTN, a time-agnostic Graph Transformer Network, leveraging spatial integration and removing the need for temporal data. Extensive experiments on multiple datasets have demonstrated that our method consistently outperforms existing methods and achieves state-of-the-art performance. We also propose a pipeline that seamlessly connects offline and online handwritten diagrams. By integrating a stroke restoration technique with SpaceGTN, it enables intelligent editing of previously uneditable offline diagrams at the stroke level. In addition, we have also launched the first online handwritten diagram dataset, OHSD, which is collected using a free-drawing method and comes with modification annotations.

SpaceGTN: A Time-Agnostic Graph Transformer Network for Handwritten Diagram Recognition and Segmentation | VIDEO

Column generation (CG) is one of the most successful approaches for solving large-scale linear programming (LP) problems. Given an LP with a prohibitively large number of variables (i.e., columns), the idea of CG is to explicitly consider only a subset of columns and iteratively add potential columns to improve the objective value. While adding the column with the most negative reduced cost can guarantee the convergence of CG, it has been shown that adding multiple columns per iteration rather than a single column can lead to faster convergence. However, it remains a challenge to design a multiple-column selection strategy to select the most promising columns from a large number of candidate columns. In this paper, we propose a novel reinforcement-learning-based (RL) multiple-column selection strategy. To the best of our knowledge, it is the first RL-based multiple-column selection strategy for CG. The effectiveness of our approach is evaluated on two sets of problems: the cutting stock problem and the graph coloring problem. Compared to several widely used single-column and multiple-column selection strategies, our RL-based multiple-column selection strategy leads to faster convergence and achieves remarkable reductions in the number of CG iterations and runtime.

A Reinforcement-Learning-Based Multiple-Column Selection Strategy for Column Generation

Explaining the decisions made by Graph Neural Networks (GNNs) is vital for establishing trust and ensuring fairness in critical applications such as medicine and science. The prevalence of hierarchical structure in real-world graphs/networks raises an important question on GNN interpretability: "On each level of the graph structure, which specific fraction imposes the highest influence over the prediction?" Currently, the prevailing two categories of methods are incapable of achieving multi-level GNN explanation due to their flat or motif-centric nature. In this work, we formulate the problem of learning multi-level explanations out of GNN models and introduce a stratified explainer module, namely STFExplainer, that utilizes the concept of sufficient expansion to generate explanations on each stratum. Specifically, we learn a higher-level subgraph generator by leveraging both hierarchical structure and GNN-encoded input features. Experiment results on both synthetic and real-world datasets demonstrate the superiority of our stratified explainer on standard interpretability tasks and metrics such as fidelity and explanation recall, with an average improvement of 12.4% and 8.7% over the best alternative on each data type. Case studies on material domains also confirm the value of our approach through detected multi-level graph patterns accurately reconstructing the knowledge-based ground truth.

Stratified GNN Explanations through Sufficient Expansion

In visual Reinforcement Learning (RL), the challenge of generalization to new environments is paramount. This study pioneers a theoretical analysis of visual RL generalization, establishing an upper bound on the generalization objective, encompassing policy divergence and Bellman error components. Motivated by this analysis, we propose maintaining the cross-domain consistency for each policy in the policy space, which can reduce the divergence of the learned policy during the test. In practice, we introduce the Truncated Return Prediction (TRP) task, promoting cross-domain policy consistency by predicting truncated returns of historical trajectories. Moreover, we also propose a Transformer-based predictor for this auxiliary task. Extensive experiments on DeepMind Control Suite and Robotic Manipulation tasks demonstrate that TRP achieves state-of-the-art generalization performance. We further demonstrate that TRP outperforms previous methods in terms of sample efficiency during training.

What Effects the Generalization in Visual Reinforcement Learning: Policy Consistency with Truncated Return Prediction

Quality assessment of images and videos emphasizes both local details and global semantics, whereas general data sampling methods (e.g., resizing, cropping or grid-based fragment) fail to catch them simultaneously. To address the deficiency, current approaches have to adopt multi-branch models and take as input the multi-resolution data, which burdens the model complexity. In this work, instead of stacking up models, a more elegant data sampling method (named as SAMA, scaling and masking) is explored, which compacts both the local and global content in a regular input size. The basic idea is to scale the data into a pyramid first, and reduce the pyramid into a regular data dimension with a masking strategy. Benefiting from the spatial and temporal redundancy in images and videos, the processed data maintains the multi-scale characteristics with a regular input size, thus can be processed by a single-branch model. We verify the sampling method in image and video quality assessment. Experiments show that our sampling method can improve the performance of current single-branch models significantly, and achieves competitive performance to the multi-branch models without extra model complexity. The source code will be available at https://github.com/Sissuire/SAMA.

Scaling and Masking: A New Paradigm of Data Sampling for Image and Video Quality Assessment

Multimodal learning with incomplete input data (missing modality) is very practical and challenging. In this work, we conduct an in-depth analysis of this challenge and find that modality dominance has a significant negative impact on the model training, greatly degrading the missing modality performance. Motivated by Grad-CAM, we introduce a novel indicator, gradients, to monitor and reduce modality dominance which widely exists in the missing-modality scenario. In aid of this indicator, we present a novel Gradient-guided Modality Decoupling (GMD) method to decouple the dependency on dominating modalities. Specifically, GMD removes the conflicted gradient components from different modalities to achieve this decoupling, significantly improving the performance. In addition, to flexibly handle modal-incomplete data, we design a parameter-efficient Dynamic Sharing (DS) framework which can adaptively switch on/off the network parameters based on whether one modality is available. We conduct extensive experiments on three popular multimodal benchmarks, including BraTS 2018 for medical segmentation, CMU-MOSI, and CMU-MOSEI for sentiment analysis. The results show that our method can significantly outperform the competitors, showing the effectiveness of the proposed solutions.

Gradient-Guided Modality Decoupling for Missing-Modality Robustness

Rumor detection on social media has become increasingly important. Most existing graph-based models presume rumor propagation trees (RPTs) have deep structures and learn sequential stance features along branches. However, through statistical analysis on real-world datasets, we find RPTs exhibit wide structures, with most nodes being shallow 1-level replies. To focus learning on intensive substructures, we propose Rumor Adaptive Graph Contrastive Learning (RAGCL) method with adaptive view augmentation guided by node centralities. We summarize three principles for RPT augmentation: 1) exempt root nodes, 2) retain deep reply nodes, 3) preserve lower-level nodes in deep sections. We employ node dropping, attribute masking and edge dropping with probabilities from centrality-based importance scores to generate views. A graph contrastive objective then learns robust rumor representations. Extensive experiments on four benchmark datasets demonstrate RAGCL outperforms state-of-the-art methods. Our work reveals the wide-structure nature of RPTs and contributes an effective graph contrastive learning approach tailored for rumor detection through principled adaptive augmentation. The proposed principles and augmentation techniques can potentially benefit other applications involving tree-structured graphs.

Propagation Tree Is Not Deep: Adaptive Graph Contrastive Learning Approach for Rumor Detection

Selective rationalization can be regarded as a straightforward self-explaining approach for enhancing model explainability in natural language processing tasks. It aims to provide explanations that are more accessible and understandable to non-technical users by first selecting subsets of input texts as rationales and then predicting based on chosen subsets. However, existing methods that follow this select-then-predict framework may suffer from the rationalization degeneration problem, resulting in sub-optimal or unsatisfactory rationales that do not align with human judgments. This problem may further lead to rationalization failure, resulting in meaningless rationales that ultimately undermine people's trust in the rationalization model. To address these challenges, we propose a Guidance-based Rationalization method (G-RAT) that effectively improves robustness against failure situations and the quality of rationales by using a guidance module to regularize selections and distributions. Experimental results on two synthetic settings prove that our method is robust to the rationalization degeneration and failure problems, while the results on two real datasets show its effectiveness in providing rationales in line with human judgments.

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Value at Adversarial Risk: A Graph Defense Strategy against Cost-Aware Attacks | VIDEO

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