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Our life is populated with articulated objects. Current category-level articulation estimation works largely focus on predicting part-level 6D poses on static point cloud observations. In this paper, we tackle the problem of category-level online robust and real-time 6D pose tracking of articulated objects, where we propose KPA-Tracker, a novel 3D KeyPoint based Articulated object pose Tracker. Given an RGB-D image or a partial point cloud at the current frame as well as the estimated per-part 6D poses from the last frame, our KPA-Tracker can effectively update the poses with learned 3D keypoints between the adjacent frames. Specifically, we first canonicalize the input point cloud and formulate the pose tracking as an inter-frame pose increment estimation task. To learn consistent and separate 3D keypoints for every rigid part, we build KPA-Gen that outputs the high-quality ordered 3D keypoints in an unsupervised manner. During pose tracking on the whole video, we further propose a keypoint-based articulation tracking algorithm that mines keyframes as reference for accurate pose updating. We provide extensive experiments on validating our KPA-Tracker on various datasets ranging from synthetic point cloud observation to real-world scenarios, which demonstrates the superior performance and robustness of the KPA-Tracker. We believe that our work has the potential to be applied in many fields including robotics, embodied intelligence and augmented reality. All the datasets and codes are available at https://github.com/hhhhhar/KPA-Tracker.

AAAI 2024

KPA-Tracker: Towards Robust and Real-Time Category-Level Articulated Object 6D Pose Tracking

ordered 3d key-point

real-time pose tracking

category-level articulated object

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. 

Vertical Federated Learning (VFL) is a solution increasingly used by companies with the same user group but differing features, enabling them to collaboratively train a machine learning model. 
VFL ensures that clients exchange intermediate results extracted by their local models, without sharing raw data. 
However, in practice, VFL encounters several challenges, such as computational and communication overhead, privacy leakage risk, and adversarial attack. 
Our study reveals that the usage of floating-point (FP) numbers is a common factor causing these issues, as they can be redundant and contain too much information. 
To address this, we propose a new architecture called rounding layer, which converts intermediate results to integers. 
Our theoretical analysis and empirical results demonstrate the benefits of the rounding layer in reducing computation and memory overhead, providing privacy protection, preserving model performance, and mitigating adversarial attacks. 
We hope this paper inspires further research into novel architectures to address practical issues in VFL.

Integer Is Enough: When Vertical Federated Learning Meets Rounding

Backdoor attacks in reinforcement learning (RL) have previously employed intense attack strategies to ensure attack success. However, these methods suffer from high attack costs and increased detectability. In this work, we propose a novel approach, BadRL, which focuses on conducting highly sparse backdoor poisoning efforts during training and testing while maintaining successful attacks. Our algorithm, BadRL, strategically chooses state observations with high attack values to inject triggers during training and testing, thereby reducing the chances of detection. In contrast to the previous methods that utilize sample-agnostic trigger patterns, BadRL dynamically generates distinct trigger patterns based on targeted state observations, thereby enhancing its effectiveness. Theoretical analysis shows that the targeted backdoor attack is always viable and remains stealthy under specific assumptions. Empirical results on various classic RL tasks illustrate that BadRL can substantially degrade the performance of a victim agent with minimal poisoning efforts (0.003% of total training steps) during training and infrequent attacks during testing.

BadRL: Sparse Targeted Backdoor Attack against Reinforcement Learning

In recent, some robust contrastive multi-view clustering (MvC) methods have been proposed, which construct data pairs from neighborhoods to alleviate the false negative issue, i.e., some intra-cluster samples are wrongly treated as negative pairs. Although promising performance has been achieved by these methods, the false negative issue is still far from addressed and the false positive issue emerges because all in- and out-of-neighborhood samples are simply treated as positive and negative, respectively. To address the issues, we propose a novel robust method, dubbed decoupled contrastive multi-view clustering with high-order random walks (DIVIDE). In brief, DIVIDE leverages random walks to progressively identify data pairs in a global instead of local manner. As a result, DIVIDE could identify in-neighborhood negatives and out-of-neighborhood positives. Moreover, DIVIDE embraces a novel MvC architecture to perform inter- and intra-view contrastive learning in different embedding spaces, thus boosting clustering performance and embracing the robustness against missing views.  To verify the efficacy of DIVIDE, we carry out extensive experiments on four benchmark datasets comparing with nine state-of-the-art MvC methods in both complete and incomplete MvC settings. The code will be released on GitHub.

Decoupled Contrastive Multi-View Clustering with High-Order Random Walks

The choice of the representations is essential for deep gait recognition methods. The binary silhouettes and skeletal coordinates are two dominant representations in recent literature, achieving remarkable advances in many scenarios. However, inherent challenges remain, in which silhouettes are not always guaranteed in unconstrained scenes, and structural cues have not been fully utilized from skeletons. In this paper, we introduce a novel skeletal gait representation named skeleton map, together with SkeletonGait, a skeleton-based method to exploit structural information from human skeleton maps. Specifically, the skeleton map represents the coordinates of human joints as a heatmap with Gaussian approximation, exhibiting a silhouette-like image devoid of exact body structure. Beyond achieving state-of-the-art performances over five popular gait datasets, more importantly, SkeletonGait uncovers novel insights about how important structural features are in describing gait and when they play a role.  Furthermore, we propose a multi-branch architecture, named SkeletonGait++, to make use of complementary features from both skeletons and silhouettes. Experiments indicate that SkeletonGait++ outperforms existing state-of-the-art methods by a significant margin in various scenarios. For instance, it achieves an impressive rank-1 accuracy of over 85% on the challenging GREW dataset. All the source code is available at https://github.com/ShiqiYu/OpenGait.

SkeletonGait: Gait Recognition Using Skeleton Maps

Pan-sharpening is a task that aims to super-resolve the low-resolution multispectral (LRMS) image with the guidance of a corresponding high-resolution panchromatic (PAN) image. The key challenge in pan-sharpening is to accurately modeling the relationship between the MS and PAN images. While supervised deep learning methods are commonly employed to address this task, the unavailability of ground-truth severely limits their effectiveness. In this paper, we propose a mutually guided detail restoration method for unsupervised pan-sharpening. Specifically, we treat pan-sharpening as a blind image deblurring task, in which the blur kernel can be estimated by a CNN. Constrained by the blur kernel, the pan-sharpened image retains spectral information consistent with the LRMS image. Once the pan-sharpened image is obtained, the PAN image is blurred using a pre-defined blur operator. The pan-sharpened image, in turn, is used to guide the detail restoration of the blurred PAN image. By leveraging the mutual guidance between MS and PAN images, the pan-sharpening network can implicitly learn the spatial relationship between the two modalities. Extensive experiments show that the proposed method significantly outperforms existing unsupervised pan-sharpening methods.

Unsupervised Pan-Sharpening via Mutually Guided Detail Restoration

For few-shot semantic segmentation, the primary task is to extract class-specific intrinsic information from limited labeled data. However, the semantic ambiguity and inter-class similarity of previous methods limit the accuracy of pixel-level foreground-background classification. To alleviate these issues, we propose the Relevant Intrinsic Feature Enhancement Network (RiFeNet). To improve the semantic consistency of foreground instances, we propose an unlabeled branch as an efficient data utilization method, which teaches the model how to extract intrinsic features robust to intra-class differences. Notably, during testing, the proposed unlabeled branch is excluded without extra unlabeled data and computation. Furthermore, we extend the inter-class variability between foreground and background by proposing a novel multi-level prototype generation and interaction module. The different-grained complementarity between global and local prototypes allows for better distinction between similar categories. The qualitative and quantitative performance of RiFeNet surpasses the state-of-the-art methods on PASCAL-5i and COCO benchmarks.

Relevant Intrinsic Feature Enhancement Network for Few-Shot Semantic Segmentation

Text recognition methods are gaining rapid development. Some advanced techniques, e.g., powerful modules, language models, and un- and semi-supervised learning schemes, consecutively push the performance on public benchmarks forward. However, the problem of how to better optimize a text recognition model from the perspective of loss functions is largely overlooked. CTC-based methods, widely used in practice due to their good balance between performance and inference speed, still grapple with accuracy degradation. This is because CTC loss emphasizes the optimization of the entire sequence target while neglecting to learn individual characters. We propose a self-distillation scheme for CTC-based model to address this issue. It incorporates a framewise regularization term in CTC loss to emphasize individual supervision, and leverages the maximizing-a-posteriori of latent alignment to solve the inconsistency problem that arises in distillation between CTC-based models. We refer to the regularized CTC loss as Distillation Connectionist Temporal Classification (DCTC) loss. DCTC loss is module-free, requiring no extra parameters, longer inference lag, or additional training data or phases. Extensive experiments on public benchmarks demonstrate that DCTC can boost text recognition model accuracy by up to 2.6%, without any of these drawbacks.

Self-Distillation Regularized Connectionist Temporal Classification Loss for Text Recognition: A Simple Yet Effective Approach

We propose a novel framework DropTop that suppresses the shortcut bias in online continual learning (OCL) while being adaptive to the varying degree of the shortcut bias incurred by continuously changing environment. By the observed high-attention property of the shortcut bias, highly-activated features are considered candidates for debiasing. More importantly, resolving the limitation of the online environment where prior knowledge and auxiliary data are not ready, two novel techniques---feature map fusion and adaptive intensity shifting---enable us to automatically determine the appropriate level and proportion of the candidate shortcut features to be dropped. Extensive experiments on five benchmark datasets demonstrate that, when combined with various OCL algorithms, DropTop increases the average accuracy by up to 10.4% and decreases the forgetting by up to 63.2%.

Adaptive Shortcut Debiasing for Online Continual Learning

Adversarial training is usually difficult to optimize. This paper provides conceptual and analytic insights into the difficulty of adversarial training via a simple theoretical study, where we derive an approximate dynamics of a recursive multi-step attack in a simple setting. Despite the simplicity of our theory, it still reveals verifiable predictions about various phenomena in adversarial training under real-world settings. First, compared to vanilla training, adversarial training is more likely to boost the influence of input samples with large gradient norms in an exponential manner. Besides, adversarial training also strengthens the influence of the Hessian matrix of the loss w.r.t. network parameters, which is more likely to make network parameters oscillate and boosts the difficulty of adversarial training.

Clarifying the Behavior and the Difficulty of Adversarial Training

Text-based Person Retrieval (TPR) aims to retrieve relevant images of specific pedestrians based on the given textual query. The mainstream approaches primarily leverage pretrained deep neural networks to learn the mapping of visual and textual modalities into a common latent space for cross-modality matching. Despite their remarkable achievements, existing efforts mainly focus on learning the statistical cross-modality correlation found in training data, other than the intrinsic causal correlation. As a result, they often struggle to retrieve accurately in the face of environmental changes such as illumination, pose, and occlusion, or when encountering images with similar attributes. In this regard, we pioneer the observation of TPR from a causal view. Specifically, we assume that each image is composed of a mixture of causal factors (which are semantically consistent with text descriptions) and non-causal factors (retrieval-irrelevant, e.g., background), and only the former can lead to reliable retrieval judgments. Our goal is to extract text-critical robust visual representation (i.e., causal factors) and establish domain invariant cross-modality correlations for accurate and reliable retrieval. However, causal/non-causal factors are unobserved, so we emphasize that ideal causal factors that can simulate causal scenes should satisfy two basic principles:1） Independence: being independent of non-causal factors, and 2）Sufficiency: being causally sufficient for TPR across different environments. Building on that, we propose an Invariant Representation Learning method for TPR (IRLT), that enforces the visual representations to satisfy the two aforementioned critical properties. Extensive experiments on three datasets clearly demonstrate the advantages of IRLT over leading baselines in terms of accuracy and generalization.

KPA-Tracker: Towards Robust and Real-Time Category-Level Articulated Object 6D Pose Tracking

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Integer Is Enough: When Vertical Federated Learning Meets Rounding

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KPA-Tracker: Towards Robust and Real-Time Category-Level Articulated Object 6D Pose Tracking

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Integer Is Enough: When Vertical Federated Learning Meets Rounding

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RESOURCES

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