张量，即多线性函数，是机器学习算法的基本构建块。为了训练大型数据集，通常在工人之间分配计算是普遍的做法。但是，Stragglers和其他故障会严重影响性能和整体训练时间。减轻这些故障的新型策略是使用编码计算。我们引入了一个新的指标，用于分析，称为典型的恢复阈值，该指标重点介绍了最可能的事件，并提供了新颖的分布式编码张量操作的结构，这些操作是最佳的。我们表明，我们的一般框架涵盖了许多其他计算方案和指标作为特殊情况。特别是，我们证明，当噪声的概率（即故障）等于零时，可以将恢复阈值和张量排名作为典型恢复阈值的特殊情况，从而提供无噪声计算的噪声概括为零。一个偶然的结果。这些定义远非纯粹是理论上的结构，而是使我们实现了实用的随机代码结构，即局部随机的P-ADIC合金代码，这些代码相对于措施是最佳的。我们分析了在Amazon EC2上进行的实验，并确定它们比实际上许多其他基准计算方案更快，更稳定，正如理论上所预测的那样。

编码的分布式计算已成为在大型数据集上执行梯度下降以减轻散乱者和其他故障的常见实践。本文提出了一种新的算法，该算法编码了部分导数本身，并通过对代码字上的衍生代码字进行有损压缩来优化代码，从而最大程度地提高代码字中包含的信息，同时最大程度地减少代码字之间的信息。在优化研究中观察到的事实是，在基于梯度下降的学习算法中，这是在优化研究中观察到的事实的几何后果，因为它有助于避免过度拟合和局部最小值。这与当前在分布式编码计算上进行的许多常规工作相反，该计算的重点是从工人那里恢复所有数据。第二个贡献是，编码方案的低重量性质允许进行异步梯度更新，因为该代码可以迭代地解码。即，可以立即将工人的任务更新到较大的梯度中。方向衍生物始终是方向向量的线性函数。因此，我们的框架很健壮，因为它可以将线性编码技术应用于一般的机器学习框架，例如深神经网络。

Representing and synthesizing novel views in real-world dynamic scenes from casual monocular videos is a long-standing problem. Existing solutions typically approach dynamic scenes by applying geometry techniques or utilizing temporal information between several adjacent frames without considering the underlying background distribution in the entire scene or the transmittance over the ray dimension, limiting their performance on static and occlusion areas. Our approach $\textbf{D}$istribution-$\textbf{D}$riven neural radiance fields offers high-quality view synthesis and a 3D solution to $\textbf{D}$etach the background from the entire $\textbf{D}$ynamic scene, which is called $\text{D}^4$NeRF. Specifically, it employs a neural representation to capture the scene distribution in the static background and a 6D-input NeRF to represent dynamic objects, respectively. Each ray sample is given an additional occlusion weight to indicate the transmittance lying in the static and dynamic components. We evaluate $\text{D}^4$NeRF on public dynamic scenes and our urban driving scenes acquired from an autonomous-driving dataset. Extensive experiments demonstrate that our approach outperforms previous methods in rendering texture details and motion areas while also producing a clean static background. Our code will be released at https://github.com/Luciferbobo/D4NeRF.

Domain adaptive detection aims to improve the generalization of detectors on target domain. To reduce discrepancy in feature distributions between two domains, recent approaches achieve domain adaption through feature alignment in different granularities via adversarial learning. However, they neglect the relationship between multiple granularities and different features in alignment, degrading detection. Addressing this, we introduce a unified multi-granularity alignment (MGA)-based detection framework for domain-invariant feature learning. The key is to encode the dependencies across different granularities including pixel-, instance-, and category-levels simultaneously to align two domains. Specifically, based on pixel-level features, we first develop an omni-scale gated fusion (OSGF) module to aggregate discriminative representations of instances with scale-aware convolutions, leading to robust multi-scale detection. Besides, we introduce multi-granularity discriminators to identify where, either source or target domains, different granularities of samples come from. Note that, MGA not only leverages instance discriminability in different categories but also exploits category consistency between two domains for detection. Furthermore, we present an adaptive exponential moving average (AEMA) strategy that explores model assessments for model update to improve pseudo labels and alleviate local misalignment problem, boosting detection robustness. Extensive experiments on multiple domain adaption scenarios validate the superiority of MGA over other approaches on FCOS and Faster R-CNN detectors. Code will be released at https://github.com/tiankongzhang/MGA.

The traditional statistical inference is static, in the sense that the estimate of the quantity of interest does not affect the future evolution of the quantity. In some sequential estimation problems however, the future values of the quantity to be estimated depend on the estimate of its current value. This type of estimation problems has been formulated as the dynamic inference problem. In this work, we formulate the Bayesian learning problem for dynamic inference, where the unknown quantity-generation model is assumed to be randomly drawn according to a random model parameter. We derive the optimal Bayesian learning rules, both offline and online, to minimize the inference loss. Moreover, learning for dynamic inference can serve as a meta problem, such that all familiar machine learning problems, including supervised learning, imitation learning and reinforcement learning, can be cast as its special cases or variants. Gaining a good understanding of this unifying meta problem thus sheds light on a broad spectrum of machine learning problems as well.

Machine learning-based segmentation in medical imaging is widely used in clinical applications from diagnostics to radiotherapy treatment planning. Segmented medical images with ground truth are useful for investigating the properties of different segmentation performance metrics to inform metric selection. Regular geometrical shapes are often used to synthesize segmentation errors and illustrate properties of performance metrics, but they lack the complexity of anatomical variations in real images. In this study, we present a tool to emulate segmentations by adjusting the reference (truth) masks of anatomical objects extracted from real medical images. Our tool is designed to modify the defined truth contours and emulate different types of segmentation errors with a set of user-configurable parameters. We defined the ground truth objects from 230 patient images in the Glioma Image Segmentation for Radiotherapy (GLIS-RT) database. For each object, we used our segmentation synthesis tool to synthesize 10 versions of segmentation (i.e., 10 simulated segmentors or algorithms), where each version has a pre-defined combination of segmentation errors. We then applied 20 performance metrics to evaluate all synthetic segmentations. We demonstrated the properties of these metrics, including their ability to capture specific types of segmentation errors. By analyzing the intrinsic properties of these metrics and categorizing the segmentation errors, we are working toward the goal of developing a decision-tree tool for assisting in the selection of segmentation performance metrics.

Event cameras that asynchronously output low-latency event streams provide great opportunities for state estimation under challenging situations. Despite event-based visual odometry having been extensively studied in recent years, most of them are based on monocular and few research on stereo event vision. In this paper, we present ESVIO, the first event-based stereo visual-inertial odometry, which leverages the complementary advantages of event streams, standard images and inertial measurements. Our proposed pipeline achieves temporal tracking and instantaneous matching between consecutive stereo event streams, thereby obtaining robust state estimation. In addition, the motion compensation method is designed to emphasize the edge of scenes by warping each event to reference moments with IMU and ESVIO back-end. We validate that both ESIO (purely event-based) and ESVIO (event with image-aided) have superior performance compared with other image-based and event-based baseline methods on public and self-collected datasets. Furthermore, we use our pipeline to perform onboard quadrotor flights under low-light environments. A real-world large-scale experiment is also conducted to demonstrate long-term effectiveness. We highlight that this work is a real-time, accurate system that is aimed at robust state estimation under challenging environments.

Human Activity Recognition (HAR) is one of the core research areas in mobile and wearable computing. With the application of deep learning (DL) techniques such as CNN, recognizing periodic or static activities (e.g, walking, lying, cycling, etc.) has become a well studied problem. What remains a major challenge though is the sporadic activity recognition (SAR) problem, where activities of interest tend to be non periodic, and occur less frequently when compared with the often large amount of irrelevant background activities. Recent works suggested that sequential DL models (such as LSTMs) have great potential for modeling nonperiodic behaviours, and in this paper we studied some LSTM training strategies for SAR. Specifically, we proposed two simple yet effective LSTM variants, namely delay model and inverse model, for two SAR scenarios (with and without time critical requirement). For time critical SAR, the delay model can effectively exploit predefined delay intervals (within tolerance) in form of contextual information for improved performance. For regular SAR task, the second proposed, inverse model can learn patterns from the time series in an inverse manner, which can be complementary to the forward model (i.e.,LSTM), and combining both can boost the performance. These two LSTM variants are very practical, and they can be deemed as training strategies without alteration of the LSTM fundamentals. We also studied some additional LSTM training strategies, which can further improve the accuracy. We evaluated our models on two SAR and one non-SAR datasets, and the promising results demonstrated the effectiveness of our approaches in HAR applications.

Given a natural language that describes the user's demands, the NL2Code task aims to generate code that addresses the demands. This is a critical but challenging task that mirrors the capabilities of AI-powered programming. The NL2Code task is inherently versatile, diverse and complex. For example, a demand can be described in different languages, in different formats, and at different levels of granularity. This inspired us to do this survey for NL2Code. In this survey, we focus on how does neural network (NN) solves NL2Code. We first propose a comprehensive framework, which is able to cover all studies in this field. Then, we in-depth parse the existing studies into this framework. We create an online website to record the parsing results, which tracks existing and recent NL2Code progress. In addition, we summarize the current challenges of NL2Code as well as its future directions. We hope that this survey can foster the evolution of this field.

In recent years, vision-centric perception has flourished in various autonomous driving tasks, including 3D detection, semantic map construction, motion forecasting, and depth estimation. Nevertheless, the latency of vision-centric approaches is too high for practical deployment (e.g., most camera-based 3D detectors have a runtime greater than 300ms). To bridge the gap between ideal research and real-world applications, it is necessary to quantify the trade-off between performance and efficiency. Traditionally, autonomous-driving perception benchmarks perform the offline evaluation, neglecting the inference time delay. To mitigate the problem, we propose the Autonomous-driving StreAming Perception (ASAP) benchmark, which is the first benchmark to evaluate the online performance of vision-centric perception in autonomous driving. On the basis of the 2Hz annotated nuScenes dataset, we first propose an annotation-extending pipeline to generate high-frame-rate labels for the 12Hz raw images. Referring to the practical deployment, the Streaming Perception Under constRained-computation (SPUR) evaluation protocol is further constructed, where the 12Hz inputs are utilized for streaming evaluation under the constraints of different computational resources. In the ASAP benchmark, comprehensive experiment results reveal that the model rank alters under different constraints, suggesting that the model latency and computation budget should be considered as design choices to optimize the practical deployment. To facilitate further research, we establish baselines for camera-based streaming 3D detection, which consistently enhance the streaming performance across various hardware. ASAP project page: https://github.com/JeffWang987/ASAP.