arXiv subjects

Jian Pu

Publications and source records attributed to Jian Pu.

51 records · Page 3Linked to original sources

arXiv2023

Knowledge Distillation from 3D to Bird's-Eye-View for LiDAR Semantic Segmentation

LiDAR point cloud segmentation is one of the most fundamental tasks for autonomous driving scene understanding. However, it is difficult for existing models to achieve both high inference speed and accuracy simultaneously. For example, voxel-based methods perform well in accuracy, while Bird's-Eye-View (BEV)-based methods can achieve real-time inference. To overcome this issue, we develop an effective 3D-to-BEV knowledge distillation method that transfers rich knowledge from 3D voxel-based models to BEV-based models. Our framework mainly consists of two modules: the voxel-to-pillar distillation module and the label-weight distillation module. Voxel-to-pillar distillation distills sparse 3D features to BEV features for middle layers to make the BEV-based model aware of more structural and geometric information. Label-weight distillation helps the model pay more attention to regions with more height information. Finally, we conduct experiments on the SemanticKITTI dataset and Paris-Lille-3D. The results on SemanticKITTI show more than 5% improvement on the test set, especially for classes such as motorcycle and person, with more than 15% improvement. The code can be accessed at https://github.com/fengjiang5/Knowledge-Distillation-from-Cylinder3D-to-PolarNet.

cs.CV↗

arXiv2023

Exploiting Neighbor Effect: Conv-Agnostic GNNs Framework for Graphs with Heterophily

Due to the homophily assumption in graph convolution networks (GNNs), a common consensus in the graph node classification task is that GNNs perform well on homophilic graphs but may fail on heterophilic graphs with many inter-class edges. However, the previous inter-class edges perspective and related homo-ratio metrics cannot well explain the GNNs performance under some heterophilic datasets, which implies that not all the inter-class edges are harmful to GNNs. In this work, we propose a new metric based on von Neumann entropy to re-examine the heterophily problem of GNNs and investigate the feature aggregation of inter-class edges from an entire neighbor identifiable perspective. Moreover, we propose a simple yet effective Conv-Agnostic GNN framework (CAGNNs) to enhance the performance of most GNNs on heterophily datasets by learning the neighbor effect for each node. Specifically, we first decouple the feature of each node into the discriminative feature for downstream tasks and the aggregation feature for graph convolution. Then, we propose a shared mixer module to adaptively evaluate the neighbor effect of each node to incorporate the neighbor information. The proposed framework can be regarded as a plug-in component and is compatible with most GNNs. The experimental results over nine well-known benchmark datasets indicate that our framework can significantly improve performance, especially for the heterophily graphs. The average performance gain is 9.81%, 25.81%, and 20.61% compared with GIN, GAT, and GCN, respectively. Extensive ablation studies and robustness analysis further verify the effectiveness, robustness, and interpretability of our framework. Code is available at https://github.com/JC-202/CAGNN.

cs.LG↗

arXiv2023

From Node Interaction to Hop Interaction: New Effective and Scalable Graph Learning Paradigm

Existing Graph Neural Networks (GNNs) follow the message-passing mechanism that conducts information interaction among nodes iteratively. While considerable progress has been made, such node interaction paradigms still have the following limitation. First, the scalability limitation precludes the broad application of GNNs in large-scale industrial settings since the node interaction among rapidly expanding neighbors incurs high computation and memory costs. Second, the over-smoothing problem restricts the discrimination ability of nodes, i.e., node representations of different classes will converge to indistinguishable after repeated node interactions. In this work, we propose a novel hop interaction paradigm to address these limitations simultaneously. The core idea is to convert the interaction target among nodes to pre-processed multi-hop features inside each node. We design a simple yet effective HopGNN framework that can easily utilize existing GNNs to achieve hop interaction. Furthermore, we propose a multi-task learning strategy with a self-supervised learning objective to enhance HopGNN. We conduct extensive experiments on 12 benchmark datasets in a wide range of domains, scales, and smoothness of graphs. Experimental results show that our methods achieve superior performance while maintaining high scalability and efficiency. The code is at https://github.com/JC-202/HopGNN.

cs.LG↗

arXiv2023

SUPS: A Simulated Underground Parking Scenario Dataset for Autonomous Driving

Automatic underground parking has attracted considerable attention as the scope of autonomous driving expands. The auto-vehicle is supposed to obtain the environmental information, track its location, and build a reliable map of the scenario. Mainstream solutions consist of well-trained neural networks and simultaneous localization and mapping (SLAM) methods, which need numerous carefully labeled images and multiple sensor estimations. However, there is a lack of underground parking scenario datasets with multiple sensors and well-labeled images that support both SLAM tasks and perception tasks, such as semantic segmentation and parking slot detection. In this paper, we present SUPS, a simulated dataset for underground automatic parking, which supports multiple tasks with multiple sensors and multiple semantic labels aligned with successive images according to timestamps. We intend to cover the defect of existing datasets with the variability of environments and the diversity and accessibility of sensors in the virtual scene. Specifically, the dataset records frames from four surrounding fisheye cameras, two forward pinhole cameras, a depth camera, and data from LiDAR, inertial measurement unit (IMU), GNSS. Pixel-level semantic labels are provided for objects, especially ground signs such as arrows, parking lines, lanes, and speed bumps. Perception, 3D reconstruction, depth estimation, and SLAM, and other relative tasks are supported by our dataset. We also evaluate the state-of-the-art SLAM algorithms and perception models on our dataset. Finally, we open source our virtual 3D scene built based on Unity Engine and release our dataset at https://github.com/jarvishou829/SUPS.

cs.CV↗

arXiv2023

MVFusion: Multi-View 3D Object Detection with Semantic-aligned Radar and Camera Fusion

Multi-view radar-camera fused 3D object detection provides a farther detection range and more helpful features for autonomous driving, especially under adverse weather. The current radar-camera fusion methods deliver kinds of designs to fuse radar information with camera data. However, these fusion approaches usually adopt the straightforward concatenation operation between multi-modal features, which ignores the semantic alignment with radar features and sufficient correlations across modals. In this paper, we present MVFusion, a novel Multi-View radar-camera Fusion method to achieve semantic-aligned radar features and enhance the cross-modal information interaction. To achieve so, we inject the semantic alignment into the radar features via the semantic-aligned radar encoder (SARE) to produce image-guided radar features. Then, we propose the radar-guided fusion transformer (RGFT) to fuse our radar and image features to strengthen the two modals' correlation from the global scope via the cross-attention mechanism. Extensive experiments show that MVFusion achieves state-of-the-art performance (51.7% NDS and 45.3% mAP) on the nuScenes dataset. We shall release our code and trained networks upon publication.

cs.CV↗

arXiv2023

MonoPGC: Monocular 3D Object Detection with Pixel Geometry Contexts

Monocular 3D object detection reveals an economical but challenging task in autonomous driving. Recently center-based monocular methods have developed rapidly with a great trade-off between speed and accuracy, where they usually depend on the object center's depth estimation via 2D features. However, the visual semantic features without sufficient pixel geometry information, may affect the performance of clues for spatial 3D detection tasks. To alleviate this, we propose MonoPGC, a novel end-to-end Monocular 3D object detection framework with rich Pixel Geometry Contexts. We introduce the pixel depth estimation as our auxiliary task and design depth cross-attention pyramid module (DCPM) to inject local and global depth geometry knowledge into visual features. In addition, we present the depth-space-aware transformer (DSAT) to integrate 3D space position and depth-aware features efficiently. Besides, we design a novel depth-gradient positional encoding (DGPE) to bring more distinct pixel geometry contexts into the transformer for better object detection. Extensive experiments demonstrate that our method achieves the state-of-the-art performance on the KITTI dataset.

cs.CV↗

arXiv2022

SA-MLP: Distilling Graph Knowledge from GNNs into Structure-Aware MLP

The message-passing mechanism helps Graph Neural Networks (GNNs) achieve remarkable results on various node classification tasks. Nevertheless, the recursive nodes fetching and aggregation in message-passing cause inference latency when deploying GNNs to large-scale graphs. One promising inference acceleration direction is to distill the GNNs into message-passing-free student multi-layer perceptrons (MLPs). However, the MLP student cannot fully learn the structure knowledge due to the lack of structure inputs, which causes inferior performance in the heterophily and inductive scenarios. To address this, we intend to inject structure information into MLP-like students in low-latency and interpretable ways. Specifically, we first design a Structure-Aware MLP (SA-MLP) student that encodes both features and structures without message-passing. Then, we introduce a novel structure-mixing knowledge distillation strategy to enhance the learning ability of MLPs for structure information. Furthermore, we design a latent structure embedding approximation technique with two-stage distillation for inductive scenarios. Extensive experiments on eight benchmark datasets under both transductive and inductive settings show that our SA-MLP can consistently outperform the teacher GNNs, while maintaining faster inference as MLPs. The source code of our work can be found in https://github.com/JC-202/SA-MLP.

cs.LG↗

arXiv2022

Universal Deep GNNs: Rethinking Residual Connection in GNNs from a Path Decomposition Perspective for Preventing the Over-smoothing

The performance of GNNs degrades as they become deeper due to the over-smoothing. Among all the attempts to prevent over-smoothing, residual connection is one of the promising methods due to its simplicity. However, recent studies have shown that GNNs with residual connections only slightly slow down the degeneration. The reason why residual connections fail in GNNs is still unknown. In this paper, we investigate the forward and backward behavior of GNNs with residual connections from a novel path decomposition perspective. We find that the recursive aggregation of the median length paths from the binomial distribution of residual connection paths dominates output representation, resulting in over-smoothing as GNNs go deeper. Entangled propagation and weight matrices cause gradient smoothing and prevent GNNs with residual connections from optimizing to the identity mapping. Based on these findings, we present a Universal Deep GNNs (UDGNN) framework with cold-start adaptive residual connections (DRIVE) and feedforward modules. Extensive experiments demonstrate the effectiveness of our method, which achieves state-of-the-art results over non-smooth heterophily datasets by simply stacking standard GNNs.

cs.LG↗

arXiv2022

Graph Decoupling Attention Markov Networks for Semi-supervised Graph Node Classification

Graph neural networks (GNN) have been ubiquitous in graph node classification tasks. Most of GNN methods update the node embedding iteratively by aggregating its neighbors' information. However, they often suffer from negative disturbance, due to edges connecting nodes with different labels. One approach to alleviate this negative disturbance is to use attention to learn the weights of aggregation, but current attention-based GNNs only consider feature similarity and also suffer from the lack of supervision. In this paper, we consider the label dependency of graph nodes and propose a decoupling attention mechanism to learn both hard and soft attention. The hard attention is learned on labels for a refined graph structure with fewer inter-class edges, so that the aggregation's negative disturbance can be reduced. The soft attention aims to learn the aggregation weights based on features over the refined graph structure to enhance information gains during message passing. Particularly, we formulate our model under the EM framework, and the learned attention is used to guide the label propagation in the M-step and the feature propagation in the E-step, respectively. Extensive experiments are performed on six well-known benchmark graph datasets to verify the effectiveness of the proposed method.

cs.LG↗

arXiv2022

Memory-based Message Passing: Decoupling the Message for Propogation from Discrimination

Message passing is a fundamental procedure for graph neural networks in the field of graph representation learning. Based on the homophily assumption, the current message passing always aggregates features of connected nodes, such as the graph Laplacian smoothing process. However, real-world graphs tend to be noisy and/or non-smooth. The homophily assumption does not always hold, leading to sub-optimal results. A revised message passing method needs to maintain each node's discriminative ability when aggregating the message from neighbors. To this end, we propose a Memory-based Message Passing (MMP) method to decouple the message of each node into a self-embedding part for discrimination and a memory part for propagation. Furthermore, we develop a control mechanism and a decoupling regularization to control the ratio of absorbing and excluding the message in the memory for each node. More importantly, our MMP is a general skill that can work as an additional layer to help improve traditional GNNs performance. Extensive experiments on various datasets with different homophily ratios demonstrate the effectiveness and robustness of the proposed method.

cs.LG↗

arXiv2021

SelfGait: A Spatiotemporal Representation Learning Method for Self-supervised Gait Recognition

Gait recognition plays a vital role in human identification since gait is a unique biometric feature that can be perceived at a distance. Although existing gait recognition methods can learn gait features from gait sequences in different ways, the performance of gait recognition suffers from insufficient labeled data, especially in some practical scenarios associated with short gait sequences or various clothing styles. It is unpractical to label the numerous gait data. In this work, we propose a self-supervised gait recognition method, termed SelfGait, which takes advantage of the massive, diverse, unlabeled gait data as a pre-training process to improve the representation abilities of spatiotemporal backbones. Specifically, we employ the horizontal pyramid mapping (HPM) and micro-motion template builder (MTB) as our spatiotemporal backbones to capture the multi-scale spatiotemporal representations. Experiments on CASIA-B and OU-MVLP benchmark gait datasets demonstrate the effectiveness of the proposed SelfGait compared with four state-of-the-art gait recognition methods. The source code has been released at https://github.com/EchoItLiu/SelfGait.

cs.CV↗

arXiv2020

Exploration-efficient Deep Reinforcement Learning with Demonstration Guidance for Robot Control

Although deep reinforcement learning (DRL) algorithms have made important achievements in many control tasks, they still suffer from the problems of sample inefficiency and unstable training process, which are usually caused by sparse rewards. Recently, some reinforcement learning from demonstration (RLfD) methods have shown to be promising in overcoming these problems. However, they usually require considerable demonstrations. In order to tackle these challenges, on the basis of the SAC algorithm we propose a sample efficient DRL-EG (DRL with efficient guidance) algorithm, in which a discriminator D(s) and a guider G(s) are modeled by a small number of expert demonstrations. The discriminator will determine the appropriate guidance states and the guider will guide agents to better exploration in the training phase. Empirical evaluation results from several continuous control tasks verify the effectiveness and performance improvements of our method over other RL and RLfD counterparts. Experiments results also show that DRL-EG can help the agent to escape from a local optimum.

cs.RO↗

arXiv2018

Satellite Image Scene Classification via ConvNet with Context Aggregation

Scene classification is a fundamental problem to understand the high-resolution remote sensing imagery. Recently, convolutional neural network (ConvNet) has achieved remarkable performance in different tasks, and significant efforts have been made to develop various representations for satellite image scene classification. In this paper, we present a novel representation based on a ConvNet with context aggregation. The proposed two-pathway ResNet (ResNet-TP) architecture adopts the ResNet as backbone, and the two pathways allow the network to model both local details and regional context. The ResNet-TP based representation is generated by global average pooling on the last convolutional layers from both pathways. Experiments on two scene classification datasets, UCM Land Use and NWPU-RESISC45, show that the proposed mechanism achieves promising improvements over state-of-the-art methods.

eess.IV↗

arXiv2018

Crowd Counting with Density Adaption Networks

Crowd counting is one of the core tasks in various surveillance applications. A practical system involves estimating accurate head counts in dynamic scenarios under different lightning, camera perspective and occlusion states. Previous approaches estimate head counts despite that they can vary dramatically in different density settings; the crowd is often unevenly distributed and the results are therefore unsatisfactory. In this paper, we propose a lightweight deep learning framework that can automatically estimate the crowd density level and adaptively choose between different counter networks that are explicitly trained for different density domains. Experiments on two recent crowd counting datasets, UCF_CC_50 and ShanghaiTech, show that the proposed mechanism achieves promising improvements over state-of-the-art methods. Moreover, runtime speed is 20 FPS on a single GPU.

cs.CV↗

arXiv2018

tau-FPL: Tolerance-Constrained Learning in Linear Time

Learning a classifier with control on the false-positive rate plays a critical role in many machine learning applications. Existing approaches either introduce prior knowledge dependent label cost or tune parameters based on traditional classifiers, which lack consistency in methodology because they do not strictly adhere to the false-positive rate constraint. In this paper, we propose a novel scoring-thresholding approach, tau-False Positive Learning (tau-FPL) to address this problem. We show the scoring problem which takes the false-positive rate tolerance into accounts can be efficiently solved in linear time, also an out-of-bootstrap thresholding method can transform the learned ranking function into a low false-positive classifier. Both theoretical analysis and experimental results show superior performance of the proposed tau-FPL over existing approaches.

cs.LG↗