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Learn about the amazing group of interns who joined us at Princeton and San Jose campuses this summer. Their hard work, fresh perspectives, and dedication have truly made an impact across the board, from cutting-edge research projects to innovative software development initiatives.
This paper proposes AutoScape, a long-horizon driving scene generation framework. At its core is a novel RGB-D diffusion model that iteratively generates sparse, geometrically consistent keyframes, serving as reliable anchors for the scenes appearance and geometry. To maintain long-range geometric consistency, the model 1) jointly handles image and depth in a shared latent space, 2) explicitly conditions on the existing scene geometry (i.e., rendered point clouds) from previously generated keyframes, and 3) steers the sampling process with a warp-consistent guidance. Given high-quality RGB-D keyframes, a video diffusion model then interpolates between them to produce dense nd coherent video frames. AutoScape generates realistic and geometrically consistent driving videos of over 20 seconds, improving the long-horizon FID and FVD scores over the prior state-of-the-art by 48.6% and 43.0%, respectively.
Learn about the amazing group of interns who joined us at Princeton and San Jose campuses this summer. Their hard work, fresh perspectives, and dedication have truly made an impact across the board, from cutting-edge research projects to innovative software development initiatives.
In the context of long-tail classification on graphs, the vast majority of existing work primarily revolves around the development of model debiasing strategies, intending to mitigate class imbalances and enhance the overall performance. Despite the notable success, there is very limited literature that provides a theoretical tool for characterizing the behaviors of long-tail classes in graphs and gaining insight into generalization performance in real-world scenarios. To bridge this gap, we propose a generalization bound for long-tail classification on graphs by formulating the problem in the fashion of multi-task learning, i.e., each task corresponds to the prediction of one particular class. Our theoretical results show that the generalization performance of long-tail classification is dominated by the overall loss range and the task complexity. Building upon the theoretical findings, we propose a novel generic framework Hier-Tail for long-tail classification on graphs. In particular, we start with a hierarchical task grouping module that allows us to assign related tasks into hypertasks and thus control the complexity of the task space; then, we further design a balanced contrastive learning module to adaptively balance the gradients of both head and tail classes to control the loss range across all tasks in a unified fashion. Extensive experiments demonstrate the effectiveness of HierTail in characterizing long-tail classes on real graphs, which achieves up to 12.9% improvement over the leading baseline method in balanced accuracy.
Autonomous vehicle (AV) systems rely on robust perception models as a cornerstone of safety assurance. However, objects encountered on the road exhibit a long-tailed distribution, with rare or unseen categories posing challenges to a deployed perception model. This necessitates an expensive process of continuously curating and annotating data with significant human effort. We propose to leverage recent advances in vision-language and large language models to design an Automatic Data Engine (AIDE) that automatically identifies issues, efficiently curates data, improves the model through auto-labeling, and verifies the model through generation of diverse scenarios. This process operates iteratively, allowing for continuous self-improvement of the model. We further establish a benchmark for open-world detection on AV datasets to comprehensively evaluate various learning paradigms, demonstrating our method’s superior performance at a reduced cost.
Diffusion probabilistic models have achieved enormous success in the field of image generation and manipulation. In this paper, we explore a novel paradigm of using the diffusion model and classifier guidance in the latent semantic space for compositional visual tasks. Specifically, we train latent diffusion models and auxiliary latent classifiers to facilitate non-linear navigation of latent representation generation for any pre-trained generative model with a semantic latent space. We demonstrate that such conditional generation achieved by latent classifier guidance provably maximizes a lower bound of the conditional log probability during training. To maintain the original semantics during manipulation, we introduce a new guidance term, which we show is crucial for achieving compositionality. With additional assumptions, we show that the non-linear manipulation reduces to a simple latent arithmetic approach. We show that this paradigm based on latent classifier guidance is agnostic to pre-trained generative models, and present competitive results for both image generation and sequential manipulation of real and synthetic images. Our findings suggest that latent classifier guidance is a promising approach that merits further exploration, even in the presence of other strong competing methods.
Given multiple datasets with different label spaces, the goal of this work is to train a single object detector predicting over the union of all the label spaces. The practical benefits of such an object detector are obvious and significant—application-relevant categories can be picked and merged form arbitrary existing datasets. However, naive merging of datasets is not possible in this case, due to inconsistent object annotations. Consider an object category like faces that is annotated in one dataset, but is not annotated in another dataset, although the object itself appears in the later’s images. Some categories, like face here, would thus be considered foreground in one dataset, but background in another. To address this challenge, we design a framework which works with such partial annotations, and we exploit a pseudo labeling approach that we adapt for our specific case. We propose loss functions that carefully integrate partial but correct annotations with complementary but noisy pseudo labels. Evaluation in the proposed novel setting requires full annotation on the test set. We collect the required annotations and define a new challenging experimental setup for this task based on existing public datasets. We show improved performances compared to competitive baselines and appropriate adaptations of existing work