NeurIPS 2024 Papers

The performance of 3D object detection in large outdoor point clouds deteriorates significantly in an unseen environment due to the inter-domain gap. To address these challenges, most existing methods for domain adaptation harness self-training schemes and attempt to bridge the gap by focusing on a single factor that causes the inter-domain gap, such as objects' sizes, shapes, and foreground density variation. However, the resulting adaptations suggest that there is still a substantial inter-domain gap left to be minimized. We argue that this is due to two limitations: 1) Biased pseudo-label collection from self-training. 2) Multiple factors jointly contributing to how the object is perceived in the unseen target domain. In this work, we propose a grouping-exploration strategy framework, Group Explorer Domain Adaptation ($\textbf{GroupEXP-DA}$), to addresses those two issues. Specifically, our grouping divides the available label sets into multiple clusters and ensures all of them have equal learning attention with the group-equivariant spatial feature, avoiding dominant types of objects causing imbalance problems. Moreover, grouping learns to divide objects by considering inherent factors in a data-driven manner, without considering each factor separately as existing works. On top of the group-equivariant spatial feature that selectively detects objects similar to the input group, we additionally introduce an explorative group update strategy that reduces the false negative detection in the target domain, further reducing the inter-domain gap. During inference, only the learned group features are necessary for making the group-equivariant spatial feature, placing our method as a simple add-on that can be applicable to most existing detectors. We show how each module contributes to substantially bridging the inter-domain gaps compared to existing works across large urban outdoor datasets such as NuScenes, Waymo, and KITTI.

Recent progress in self-supervised (SSL) visual representation learning has led to the development of several different proposed frameworks that rely on augmentations of images but use different loss functions. However, there are few theoretically grounded principles to guide practice, so practical implementation of each SSL framework requires several heuristics to achieve competitive performance. In this work, we build on recent analytical results to design practical recommendations for competitive and efficient SSL that are grounded in theory. Specifically, recent theory tells us that existing SSL frameworks are actually minimizing the same idealized loss, which is to learn features that best match the data similarity kernel defined by the augmentations used. We show how this idealized loss can be reformulated to a functionally equivalent loss that is more efficient to compute. We study the implicit bias of using gradient descent to minimize our reformulated loss function, and find that using a stronger orthogonalization constraint with a reduced projector dimensionality should yield good representations. Furthermore, the theory tells us that approximating the reformulated loss should be improved by increasing the number of augmentations, and as such using multiple augmentations should lead to improved convergence. We empirically verify our findings on CIFAR, STL and Imagenet datasets, wherein we demonstrate an improved linear readout performance when training a ResNet-backbone using our theoretically grounded recommendations. Remarkably, we also demonstrate that by leveraging these insights, we can reduce the pretraining dataset size by up to 2$\times$ while maintaining downstream accuracy simply by using more data augmentations. Taken together, our work provides theoretically grounded recommendations that can be used to improve SSL convergence and efficiency.

Consistent depth estimation across diverse scenes and sensors is a crucial challenge in computer vision, especially when deploying machine learning models in the real world. Traditional methods depend heavily on extensive pixel-wise labeled data, which is costly and labor-intensive to acquire, and frequently have difficulty in scale issues on various depth sensors. In response, we define Universal Depth Completion (UniDC) problem. We also present a baseline architecture, a simple yet effective approach tailored to estimate scene depth across a wide range of sensors and environments using minimal labeled data. Our approach addresses two primary challenges: generalizable knowledge of unseen scene configurations and strong adaptation to arbitrary depth sensors with various specifications. To enhance versatility in the wild, we utilize a foundation model for monocular depth estimation that provides a comprehensive understanding of 3D structures in scenes. Additionally, for fast adaptation to off-the-shelf sensors, we generate a pixel-wise affinity map based on the knowledge from the foundation model. We then adjust depth information from arbitrary sensors to the monocular depth along with the constructed affinity. Furthermore, to boost up both the adaptability and generality, we embed the learned features into hyperbolic space, which builds implicit hierarchical structures of 3D data from fewer examples. Extensive experiments demonstrate the proposed method's superior generalization capabilities for UniDC problem over state-of-the-art depth completion. Source code is publicly available at https://github.com/JinhwiPark/UniDC.

Self-supervised learning (SSL) has rapidly advanced in recent years, approaching the performance of its supervised counterparts through the extraction of representations from unlabeled data. However, dimensional collapse, where a few large eigenvalues dominate the eigenspace, poses a significant obstacle for SSL. When dimensional collapse occurs on features (e.g. hidden features and representations), it prevents features from representing the full information of the data; when dimensional collapse occurs on weight matrices, their filters are self-related and redundant, limiting their expressive power. Existing studies have predominantly concentrated on the dimensional collapse of representations, neglecting whether this can sufficiently prevent the dimensional collapse of the weight matrices and hidden features. To this end, we first time propose a mitigation approach employing orthogonal regularization (OR) across the encoder, targeting both convolutional and linear layers during pretraining. OR promotes orthogonality within weight matrices, thus safeguarding against the dimensional collapse of weight matrices, hidden features, and representations. Our empirical investigations demonstrate that OR significantly enhances the performance of SSL methods across diverse benchmarks, yielding consistent gains with both CNNs and Transformer-based architectures.

Reconstructing a continuous surface from a raw 3D point cloud is a challenging task. Latest methods employ supervised learning or pretrained priors to learn a signed distance function (SDF). However, neural networks tend to smooth local details due to the lack of ground truth signed distnaces or normals, which limits the performance of learning-based methods in reconstruction tasks. To resolve this issue, we propose a novel method, named MultiPull, to learn multi-scale implicit fields from raw point clouds to optimize accurate SDFs from coarse to fine. We achieve this by mapping 3D query points into a set of frequency features, which makes it possible to leverage multi-level features during optimization. Meanwhile, we introduce optimization constraints from the perspective of spatial distance and normal consistency, which play a key role in point cloud reconstruction based on multi-scale optimization strategies. Our experiments on widely used object and scene benchmarks demonstrate that our method outperforms the state-of-the-art methods in surface reconstruction.

Sliced Wasserstein (SW) and Generalized Sliced Wasserstein (GSW) have been widely used in applications due to their computational and statistical scalability. However, the SW and the GSW are only defined between distributions supported on a homogeneous domain. This limitation prevents their usage in applications with heterogeneous joint distributions with marginal distributions supported on multiple different domains. Using SW and GSW directly on the joint domains cannot make a meaningful comparison since their homogeneous slicing operator, i.e., Radon Transform (RT) and Generalized Radon Transform (GRT) are not expressive enough to capture the structure of the joint supports set. To address the issue, we propose two new slicing operators, i.e., Partial Generalized Radon Transform (PGRT) and Hierarchical Hybrid Radon Transform (HHRT). In greater detail, PGRT is the generalization of Partial Radon Transform (PRT), which transforms a subset of function arguments non-linearly while HHRT is the composition of PRT and multiple domain-specific PGRT on marginal domain arguments. By using HHRT, we extend the SW into Hierarchical Hybrid Sliced Wasserstein (H2SW) distance which is designed specifically for comparing heterogeneous joint distributions. We then discuss the topological, statistical, and computational properties of H2SW. Finally, we demonstrate the favorable performance of H2SW in 3D mesh deformation, deep 3D mesh autoencoders, and datasets comparison.

Continual learning (CL) is designed to learn new tasks while preserving existing knowledge. Replaying samples from earlier tasks has proven to be an effective method to mitigate the forgetting of previously acquired knowledge. However, the current research on the training efficiency of rehearsal-based methods is insufficient, which limits the practical application of CL systems in resource-limited scenarios. The human visual system (HVS) exhibits varying sensitivities to different frequency components, enabling the efficient elimination of visually redundant information. Inspired by HVS, we propose a novel framework called Continual Learning in the Frequency Domain (CLFD). To our knowledge, this is the first study to utilize frequency domain features to enhance the performance and efficiency of CL training on edge devices. For the input features of the feature extractor, CLFD employs wavelet transform to map the original input image into the frequency domain, thereby effectively reducing the size of input feature maps. Regarding the output features of the feature extractor, CLFD selectively utilizes output features for distinct classes for classification, thereby balancing the reusability and interference of output features based on the frequency domain similarity of the classes across various tasks. Optimizing only the input and output features of the feature extractor allows for seamless integration of CLFD with various rehearsal-based methods. Extensive experiments conducted in both cloud and edge environments demonstrate that CLFD consistently improves the performance of state-of-the-art (SOTA) methods in both precision and training efficiency. Specifically, CLFD can increase the accuracy of the SOTA CL method by up to 6.83% and reduce the training time by 2.6×.

Out-of-distribution (OOD) detection aims to identify OOD inputs from unknown classes, which is important for the reliable deployment of machine learning models in the open world. Various scoring functions are proposed to distinguish it from in-distribution (ID) data. However, existing methods generally focus on excavating the discriminative information from a single input, which implicitly limits its representation dimension. In this work, we introduce a novel perspective, i.e., employing different common corruptions on the input space, to expand that. We reveal an interesting phenomenon termed *confidence mutation*, where the confidence of OOD data can decrease significantly under the corruptions, while the ID data shows a higher confidence expectation considering the resistance of semantic features. Based on that, we formalize a new scoring method, namely, *Confidence aVerage* (CoVer), which can capture the dynamic differences by simply averaging the scores obtained from different corrupted inputs and the original ones, making the OOD and ID distributions more separable in detection tasks. Extensive experiments and analyses have been conducted to understand and verify the effectiveness of CoVer.

High-throughput image analysis in the biomedical domain has gained significant attention in recent years, driving advancements in drug discovery, disease prediction, and personalized medicine. Organoids, specifically, are an active area of research, providing excellent models for human organs and their functions. Automating the quantification of organoids in microscopy images would provide an effective solution to overcome substantial manual quantification bottlenecks, particularly in high-throughput image analysis. However, there is a notable lack of open biomedical datasets, in contrast to other domains, such as autonomous driving, and, notably, only few of them have attempted to quantify annotation uncertainty. In this work, we present MultiOrg a comprehensive organoid dataset tailored for object detection tasks with uncertainty quantification. This dataset comprises over 400 high-resolution 2d microscopy images and curated annotations of more than 60,000 organoids. Most importantly, it includes three label sets for the test data, independently annotated by two experts at distinct time points. We additionally provide a benchmark for organoid detection, and make the best model available through an easily installable, interactive plugin for the popular image visualization tool Napari, to perform organoid quantification.

Existing perception models achieve great success by learning from large amounts of labeled data, but they still struggle with open-world scenarios. To alleviate this issue, researchers introduce open-set perception tasks to detect or segment unseen objects in the training set. However, these models require predefined object categories as inputs during inference, which are not available in real-world scenarios. Recently, researchers pose a new and more practical problem, i.e., open-ended object detection, which discovers unseen objects without any object categories as inputs. In this paper, we present VL-SAM, a training-free framework that combines the generalized object recognition model (i.e., Vision-Language Model) with the generalized object localization model (i.e., Segment-Anything Model), to address the open-ended object detection and segmentation task. Without additional training, we connect these two generalized models with attention maps as the prompts. Specifically, we design an attention map generation module by employing head aggregation and a regularized attention flow to aggregate and propagate attention maps across all heads and layers in VLM, yielding high-quality attention maps. Then, we iteratively sample positive and negative points from the attention maps with a prompt generation module and send the sampled points to SAM to segment corresponding objects. Experimental results on the long-tail instance segmentation dataset (LVIS) show that our method surpasses the previous open-ended method on the object detection task and can provide additional instance segmentation masks. Besides, VL-SAM achieves favorable performance on the corner case object detection dataset (CODA), demonstrating the effectiveness of VL-SAM in real-world applications. Moreover, VL-SAM exhibits good model generalization that can incorporate various VLMs and SAMs.

Lensless cameras offer significant advantages in size, weight, and cost compared to traditional lens-based systems. Without a focusing lens, lensless cameras rely on computational algorithms to recover the scenes from multiplexed measurements. However, current algorithms struggle with inaccurate forward imaging models and insufficient priors to reconstruct high-quality images. To overcome these limitations, we introduce a novel two-stage approach for consistent and photorealistic lensless image reconstruction. The first stage of our approach ensures data consistency by focusing on accurately reconstructing the low-frequency content with a spatially varying deconvolution method that adjusts to changes in the Point Spread Function (PSF) across the camera's field of view. The second stage enhances photorealism by incorporating a generative prior from pre-trained diffusion models. By conditioning on the low-frequency content retrieved in the first stage, the diffusion model effectively reconstructs the high-frequency details that are typically lost in the lensless imaging process, while also maintaining image fidelity. Our method achieves a superior balance between data fidelity and visual quality compared to existing methods, as demonstrated with two popular lensless systems, PhlatCam and DiffuserCam.

Fine-tuning is arguably the most straightforward way to tailor a pre-trained model (e.g., a foundation model) to downstream applications, but it also comes with the risk of losing valuable knowledge the model had learned in pre-training. For example, fine-tuning a pre-trained classifier capable of recognizing a large number of classes to master a subset of classes at hand is shown to drastically degrade the model's accuracy in the other classes it had previously learned. As such, it is hard to further use the fine-tuned model when it encounters classes beyond the fine-tuning data. In this paper, we systematically dissect the issue, aiming to answer the fundamental question, "What has been damaged in the fine-tuned model?" To our surprise, we find that the fine-tuned model neither forgets the relationship among the other classes nor degrades the features to recognize these classes. Instead, the fine-tuned model often produces more discriminative features for these other classes, even if they were missing during fine-tuning! What really hurts the accuracy is the discrepant logit scales between the fine-tuning classes and the other classes, implying that a simple post-processing calibration would bring back the pre-trained model's capability and at the same time unveil the feature improvement over all classes. We conduct an extensive empirical study to demonstrate the robustness of our findings and provide preliminary explanations underlying them, suggesting new directions for future theoretical analysis.

Despite extensive research on adversarial training strategies to improve robustness, the decisions of even the most robust deep learning models can still be quite sensitive to imperceptible perturbations, creating serious risks when deploying them for high-stakes real-world applications. While detecting such cases may be critical, evaluating a model's vulnerability at a per-instance level using adversarial attacks is computationally too intensive and unsuitable for real-time deployment scenarios. The input space margin is the exact score to detect non-robust samples and is intractable for deep neural networks. This paper introduces the concept of margin consistency -- a property that links the input space margins and the logit margins in robust models -- for efficient detection of vulnerable samples. First, we establish that margin consistency is a necessary and sufficient condition to use a model's logit margin as a score for identifying non-robust samples. Next, through comprehensive empirical analysis of various robustly trained models on CIFAR10 and CIFAR100 datasets, we show that they indicate high margin consistency with a strong correlation between their input space margins and the logit margins. Then, we show that we can effectively use the logit margin to confidently detect brittle decisions with such models. Finally, we address cases where the model is not sufficiently margin-consistent by learning a pseudo-margin from the feature representation. Our findings highlight the potential of leveraging deep representations to efficiently assess adversarial vulnerability in deployment scenarios.

Vision models excel in image classification but struggle to generalize to unseen data, such as classifying images from unseen domains or discovering novel categories. In this paper, we explore the relationship between logical reasoning and deep learning generalization in visual classification. A logical regularization termed L-Reg is derived which bridges a logical analysis framework to image classification. Our work reveals that L-Reg reduces the complexity of the model in terms of the feature distribution and classifier weights. Specifically, we unveil the interpretability brought by L-Reg, as it enables the model to extract the salient features, such as faces to persons, for classification. Theoretical analysis and experiments demonstrate that L-Reg enhances generalization across various scenarios, including multi-domain generalization and generalized category discovery. In complex real-world scenarios where images span unknown classes and unseen domains, L-Reg consistently improves generalization, highlighting its practical efficacy.

The Bayesian two-step change point detection method is popular for the Hawkes process due to its simplicity and intuitiveness. However, the non-conjugacy between the point process likelihood and the prior requires most existing Bayesian two-step change point detection methods to rely on non-conjugate inference methods. These methods lack analytical expressions, leading to low computational efficiency and impeding timely change point detection. To address this issue, this work employs data augmentation to propose a conjugate Bayesian two-step change point detection method for the Hawkes process, which proves to be more accurate and efficient. Extensive experiments on both synthetic and real data demonstrate the superior effectiveness and efficiency of our method compared to baseline methods. Additionally, we conduct ablation studies to explore the robustness of our method concerning various hyperparameters.

Skeleton-based multi-entity action recognition is a challenging task aiming to identify interactive actions or group activities involving multiple diverse entities. Existing models for individuals often fall short in this task due to the inherent distribution discrepancies among entity skeletons, leading to suboptimal backbone optimization. To this end, we introduce a Convex Hull Adaptive Shift based multi-Entity action recognition method (CHASE), which mitigates inter-entity distribution gaps and unbiases subsequent backbones. Specifically, CHASE comprises a learnable parameterized network and an auxiliary objective. The parameterized network achieves plausible, sample-adaptive repositioning of skeleton sequences through two key components. First, the Implicit Convex Hull Constrained Adaptive Shift ensures that the new origin of the coordinate system is within the skeleton convex hull. Second, the Coefficient Learning Block provides a lightweight parameterization of the mapping from skeleton sequences to their specific coefficients in convex combinations. Moreover, to guide the optimization of this network for discrepancy minimization, we propose the Mini-batch Pair-wise Maximum Mean Discrepancy as the additional objective. CHASE operates as a sample-adaptive normalization method to mitigate inter-entity distribution discrepancies, thereby reducing data bias and improving the subsequent classifier's multi-entity action recognition performance. Extensive experiments on six datasets, including NTU Mutual 11/26, H2O, Assembly101, Collective Activity and Volleyball, consistently verify our approach by seamlessly adapting to single-entity backbones and boosting their performance in multi-entity scenarios. Our code is publicly available at https://github.com/Necolizer/CHASE .

Our work tackles the computational challenges of contrastive learning methods, particularly for the pretraining of Vision Transformers (ViTs). Despite the effectiveness of contrastive learning, the substantial computational resources required for training often hinder their practical application. To mitigate this issue, we propose an acceleration framework, leveraging ViT's unique ability to generalize across inputs of varying sequence lengths. Our method employs a mix of sequence compression strategies, including randomized token dropout and flexible patch scaling, to reduce the cost of gradient estimation and accelerate convergence. We further provide an in-depth analysis of the gradient estimation error of various acceleration strategies as well as their impact on downstream tasks, offering valuable insights into the trade-offs between acceleration and performance. We also propose a novel procedure to identify an optimal acceleration schedule to adjust the sequence compression ratios to the training progress, ensuring efficient training without sacrificing downstream performance. Our approach significantly reduces computational overhead across various self-supervised learning algorithms on large-scale datasets. In ImageNet, our method achieves speedups of 4$\times$ in MoCo, 3.3$\times$ in SimCLR, and 2.5$\times$ in DINO, demonstrating substantial efficiency gains.

Current universal segmentation methods demonstrate strong capabilities in pixel-level image and video understanding. However, they lack reasoning abilities and cannot be controlled via text instructions. In contrast, large vision-language multimodal models exhibit powerful vision-based conversation and reasoning capabilities but lack pixel-level understanding and have difficulty accepting visual prompts for flexible user interaction. This paper proposes OMG-LLaVA, a new and elegant framework combining powerful pixel-level vision understanding with reasoning abilities. It can accept various visual and text prompts for flexible user interaction. Specifically, we use a universal segmentation method as the visual encoder, integrating image information, perception priors, and visual prompts into visual tokens provided to the LLM. The LLM is responsible for understanding the user's text instructions and providing text responses and pixel-level segmentation results based on the visual information. We propose perception prior embedding to better integrate perception priors with image features. OMG-LLaVA achieves image-level, object-level, and pixel-level reasoning and understanding in a single model, matching or surpassing the performance of specialized methods on multiple benchmarks. Rather than using LLM to connect each specialist, our work aims at end-to-end training on one encoder, one decoder, and one LLM. The code and model have been released for further research.

Training models with longer in-context lengths is a significant challenge for multimodal machine learning due to substantial GPU memory and computational costs. This exploratory study does not present state-of-the-art models; rather, it introduces an innovative method designed to increase in-context text length in multi-modality large language models (MLLMs) efficiently. We present \ModelFullName (\ModelName), which processes long in-context text using visual tokens. This technique significantly reduces GPU memory usage and floating point operations (FLOPs). For instance, our method expands the pre-training in-context length from 256 to 2048 tokens with fewer FLOPs for a 56 billion parameter MOE model. Experimental results demonstrate that \ModelName enhances OCR capabilities and delivers superior performance on common downstream benchmarks for in-context few-shot evaluation. Additionally, \ModelName proves effective for long context inference, achieving results comparable to full text input while maintaining computational efficiency.