DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration

We present DeepICP - a novel end-to-end learning-based 3D point cloud registration framework that achieves comparable registration accuracy to prior state-of-the-art geometric methods. Different from other keypoint based methods where a RANSAC procedure is usually needed, we implement the use of various deep neural network structures to establish an end-to-end trainable network. Our keypoint detector is trained through this end-to-end structure and enables the system to avoid the inference of dynamic objects, leverages the help of sufficiently salient features on stationary objects, and as a result, achieves high robustness. Rather than searching the corresponding points among existing points, the key contribution is that we innovatively generate them based on learned matching probabilities among a group of candidates, which can boost the registration accuracy. Our loss function incorporates both the local similarity and the global geometric constraints to ensure all above network designs can converge towards the right direction. We comprehensively validate the effectiveness of our approach using both the KITTI dataset and the Apollo-SouthBay dataset. Results demonstrate that our method achieves comparable or better performance than the state-of-the-art geometry-based methods. Detailed ablation and visualization analysis are included to further illustrate the behavior and insights of our network. The low registration error and high robustness of our method makes it attractive for substantial applications relying on the point cloud registration task.Comment: 10 pages, 6 figures, 3 tables, typos corrected, experimental results updated, accepted by ICCV 201

Empirical Analysis of the Speculative Efficiency Hypothesis

Exchange market is one of the most important financial markets. An accurate prediction for future spot exchange rate is curial for modern businesses, specially the multinational enterprises, to hedge the volatility of currency exchange rate. The exchange rate also influence countries’ import and export significantly. If the home currency appreciates, this fact will significantly increase the amount of import and reduce the amount of export. In the opposite, any depreciation will help boosting the export and inhibit the import behaviour. Consequently, a mechanism of efficient forward exchange rate estimation is necessary based on both macro and micro-economic perspectives. This paper will examine the evidence in Speculative Efficiency Hypothesis (SEH) which is the major theory of this paper. The SEH presumes the forward rate is an unbiased forecast of the expected future spot rate. In other words, the forward exchange rate is a good predictor of the future value of the spot exchange rate. This paper will use the forward rate and spot rate data of US dollar and UK sterling and select a long period of 12th of March 2001 to 31st of May 2006 and a short period from 1th January 2010 to 31st December 2010 to do the hypothesis tests in different model and get the evidence for SEH cannot stand in modern exchange market. In addition, with more deep study, more complex econometrics model should be use in testing the SEH, such as a non-linear model when dealing with the structural break. Kay words: Foreign exchange market; Spot rate; Forward rate; Speculative Efficiency Hypothesis; Structural brea

Solution for SMART-101 Challenge of ICCV Multi-modal Algorithmic Reasoning Task 2023

In this paper, we present our solution to a Multi-modal Algorithmic Reasoning Task: SMART-101 Challenge. Different from the traditional visual question-answering datasets, this challenge evaluates the abstraction, deduction, and generalization abilities of neural networks in solving visuolinguistic puzzles designed specifically for children in the 6-8 age group. We employed a divide-and-conquer approach. At the data level, inspired by the challenge paper, we categorized the whole questions into eight types and utilized the llama-2-chat model to directly generate the type for each question in a zero-shot manner. Additionally, we trained a yolov7 model on the icon45 dataset for object detection and combined it with the OCR method to recognize and locate objects and text within the images. At the model level, we utilized the BLIP-2 model and added eight adapters to the image encoder VIT-G to adaptively extract visual features for different question types. We fed the pre-constructed question templates as input and generated answers using the flan-t5-xxl decoder. Under the puzzle splits configuration, we achieved an accuracy score of 26.5 on the validation set and 24.30 on the private test set

DasFormer: Deep Alternating Spectrogram Transformer for Multi/Single-Channel Speech Separation

For the task of speech separation, previous study usually treats multi-channel and single-channel scenarios as two research tracks with specialized solutions developed respectively. Instead, we propose a simple and unified architecture - DasFormer (Deep alternating spectrogram transFormer) to handle both of them in the challenging reverberant environments. Unlike frame-wise sequence modeling, each TF-bin in the spectrogram is assigned with an embedding encoding spectral and spatial information. With such input, DasFormer is then formed by multiple repetition of simple blocks each of which integrates 1) two multi-head self-attention (MHSA) modules alternately processing within each frequency bin & temporal frame of the spectrogram 2) MBConv before each MHSA for modeling local features on the spectrogram. Experiments show that DasFormer has a powerful ability to model the time-frequency representation, whose performance far exceeds the current SOTA models in multi-channel speech separation, and also achieves single-channel SOTA in the more challenging yet realistic reverberation scenario.Comment: 5 pages, accepted by ICASSP202

Transforming Programs between APIs with Many-to-Many Mappings

Transforming programs between two APIs or different versions of the same API is a common software engineering task. However, existing languages supporting for such transformation cannot satisfactorily handle the cases when the relations between elements in the old API and the new API are many-to-many mappings: multiple invocations to the old API are supposed to be replaced by multiple invocations to the new API. Since the multiple invocations of the original APIs may not appear consecutively and the variables in these calls may have different names, writing a tool correctly to cover all such invocation cases is not an easy task. In this paper we propose a novel guided-normalization approach to address this problem. Our core insight is that programs in different forms can be semantics-equivalently normalized into a basic form guided by transformation goals, and developers only need to write rules for the basic form to address the transformation. Based on this approach, we design a declarative program transformation language, PATL, for adapting Java programs between different APIs. PATL has simple syntax and basic semantics to handle transformations only considering consecutive statements inside basic blocks, while with guided-normalization, it can be extended to handle complex forms of invocations. Furthermore, PATL ensures that the user-written rules would not accidentally break def-use relations in the program. We formalize the semantics of PATL on Middleweight Java and prove the semantics-preserving property of guided-normalization. We also evaluated our language with three non-trivial case studies: i.e. updating Google Calendar API, switching from JDom to Dom4j, and switching from Swing to SWT. The result is encouraging; it shows that our language allows successful transformations of real world programs with a small number of rules and little manual resolution

Efficient Temporal Butterfly Counting and Enumeration on Temporal Bipartite Graphs

Bipartite graphs model relationships between two different sets of entities, like actor-movie, user-item, and author-paper. The butterfly, a 4-vertices 4-edges $2\times 2$ bi-clique, is the simplest cohesive motif in a bipartite graph and is the fundamental component of higher-order substructures. Counting and enumerating the butterflies offer significant benefits across various applications, including fraud detection, graph embedding, and community search. While the corresponding motif, the triangle, in the unipartite graphs has been widely studied in both static and temporal settings, the extension of butterfly to temporal bipartite graphs remains unexplored. In this paper, we investigate the temporal butterfly counting and enumeration problem: count and enumerate the butterflies whose edges establish following a certain order within a given duration. Towards efficient computation, we devise a non-trivial baseline rooted in the state-of-the-art butterfly counting algorithm on static graphs, further, explore the intrinsic property of the temporal butterfly, and develop a new optimization framework with a compact data structure and effective priority strategy. The time complexity is proved to be significantly reduced without compromising on space efficiency. In addition, we generalize our algorithms to practical streaming settings and multi-core computing architectures. Our extensive experiments on 11 large-scale real-world datasets demonstrate the efficiency and scalability of our solutions