Rui Hu

Ze Yang, Sivabalan Manivasagam, Yun Chen et al. · utoronto

Reconstructing objects from real world data and rendering them at novel views is critical to bringing realism, diversity and scale to simulation for robotics training and testing. In this work, we present NeuSim, a novel approach that estimates accurate geometry and realistic appearance from sparse in-the-wild data captured at distance and at limited viewpoints. Towards this goal, we represent the object surface as a neural signed distance function and leverage both LiDAR and camera sensor data to reconstruct smooth and accurate geometry and normals. We model the object appearance with a robust physics-inspired reflectance representation effective for in-the-wild data. Our experiments show that NeuSim has strong view synthesis performance on challenging scenarios with sparse training views. Furthermore, we showcase composing NeuSim assets into a virtual world and generating realistic multi-sensor data for evaluating self-driving perception models.

Lunjun Zhang, Yuwen Xiong, Ze Yang et al.

Learning world models can teach an agent how the world works in an unsupervised manner. Even though it can be viewed as a special case of sequence modeling, progress for scaling world models on robotic applications such as autonomous driving has been somewhat less rapid than scaling language models with Generative Pre-trained Transformers (GPT). We identify two reasons as major bottlenecks: dealing with complex and unstructured observation space, and having a scalable generative model. Consequently, we propose Copilot4D, a novel world modeling approach that first tokenizes sensor observations with VQVAE, then predicts the future via discrete diffusion. To efficiently decode and denoise tokens in parallel, we recast Masked Generative Image Transformer as discrete diffusion and enhance it with a few simple changes, resulting in notable improvement. When applied to learning world models on point cloud observations, Copilot4D reduces prior SOTA Chamfer distance by more than 65% for 1s prediction, and more than 50% for 3s prediction, across NuScenes, KITTI Odometry, and Argoverse2 datasets. Our results demonstrate that discrete diffusion on tokenized agent experience can unlock the power of GPT-like unsupervised learning for robotics.

Chris Zhang, Runsheng Guo, Wenyuan Zeng et al.

Recent advances in high-fidelity simulators have enabled closed-loop training of autonomous driving agents, potentially solving the distribution shift in training v.s. deployment and allowing training to be scaled both safely and cheaply. However, there is a lack of understanding of how to build effective training benchmarks for closed-loop training. In this work, we present the first empirical study which analyzes the effects of different training benchmark designs on the success of learning agents, such as how to design traffic scenarios and scale training environments. Furthermore, we show that many popular RL algorithms cannot achieve satisfactory performance in the context of autonomous driving, as they lack long-term planning and take an extremely long time to train. To address these issues, we propose trajectory value learning (TRAVL), an RL-based driving agent that performs planning with multistep look-ahead and exploits cheaply generated imagined data for efficient learning. Our experiments show that TRAVL can learn much faster and produce safer maneuvers compared to all the baselines. For more information, visit the project website: https://waabi.ai/research/travl

Jiahao Xu, Zikai Zhang, Rui Hu

Federated Learning (FL) enables multiple clients to collaboratively train a model without sharing their local data. Yet the FL system is vulnerable to well-designed Byzantine attacks, which aim to disrupt the model training process by uploading malicious model updates. Existing robust aggregation rule-based defense methods overlook the diversity of magnitude and direction across different layers of the model updates, resulting in limited robustness performance, particularly in non-IID settings. To address these challenges, we propose the Layer-Adaptive Sparsified Model Aggregation (LASA) approach, which combines pre-aggregation sparsification with layer-wise adaptive aggregation to improve robustness. Specifically, LASA includes a pre-aggregation sparsification module that sparsifies updates from each client before aggregation, reducing the impact of malicious parameters and minimizing the interference from less important parameters for the subsequent filtering process. Based on sparsified updates, a layer-wise adaptive filter then adaptively selects benign layers using both magnitude and direction metrics across all clients for aggregation. We provide the detailed theoretical robustness analysis of LASA and the resilience analysis for the FL integrated with LASA. Extensive experiments are conducted on various IID and non-IID datasets. The numerical results demonstrate the effectiveness of LASA. Code is available at \url{https://github.com/JiiahaoXU/LASA}.

Jiahao Xu, Zikai Zhang, Rui Hu

The distributed nature of training makes Federated Learning (FL) vulnerable to backdoor attacks, where malicious model updates aim to compromise the global model's performance on specific tasks. Existing defense methods show limited efficacy as they overlook the inconsistency between benign and malicious model updates regarding both general and fine-grained directions. To fill this gap, we introduce AlignIns, a novel defense method designed to safeguard FL systems against backdoor attacks. AlignIns looks into the direction of each model update through a direction alignment inspection process. Specifically, it examines the alignment of model updates with the overall update direction and analyzes the distribution of the signs of their significant parameters, comparing them with the principle sign across all model updates. Model updates that exhibit an unusual degree of alignment are considered malicious and thus be filtered out. We provide the theoretical analysis of the robustness of AlignIns and its propagation error in FL. Our empirical results on both independent and identically distributed (IID) and non-IID datasets demonstrate that AlignIns achieves higher robustness compared to the state-of-the-art defense methods. The code is available at https://github.com/JiiahaoXU/AlignIns.

Jiahao Xu, Zikai Zhang, Rui Hu

Backdoor attacks present a significant threat to the robustness of Federated Learning (FL) due to their stealth and effectiveness. They maintain both the main task of the FL system and the backdoor task simultaneously, causing malicious models to appear statistically similar to benign ones, which enables them to evade detection by existing defense methods. We find that malicious parameters in backdoored models are inactive on the main task, resulting in a significantly large empirical loss during the machine unlearning process on clean inputs. Inspired by this, we propose MASA, a method that utilizes individual unlearning on local models to identify malicious models in FL. To improve the performance of MASA in challenging non-independent and identically distributed (non-IID) settings, we design pre-unlearning model fusion that integrates local models with knowledge learned from other datasets to mitigate the divergence in their unlearning behaviors caused by the non-IID data distributions of clients. Additionally, we propose a new anomaly detection metric with minimal hyperparameters to filter out malicious models efficiently. Extensive experiments on IID and non-IID datasets across six different attacks validate the effectiveness of MASA. To the best of our knowledge, this is the first work to leverage machine unlearning to identify malicious models in FL. Code is available at \url{https://github.com/JiiahaoXU/MASA}.

Jiahao Xu, Zikai Zhang, Rui Hu

Traditional backdoor attacks in federated learning (FL) operate within constrained attack scenarios, as they depend on visible triggers and require physical modifications to the target object, which limits their practicality. To address this limitation, we introduce a novel backdoor attack prototype for FL called the out-of-distribution (OOD) backdoor attack ($\mathtt{OBA}$), which uses OOD data as both poisoned samples and triggers simultaneously. Our approach significantly broadens the scope of backdoor attack scenarios in FL. To improve the stealthiness of $\mathtt{OBA}$, we propose $\mathtt{SoDa}$, which regularizes both the magnitude and direction of malicious local models during local training, aligning them closely with their benign versions to evade detection. Empirical results demonstrate that $\mathtt{OBA}$ effectively circumvents state-of-the-art defenses while maintaining high accuracy on the main task. To address this security vulnerability in the FL system, we introduce $\mathtt{BNGuard}$, a new server-side defense method tailored against $\mathtt{SoDa}$. $\mathtt{BNGuard}$ leverages the observation that OOD data causes significant deviations in the running statistics of batch normalization layers. This allows $\mathtt{BNGuard}$ to identify malicious model updates and exclude them from aggregation, thereby enhancing the backdoor robustness of FL. Extensive experiments across various settings show the effectiveness of $\mathtt{BNGuard}$ on defending against $\mathtt{SoDa}$. The code is available at https://github.com/JiiahaoXU/SoDa-BNGuard.

Justin Liang, Namdar Homayounfar, Wei-Chiu Ma et al.

In this paper, we propose PolyTransform, a novel instance segmentation algorithm that produces precise, geometry-preserving masks by combining the strengths of prevailing segmentation approaches and modern polygon-based methods. In particular, we first exploit a segmentation network to generate instance masks. We then convert the masks into a set of polygons that are then fed to a deforming network that transforms the polygons such that they better fit the object boundaries. Our experiments on the challenging Cityscapes dataset show that our PolyTransform significantly improves the performance of the backbone instance segmentation network and ranks 1st on the Cityscapes test-set leaderboard. We also show impressive gains in the interactive annotation setting. We release the code at https://github.com/uber-research/PolyTransform.

Yuwen Xiong, Renjie Liao, Hengshuang Zhao et al.

In this paper, we propose a unified panoptic segmentation network (UPSNet) for tackling the newly proposed panoptic segmentation task. On top of a single backbone residual network, we first design a deformable convolution based semantic segmentation head and a Mask R-CNN style instance segmentation head which solve these two subtasks simultaneously. More importantly, we introduce a parameter-free panoptic head which solves the panoptic segmentation via pixel-wise classification. It first leverages the logits from the previous two heads and then innovatively expands the representation for enabling prediction of an extra unknown class which helps better resolve the conflicts between semantic and instance segmentation. Additionally, it handles the challenge caused by the varying number of instances and permits back propagation to the bottom modules in an end-to-end manner. Extensive experimental results on Cityscapes, COCO and our internal dataset demonstrate that our UPSNet achieves state-of-the-art performance with much faster inference. Code has been made available at: https://github.com/uber-research/UPSNet

Qingming Lin, Rui Hu, Huaxia Li et al.

Vector data is one of the two core data structures in geographic information science (GIS), essential for accurately storing and representing geospatial information. Shapefile, the most widely used vector data format, has become the industry standard supported by all major geographic information systems. However, processing this data typically requires specialized GIS knowledge and skills, creating a barrier for researchers from other fields and impeding interdisciplinary research in spatial data analysis. Moreover, while large language models (LLMs) have made significant advancements in natural language processing and task automation, they still face challenges in handling the complex spatial and topological relationships inherent in GIS vector data. To address these challenges, we propose ShapefileGPT, an innovative framework powered by LLMs, specifically designed to automate Shapefile tasks. ShapefileGPT utilizes a multi-agent architecture, in which the planner agent is responsible for task decomposition and supervision, while the worker agent executes the tasks. We developed a specialized function library for handling Shapefiles and provided comprehensive API documentation, enabling the worker agent to operate Shapefiles efficiently through function calling. For evaluation, we developed a benchmark dataset based on authoritative textbooks, encompassing tasks in categories such as geometric operations and spatial queries. ShapefileGPT achieved a task success rate of 95.24%, outperforming the GPT series models. In comparison to traditional LLMs, ShapefileGPT effectively handles complex vector data analysis tasks, overcoming the limitations of traditional LLMs in spatial analysis. This breakthrough opens new pathways for advancing automation and intelligence in the GIS field, with significant potential in interdisciplinary data analysis and application contexts.

Zaid Abulawi, Rui Hu, Prasanna Balaprakash et al.

Accurate predictions and uncertainty quantification (UQ) are essential for decision-making in risk-sensitive fields such as system safety modeling. Deep ensembles (DEs) are efficient and scalable methods for UQ in Deep Neural Networks (DNNs); however, their performance is limited when constructed by simply retraining the same DNN multiple times with randomly sampled initializations. To overcome this limitation, we propose a novel method that combines Bayesian optimization (BO) with DE, referred to as BODE, to enhance both predictive accuracy and UQ. We apply BODE to a case study involving a Densely connected Convolutional Neural Network (DCNN) trained on computational fluid dynamics (CFD) data to predict eddy viscosity in sodium fast reactor thermal stratification modeling. Compared to a manually tuned baseline ensemble, BODE estimates total uncertainty approximately four times lower in a noise-free environment, primarily due to the baseline's overestimation of aleatoric uncertainty. Specifically, BODE estimates aleatoric uncertainty close to zero, while aleatoric uncertainty dominates the total uncertainty in the baseline ensemble. We also observe a reduction of more than 30% in epistemic uncertainty. When Gaussian noise with standard deviations of 5% and 10% is introduced into the data, BODE accurately fits the data and estimates uncertainty that aligns with the data noise. These results demonstrate that BODE effectively reduces uncertainty and enhances predictions in data-driven models, making it a flexible approach for various applications requiring accurate predictions and robust UQ.

Jiahao Xu, Rui Hu, Olivera Kotevska

Federated Learning with client-level differential privacy (DP) provides a promising framework for collaboratively training models while rigorously protecting clients' privacy. However, classic approaches like DP-FedAvg struggle when clients have heterogeneous privacy requirements, as they must uniformly enforce the strictest privacy level across clients, leading to excessive DP noise and significant model utility degradation. Existing methods to improve the model utility in such heterogeneous privacy settings often assume a trusted server and are largely heuristic, resulting in suboptimal performance and lacking strong theoretical underpinnings. In this work, we address these challenges under a practical attack model where both clients and the server are honest-but-curious. We propose GDPFed, which partitions clients into groups based on their privacy budgets and achieves client-level DP within each group to reduce the privacy budget waste and hence improve the model utility. Based on the privacy and convergence analysis of GDPFed, we find that the magnitude of DP noise depends on both model dimensionality and the per-group client sampling ratios. To further improve the performance of GDPFed, we introduce GDPFed$^+$, which integrates model sparsification to eliminate unnecessary noise and optimizes per-group client sampling ratios to minimize convergence error. Extensive empirical evaluations on multiple benchmark datasets demonstrate the effectiveness of GDPFed$^+$, showing substantial performance gains compared with state-of-the-art methods.

Jiahao Xu, Rui Hu, Olivera Kotevska et al.

Due to the distributed nature of Federated Learning (FL) systems, each local client has access to the global model, posing a critical risk of model leakage. Existing works have explored injecting watermarks into local models to enable intellectual property protection. However, these methods either focus on non-traceable watermarks or traceable but white-box watermarks. We identify a gap in the literature regarding the formal definition of traceable black-box watermarking and the formulation of the problem of injecting such watermarks into FL systems. In this work, we first formalize the problem of injecting traceable black-box watermarks into FL. Based on the problem, we propose a novel server-side watermarking method, $\mathbf{TraMark}$, which creates a traceable watermarked model for each client, enabling verification of model leakage in black-box settings. To achieve this, $\mathbf{TraMark}$ partitions the model parameter space into two distinct regions: the main task region and the watermarking region. Subsequently, a personalized global model is constructed for each client by aggregating only the main task region while preserving the watermarking region. Each model then learns a unique watermark exclusively within the watermarking region using a distinct watermark dataset before being sent back to the local client. Extensive results across various FL systems demonstrate that $\mathbf{TraMark}$ ensures the traceability of all watermarked models while preserving their main task performance.

Chaoquan Jiang, Yunfan Yang, Rui Hu et al.

Prompt tuning of Vision-Language Models (VLMs) such as CLIP, has demonstrated the ability to rapidly adapt to various downstream tasks. However, recent studies indicate that tuned VLMs may suffer from the problem of spurious correlations, where the model relies on spurious features (e.g. background and gender) in the data. This may lead to the model having worse robustness in out-of-distribution data. Standard methods for eliminating spurious correlation typically require us to know the spurious attribute labels of each sample, which is hard in the real world. In this work, we explore improving the group robustness of prompt tuning in VLMs without relying on manual annotation of spurious features. We notice the zero - shot image recognition ability of VLMs and use this ability to identify spurious features, thus avoiding the cost of manual annotation. By leveraging pseudo-spurious attribute annotations, we further propose a method to automatically adjust the training weights of different groups. Extensive experiments show that our approach efficiently improves the worst-group accuracy on CelebA, Waterbirds, and MetaShift datasets, achieving the best robustness gap between the worst-group accuracy and the overall accuracy.

Chaoquan Jiang, Jinqiang Wang, Rui Hu et al.

Vision models with high overall accuracy often exhibit systematic errors in specific scenarios, posing potential serious safety concerns. Diagnosing bugs of vision models is gaining increased attention, however traditional diagnostic approaches require annotation efforts (eg rich metadata accompanying each samples of CelebA). To address this issue,We propose a language-assisted diagnostic method that uses texts instead of images to diagnose bugs in vision models based on multi-modal models (eg CLIP). Our approach connects the embedding space of CLIP with the buggy vision model to be diagnosed; meanwhile, utilizing a shared classifier and the cross-modal transferability of embedding space from CLIP, the text-branch of CLIP become a proxy model to find bugs in the buggy model. The proxy model can classify texts paired with images. During the diagnosis, a Large Language Model (LLM) is employed to obtain task-relevant corpora, and this corpora is used to extract keywords. Descriptions constructed with templates containing these keywords serve as input text to probe errors in the proxy model. Finally, we validate the ability to diagnose existing visual models using language on the Waterbirds and CelebA datasets, we can identify bugs comprehensible to human experts, uncovering not only known bugs but also previously unknown ones.

Rui Hu, Jitao Sang, Jinqiang Wang et al.

Deep network models perform excellently on In-Distribution (ID) data, but can significantly fail on Out-Of-Distribution (OOD) data. While developing methods focus on improving OOD generalization, few attention has been paid to evaluating the capability of models to handle OOD data. This study is devoted to analyzing the problem of experimental ID test and designing OOD test paradigm to accurately evaluate the practical performance. Our analysis is based on an introduced categorization of three types of distribution shifts to generate OOD data. Main observations include: (1) ID test fails in neither reflecting the actual performance of a single model nor comparing between different models under OOD data. (2) The ID test failure can be ascribed to the learned marginal and conditional spurious correlations resulted from the corresponding distribution shifts. Based on this, we propose novel OOD test paradigms to evaluate the generalization capacity of models to unseen data, and discuss how to use OOD test results to find bugs of models to guide model debugging.

Ming Liang, Bin Yang, Yun Chen et al.

In this paper we propose to exploit multiple related tasks for accurate multi-sensor 3D object detection. Towards this goal we present an end-to-end learnable architecture that reasons about 2D and 3D object detection as well as ground estimation and depth completion. Our experiments show that all these tasks are complementary and help the network learn better representations by fusing information at various levels. Importantly, our approach leads the KITTI benchmark on 2D, 3D and BEV object detection, while being real time.

Davi Frossard, Simon Suo, Sergio Casas et al.

Many modern robotics systems employ LiDAR as their main sensing modality due to its geometrical richness. Rolling shutter LiDARs are particularly common, in which an array of lasers scans the scene from a rotating base. Points are emitted as a stream of packets, each covering a sector of the 360° coverage. Modern perception algorithms wait for the full sweep to be built before processing the data, which introduces an additional latency. For typical 10Hz LiDARs this will be 100ms. As a consequence, by the time an output is produced, it no longer accurately reflects the state of the world. This poses a challenge, as robotics applications require minimal reaction times, such that maneuvers can be quickly planned in the event of a safety-critical situation. In this paper we propose StrObe, a novel approach that minimizes latency by ingesting LiDAR packets and emitting a stream of detections without waiting for the full sweep to be built. StrObe reuses computations from previous packets and iteratively updates a latent spatial representation of the scene, which acts as a memory, as new evidence comes in, resulting in accurate low-latency perception. We demonstrate the effectiveness of our approach on a large scale real-world dataset, showing that StrObe far outperforms the state-of-the-art when latency is taken into account, and matches the performance in the traditional setting.

Zhidong Gao, Rui Hu, Yanmin Gong

Graph classification has practical applications in diverse fields. Recent studies show that graph-based machine learning models are especially vulnerable to adversarial perturbations due to the non i.i.d nature of graph data. By adding or deleting a small number of edges in the graph, adversaries could greatly change the graph label predicted by a graph classification model. In this work, we propose to build a smoothed graph classification model with certified robustness guarantee. We have proven that the resulting graph classification model would output the same prediction for a graph under $l_0$ bounded adversarial perturbation. We also evaluate the effectiveness of our approach under graph convolutional network (GCN) based multi-class graph classification model.

Rui Hu, Yanmin Gong

Federated Learning rests on the notion of training a global model distributedly on various devices. Under this setting, users' devices perform computations on their own data and then share the results with the cloud server to update the global model. A fundamental issue in such systems is to effectively incentivize user participation. The users suffer from privacy leakage of their local data during the federated model training process. Without well-designed incentives, self-interested users will be unwilling to participate in federated learning tasks and contribute their private data. To bridge this gap, in this paper, we adopt the game theory to design an effective incentive mechanism, which selects users that are most likely to provide reliable data and compensates for their costs of privacy leakage. We formulate our problem as a two-stage Stackelberg game and solve the game's equilibrium. Effectiveness of the proposed mechanism is demonstrated by extensive simulations.

Rui Hu, Yanmin Gong, Yuanxiong Guo

Federated learning (FL) enables distributed agents to collaboratively learn a centralized model without sharing their raw data with each other. However, data locality does not provide sufficient privacy protection, and it is desirable to facilitate FL with rigorous differential privacy (DP) guarantee. Existing DP mechanisms would introduce random noise with magnitude proportional to the model size, which can be quite large in deep neural networks. In this paper, we propose a new FL framework with sparsification-amplified privacy. Our approach integrates random sparsification with gradient perturbation on each agent to amplify privacy guarantee. Since sparsification would increase the number of communication rounds required to achieve a certain target accuracy, which is unfavorable for DP guarantee, we further introduce acceleration techniques to help reduce the privacy cost. We rigorously analyze the convergence of our approach and utilize Renyi DP to tightly account the end-to-end DP guarantee. Extensive experiments on benchmark datasets validate that our approach outperforms previous differentially-private FL approaches in both privacy guarantee and communication efficiency.

Ming Liang, Bin Yang, Rui Hu et al.

We propose a motion forecasting model that exploits a novel structured map representation as well as actor-map interactions. Instead of encoding vectorized maps as raster images, we construct a lane graph from raw map data to explicitly preserve the map structure. To capture the complex topology and long range dependencies of the lane graph, we propose LaneGCN which extends graph convolutions with multiple adjacency matrices and along-lane dilation. To capture the complex interactions between actors and maps, we exploit a fusion network consisting of four types of interactions, actor-to-lane, lane-to-lane, lane-to-actor and actor-to-actor. Powered by LaneGCN and actor-map interactions, our model is able to predict accurate and realistic multi-modal trajectories. Our approach significantly outperforms the state-of-the-art on the large scale Argoverse motion forecasting benchmark.

Nemanja Djuric, Henggang Cui, Zhaoen Su et al.

One of the critical pieces of the self-driving puzzle is understanding the surroundings of a self-driving vehicle (SDV) and predicting how these surroundings will change in the near future. To address this task we propose MultiXNet, an end-to-end approach for detection and motion prediction based directly on lidar sensor data. This approach builds on prior work by handling multiple classes of traffic actors, adding a jointly trained second-stage trajectory refinement step, and producing a multimodal probability distribution over future actor motion that includes both multiple discrete traffic behaviors and calibrated continuous position uncertainties. The method was evaluated on large-scale, real-world data collected by a fleet of SDVs in several cities, with the results indicating that it outperforms existing state-of-the-art approaches.

Ming Liang, Bin Yang, Wenyuan Zeng et al.

We tackle the problem of joint perception and motion forecasting in the context of self-driving vehicles. Towards this goal we propose PnPNet, an end-to-end model that takes as input sequential sensor data, and outputs at each time step object tracks and their future trajectories. The key component is a novel tracking module that generates object tracks online from detections and exploits trajectory level features for motion forecasting. Specifically, the object tracks get updated at each time step by solving both the data association problem and the trajectory estimation problem. Importantly, the whole model is end-to-end trainable and benefits from joint optimization of all tasks. We validate PnPNet on two large-scale driving datasets, and show significant improvements over the state-of-the-art with better occlusion recovery and more accurate future prediction.

Rui Hu, Yuanxiong Guo, Yanmin Gong

Federated learning is a machine learning setting where a set of edge devices collaboratively train a model under the orchestration of a central server without sharing their local data. At each communication round of federated learning, edge devices perform multiple steps of stochastic gradient descent with their local data and then upload the computation results to the server for model update. During this process, the challenge of privacy leakage arises due to the information exchange between edge devices and the server when the server is not fully trusted. While some previous privacy-preserving mechanisms could readily be used for federated learning, they usually come at a high cost on convergence of the algorithm and utility of the learned model. In this paper, we develop a federated learning approach that addresses the privacy challenge without much degradation on model utility through a combination of local gradient perturbation, secure aggregation, and zero-concentrated differential privacy (zCDP). We provide a tight end-to-end privacy guarantee of our approach and analyze its theoretical convergence rates. Through extensive numerical experiments on real-world datasets, we demonstrate the effectiveness of our proposed method and show its superior trade-off between privacy and model utility.

Rui Hu, Yuanxiong Guo, E. Paul. Ratazzi et al.

With the proliferation of smart devices having built-in sensors, Internet connectivity, and programmable computation capability in the era of Internet of things (IoT), tremendous data is being generated at the network edge. Federated learning is capable of analyzing the large amount of data from a distributed set of smart devices without requiring them to upload their data to a central place. However, the commonly-used federated learning algorithm is based on stochastic gradient descent (SGD) and not suitable for resource-constrained IoT environments due to its high communication resource requirement. Moreover, the privacy of sensitive data on smart devices has become a key concern and needs to be protected rigorously. This paper proposes a novel federated learning framework called DP-PASGD for training a machine learning model efficiently from the data stored across resource-constrained smart devices in IoT while guaranteeing differential privacy. The optimal schematic design of DP-PASGD that maximizes the learning performance while satisfying the limits on resource cost and privacy loss is formulated as an optimization problem, and an approximate solution method based on the convergence analysis of DP-PASGD is developed to solve the optimization problem efficiently. Numerical results based on real-world datasets verify the effectiveness of the proposed DP-PASGD scheme.

Wei-Chiu Ma, Shenlong Wang, Rui Hu et al.

In this paper we tackle the problem of scene flow estimation in the context of self-driving. We leverage deep learning techniques as well as strong priors as in our application domain the motion of the scene can be composed by the motion of the robot and the 3D motion of the actors in the scene. We formulate the problem as energy minimization in a deep structured model, which can be solved efficiently in the GPU by unrolling a Gaussian-Newton solver. Our experiments in the challenging KITTI scene flow dataset show that we outperform the state-of-the-art by a very large margin, while being 800 times faster.