Qifeng Chen

Yisheng He, Haoqiang Fan, Haibin Huang et al.

In this work, we tackle the challenging problem of category-level object pose and size estimation from a single depth image. Although previous fully-supervised works have demonstrated promising performance, collecting ground-truth pose labels is generally time-consuming and labor-intensive. Instead, we propose a label-free method that learns to enforce the geometric consistency between category template mesh and observed object point cloud under a self-supervision manner. Specifically, our method consists of three key components: differentiable shape deformation, registration, and rendering. In particular, shape deformation and registration are applied to the template mesh to eliminate the differences in shape, pose and scale. A differentiable renderer is then deployed to enforce geometric consistency between point clouds lifted from the rendered depth and the observed scene for self-supervision. We evaluate our approach on real-world datasets and find that our approach outperforms the simple traditional baseline by large margins while being competitive with some fully-supervised approaches.

Yueqi Xie, Weizhong Zhang, Renjie Pi et al.

Non-IID data distribution across clients and poisoning attacks are two main challenges in real-world federated learning (FL) systems. While both of them have attracted great research interest with specific strategies developed, no known solution manages to address them in a unified framework. To universally overcome both challenges, we propose SmartFL, a generic approach that optimizes the server-side aggregation process with a small amount of proxy data collected by the service provider itself via a subspace training technique. Specifically, the aggregation weight of each participating client at each round is optimized using the server-collected proxy data, which is essentially the optimization of the global model in the convex hull spanned by client models. Since at each round, the number of tunable parameters optimized on the server side equals the number of participating clients (thus independent of the model size), we are able to train a global model with massive parameters using only a small amount of proxy data (e.g., around one hundred samples). With optimized aggregation, SmartFL ensures robustness against both heterogeneous and malicious clients, which is desirable in real-world FL where either or both problems may occur. We provide theoretical analyses of the convergence and generalization capacity for SmartFL. Empirically, SmartFL achieves state-of-the-art performance on both FL with non-IID data distribution and FL with malicious clients. The source code will be released.

Kai Zhang, Jiaxin Xie, Noah Snavely et al.

Depth sensing is a critical component of autonomous driving technologies, but today's LiDAR- or stereo camera-based solutions have limited range. We seek to increase the maximum range of self-driving vehicles' depth perception modules for the sake of better safety. To that end, we propose a novel three-camera system that utilizes small field of view cameras. Our system, along with our novel algorithm for computing metric depth, does not require full pre-calibration and can output dense depth maps with practically acceptable accuracy for scenes and objects at long distances not well covered by most commercial LiDARs.