Xiangyu Chen

Ruihan Wu, Xiangyu Chen, Chuan Guo et al.

Gradient inversion attack enables recovery of training samples from model gradients in federated learning (FL), and constitutes a serious threat to data privacy. To mitigate this vulnerability, prior work proposed both principled defenses based on differential privacy, as well as heuristic defenses based on gradient compression as countermeasures. These defenses have so far been very effective, in particular those based on gradient compression that allow the model to maintain high accuracy while greatly reducing the effectiveness of attacks. In this work, we argue that such findings underestimate the privacy risk in FL. As a counterexample, we show that existing defenses can be broken by a simple adaptive attack, where a model trained on auxiliary data is able to invert gradients on both vision and language tasks.

Katie Z Luo, Zhenzhen Liu, Xiangyu Chen et al.

Recent advances in machine learning have shown that Reinforcement Learning from Human Feedback (RLHF) can improve machine learning models and align them with human preferences. Although very successful for Large Language Models (LLMs), these advancements have not had a comparable impact in research for autonomous vehicles -- where alignment with human expectations can be imperative. In this paper, we propose to adapt similar RL-based methods to unsupervised object discovery, i.e. learning to detect objects from LiDAR points without any training labels. Instead of labels, we use simple heuristics to mimic human feedback. More explicitly, we combine multiple heuristics into a simple reward function that positively correlates its score with bounding box accuracy, i.e., boxes containing objects are scored higher than those without. We start from the detector's own predictions to explore the space and reinforce boxes with high rewards through gradient updates. Empirically, we demonstrate that our approach is not only more accurate, but also orders of magnitudes faster to train compared to prior works on object discovery.

Yuhang Zheng, Xiangyu Chen, Yupeng Zheng et al.

Constructing a 3D scene capable of accommodating open-ended language queries, is a pivotal pursuit, particularly within the domain of robotics. Such technology facilitates robots in executing object manipulations based on human language directives. To tackle this challenge, some research efforts have been dedicated to the development of language-embedded implicit fields. However, implicit fields (e.g. NeRF) encounter limitations due to the necessity of processing a large number of input views for reconstruction, coupled with their inherent inefficiencies in inference. Thus, we present the GaussianGrasper, which utilizes 3D Gaussian Splatting to explicitly represent the scene as a collection of Gaussian primitives. Our approach takes a limited set of RGB-D views and employs a tile-based splatting technique to create a feature field. In particular, we propose an Efficient Feature Distillation (EFD) module that employs contrastive learning to efficiently and accurately distill language embeddings derived from foundational models. With the reconstructed geometry of the Gaussian field, our method enables the pre-trained grasping model to generate collision-free grasp pose candidates. Furthermore, we propose a normal-guided grasp module to select the best grasp pose. Through comprehensive real-world experiments, we demonstrate that GaussianGrasper enables robots to accurately query and grasp objects with language instructions, providing a new solution for language-guided manipulation tasks. Data and codes can be available at https://github.com/MrSecant/GaussianGrasper.

Xiangyu Zhao, Zhiwang Zhou, Wenlong Zhang et al.

The Earth's weather system encompasses intricate weather data modalities and diverse weather understanding tasks, which hold significant value to human life. Existing data-driven models focus on single weather understanding tasks (e.g., weather forecasting). Although these models have achieved promising results, they fail to tackle various complex tasks within a single and unified model. Moreover, the paradigm that relies on limited real observations for a single scenario hinders the model's performance upper bound. In response to these limitations, we draw inspiration from the in-context learning paradigm employed in state-of-the-art visual foundation models and large language models. In this paper, we introduce the first generalist weather foundation model (WeatherGFM), designed to address a wide spectrum of weather understanding tasks in a unified manner. More specifically, we initially unify the representation and definition of the diverse weather understanding tasks. Subsequently, we devised weather prompt formats to manage different weather data modalities, namely single, multiple, and temporal modalities. Finally, we adopt a visual prompting question-answering paradigm for the training of unified weather understanding tasks. Extensive experiments indicate that our WeatherGFM can effectively handle up to ten weather understanding tasks, including weather forecasting, super-resolution, weather image translation, and post-processing. Our method also showcases generalization ability on unseen tasks.

Xi Mo, Xiangyu Chen, Cuncong Zhong et al.

Mean field approximation methodology has laid the foundation of modern Continuous Random Field (CRF) based solutions for the refinement of semantic segmentation. In this paper, we propose to relax the hard constraint of mean field approximation - minimizing the energy term of each node from probabilistic graphical model, by a global optimization with the proposed dilated sparse convolution module (DSConv). In addition, adaptive global average-pooling and adaptive global max-pooling are implemented as replacements of fully connected layers. In order to integrate DSConv, we design an end-to-end, time-efficient DilatedCRF pipeline. The unary energy term is derived either from pre-softmax and post-softmax features, or the predicted affordance map using a conventional classifier, making it easier to implement DilatedCRF for varieties of classifiers. We also present superior experimental results of proposed approach on the suction dataset comparing to other CRF-based approaches.

Xiangyu Chen, Guanghui Wang

Human beings can recognize new objects with only a few labeled examples, however, few-shot learning remains a challenging problem for machine learning systems. Most previous algorithms in few-shot learning only utilize spatial information of the images. In this paper, we propose to integrate the frequency information into the learning model to boost the discrimination ability of the system. We employ Discrete Cosine Transformation (DCT) to generate the frequency representation, then, integrate the features from both the spatial domain and frequency domain for classification. The proposed strategy and its effectiveness are validated with different backbones, datasets, and algorithms. Extensive experiments demonstrate that the frequency information is complementary to the spatial representations in few-shot classification. The classification accuracy is boosted significantly by integrating features from both the spatial and frequency domains in different few-shot learning tasks.

Hongxin Wei, Lei Feng, Xiangyu Chen et al.

Deep Learning with noisy labels is a practically challenging problem in weakly supervised learning. The state-of-the-art approaches "Decoupling" and "Co-teaching+" claim that the "disagreement" strategy is crucial for alleviating the problem of learning with noisy labels. In this paper, we start from a different perspective and propose a robust learning paradigm called JoCoR, which aims to reduce the diversity of two networks during training. Specifically, we first use two networks to make predictions on the same mini-batch data and calculate a joint loss with Co-Regularization for each training example. Then we select small-loss examples to update the parameters of both two networks simultaneously. Trained by the joint loss, these two networks would be more and more similar due to the effect of Co-Regularization. Extensive experimental results on corrupted data from benchmark datasets including MNIST, CIFAR-10, CIFAR-100 and Clothing1M demonstrate that JoCoR is superior to many state-of-the-art approaches for learning with noisy labels.