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GraphPAS: Parallel Architecture Search for Graph Neural Networks
Dec 07, 2021
Graph neural architecture search has received a lot of attention as Graph Neural Networks (GNNs) has been successfully applied on the non-Euclidean data recently. However, exploring all possible GNNs architectures in the huge search space is too time-consuming or impossible for big graph data. In this paper, we propose a parallel graph architecture search (GraphPAS) framework for graph neural networks. In GraphPAS, we explore the search space in parallel by designing a sharing-based evolution learning, which can improve the search efficiency without losing the accuracy. Additionally, architecture information entropy is adopted dynamically for mutation selection probability, which can reduce space exploration. The experimental result shows that GraphPAS outperforms state-of-art models with efficiency and accuracy simultaneously.
Zoom-In-to-Check: Boosting Video Interpolation via Instance-level Discrimination
Dec 04, 2018
We propose a light-weight video frame interpolation algorithm. Our key innovation is an instance-level supervision that allows information to be learned from the high-resolution version of similar objects. Our experiment shows that the proposed method can generate state-of-art results across different datasets, with fractional computation resources (time and memory) with competing methods. Given two image frames, a cascade network creates an intermediate frame with 1) a flow-warping module that computes large bi-directional optical flow and creates an interpolated image via flow-based warping, followed by 2) an image synthesis module to make fine-scale corrections. In the learning stage, object detection proposals are generated on the interpolated image. Lower resolution objects are zoomed into, and the learning algorithms using an adversarial loss trained on high-resolution objects to guide the system towards the instance-level refinement corrects details of object shape and boundaries. As all our proposed network modules are fully convolutional, our proposed system can be trained end-to-end.
Realtime Time Synchronized Event-based Stereo
Oct 18, 2018
In this work, we propose a novel event based stereo method which addresses the problem of motion blur for a moving event camera. Our method uses the velocity of the camera and a range of disparities to synchronize the positions of the events, as if they were captured at a single point in time. We represent these events using a pair of novel time synchronized event disparity volumes, which we show remove motion blur for pixels at the correct disparity in the volume, while further blurring pixels at the wrong disparity. We then apply a novel matching cost over these time synchronized event disparity volumes, which both rewards similarity between the volumes while penalizing blurriness. We show that our method outperforms more expensive, smoothing based event stereo methods, by evaluating on the Multi Vehicle Stereo Event Camera dataset.
* 13 pages, 3 figures, 1 table. Video: https://youtu.be/4oa7e4hsrYo. Updated with final version with additional experiments
DoraPicker: An Autonomous Picking System for General Objects
Mar 21, 2016
Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both picking and placing general objects in warehouse scenarios. Given a target object, the robot autonomously detects it from a shelf or a table and estimates its full 6D pose. With this pose information, the robot picks the object using its gripper, and then places it into a container or at a specified location. We describe our pick-and-place system in detail while highlighting our design principles for the warehouse settings, including the perception method that leverages knowledge about its workspace, three grippers designed to handle a large variety of different objects in terms of shape, weight and material, and grasp planning in cluttered scenarios. We also present extensive experiments to evaluate the performance of our picking system and demonstrate that the robot is competent to accomplish various tasks in warehouse settings, such as picking a target item from a tight space, grasping different objects from the shelf, and performing pick-and-place tasks on the table.