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Full-Text Articles in Artificial Intelligence and Robotics
3d Semantic Segmentation In The Wild: Learning Generalized Models For Adverse-Condition Point Clouds, Aoran Xiao, Jiaxing Huang, Weihao Xuan, Ruijie Ren, Kangcheng Liu, Dayan Guan, Abdulmotaleb El Saddik, Shijian Lu, Eric Xing
3d Semantic Segmentation In The Wild: Learning Generalized Models For Adverse-Condition Point Clouds, Aoran Xiao, Jiaxing Huang, Weihao Xuan, Ruijie Ren, Kangcheng Liu, Dayan Guan, Abdulmotaleb El Saddik, Shijian Lu, Eric Xing
Computer Vision Faculty Publications
Robust point cloud parsing under all-weather conditions is crucial to level-5 autonomy in autonomous driving. However, how to learn a universal 3D semantic segmentation (3DSS) model is largely neglected as most existing benchmarks are dominated by point clouds captured under normal weather. We introduce SemanticSTF, an adverse-weather point cloud dataset that provides dense point-level annotations and allows to study 3DSS under various adverse weather conditions. We study all-weather 3DSS modeling under two setups: 1) domain adaptive 3DSS that adapts from normal-weather data to adverse-weather data; 2) domain generalizable 3DSS that learns all-weather 3DSS models from normal-weather data. Our studies reveal …
Differentially Private Stochastic Convex Optimization In (Non)-Euclidean Space Revisited, Jinyan Su, Changhong Zhao, Di Wang
Differentially Private Stochastic Convex Optimization In (Non)-Euclidean Space Revisited, Jinyan Su, Changhong Zhao, Di Wang
Machine Learning Faculty Publications
In this paper, we revisit the problem of Differentially Private Stochastic Convex Optimization (DP-SCO) in Euclidean and general `dp spaces. Specifically, we focus on three settings that are still far from well understood: (1) DP-SCO over a constrained and bounded (convex) set in Euclidean space; (2) unconstrained DP-SCO in `dp space; (3) DP-SCO with heavy-tailed data over a constrained and bounded set in `dp space. For problem (1), for both convex and strongly convex loss functions, we propose methods whose outputs could achieve (expected) excess population risks that are only dependent on the Gaussian width of the constraint set, rather …