CoDTS: Enhancing Sparsely Supervised Collaborative Perception with a Dual Teacher-Student Framework

Current collaborative perception methods often rely on fully annotated datasets, which can be expensive to obtain in practical situations. To reduce annotation costs, some works adopt sparsely supervised learning techniques and generate pseudo labels for the missing instances. However, these methods fail to achieve an optimal confidence threshold that harmonizes the quality and quantity of pseudo labels. To address this issue, we propose an end-to-end Collaborative perception Dual Teacher-Student framework (CoDTS), which employs adaptive complementary learning to produce both high-quality and high-quantity pseudo labels. Specifically, the Main Foreground Mining (MFM) module generates high-quality pseudo labels based on the prediction of the static teacher. Subsequently, the Supplement Foreground Mining (SFM) module ensures a balance between the quality and quantity of pseudo labels by adaptively identifying missing instances based on the prediction of the dynamic teacher. Additionally, the Neighbor Anchor Sampling (NAS) module is incorporated to enhance the representation of pseudo labels. To promote the adaptive complementary learning, we implement a staged training strategy that trains the student and dynamic teacher in a mutually beneficial manner. Extensive experiments demonstrate that the CoDTS effectively ensures an optimal balance of pseudo labels in both quality and quantity, establishing a new state-of-the-art in sparsely supervised collaborative perception.

A Tutorial of Personalized Federated Recommender Systems: Recent Advances and Future Directions

Personalization stands as the cornerstone of recommender systems (RecSys), striving to sift out redundant information and offer tailor-made services for users. However, the conventional cloud-based RecSys necessitates centralized data collection, posing significant risks of user privacy breaches. In response to this challenge, federated recommender systems (FedRecSys) have emerged, garnering considerable attention. FedRecSys enable users to retain personal data locally and solely share model parameters with low privacy sensitivity for global model training, significantly bolstering the system's privacy protection capabilities. Within the distributed learning framework, the pronounced non-iid nature of user behavior data introduces fresh hurdles to federated optimization. Meanwhile, the ability of federated learning to concurrently learn multiple models presents an opportunity for personalized user modeling. Consequently, the development of personalized FedRecSys (PFedRecSys) is crucial and holds substantial significance. This tutorial seeks to provide an introduction to PFedRecSys, encompassing (1) an overview of existing studies on PFedRecSys, (2) a comprehensive taxonomy of PFedRecSys spanning four pivotal research directions-client-side adaptation, server-side aggregation, communication efficiency, privacy and protection, and (3) exploration of open challenges and promising future directions in PFedRecSys. This tutorial aims to establish a robust foundation and spark new perspectives for subsequent exploration and practical implementations in the evolving realm of RecSys.

GrassNet: State Space Model Meets Graph Neural Network

Designing spectral convolutional networks is a formidable task in graph learning. In traditional spectral graph neural networks (GNNs), polynomial-based methods are commonly used to design filters via the Laplacian matrix. In practical applications, however, these polynomial methods encounter inherent limitations, which primarily arise from the the low-order truncation of polynomial filters and the lack of overall modeling of the graph spectrum. This leads to poor performance of existing spectral approaches on real-world graph data, especially when the spectrum is highly concentrated or contains many numerically identical values, as they tend to apply the exact same modulation to signals with the same frequencies. To overcome these issues, in this paper, we propose Graph State Space Network (GrassNet), a novel graph neural network with theoretical support that provides a simple yet effective scheme for designing and learning arbitrary graph spectral filters. In particular, our GrassNet introduces structured state space models (SSMs) to model the correlations of graph signals at different frequencies and derives a unique rectification for each frequency in the graph spectrum. To the best of our knowledge, our work is the first to employ SSMs for the design of GNN spectral filters, and it theoretically offers greater expressive power compared with polynomial filters. Extensive experiments on nine public benchmarks reveal that GrassNet achieves superior performance in real-world graph modeling tasks.

Beyond Similarity: Personalized Federated Recommendation with Composite Aggregation

Federated recommendation aims to collect global knowledge by aggregating local models from massive devices, to provide recommendations while ensuring privacy. Current methods mainly leverage aggregation functions invented by federated vision community to aggregate parameters from similar clients, e.g., clustering aggregation. Despite considerable performance, we argue that it is suboptimal to apply them to federated recommendation directly. This is mainly reflected in the disparate model architectures. Different from structured parameters like convolutional neural networks in federated vision, federated recommender models usually distinguish itself by employing one-to-one item embedding table. Such a discrepancy induces the challenging embedding skew issue, which continually updates the trained embeddings but ignores the non-trained ones during aggregation, thus failing to predict future items accurately. To this end, we propose a personalized Federated recommendation model with Composite Aggregation (FedCA), which not only aggregates similar clients to enhance trained embeddings, but also aggregates complementary clients to update non-trained embeddings. Besides, we formulate the overall learning process into a unified optimization algorithm to jointly learn the similarity and complementarity. Extensive experiments on several real-world datasets substantiate the effectiveness of our proposed model. The source codes are available at https://github.com/hongleizhang/FedCA.

DFA-GNN: Forward Learning of Graph Neural Networks by Direct Feedback Alignment

Graph neural networks are recognized for their strong performance across various applications, with the backpropagation algorithm playing a central role in the development of most GNN models. However, despite its effectiveness, BP has limitations that challenge its biological plausibility and affect the efficiency, scalability and parallelism of training neural networks for graph-based tasks. While several non-BP training algorithms, such as the direct feedback alignment, have been successfully applied to fully-connected and convolutional network components for handling Euclidean data, directly adapting these non-BP frameworks to manage non-Euclidean graph data in GNN models presents significant challenges. These challenges primarily arise from the violation of the i.i.d. assumption in graph data and the difficulty in accessing prediction errors for all samples (nodes) within the graph. To overcome these obstacles, in this paper we propose DFA-GNN, a novel forward learning framework tailored for GNNs with a case study of semi-supervised learning. The proposed method breaks the limitations of BP by using a dedicated forward training mechanism. Specifically, DFA-GNN extends the principles of DFA to adapt to graph data and unique architecture of GNNs, which incorporates the information of graph topology into the feedback links to accommodate the non-Euclidean characteristics of graph data. Additionally, for semi-supervised graph learning tasks, we developed a pseudo error generator that spreads residual errors from training data to create a pseudo error for each unlabeled node. These pseudo errors are then utilized to train GNNs using DFA. Extensive experiments on 10 public benchmarks reveal that our learning framework outperforms not only previous non-BP methods but also the standard BP methods, and it exhibits excellent robustness against various types of noise and attacks.

TransFR: Transferable Federated Recommendation with Pre-trained Language Models

Federated recommendations (FRs), facilitating multiple local clients to collectively learn a global model without disclosing user private data, have emerged as a prevalent architecture for privacy-preserving recommendations. In conventional FRs, a dominant paradigm is to utilize discrete identities to represent users/clients and items, which are subsequently mapped to domain-specific embeddings to participate in model training. Despite considerable performance, we reveal three inherent limitations that can not be ignored in federated settings, i.e., non-transferability across domains, unavailability in cold-start settings, and potential privacy violations during federated training. To this end, we propose a transferable federated recommendation model with universal textual representations, TransFR, which delicately incorporates the general capabilities empowered by pre-trained language models and the personalized abilities by fine-tuning local private data. Specifically, it first learns domain-agnostic representations of items by exploiting pre-trained models with public textual corpora. To tailor for federated recommendation, we further introduce an efficient federated fine-tuning and a local training mechanism. This facilitates personalized local heads for each client by utilizing their private behavior data. By incorporating pre-training and fine-tuning within FRs, it greatly improves the adaptation efficiency transferring to a new domain and the generalization capacity to address cold-start issues. Through extensive experiments on several datasets, we demonstrate that our TransFR model surpasses several state-of-the-art FRs in terms of accuracy, transferability, and privacy.

Bridging the Gap: Multi-Level Cross-Modality Joint Alignment for Visible-Infrared Person Re-Identification

Visible-Infrared person Re-IDentification (VI-ReID) is a challenging cross-modality image retrieval task that aims to match pedestrians' images across visible and infrared cameras. To solve the modality gap, existing mainstream methods adopt a learning paradigm converting the image retrieval task into an image classification task with cross-entropy loss and auxiliary metric learning losses. These losses follow the strategy of adjusting the distribution of extracted embeddings to reduce the intra-class distance and increase the inter-class distance. However, such objectives do not precisely correspond to the final test setting of the retrieval task, resulting in a new gap at the optimization level. By rethinking these keys of VI-ReID, we propose a simple and effective method, the Multi-level Cross-modality Joint Alignment (MCJA), bridging both modality and objective-level gap. For the former, we design the Modality Alignment Augmentation, which consists of three novel strategies, the weighted grayscale, cross-channel cutmix, and spectrum jitter augmentation, effectively reducing modality discrepancy in the image space. For the latter, we introduce a new Cross-Modality Retrieval loss. It is the first work to constrain from the perspective of the ranking list, aligning with the goal of the testing stage. Moreover, based on the global feature only, our method exhibits good performance and can serve as a strong baseline method for the VI-ReID community.

SSC3OD: Sparsely Supervised Collaborative 3D Object Detection from LiDAR Point Clouds

Collaborative 3D object detection, with its improved interaction advantage among multiple agents, has been widely explored in autonomous driving. However, existing collaborative 3D object detectors in a fully supervised paradigm heavily rely on large-scale annotated 3D bounding boxes, which is labor-intensive and time-consuming. To tackle this issue, we propose a sparsely supervised collaborative 3D object detection framework SSC3OD, which only requires each agent to randomly label one object in the scene. Specifically, this model consists of two novel components, i.e., the pillar-based masked autoencoder (Pillar-MAE) and the instance mining module. The Pillar-MAE module aims to reason over high-level semantics in a self-supervised manner, and the instance mining module generates high-quality pseudo labels for collaborative detectors online. By introducing these simple yet effective mechanisms, the proposed SSC3OD can alleviate the adverse impacts of incomplete annotations. We generate sparse labels based on collaborative perception datasets to evaluate our method. Extensive experiments on three large-scale datasets reveal that our proposed SSC3OD can effectively improve the performance of sparsely supervised collaborative 3D object detectors.

The Cascaded Forward Algorithm for Neural Network Training

Backpropagation algorithm has been widely used as a mainstream learning procedure for neural networks in the past decade, and has played a significant role in the development of deep learning. However, there exist some limitations associated with this algorithm, such as getting stuck in local minima and experiencing vanishing/exploding gradients, which have led to questions about its biological plausibility. To address these limitations, alternative algorithms to backpropagation have been preliminarily explored, with the Forward-Forward (FF) algorithm being one of the most well-known. In this paper we propose a new learning framework for neural networks, namely Cascaded Forward (CaFo) algorithm, which does not rely on BP optimization as that in FF. Unlike FF, our framework directly outputs label distributions at each cascaded block, which does not require generation of additional negative samples and thus leads to a more efficient process at both training and testing. Moreover, in our framework each block can be trained independently, so it can be easily deployed into parallel acceleration systems. The proposed method is evaluated on four public image classification benchmarks, and the experimental results illustrate significant improvement in prediction accuracy in comparison with the baseline.

Collaborative Perception in Autonomous Driving: Methods, Datasets and Challenges

Collaborative perception is essential to address occlusion and sensor failure issues in autonomous driving. In recent years, deep learning on collaborative perception has become even thriving, with numerous methods have been proposed. Although some works have reviewed and analyzed the basic architecture and key components in this field, there is still a lack of reviews on systematical collaboration modules in perception networks and large-scale collaborative perception datasets. The primary goal of this work is to address the abovementioned issues and provide a comprehensive review of recent achievements in this field. First, we introduce fundamental technologies and collaboration schemes. Following that, we provide an overview of practical collaborative perception methods and systematically summarize the collaboration modules in networks to improve collaboration efficiency and performance while also ensuring collaboration robustness and safety. Then, we present large-scale public datasets and summarize quantitative results on these benchmarks. Finally, we discuss the remaining challenges and promising future research directions.