DEL: Discrete Element Learner for Learning 3D Particle Dynamics with Neural Rendering

Learning-based simulators show great potential for simulating particle dynamics when 3D groundtruth is available, but per-particle correspondences are not always accessible. The development of neural rendering presents a new solution to this field to learn 3D dynamics from 2D images by inverse rendering. However, existing approaches still suffer from ill-posed natures resulting from the 2D to 3D uncertainty, for example, specific 2D images can correspond with various 3D particle distributions. To mitigate such uncertainty, we consider a conventional, mechanically interpretable framework as the physical priors and extend it to a learning-based version. In brief, we incorporate the learnable graph kernels into the classic Discrete Element Analysis (DEA) framework to implement a novel mechanics-integrated learning system. In this case, the graph network kernels are only used for approximating some specific mechanical operators in the DEA framework rather than the whole dynamics mapping. By integrating the strong physics priors, our methods can effectively learn the dynamics of various materials from the partial 2D observations in a unified manner. Experiments show that our approach outperforms other learned simulators by a large margin in this context and is robust to different renderers, fewer training samples, and fewer camera views.

Predictive Control and Regret Analysis of Non-Stationary MDP with Look-ahead Information

Policy design in non-stationary Markov Decision Processes (MDPs) is inherently challenging due to the complexities introduced by time-varying system transition and reward, which make it difficult for learners to determine the optimal actions for maximizing cumulative future rewards. Fortunately, in many practical applications, such as energy systems, look-ahead predictions are available, including forecasts for renewable energy generation and demand. In this paper, we leverage these look-ahead predictions and propose an algorithm designed to achieve low regret in non-stationary MDPs by incorporating such predictions. Our theoretical analysis demonstrates that, under certain assumptions, the regret decreases exponentially as the look-ahead window expands. When the system prediction is subject to error, the regret does not explode even if the prediction error grows sub-exponentially as a function of the prediction horizon. We validate our approach through simulations, confirming the efficacy of our algorithm in non-stationary environments.

Debiasing Graph Representation Learning based on Information Bottleneck

Graph representation learning has shown superior performance in numerous real-world applications, such as finance and social networks. Nevertheless, most existing works might make discriminatory predictions due to insufficient attention to fairness in their decision-making processes. This oversight has prompted a growing focus on fair representation learning. Among recent explorations on fair representation learning, prior works based on adversarial learning usually induce unstable or counterproductive performance. To achieve fairness in a stable manner, we present the design and implementation of GRAFair, a new framework based on a variational graph auto-encoder. The crux of GRAFair is the Conditional Fairness Bottleneck, where the objective is to capture the trade-off between the utility of representations and sensitive information of interest. By applying variational approximation, we can make the optimization objective tractable. Particularly, GRAFair can be trained to produce informative representations of tasks while containing little sensitive information without adversarial training. Experiments on various real-world datasets demonstrate the effectiveness of our proposed method in terms of fairness, utility, robustness, and stability.

PFGS: High Fidelity Point Cloud Rendering via Feature Splatting

Rendering high-fidelity images from sparse point clouds is still challenging. Existing learning-based approaches suffer from either hole artifacts, missing details, or expensive computations. In this paper, we propose a novel framework to render high-quality images from sparse points. This method first attempts to bridge the 3D Gaussian Splatting and point cloud rendering, which includes several cascaded modules. We first use a regressor to estimate Gaussian properties in a point-wise manner, the estimated properties are used to rasterize neural feature descriptors into 2D planes which are extracted from a multiscale extractor. The projected feature volume is gradually decoded toward the final prediction via a multiscale and progressive decoder. The whole pipeline experiences a two-stage training and is driven by our well-designed progressive and multiscale reconstruction loss. Experiments on different benchmarks show the superiority of our method in terms of rendering qualities and the necessities of our main components.

Learning Flexible Time-windowed Granger Causality Integrating Heterogeneous Interventional Time Series Data

Granger causality, commonly used for inferring causal structures from time series data, has been adopted in widespread applications across various fields due to its intuitive explainability and high compatibility with emerging deep neural network prediction models. To alleviate challenges in better deciphering causal structures unambiguously from time series, the use of interventional data has become a practical approach. However, existing methods have yet to be explored in the context of imperfect interventions with unknown targets, which are more common and often more beneficial in a wide range of real-world applications. Additionally, the identifiability issues of Granger causality with unknown interventional targets in complex network models remain unsolved. Our work presents a theoretically-grounded method that infers Granger causal structure and identifies unknown targets by leveraging heterogeneous interventional time series data. We further illustrate that learning Granger causal structure and recovering interventional targets can mutually promote each other. Comparative experiments demonstrate that our method outperforms several robust baseline methods in learning Granger causal structure from interventional time series data.

Diving into Underwater: Segment Anything Model Guided Underwater Salient Instance Segmentation and A Large-scale Dataset

With the breakthrough of large models, Segment Anything Model (SAM) and its extensions have been attempted to apply in diverse tasks of computer vision. Underwater salient instance segmentation is a foundational and vital step for various underwater vision tasks, which often suffer from low segmentation accuracy due to the complex underwater circumstances and the adaptive ability of models. Moreover, the lack of large-scale datasets with pixel-level salient instance annotations has impeded the development of machine learning techniques in this field. To address these issues, we construct the first large-scale underwater salient instance segmentation dataset (USIS10K), which contains 10,632 underwater images with pixel-level annotations in 7 categories from various underwater scenes. Then, we propose an Underwater Salient Instance Segmentation architecture based on Segment Anything Model (USIS-SAM) specifically for the underwater domain. We devise an Underwater Adaptive Visual Transformer (UA-ViT) encoder to incorporate underwater domain visual prompts into the segmentation network. We further design an out-of-the-box underwater Salient Feature Prompter Generator (SFPG) to automatically generate salient prompters instead of explicitly providing foreground points or boxes as prompts in SAM. Comprehensive experimental results show that our USIS-SAM method can achieve superior performance on USIS10K datasets compared to the state-of-the-art methods. Datasets and codes are released on https://github.com/LiamLian0727/USIS10K.

Query-based Semantic Gaussian Field for Scene Representation in Reinforcement Learning

Latent scene representation plays a significant role in training reinforcement learning (RL) agents. To obtain good latent vectors describing the scenes, recent works incorporate the 3D-aware latent-conditioned NeRF pipeline into scene representation learning. However, these NeRF-related methods struggle to perceive 3D structural information due to the inefficient dense sampling in volumetric rendering. Moreover, they lack fine-grained semantic information included in their scene representation vectors because they evenly consider free and occupied spaces. Both of them can destroy the performance of downstream RL tasks. To address the above challenges, we propose a novel framework that adopts the efficient 3D Gaussian Splatting (3DGS) to learn 3D scene representation for the first time. In brief, we present the Query-based Generalizable 3DGS to bridge the 3DGS technique and scene representations with more geometrical awareness than those in NeRFs. Moreover, we present the Hierarchical Semantics Encoding to ground the fine-grained semantic features to 3D Gaussians and further distilled to the scene representation vectors. We conduct extensive experiments on two RL platforms including Maniskill2 and Robomimic across 10 different tasks. The results show that our method outperforms the other 5 baselines by a large margin. We achieve the best success rates on 8 tasks and the second-best on the other two tasks.

Learning to Stabilize Unknown LTI Systems on a Single Trajectory under Stochastic Noise

We study the problem of learning to stabilize unknown noisy Linear Time-Invariant (LTI) systems on a single trajectory. It is well known in the literature that the learn-to-stabilize problem suffers from exponential blow-up in which the state norm blows up in the order of $\Theta(2^n)$ where $n$ is the state space dimension. This blow-up is due to the open-loop instability when exploring the $n$-dimensional state space. To address this issue, we develop a novel algorithm that decouples the unstable subspace of the LTI system from the stable subspace, based on which the algorithm only explores and stabilizes the unstable subspace, the dimension of which can be much smaller than $n$. With a new singular-value-decomposition(SVD)-based analytical framework, we prove that the system is stabilized before the state norm reaches $2^{O(k \log n)}$, where $k$ is the dimension of the unstable subspace. Critically, this bound avoids exponential blow-up in state dimension in the order of $\Theta(2^n)$ as in the previous works, and to the best of our knowledge, this is the first paper to avoid exponential blow-up in dimension for stabilizing LTI systems with noise.

EvGGS: A Collaborative Learning Framework for Event-based Generalizable Gaussian Splatting

Event cameras offer promising advantages such as high dynamic range and low latency, making them well-suited for challenging lighting conditions and fast-moving scenarios. However, reconstructing 3D scenes from raw event streams is difficult because event data is sparse and does not carry absolute color information. To release its potential in 3D reconstruction, we propose the first event-based generalizable 3D reconstruction framework, called EvGGS, which reconstructs scenes as 3D Gaussians from only event input in a feedforward manner and can generalize to unseen cases without any retraining. This framework includes a depth estimation module, an intensity reconstruction module, and a Gaussian regression module. These submodules connect in a cascading manner, and we collaboratively train them with a designed joint loss to make them mutually promote. To facilitate related studies, we build a novel event-based 3D dataset with various material objects and calibrated labels of grayscale images, depth maps, camera poses, and silhouettes. Experiments show models that have jointly trained significantly outperform those trained individually. Our approach performs better than all baselines in reconstruction quality, and depth/intensity predictions with satisfactory rendering speed.

A Simple Approach to Differentiable Rendering of SDFs

We present a simple algorithm for differentiable rendering of surfaces represented by Signed Distance Fields (SDF), which makes it easy to integrate rendering into gradient-based optimization pipelines. To tackle visibility-related derivatives that make rendering non-differentiable, existing physically based differentiable rendering methods often rely on elaborate guiding data structures or reparameterization with a global impact on variance. In this article, we investigate an alternative that embraces nonzero bias in exchange for low variance and architectural simplicity. Our method expands the lower-dimensional boundary integral into a thin band that is easy to sample when the underlying surface is represented by an SDF. We demonstrate the performance and robustness of our formulation in end-to-end inverse rendering tasks, where it obtains results that are competitive with or superior to existing work.