Semantic scene completion predicts volumetric occupancy and object category of a 3D scene, which helps intelligent agents to understand and interact with the surroundings. In this work, we propose a disentangled framework, sequentially carrying out 2D semantic segmentation, 2D-3D reprojection and 3D semantic scene completion. This three-stage framework has three advantages: (1) explicit semantic segmentation significantly boosts performance; (2) flexible fusion ways of sensor data bring good extensibility; (3) progress in any subtask will promote the holistic performance. Experimental results show that regardless of inputing a single depth or RGB-D, our framework can generate high-quality semantic scene completion, and outperforms state-of-the-art approaches on both synthetic and real datasets.

Model compression is essential for serving large deep neural nets on devices with limited resources or applications that require real-time responses. For advanced NLP problems, a neural language model usually consists of recurrent layers (e.g., using LSTM cells), an embedding matrix for representing input tokens, and a softmax layer for generating output tokens. For problems with a very large vocabulary size, the embedding and the softmax matrices can account for more than half of the model size. For instance, the bigLSTM model achieves state-of-the-art performance on the One-Billion-Word (OBW) dataset with around 800k vocabulary, and its word embedding and softmax matrices use more than 6GBytes space, and are responsible for over 90\% of the model parameters. In this paper, we propose GroupReduce, a novel compression method for neural language models, based on vocabulary-partition (block) based low-rank matrix approximation and the inherent frequency distribution of tokens (the power-law distribution of words). We start by grouping words into $c$ blocks based on their frequency, and then refine the clustering iteratively by constructing weighted low-rank approximation for each block, where the weights are based the frequencies of the words in the block. The experimental results show our method can significantly outperform traditional compression methods such as low-rank approximation and pruning. On the OBW dataset, our method achieved 6.6x compression rate for the embedding and softmax matrices, and when combined with quantization, our method can achieve 26x compression rate without losing prediction accuracy.

Batch-splitting (data-parallelism) is the dominant distributed Deep Neural Network (DNN) training strategy, due to its universal applicability and its amenability to Single-Program-Multiple-Data (SPMD) programming. However, batch-splitting suffers from problems including the inability to train very large models (due to memory constraints), high latency, and inefficiency at small batch sizes. All of these can be solved by more general distribution strategies (model-parallelism). Unfortunately, efficient model-parallel algorithms tend to be complicated to discover, describe, and to implement, particularly on large clusters. We introduce Mesh-TensorFlow, a language for specifying a general class of distributed tensor computations. Where data-parallelism can be viewed as splitting tensors and operations along the "batch" dimension, in Mesh-TensorFlow, the user can specify any tensor-dimensions to be split across any dimensions of a multi-dimensional mesh of processors. A Mesh-TensorFlow graph compiles into a SPMD program consisting of parallel operations coupled with collective communication primitives such as Allreduce. We use Mesh-TensorFlow to implement an efficient data-parallel, model-parallel version of the Transformer sequence-to-sequence model. Using TPU meshes of up to 512 cores, we train Transformer models with up to 5 billion parameters, surpassing SOTA results on WMT'14 English-to-French translation task and the one-billion-word Language modeling benchmark. Mesh-Tensorflow is available at https://github.com/tensorflow/mesh

While recent developments in autonomous vehicle (AV) technology highlight substantial progress, we lack tools for rigorous and scalable testing. Real-world testing, the de facto evaluation environment, places the public in danger, and, due to the rare nature of accidents, will require billions of miles in order to statistically validate performance claims. We implement a simulation framework that can test an entire modern autonomous driving system, including, in particular, systems that employ deep-learning perception and control algorithms. Using adaptive importance-sampling methods to accelerate rare-event probability evaluation, we estimate the probability of an accident under a base distribution governing standard traffic behavior. We demonstrate our framework on a highway scenario, accelerating system evaluation by 2-20 times over naive Monte Carlo sampling methods and 10-300P times (where P is the number of processors) over real-world testing.

Analyzing the structure and function of proteins is a key part of understanding biology at the molecular and cellular level. In addition, a major engineering challenge is to design new proteins in a principled and methodical way. Current computational modeling methods for protein design are slow and often require human oversight and intervention. Here, we apply Generative Adversarial Networks (GANs) to the task of generating protein structures, toward application in fast de novo protein design. We encode protein structures in terms of pairwise distances between alpha-carbons on the protein backbone, which eliminates the need for the generative model to learn translational and rotational symmetries. We then introduce a convex formulation of corruption-robust 3D structure recovery to fold the protein structures from generated pairwise distance maps, and solve these problems using the Alternating Direction Method of Multipliers. We test the effectiveness of our models by predicting completions of corrupted protein structures and show that the method is capable of quickly producing structurally plausible solutions.

Visual Question Answering (VQA) is a notoriously challenging problem because it involves various heterogeneous tasks defined by questions within a unified framework. Learning specialized models for individual types of tasks is intuitively attracting but surprisingly difficult; it is not straightforward to outperform naive independent ensemble approach. We present a principled algorithm to learn specialized models with knowledge distillation under a multiple choice learning (MCL) framework, where training examples are assigned dynamically to a subset of models for updating network parameters. The assigned and non-assigned models are learned to predict ground-truth answers and imitate their own base models before specialization, respectively. Our approach alleviates the limitation of data deficiency in existing MCL frameworks, and allows each model to learn its own specialized expertise without forgetting general knowledge. The proposed framework is model-agnostic and applicable to any tasks other than VQA, e.g., image classification with a large number of labels but few per-class examples, which is known to be difficult under existing MCL schemes. Our experimental results indeed demonstrate that our method outperforms other baselines for VQA and image classification.

We present a novel deep architecture and a training strategy to learn a local feature pipeline from scratch, using collections of images without the need for human supervision. To do so we exploit depth and relative camera pose cues to create a virtual target that the network should achieve on one image, provided the outputs of the network for the other image. While this process is inherently non-differentiable, we show that we can optimize the network in a two-branch setup by confining it to one branch, while preserving differentiability in the other. We train our method on both indoor and outdoor datasets, with depth data from 3D sensors for the former, and depth estimates from an off-the-shelf Structure-from-Motion solution for the latter. Our models outperform the state of the art on sparse feature matching on both datasets, while running at 60+ fps for QVGA images.

We study the problem of fast and efficient classification of sequential data (such as time-series) on tiny devices, which is critical for various IoT related applications like audio keyword detection or gesture detection. Such tasks are cast as a standard classification task by sliding windows over the data stream to construct data points. Deploying such classification modules on tiny devices is challenging as predictions over sliding windows of data need to be invoked continuously at a high frequency. Each such predictor instance in itself is expensive as it evaluates large models over long windows of data. In this paper, we address this challenge by exploiting the following two observations about classification tasks arising in typical IoT related applications: (a) the "signature" of a particular class (e.g. an audio keyword) typically occupies a small fraction of the overall data, and (b) class signatures tend to be discernible early on in the data. We propose a method, EMI-RNN, that exploits these observations by using a multiple instance learning formulation along with an early prediction technique to learn a model that achieves better accuracy compared to baseline models, while simultaneously reducing computation by a large fraction. For instance, on a gesture detection benchmark [ 25 ], EMI-RNN improves standard LSTM model’s accuracy by up to 1% while requiring 72x less computation. This enables us to deploy such models for continuous real-time prediction on a small device such as Raspberry Pi0 and Arduino variants, a task that the baseline LSTM could not achieve. Finally, we also provide an analysis of our multiple instance learning algorithm in a simple setting and show that the proposed algorithm converges to the global optima at a linear rate, one of the first such result in this domain. The code for EMI-RNN is available at: https://github.com/Microsoft/EdgeML/tree/master/tf/examples/EMI-RNN

A fundamental goal of systems neuroscience is to understand how neural activity gives rise to natural behavior. In order to achieve this goal, we must first build comprehensive models that offer quantitative descriptions of behavior. We develop a new class of probabilistic models to tackle this challenge in the study of larval zebrafish, an important model organism for neuroscience. Larval zebrafish locomote via sequences of punctate swim bouts--brief flicks of the tail--which are naturally modeled as a marked point process. However, these sequences of swim bouts belie a set of discrete and continuous internal states, latent variables that are not captured by standard point process models. We incorporate these variables as latent marks of a point process and explore various models for their dynamics. To infer the latent variables and fit the parameters of this model, we develop an amortized variational inference algorithm that targets the collapsed posterior distribution, analytically marginalizing out the discrete latent variables. With a dataset of over 120,000 swim bouts, we show that our models reveal interpretable discrete classes of swim bouts and continuous internal states like hunger that modulate their dynamics. These models are a major step toward understanding the natural behavioral program of the larval zebrafish and, ultimately, its neural underpinnings.

Despite their impressive performance on diverse tasks, neural networks fail catastrophically in the presence of adversarial inputs—imperceptibly but adversarially perturbed versions of natural inputs. We have witnessed an arms race between defenders who attempt to train robust networks and attackers who try to construct adversarial examples. One promise of ending the arms race is developing certified defenses, ones which are provably robust against all attackers in some family. These certified defenses are based on convex relaxations which construct an upper bound on the worst case loss over all attackers in the family. Previous relaxations are loose on networks that are not trained against the respective relaxation. In this paper, we propose a new semidefinite relaxation for certifying robustness that applies to arbitrary ReLU networks. We show that our proposed relaxation is tighter than previous relaxations and produces meaningful robustness guarantees on three different foreign networks whose training objectives are agnostic to our proposed relaxation.