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Applications · Chemistry and Drug Discovery

Bowen Gao, Haichuan Tan, Yanwen Huang, Minsi Ren, Xiao Huang, Wei-Ying Ma, Ya-Qin Zhang, Yanyan Lan

Recent advances in structure-based drug design (SBDD) have produced surprising results, with models often generating molecules that achieve better Vina docking scores than actual ligands. However, these results are frequently overly optimistic due to the limitations of docking score accuracy and the challenges of wet-lab validation. While generated molecules may demonstrate high QED (drug-likeness) and SA (synthetic accessibility) scores, they often lack true drug-like properties or synthesizability. To address these limitations, we propose a model-level evaluation framework that emphasizes practical metrics aligned with real-world applications. Inspired by recent findings on the utility of generated molecules in ligand-based virtual screening, our framework evaluates SBDD models by their ability to produce molecules that effectively retrieve active compounds from chemical libraries via similarity-based searches. This approach provides a direct indication of therapeutic potential, bridging the gap between theoretical performance and real-world utility. Our experiments reveal that while SBDD models may excel in theoretical metrics like Vina scores, they often fall short in these practical metrics. By introducing this new evaluation strategy, we aim to enhance the relevance and impact of SBDD models for pharmaceutical research and development.

Applications · Chemistry and Drug Discovery

Zhengxi Lu, Shizhuo Cheng, Yuru Jiang, Yan Zhang, Min Zhang

Recent advances in protein backbone generation have achieved promising results under structural, functional, or physical constraints. However, existing methods lack the flexibility for precise topology control, limiting navigation of the backbone space. We present $\textbf{ProtPainter}$, a diffusion-based approach for generating protein backbones conditioned on 3D curves. ProtPainter follows a two-stage process: curve-based sketching and sketch-guided backbone generation. For the first stage, we propose $\textbf{CurveEncoder}$, which predicts secondary structure annotations from a curve to parametrize sketch generation. For the second stage, the sketch guides the generative process in Denoising Diffusion Probabilistic Modeling (DDPM) to generate backbones. During the process, we further introduce a fusion scheduling scheme, Helix-Gating, to control the scaling factors. To evaluate, we propose the first benchmark for topology-conditioned protein generation, introducing Protein Restoration Task and a new metric, self-consistency Topology Fitness (scTF). Experiments demonstrate ProtPainter's ability to generate topology-fit (scTF $>$ 0.8) and designable (scTM $>$ 0.5) backbones, with drawing and dragging tasks showcasing its flexibility and versatility.

Theory · Everything Else

Milad Khademi Nori, IL-MIN KIM, Guanghui Wang

Federated Class-Incremental Learning (FCIL) refers to a scenario where a dynamically changing number of clients collaboratively learn an ever-increasing number of incoming tasks. FCIL is known to suffer from local forgetting due to class imbalance at each client and global forgetting due to class imbalance across clients. We develop a mathematical framework for FCIL that formulates local and global forgetting. Then, we propose an approach called Hybrid Rehearsal (HR), which utilizes latent exemplars and data-free techniques to address local and global forgetting, respectively. HR employs a customized autoencoder designed for both data classification and the generation of synthetic data. To determine the embeddings of new tasks for all clients in the latent space of the encoder, the server uses the Lennard-Jones Potential formulations. Meanwhile, at the clients, the decoder decodes the stored low-dimensional latent space exemplars back to the high-dimensional input space, used to address local forgetting. To overcome global forgetting, the decoder generates synthetic data. Furthermore, our mathematical framework proves that our proposed approach HR can, in principle, tackle the two local and global forgetting challenges. In practice, extensive experiments demonstrate that while preserving privacy, our proposed approach outperforms the state-of-the-art baselines on multiple FCIL benchmarks with low compute and memory footprints.

Social Aspects · Accountability, Transparency and Interpretability

Katie Matton, Robert Ness, John Guttag, Emre Kiciman

Large language models (LLMs) are capable of generating *plausible* explanations of how they arrived at an answer to a question. However, these explanations can misrepresent the model's "reasoning" process, i.e., they can be *unfaithful*. This, in turn, can lead to over-trust and misuse. We introduce a new approach for measuring the faithfulness of LLM explanations. First, we provide a rigorous definition of faithfulness. Since LLM explanations mimic human explanations, they often reference high-level *concepts* in the input question that purportedly influenced the model. We define faithfulness in terms of the difference between the set of concepts that the LLM's *explanations imply* are influential and the set that *truly* are. Second, we present a novel method for estimating faithfulness that is based on: (1) using an auxiliary LLM to modify the values of concepts within model inputs to create realistic counterfactuals, and (2) using a hierarchical Bayesian model to quantify the causal effects of concepts at both the example- and dataset-level. Our experiments show that our method can be used to quantify and discover interpretable patterns of unfaithfulness. On a social bias task, we uncover cases where LLM explanations hide the influence of social bias. On a medical question answering task, we uncover cases where LLM explanations provide misleading claims about which pieces of evidence influenced the model's decisions.

Applications · Computer Vision

Xinchen Zhang, Ling Yang, Guohao Li, YaQi Cai, xie jiake, Yong Tang, Yujiu Yang, Mengdi Wang, Bin CUI

Advanced diffusion models like Stable Diffusion 3, Omost, and FLUX have made notable strides in compositional text-to-image generation. However, these methods typically exhibit distinct strengths for compositional generation, with some excelling in handling attribute binding and others in spatial relationships. This disparity highlights the need for an approach that can leverage the complementary strengths of various models to comprehensively improve the composition capability. To this end, we introduce IterComp, a novel framework that aggregates composition-aware model preferences from multiple models and employs an iterative feedback learning approach to enhance compositional generation. Specifically, we curate a gallery of six powerful open-source diffusion models and evaluate their three key compositional metrics: attribute binding, spatial relationships, and non-spatial relationships. Based on these metrics, we develop a composition-aware model preference dataset comprising numerous image-rank pairs to train composition-aware reward models. Then, we propose an iterative feedback learning method to enhance compositionality in a closed-loop manner, enabling the progressive self-refinement of both the base diffusion model and reward models over multiple iterations. Detailed theoretical proof demonstrates the effectiveness of this method. Extensive experiments demonstrate our significant superiority over previous methods, particularly in multi-category object composition and complex semantic alignment. IterComp opens new research avenues in reward feedback learning for diffusion models and compositional generation. Code: https://github.com/YangLing0818/IterComp

Deep Learning · Large Language Models

Haoxian Chen, Hanyang Zhao, Henry Lam, David Yao, Wenpin Tang

Direct Preference Optimization (DPO) has recently emerged as a popular approach to improve reinforcement learning from human feedback (RLHF), leading to better techniques to fine-tune large language models (LLM). A weakness of DPO, however, lies in its lack of capability to characterize the diversity of human preferences. Inspired by Mallows' theory of preference ranking, we develop in this paper a new approach, the *MallowsPO*. A distinct feature of this approach is a *dispersion index*, which reflects the dispersion of human preference to prompts. We show that existing DPO models can be reduced to special cases of this dispersion index, thus unified with MallowsPO. More importantly, we demonstrate empirically how to use this dispersion index to enhance the performance of DPO in a broad array of benchmark tasks, from synthetic bandit selection to controllable generation and dialogues, while maintaining great generalization capabilities. MallowsPO is also compatible with other SOTA offline preference optimization methods, boosting nearly 2\% extra LC win rate when used as a plugin for fine-tuning Llama3-Instruct.

Deep Learning · Large Language Models

Tao Feng, Yanzhen Shen, Jiaxuan You

The rapidly growing number and variety of Large Language Models (LLMs)present significant challenges in efficiently selecting the appropriate LLM fora given query, especially considering the trade-offs between performance andcomputational cost. Current LLM selection methods often struggle to generalizeacross new LLMs and different tasks because of their limited ability to leveragecontextual interactions among tasks, queries, and LLMs, as well as their depen-dence on a transductive learning framework. To address these shortcomings, weintroduce a novel inductive graph framework, named as GraphRouter, whichfully utilizes the contextual information among tasks, queries, and LLMs to en-hance the LLM selection process. GraphRouter constructs a heterogeneousgraph comprising task, query, and LLM nodes, with interactions represented asedges, which efficiently captures the contextual information between the query’srequirements and the LLM’s capabilities. Through an innovative edge predictionmechanism, GraphRouter is able to predict attributes (the effect and cost ofLLM response) of potential edges, allowing for optimized recommendations thatadapt to both existing and newly introduced LLMs without requiring retraining.Comprehensive experiments across three distinct effect-cost weight scenarios haveshown that GraphRouter substantially surpasses existing routers, delivering aminimum performance improvement of 12.3%. In addition, it achieves enhancedgeneralization across new LLMs settings and supports diverse tasks with at least a9.5% boost in effect and a significant reduction in computational demands. Thiswork endeavors to apply a graph-based approach for the contextual and adaptiveselection of LLMs, offering insights for real-world applications.

Social Aspects · Trustworthy Machine Learning

Shahriar Rifat, Jonathan Ashdown, Michael De Lucia, Ananthram Swami, Francesco Restuccia

Despite the success of Test-time adaptation (TTA), recent work has shown that adding relatively small adversarial perturbations to a limited number of samples leads to significant performance degradation. Therefore, it is crucial to rigorously evaluate existing TTA algorithms against relevant threats and implement appropriate security countermeasures. Importantly, existing threat models assume test-time samples will be labeled, which is impractical in real-world scenarios. To address this gap, we propose a new attack algorithm that does not rely onaccess to labeled test samples, thus providing a concrete way to assess the security vulnerabilities of TTA algorithms. Our attack design is grounded in theoretical foundations and can generate strong attacks against different state of the art TTA methods. In addition, we show that existing defense mechanisms are almost ineffective, which emphasizes the need for further research on TTA security. Through extensive experiments on CIFAR10-C, CIFAR100-C, and ImageNet-C, we demonstrate that our proposed approach closely matches the performance of state-of-the-art attack benchmarks, even without access to labeled samples. In certain cases, our approach generates stronger attacks, e.g., more than 4% higher error rate on CIFAR10-C.

Applications · Time Series

Hui Chen, Viet Luong, Lopamudra Mukherjee, Vikas Singh

The versatility of large Transformer-based models has led to many efforts focused on adaptations to other modalities, including time-series data. For instance, one could start from a pre-trained checkpoint of a large language model and attach adapters to recast the new modality (e.g., time-series) as ``language''. Alternatively, one can use a suitably large Transformer-based model, and make some modifications for time-series data. These ideas offer good performance across available benchmarks. But temporal data are quite heterogeneous (e.g., wearable sensors, physiological measurements in healthcare), and unlike text/image corpus, much of it is not publicly available. So, these models need a fair bit of domain-specific fine-tuning to achieve good performance -- this is often expensive or difficult with limited resources. In this paper, we study and characterize the performance profile of a non-generalist approach: our SimpleTM model is specialized for multivariate time-series forecasting. By simple, we mean that the model is lightweight. It is restricted to tokenization based on textbook signal processing ideas (shown to be effective in vision) which are then allowed to attend/interact: via self-attention but also via ways that are a bit more general than dot-product attention, accomplished via basic geometric algebra operations. We show that even a single- or two-layer model gives results that are competitive with much bigger models, including large transformer-based architectures,on most benchmarks commonly reported in the literature.

Applications · Computer Vision

Zhibing Li, Tong Wu, Jing Tan, Mengchen Zhang, Jiaqi Wang, Dahua Lin

Capturing geometric and material information from images remains a fundamental challenge in computer vision and graphics. Traditional optimization-based methods often require hours of computational time to reconstruct geometry, material properties, and environmental lighting from dense multi-view inputs, while still struggling with inherent ambiguities between lighting and material. On the other hand, learning-based approaches leverage rich material priors from existing 3D object datasets but face challenges with maintaining multi-view consistency.In this paper, we introduce IDArb, a diffusion-based model designed to perform intrinsic decomposition on an arbitrary number of images under varying illuminations. Our method achieves highly accurate and multi-view consistent estimation on surface normals and material properties. This is made possible through a novel cross-view, cross-domain attention module and an illumination-augmented, view-adaptive training strategy. Additionally, we introduce ARB-Objaverse, a new dataset that provides large-scale multi-view intrinsic data and renderings under diverse lighting conditions, supporting robust training.Extensive experiments demonstrate that IDArb outperforms state-of-the-art methods both qualitatively and quantitatively. Moreover, our approach facilitates a range of downstream tasks, including single-image relighting, photometric stereo, and 3D reconstruction, highlighting its broad applicability in realistic 3D content creation.Project website: https://lizb6626.github.io/IDArb/.

Applications · Computer Vision

Siyu Sun, Han Lu, Jiangtong Li, Yichen Xie, Tianjiao Li, Xiaokang Yang, Liqing Zhang, Junchi Yan

In the field of long-tailed recognition, the Decoupled Training paradigm has shown exceptional promise by dividing training into two stages: representation learning and classifier re-training. While previous work has tried to improve both stages simultaneously, this complicates isolating the effect of classifier re-training. Recent studies reveal that simple regularization can produce strong feature representations, highlighting the need to reassess classifier re-training methods. In this study, we revisit classifier re-training methods based on a unified feature representation and re-evaluate their performances. We propose two new metrics, Logits Magnitude and Regularized Standard Deviation, to compare the differences and similarities between various methods. Using these two newly proposed metrics, we demonstrate that when the Logits Magnitude across classes is nearly balanced, further reducing its overall value can effectively decrease errors and disturbances during training, leading to better model performance. Based on our analysis using these metrics, we observe that adjusting the logits could improve model performance, leading us to develop a simple label over-smoothing approach to adjust the logits without requiring prior knowledge of class distribution.This method softens the original one-hot labels by assigning a probability slightly higher than $\frac{1}{K}$ to the true class and slightly lower than $\frac{1}{K}$ to the other classes, where $K$ is the number of classes.Our method achieves state-of-the-art performance on various imbalanced datasets, including CIFAR100-LT, ImageNet-LT, and iNaturalist2018.

Probabilistic Methods · Structure Learning

Hamid Kalantari, Russell Greiner, Pouria Ramazi

Learning the structure of Bayesian networks is a fundamental yet computationally intensive task, especially as the number of variables grows. Traditional algorithms require retraining from scratch when new variables are introduced, making them impractical for dynamic or large-scale applications. In this paper, we propose an extendable structure learning strategy that efficiently incorporates a new variable $Y$ into an existing Bayesian network graph $\mathcal{G}$ over variables $\mathcal{X}$, resulting in an updated P-map graph $\bar{\mathcal{G}}$ on $\bar{\mathcal{X}} = \mathcal{X} \cup \{Y\}$. By leveraging the information encoded in $\mathcal{G}$, our method significantly reduces computational overhead compared to learning $\bar{\mathcal{G}}$ from scratch. Empirical evaluations demonstrate runtime reductions of up to 1300x without compromising accuracy. Building on this approach, we introduce a novel iterative paradigm for structure learning over $\mathcal{X}$. Starting with a small subset $\mathcal{U} \subset \mathcal{X}$, we iteratively add the remaining variables using our extendable algorithms to construct a P-map graph over the full set. This method offers runtime advantages comparable to common algorithms while maintaining similar accuracy. Our contributions provide a scalable solution for Bayesian network structure learning, enabling efficient model updates in real-time and high-dimensional settings.

Miscellaneous Aspects of Machine Learning · Transfer, Multitask and Meta-learning

Minh Le, Chau Nguyen, Huy Nguyen, Quyen Tran, Trung Le, Nhat Ho

Prompt-based techniques, such as prompt-tuning and prefix-tuning, have gained prominence for their efficiency in fine-tuning large pre-trained models. Despite their widespread adoption, the theoretical foundations of these methods remain limited. For instance, in prefix-tuning, we observe that a key factor in achieving performance parity with full fine-tuning lies in the reparameterization strategy. However, the theoretical principles underpinning the effectiveness of this approach have yet to be thoroughly examined. Our study demonstrates that reparameterization is not merely an engineering trick but is grounded in deep theoretical foundations. Specifically, we show that the reparameterization strategy implicitly encodes a shared structure between prefix key and value vectors. Building on recent insights into the connection between prefix-tuning and mixture of experts models, we further illustrate that this shared structure significantly improves sample efficiency in parameter estimation compared to non-shared alternatives. The effectiveness of prefix-tuning across diverse tasks is empirically confirmed to be enhanced by the shared structure, through extensive experiments in both visual and language domains. Additionally, we uncover similar structural benefits in prompt-tuning, offering new perspectives on its success. Our findings provide theoretical and empirical contributions, advancing the understanding of prompt-based methods and their underlying mechanisms.

Augustinos Saravanos, Hunter Kuperman, Alex Oshin, Arshiya Taj Abdul, Vincent Pacelli, Evangelos Theodorou

Quadratic programming (QP) forms a crucial foundation in optimization, appearing in a broad spectrum of domains and serving as the basis for more advanced algorithms. Consequently, as the scale and complexity of modern applications continue to grow, the development of efficient and reliable QP algorithms becomes increasingly vital. In this context, this paper introduces a novel deep learning-aided distributed optimization architecture designed for tackling large-scale QP problems. First, we combine the state-of-the-art Operator Splitting QP (OSQP) method with a consensus approach to derive **DistributedQP**, a new method tailored for network-structured problems, with convergence guarantees to optimality. Subsequently, we unfold this optimizer into a deep learning framework, leading to **DeepDistributedQP**, which leverages learned policies to accelerate reaching to desired accuracy within a restricted amount of iterations. Our approach is also theoretically grounded through Probably Approximately Correct (PAC)-Bayes theory, providing generalization bounds on the expected optimality gap for unseen problems. The proposed framework, as well as its centralized version **DeepQP**, significantly outperform their standard optimization counterparts on a variety of tasks such as randomly generated problems, optimal control, linear regression, transportation networks and others. Notably, DeepDistributedQP demonstrates strong generalization by training on small problems and scaling to solve much larger ones (up to 50K variables and 150K constraints) using the same policy. Moreover, it achieves orders-of-magnitude improvements in wall-clock time compared to OSQP. The certifiable performance guarantees of our approach are also demonstrated, ensuring higher-quality solutions over traditional optimizers.

Optimization · Non-Convex

Wei Yao, Haian Yin, Shangzhi Zeng, Jin Zhang

Constrained bilevel optimization tackles nested structures present in constrained learning tasks like constrained meta-learning, adversarial learning, and distributed bilevel optimization. However, existing bilevel optimization methods mostly are typically restricted to specific constraint settings, such as linear lower-level constraints. In this work, we overcome this limitation and develop a new single-loop, Hessian-free constrained bilevel algorithm capable of handling more general lower-level constraints. We achieve this by employing a doubly regularized gap function tailored to the constrained lower-level problem, transforming constrained bilevel optimization into an equivalent single-level optimization problem with a single smooth constraint. We rigorously establish the non-asymptotic convergence analysis of the proposed algorithm under the convexity of lower-level problem, avoiding the need for strong convexity assumptions on the lower-level objective or coupling convexity assumptions on lower-level constraints found in existing literature. Additionally, the generality of our method allows for its extension to bilevel optimization with minimax lower-level problem. We evaluate the effectiveness and efficiency of our algorithm on various synthetic problems, typical hyperparameter learning tasks, and generative adversarial network.

Reinforcement Learning · Everything Else

Sascha Marton, Tim Grams, Florian Vogt, Stefan Lüdtke, Christian Bartelt, Heiner Stuckenschmidt

Reinforcement learning (RL) has seen significant success across various domains, but its adoption is often limited by the black-box nature of neural network policies, making them difficult to interpret. In contrast, symbolic policies allow representing decision-making strategies in a compact and interpretable way. However, learning symbolic policies directly within on-policy methods remains challenging.In this paper, we introduce SYMPOL, a novel method for SYMbolic tree-based on-POLicy RL. SYMPOL employs a tree-based model integrated with a policy gradient method, enabling the agent to learn and adapt its actions while maintaining a high level of interpretability.We evaluate SYMPOL on a set of benchmark RL tasks, demonstrating its superiority over alternative tree-based RL approaches in terms of performance and interpretability. Unlike existing methods, it enables gradient-based, end-to-end learning of interpretable, axis-aligned decision trees within standard on-policy RL algorithms. Therefore, SYMPOL can become the foundation for a new class of interpretable RL based on decision trees. Our implementation is available under: https://github.com/s-marton/sympol

Reinforcement Learning · Batch/Offline

Emilien Biré, Anthony Kobanda, Ludovic Denoyer, Rémy Portelas

Developing agents for complex and underspecified tasks, where no clear objective exists, remains challenging but offers many opportunities. This is especially true in video games, where simulated players (bots) need to play realistically, and there is no clear reward to evaluate them. While imitation learning has shown promise in such domains, these methods often fail when agents encounter out-of-distribution scenarios during deployment. Expanding the training dataset is a common solution, but it becomes impractical or costly when relying on human demonstrations. This article addresses active imitation learning, aiming to trigger expert intervention only when necessary, reducing the need for constant expert input along training. We introduce Random Network Distillation DAgger (RND-DAgger), a new active imitation learning method that limits expert querying by using a learned state-based out-of-distribution measure to trigger interventions. This approach avoids frequent expert-agent action comparisons, thus making the expert intervene only when it is useful. We evaluate RND-DAgger against traditional imitation learning and other active approaches in 3D video games (racing and third-person navigation) and in a robotic locomotion task and show that RND-DAgger surpasses previous methods by reducing expert queries.https://sites.google.com/view/rnd-dagger

Theory · Active Learning and Interactive Learning

Michelle Zhao, Henny Admoni, Reid Simmons, Aaditya Ramdas, Andrea Bajcsy

In interactive imitation learning (IL), uncertainty quantification offers a way for the learner (i.e. robot) to contend with distribution shifts encountered during deployment by actively seeking additional feedback from an expert (i.e. human) online. Prior works use mechanisms like ensemble disagreement or Monte Carlo dropout to quantify when black-box IL policies are uncertain; however, these approaches can lead to overconfident estimates when faced with deployment-time distribution shifts. Instead, we contend that we need uncertainty quantification algorithms that can leverage the expert human feedback received during deployment time to adapt the robot's uncertainty online. To tackle this, we draw upon online conformal prediction, a distribution-free method for constructing prediction intervals online given a stream of ground-truth labels. Human labels, however, are intermittent in the interactive IL setting. Thus, from the conformal prediction side, we introduce a novel uncertainty quantification algorithm called intermittent quantile tracking (IQT) that leverages a probabilistic model of intermittent labels, maintains asymptotic coverage guarantees, and empirically achieves desired coverage levels. From the interactive IL side, we develop ConformalDAgger, a new approach wherein the robot uses prediction intervals calibrated by IQT as a reliable measure of deployment-time uncertainty to actively query for more expert feedback. We compare ConformalDAgger to prior uncertainty-aware DAgger methods in scenarios where the distribution shift is (and isn't) present because of changes in the expert's policy. We find that in simulated and hardware deployments on a 7DOF robotic manipulator, ConformalDAgger detects high uncertainty when the expert shifts and increases the number of interventions compared to baselines, allowing the robot to more quickly learn the new behavior.

Chen Sun, Renat Aksitov, Andrey Zhmoginov, Nolan Miller, Max Vladymyrov, Ulrich Rueckert, Been Kim, Mark Sandler

Large language models continually learn through the accumulation of gradient-based updates, but how individual pieces of new information affect existing knowledge, leading to both beneficial generalization and problematic hallucination, remains poorly understood. We demonstrate that when learning new information, LLMs exhibit a "priming" effect: learning a new fact can cause the model to inappropriately apply that knowledge in unrelated contexts.To systematically study this phenomenon, we introduce "Outlandish," a carefully curated dataset of 1320 diverse text samples designed to probe how new knowledge permeates through an LLM's existing knowledge base. Using this dataset, we show that the degree of priming after learning new information can be predicted by measuring the token probability of key words before training. This relationship holds robustly across different model architectures (PALM-2, Gemma, Llama), sizes, and training stages.Finally, we develop two novel techniques to modulate how new knowledge affects existing model behavior: (1) a ``stepping-stone'' text augmentation strategy and (2) an ``ignore-k'' update pruning method. These approaches reduce undesirable priming effects by 50-95% while preserving the model's ability to learn new information. Our findings provide both empirical insights into how LLMs learn and practical tools for improving the specificity of knowledge insertion in language models. Further materials: https://sunchipsster1.github.io/projects/outlandish/

Applications · Computer Vision

Alejandro Newell, Peiyun Hu, Lahav Lipson, Stephan Richter, Vladlen Koltun

We introduce an approach for detecting and tracking detailed 3D poses of multiple people from a single monocular camera stream. Our system maintains temporally coherent predictions in crowded scenes filled with difficult poses and occlusions. Our model performs both strong per-frame detection and a learned pose update to track people from frame to frame. Rather than match detections across time, poses are updated directly from a new input image, which enables online tracking through occlusion. We train on numerous image and video datasets leveraging pseudo-labeled annotations to produce a model that matches state-of-the-art systems in 3D pose estimation accuracy while being faster and more accurate in tracking multiple people through time.