Mixture of Experts (MoE) pretraining is more scalable than dense Transformer pretraining, because MoEs learn to route inputs to a sparse set of their feedforward parameters. However, this means that MoEs only receive a sparse backward update, leading to training instability and suboptimal performance. We present a lightweight approximation method that gives the MoE router a dense gradient update while continuing to sparsely activate its parameters. Our method, which we refer to as Default MoE, substitutes missing expert activations with default outputs consisting of an exponential moving average of expert outputs previously seen over the course of training. This allows the router to receive signals from every expert for each token, leading to significant improvements in training performance. Our Default MoE outperforms standard TopK routing in a variety of settings without requiring significant computational overhead.

Object re-identification (ReID) from images plays a critical role in application domains of image retrieval (surveillance, retail analytics, etc.) and multi-object tracking (autonomous driving, robotics, etc.). However, systems that additionally or exclusively perceive the world from depth sensors are becoming more commonplace without any corresponding methods for object ReID. In this work, we fill the gap by providing the first large-scale study of object ReID from point clouds and establishing its performance relative to image ReID. To enable such a study, we create two large-scale ReID datasets with paired image and LiDAR observations and propose a lightweight matching head that can be concatenated to any set or sequence processing backbone (e.g., PointNet or ViT), creating a family of comparable object ReID networks for both modalities. Run in Siamese style, our proposed point cloud ReID networks can make thousands of pairwise comparisons in real-time (10 Hz). Our findings demonstrate that their performance increases with higher sensor resolution and approaches that of image ReID when observations are sufficiently dense. Our strongest network trained at the largest scale achieves ReID accuracy exceeding 90% for rigid objects and 85% for deformable objects (without any explicit skeleton normalization). To our knowledge, we are the first to study object re-identification from real point cloud observations. Our code is available at https://github.com/bentherien/point-cloud-reid.

The wavelet scattering transform creates geometric in-variants and deformation stability. In multiple signal do-mains, it has been shown to yield more discriminative rep-resentations compared to other non-learned representations and to outperform learned representations in certain tasks, particularly on limited labeled data and highly structured signals. The wavelet filters used in the scattering trans-form are typically selected to create a tight frame via a pa-rameterized mother wavelet. In this work, we investigate whether this standard wavelet filterbank construction is op-timal. Focusing on Morlet wavelets, we propose to learn the scales, orientations, and aspect ratios of the filters to produce problem-specific parameterizations of the scattering transform. We show that our learned versions of the scattering transform yield significant performance gains in small-sample classification settings over the standard scat-tering transform. Moreover, our empirical results suggest that traditional filterbank constructions may not always be necessary for scattering transforms to extract effective rep-resentations.