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3D neural networks are widely used in real-world applications (e.g., AR/VR headsets, self-driving cars). They are required to be fast and accurate; however, limited hardware resources on edge devices make these requirements rather challenging. Previous work processes 3D data using either voxel-based or point-based neural networks, but both types of 3D models are not hardware-efficient due to the large memory footprint and random memory access. In this paper, we study 3D deep learning from the efficiency perspective. We first systematically analyze the bottlenecks of previous 3D methods. We then combine the best from point-based and voxel-based models together and propose a novel hardware-efficient 3D primitive, Point-Voxel Convolution (PVConv). We further enhance this primitive with the sparse convolution to make it more effective in processing large (outdoor) scenes. Based on our designed 3D primitive, we introduce 3D Neural Architecture Search (3D-NAS) to explore the best 3D network architecture given a resource constraint. We evaluate our proposed method on six representative benchmark datasets, achieving state-of-the-art performance with 1.8-23.7x measured speedup. Furthermore, our method has been deployed to the autonomous racing vehicle of MIT Driverless, achieving larger detection range, higher accuracy and lower latency., Comment: Journal extension of arXiv:1907.03739 and arXiv:2007.16100 (IEEE TPAMI, 2021). The first two authors contributed equally to this work

Landslides are notoriously difficult to predict because numerous spatially and temporally varying factors contribute to slope stability. Artificial neural networks (ANN) have been shown to improve prediction accuracy but are largely uninterpretable. Here we introduce an additive ANN optimization framework to assess landslide susceptibility, as well as dataset division and outcome interpretation techniques. We refer to our approach, which features full interpretability, high accuracy, high generalizability and low model complexity, as superposable neural network (SNN) optimization. We validate our approach by training models on landslide inventory from three different easternmost Himalaya regions. Our SNN outperformed physically-based and statistical models and achieved similar performance to state-of-the-art deep neural networks. The SNN models found the product of slope and precipitation and hillslope aspect to be important primary contributors to high landslide susceptibility, which highlights the importance of strong slope-climate couplings, along with microclimates, on landslide occurrences., Comment: 79 pages (including SI section); 8 main figures; 12 supplementary figures; 9 supplementary tables