视觉惯性进程（VIO）是当今大多数AR/VR和自主机器人系统的姿势估计主链，无论是学术界和工业的。但是，这些系统对关键参数的初始化高度敏感，例如传感器偏见，重力方向和度量标准。在实际场景中，很少满足高parallax或可变加速度假设（例如，悬停空中机器人，智能手机AR用户不使用电话打手机的智能手机AR），经典的视觉惯性初始化配方通常会变得不良条件和/或未能有意义地融合。在本文中，我们专门针对这些低兴奋的场景针对野生用法至关重要的视觉惯性初始化。我们建议通过将新的基于学习的测量作为高级输入来规避经典视觉惯性结构（SFM）初始化的局限性。我们利用学到的单眼深度图像（单深度）来限制特征的相对深度，并通过共同优化其尺度和偏移来将单深度升级到度量标尺。我们的实验显示出与视觉惯性初始化的经典配方相比，问题条件有显着改善，并且相对于公共基准的最先进，尤其是在低兴奋的情况下，相对于最先进的表现，具有显着的准确性和鲁棒性提高。我们进一步将这种改进扩展到现有的探射系统中的实现，以说明我们改进的初始化方法对产生跟踪轨迹的影响。

Fast and easy handheld capture with guideline: closest object moves at most D pixels between views Promote sampled views to local light field via layered scene representation Blend neighboring local light fields to render novel views

Coronary Computed Tomography Angiography (CCTA) provides information on the presence, extent, and severity of obstructive coronary artery disease. Large-scale clinical studies analyzing CCTA-derived metrics typically require ground-truth validation in the form of high-fidelity 3D intravascular imaging. However, manual rigid alignment of intravascular images to corresponding CCTA images is both time consuming and user-dependent. Moreover, intravascular modalities suffer from several non-rigid motion-induced distortions arising from distortions in the imaging catheter path. To address these issues, we here present a semi-automatic segmentation-based framework for both rigid and non-rigid matching of intravascular images to CCTA images. We formulate the problem in terms of finding the optimal \emph{virtual catheter path} that samples the CCTA data to recapitulate the coronary artery morphology found in the intravascular image. We validate our co-registration framework on a cohort of $n=40$ patients using bifurcation landmarks as ground truth for longitudinal and rotational registration. Our results indicate that our non-rigid registration significantly outperforms other co-registration approaches for luminal bifurcation alignment in both longitudinal (mean mismatch: 3.3 frames) and rotational directions (mean mismatch: 28.6 degrees). By providing a differentiable framework for automatic multi-modal intravascular data fusion, our developed co-registration modules significantly reduces the manual effort required to conduct large-scale multi-modal clinical studies while also providing a solid foundation for the development of machine learning-based co-registration approaches.

The Information Bottleneck theory provides a theoretical and computational framework for finding approximate minimum sufficient statistics. Analysis of the Stochastic Gradient Descent (SGD) training of a neural network on a toy problem has shown the existence of two phases, fitting and compression. In this work, we analyze the SGD training process of a Deep Neural Network on MNIST classification and confirm the existence of two phases of SGD training. We also propose a setup for estimating the mutual information for a Deep Neural Network through Variational Inference.

Jamdani is the strikingly patterned textile heritage of Bangladesh. The exclusive geometric motifs woven on the fabric are the most attractive part of this craftsmanship having a remarkable influence on textile and fine art. In this paper, we have developed a technique based on the Generative Adversarial Network that can learn to generate entirely new Jamdani patterns from a collection of Jamdani motifs that we assembled, the newly formed motifs can mimic the appearance of the original designs. Users can input the skeleton of a desired pattern in terms of rough strokes and our system finalizes the input by generating the complete motif which follows the geometric structure of real Jamdani ones. To serve this purpose, we collected and preprocessed a dataset containing a large number of Jamdani motifs images from authentic sources via fieldwork and applied a state-of-the-art method called pix2pix to it. To the best of our knowledge, this dataset is currently the only available dataset of Jamdani motifs in digital format for computer vision research. Our experimental results of the pix2pix model on this dataset show satisfactory outputs of computer-generated images of Jamdani motifs and we believe that our work will open a new avenue for further research.

Modern telecom systems are monitored with performance and system logs from multiple application layers and components. Detecting anomalous events from these logs is key to identify security breaches, resource over-utilization, critical/fatal errors, etc. Current supervised log anomaly detection frameworks tend to perform poorly on new types or signatures of anomalies with few or unseen samples in the training data. In this work, we propose a meta-learning-based log anomaly detection framework (LogAnMeta) for detecting anomalies from sequence of log events with few samples. LoganMeta train a hybrid few-shot classifier in an episodic manner. The experimental results demonstrate the efficacy of our proposed method

Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning offer an appealing choice for such settings, as they can enable robots to learn to delicately balance contact forces and dexterously reposition objects without strong modeling assumptions. However, running reinforcement learning on real-world dexterous manipulation systems often requires significant manual engineering. This negates the benefits of autonomous data collection and ease of use that reinforcement learning should in principle provide. In this paper, we describe a system for vision-based dexterous manipulation that provides a "programming-free" approach for users to define new tasks and enable robots with complex multi-fingered hands to learn to perform them through interaction. The core principle underlying our system is that, in a vision-based setting, users should be able to provide high-level intermediate supervision that circumvents challenges in teleoperation or kinesthetic teaching which allow a robot to not only learn a task efficiently but also to autonomously practice. Our system includes a framework for users to define a final task and intermediate sub-tasks with image examples, a reinforcement learning procedure that learns the task autonomously without interventions, and experimental results with a four-finger robotic hand learning multi-stage object manipulation tasks directly in the real world, without simulation, manual modeling, or reward engineering.

Non-parametric tests can determine the better of two stochastic optimization algorithms when benchmarking results are ordinal, like the final fitness values of multiple trials. For many benchmarks, however, a trial can also terminate once it reaches a pre-specified target value. When only some trials reach the target value, two variables characterize a trial's outcome: the time it takes to reach the target value (or not) and its final fitness value. This paper describes a simple way to impose linear order on this two-variable trial data set so that traditional non-parametric methods can determine the better algorithm when neither dominates. We illustrate the method with the Mann-Whitney U-test. A simulation demonstrates that U-scores are much more effective than dominance when tasked with identifying the better of two algorithms. We test U-scores by having them determine the winners of the CEC 2022 Special Session and Competition on Real-Parameter Numerical Optimization.

The one-inclusion graph algorithm of Haussler, Littlestone, and Warmuth achieves an optimal in-expectation risk bound in the standard PAC classification setup. In one of the first COLT open problems, Warmuth conjectured that this prediction strategy always implies an optimal high probability bound on the risk, and hence is also an optimal PAC algorithm. We refute this conjecture in the strongest sense: for any practically interesting Vapnik-Chervonenkis class, we provide an in-expectation optimal one-inclusion graph algorithm whose high probability risk bound cannot go beyond that implied by Markov's inequality. Our construction of these poorly performing one-inclusion graph algorithms uses Varshamov-Tenengolts error correcting codes. Our negative result has several implications. First, it shows that the same poor high-probability performance is inherited by several recent prediction strategies based on generalizations of the one-inclusion graph algorithm. Second, our analysis shows yet another statistical problem that enjoys an estimator that is provably optimal in expectation via a leave-one-out argument, but fails in the high-probability regime. This discrepancy occurs despite the boundedness of the binary loss for which arguments based on concentration inequalities often provide sharp high probability risk bounds.

Computational notebooks, such as Jupyter notebooks, are interactive computing environments that are ubiquitous among data scientists to perform data wrangling and analytic tasks. To measure the performance of AI pair programmers that automatically synthesize programs for those tasks given natural language (NL) intents from users, we build ARCADE, a benchmark of 1082 code generation problems using the pandas data analysis framework in data science notebooks. ARCADE features multiple rounds of NL-to-code problems from the same notebook. It requires a model to understand rich multi-modal contexts, such as existing notebook cells and their execution states as well as previous turns of interaction. To establish a strong baseline on this challenging task, we develop PaChiNCo, a 62B code language model (LM) for Python computational notebooks, which significantly outperforms public code LMs. Finally, we explore few-shot prompting strategies to elicit better code with step-by-step decomposition and NL explanation, showing the potential to improve the diversity and explainability of model predictions.