我们提出了一种方法，用于估计具有单个RGB图像的可用3D模型的刚性对象的6DOF姿势。与基于经典对应的方法不同，该方法可以预测输入图像的像素的3D对象坐标，该建议的方法可以预测3D对象坐标在相机frustum中采样的3D查询点。从像素到3D点的移动，这是受到3D重建方法的最新PIFU式方法的启发，可以对整个对象（包括（自我）遮挡部分）进行推理。对于与与像素对齐的图像功能相关的3D查询点，我们训练完全连接的神经网络来预测：（i）相应的3D对象坐标，以及（ii）签名到对象表面的签名距离，首先定义仅适用于地表附近的查询点。我们将该网络实现的映射称为神经通信字段。然后，通过Kabsch-Ransac算法从预测的3D-3D对应关系中稳健地估计对象姿势。所提出的方法在三个BOP数据集上实现了最先进的结果，并且在咬合挑战性案例中表现出了优越。项目网站在：linhuang17.github.io/ncf。

软机器人抓手有助于富含接触的操作，包括对各种物体的强大抓握。然而，软抓手的有益依从性也会导致重大变形，从而使精确的操纵具有挑战性。我们提出视觉压力估计与控制（VPEC），这种方法可以使用外部摄像头的RGB图像施加的软握力施加的压力。当气动抓地力和肌腱握力与平坦的表面接触时，我们为视觉压力推断提供了结果。我们还表明，VPEC可以通过对推断压力图像的闭环控制进行精确操作。在我们的评估中，移动操纵器（来自Hello Robot的拉伸RE1）使用Visual Servoing在所需的压力下进行接触；遵循空间压力轨迹；并掌握小型低调的物体，包括microSD卡，一分钱和药丸。总体而言，我们的结果表明，对施加压力的视觉估计可以使软抓手能够执行精确操作。

人们经常通过双手施加压力来与周围环境互动。虽然可以通过在手和环境之间放置压力传感器来测量手动压力，但这样做可以改变接触力学，干扰人类触觉感知，需要昂贵的传感器，并且对大型环境的扩展很差。我们探索使用常规的RGB摄像头推断手动压力的可能性，从而使机器对无爆炸的手和表面的手动压力感知。中心洞察力是，通过手的施加压力会导致内容丰富的外观变化。手共有生物力学特性，从而产生相似的可观察现象，例如软组织变形，血液分布，手姿势和铸造阴影。我们收集了36位参与者的视频，这些参与者具有不同的肤色，向仪器的平面表面施加压力。然后，我们训练了一个深层模型（压力visionnet），以从单个RGB图像中推断出压力图像。我们的模型会在培训数据外降低给参与者的压力，并且表现优于基准。我们还表明，我们的模型的输出取决于手的外观，并在接触区域附近投射阴影。总体而言，我们的结果表明，可以使用以前未观察到的人手的出现来准确推断施加压力。数据，代码和模型可在线提供。

There are multiple scales of abstraction from which we can describe the same image, depending on whether we are focusing on fine-grained details or a more global attribute of the image. In brain mapping, learning to automatically parse images to build representations of both small-scale features (e.g., the presence of cells or blood vessels) and global properties of an image (e.g., which brain region the image comes from) is a crucial and open challenge. However, most existing datasets and benchmarks for neuroanatomy consider only a single downstream task at a time. To bridge this gap, we introduce a new dataset, annotations, and multiple downstream tasks that provide diverse ways to readout information about brain structure and architecture from the same image. Our multi-task neuroimaging benchmark (MTNeuro) is built on volumetric, micrometer-resolution X-ray microtomography images spanning a large thalamocortical section of mouse brain, encompassing multiple cortical and subcortical regions. We generated a number of different prediction challenges and evaluated several supervised and self-supervised models for brain-region prediction and pixel-level semantic segmentation of microstructures. Our experiments not only highlight the rich heterogeneity of this dataset, but also provide insights into how self-supervised approaches can be used to learn representations that capture multiple attributes of a single image and perform well on a variety of downstream tasks. Datasets, code, and pre-trained baseline models are provided at: https://mtneuro.github.io/ .

Remote sensing imagery provides comprehensive views of the Earth, where different sensors collect complementary data at different spatial scales. Large, pretrained models are commonly finetuned with imagery that is heavily augmented to mimic different conditions and scales, with the resulting models used for various tasks with imagery from a range of spatial scales. Such models overlook scale-specific information in the data. In this paper, we present Scale-MAE, a pretraining method that explicitly learns relationships between data at different, known scales throughout the pretraining process. Scale-MAE pretrains a network by masking an input image at a known input scale, where the area of the Earth covered by the image determines the scale of the ViT positional encoding, not the image resolution. Scale-MAE encodes the masked image with a standard ViT backbone, and then decodes the masked image through a bandpass filter to reconstruct low/high frequency images at lower/higher scales. We find that tasking the network with reconstructing both low/high frequency images leads to robust multiscale representations for remote sensing imagery. Scale-MAE achieves an average of a $5.0\%$ non-parametric kNN classification improvement across eight remote sensing datasets compared to current state-of-the-art and obtains a $0.9$ mIoU to $3.8$ mIoU improvement on the SpaceNet building segmentation transfer task for a range of evaluation scales.

With an ever-growing number of parameters defining increasingly complex networks, Deep Learning has led to several breakthroughs surpassing human performance. As a result, data movement for these millions of model parameters causes a growing imbalance known as the memory wall. Neuromorphic computing is an emerging paradigm that confronts this imbalance by performing computations directly in analog memories. On the software side, the sequential Backpropagation algorithm prevents efficient parallelization and thus fast convergence. A novel method, Direct Feedback Alignment, resolves inherent layer dependencies by directly passing the error from the output to each layer. At the intersection of hardware/software co-design, there is a demand for developing algorithms that are tolerable to hardware nonidealities. Therefore, this work explores the interrelationship of implementing bio-plausible learning in-situ on neuromorphic hardware, emphasizing energy, area, and latency constraints. Using the benchmarking framework DNN+NeuroSim, we investigate the impact of hardware nonidealities and quantization on algorithm performance, as well as how network topologies and algorithm-level design choices can scale latency, energy and area consumption of a chip. To the best of our knowledge, this work is the first to compare the impact of different learning algorithms on Compute-In-Memory-based hardware and vice versa. The best results achieved for accuracy remain Backpropagation-based, notably when facing hardware imperfections. Direct Feedback Alignment, on the other hand, allows for significant speedup due to parallelization, reducing training time by a factor approaching N for N-layered networks.

Artificial Intelligence (AI) has become commonplace to solve routine everyday tasks. Because of the exponential growth in medical imaging data volume and complexity, the workload on radiologists is steadily increasing. We project that the gap between the number of imaging exams and the number of expert radiologist readers required to cover this increase will continue to expand, consequently introducing a demand for AI-based tools that improve the efficiency with which radiologists can comfortably interpret these exams. AI has been shown to improve efficiency in medical-image generation, processing, and interpretation, and a variety of such AI models have been developed across research labs worldwide. However, very few of these, if any, find their way into routine clinical use, a discrepancy that reflects the divide between AI research and successful AI translation. To address the barrier to clinical deployment, we have formed MONAI Consortium, an open-source community which is building standards for AI deployment in healthcare institutions, and developing tools and infrastructure to facilitate their implementation. This report represents several years of weekly discussions and hands-on problem solving experience by groups of industry experts and clinicians in the MONAI Consortium. We identify barriers between AI-model development in research labs and subsequent clinical deployment and propose solutions. Our report provides guidance on processes which take an imaging AI model from development to clinical implementation in a healthcare institution. We discuss various AI integration points in a clinical Radiology workflow. We also present a taxonomy of Radiology AI use-cases. Through this report, we intend to educate the stakeholders in healthcare and AI (AI researchers, radiologists, imaging informaticists, and regulators) about cross-disciplinary challenges and possible solutions.

Retrieval-augmented in-context learning has emerged as a powerful approach for addressing knowledge-intensive tasks using frozen language models (LM) and retrieval models (RM). Existing work has combined these in simple "retrieve-then-read" pipelines in which the RM retrieves passages that are inserted into the LM prompt. To begin to fully realize the potential of frozen LMs and RMs, we propose Demonstrate-Search-Predict (DSP), a framework that relies on passing natural language texts in sophisticated pipelines between an LM and an RM. DSP can express high-level programs that bootstrap pipeline-aware demonstrations, search for relevant passages, and generate grounded predictions, systematically breaking down problems into small transformations that the LM and RM can handle more reliably. We have written novel DSP programs for answering questions in open-domain, multi-hop, and conversational settings, establishing in early evaluations new state-of-the-art in-context learning results and delivering 37-200%, 8-40%, and 80-290% relative gains against vanilla LMs, a standard retrieve-then-read pipeline, and a contemporaneous self-ask pipeline, respectively.

State space models (SSMs) have demonstrated state-of-the-art sequence modeling performance in some modalities, but underperform attention in language modeling. Moreover, despite scaling nearly linearly in sequence length instead of quadratically, SSMs are still slower than Transformers due to poor hardware utilization. In this paper, we make progress on understanding the expressivity gap between SSMs and attention in language modeling, and on reducing the hardware barrier between SSMs and attention. First, we use synthetic language modeling tasks to understand the gap between SSMs and attention. We find that existing SSMs struggle with two capabilities: recalling earlier tokens in the sequence and comparing tokens across the sequence. To understand the impact on language modeling, we propose a new SSM layer, H3, that is explicitly designed for these abilities. H3 matches attention on the synthetic languages and comes within 0.4 PPL of Transformers on OpenWebText. Furthermore, a hybrid 125M-parameter H3-attention model that retains two attention layers surprisingly outperforms Transformers on OpenWebText by 1.0 PPL. Next, to improve the efficiency of training SSMs on modern hardware, we propose FlashConv. FlashConv uses a fused block FFT algorithm to improve efficiency on sequences up to 8K, and introduces a novel state passing algorithm that exploits the recurrent properties of SSMs to scale to longer sequences. FlashConv yields 2$\times$ speedup on the long-range arena benchmark and allows hybrid language models to generate text 1.6$\times$ faster than Transformers. Using FlashConv, we scale hybrid H3-attention language models up to 1.3B parameters on the Pile and find promising initial results, achieving lower perplexity than Transformers and outperforming Transformers in zero- and few-shot learning on a majority of tasks in the SuperGLUE benchmark.

Large language models (LLMs) have demonstrated impressive capabilities in natural language understanding and generation, but the quality bar for medical and clinical applications is high. Today, attempts to assess models' clinical knowledge typically rely on automated evaluations on limited benchmarks. There is no standard to evaluate model predictions and reasoning across a breadth of tasks. To address this, we present MultiMedQA, a benchmark combining six existing open question answering datasets spanning professional medical exams, research, and consumer queries; and HealthSearchQA, a new free-response dataset of medical questions searched online. We propose a framework for human evaluation of model answers along multiple axes including factuality, precision, possible harm, and bias. In addition, we evaluate PaLM (a 540-billion parameter LLM) and its instruction-tuned variant, Flan-PaLM, on MultiMedQA. Using a combination of prompting strategies, Flan-PaLM achieves state-of-the-art accuracy on every MultiMedQA multiple-choice dataset (MedQA, MedMCQA, PubMedQA, MMLU clinical topics), including 67.6% accuracy on MedQA (US Medical License Exam questions), surpassing prior state-of-the-art by over 17%. However, human evaluation reveals key gaps in Flan-PaLM responses. To resolve this we introduce instruction prompt tuning, a parameter-efficient approach for aligning LLMs to new domains using a few exemplars. The resulting model, Med-PaLM, performs encouragingly, but remains inferior to clinicians. We show that comprehension, recall of knowledge, and medical reasoning improve with model scale and instruction prompt tuning, suggesting the potential utility of LLMs in medicine. Our human evaluations reveal important limitations of today's models, reinforcing the importance of both evaluation frameworks and method development in creating safe, helpful LLM models for clinical applications.