我们提出了一种方法，该方法是为了进行3D形状分割的目的，在集合中传播跨形状的点特征表示。这是通过跨形注意操作来评估不同形状和介导特征传播之间相互作用程度的。对于每个测试形状，我们的方法在输入集合中找到形状，这些形状适用于执行此类跨形注意操作。如我们的实验所证明的那样，所得的点特征表示会导致更一致的3D形状分割结果。

We present a novel dataset named as HPointLoc, specially designed for exploring capabilities of visual place recognition in indoor environment and loop detection in simultaneous localization and mapping. The loop detection sub-task is especially relevant when a robot with an on-board RGB-D camera can drive past the same place (``Point") at different angles. The dataset is based on the popular Habitat simulator, in which it is possible to generate photorealistic indoor scenes using both own sensor data and open datasets, such as Matterport3D. To study the main stages of solving the place recognition problem on the HPointLoc dataset, we proposed a new modular approach named as PNTR. It first performs an image retrieval with the Patch-NetVLAD method, then extracts keypoints and matches them using R2D2, LoFTR or SuperPoint with SuperGlue, and finally performs a camera pose optimization step with TEASER++. Such a solution to the place recognition problem has not been previously studied in existing publications. The PNTR approach has shown the best quality metrics on the HPointLoc dataset and has a high potential for real use in localization systems for unmanned vehicles. The proposed dataset and framework are publicly available: https://github.com/metra4ok/HPointLoc.

In this paper we study the smooth strongly convex minimization problem $\min_{x}\min_y f(x,y)$. The existing optimal first-order methods require $\mathcal{O}(\sqrt{\max\{\kappa_x,\kappa_y\}} \log 1/\epsilon)$ of computations of both $\nabla_x f(x,y)$ and $\nabla_y f(x,y)$, where $\kappa_x$ and $\kappa_y$ are condition numbers with respect to variable blocks $x$ and $y$. We propose a new algorithm that only requires $\mathcal{O}(\sqrt{\kappa_x} \log 1/\epsilon)$ of computations of $\nabla_x f(x,y)$ and $\mathcal{O}(\sqrt{\kappa_y} \log 1/\epsilon)$ computations of $\nabla_y f(x,y)$. In some applications $\kappa_x \gg \kappa_y$, and computation of $\nabla_y f(x,y)$ is significantly cheaper than computation of $\nabla_x f(x,y)$. In this case, our algorithm substantially outperforms the existing state-of-the-art methods.

Domain adaptation of GANs is a problem of fine-tuning the state-of-the-art GAN models (e.g. StyleGAN) pretrained on a large dataset to a specific domain with few samples (e.g. painting faces, sketches, etc.). While there are a great number of methods that tackle this problem in different ways there are still many important questions that remain unanswered. In this paper, we provide a systematic and in-depth analysis of the domain adaptation problem of GANs, focusing on the StyleGAN model. First, we perform a detailed exploration of the most important parts of StyleGAN that are responsible for adapting the generator to a new domain depending on the similarity between the source and target domains. In particular, we show that affine layers of StyleGAN can be sufficient for fine-tuning to similar domains. Second, inspired by these findings, we investigate StyleSpace to utilize it for domain adaptation. We show that there exist directions in the StyleSpace that can adapt StyleGAN to new domains. Further, we examine these directions and discover their many surprising properties. Finally, we leverage our analysis and findings to deliver practical improvements and applications in such standard tasks as image-to-image translation and cross-domain morphing.

Large language models (LLMs) have shown impressive results across a variety of tasks while requiring little or no direct supervision. Further, there is mounting evidence that LLMs may have potential in information-seeking scenarios. We believe the ability of an LLM to attribute the text that it generates is likely to be crucial for both system developers and users in this setting. We propose and study Attributed QA as a key first step in the development of attributed LLMs. We develop a reproducable evaluation framework for the task, using human annotations as a gold standard and a correlated automatic metric that we show is suitable for development settings. We describe and benchmark a broad set of architectures for the task. Our contributions give some concrete answers to two key questions (How to measure attribution?, and How well do current state-of-the-art methods perform on attribution?), and give some hints as to how to address a third key question (How to build LLMs with attribution?).

By transferring knowledge from large, diverse, task-agnostic datasets, modern machine learning models can solve specific downstream tasks either zero-shot or with small task-specific datasets to a high level of performance. While this capability has been demonstrated in other fields such as computer vision, natural language processing or speech recognition, it remains to be shown in robotics, where the generalization capabilities of the models are particularly critical due to the difficulty of collecting real-world robotic data. We argue that one of the keys to the success of such general robotic models lies with open-ended task-agnostic training, combined with high-capacity architectures that can absorb all of the diverse, robotic data. In this paper, we present a model class, dubbed Robotics Transformer, that exhibits promising scalable model properties. We verify our conclusions in a study of different model classes and their ability to generalize as a function of the data size, model size, and data diversity based on a large-scale data collection on real robots performing real-world tasks. The project's website and videos can be found at robotics-transformer.github.io

Artificial intelligence methods including deep neural networks (DNN) can provide rapid molecular classification of tumors from routine histology with accuracy that matches or exceeds human pathologists. Discerning how neural networks make their predictions remains a significant challenge, but explainability tools help provide insights into what models have learned when corresponding histologic features are poorly defined. Here, we present a method for improving explainability of DNN models using synthetic histology generated by a conditional generative adversarial network (cGAN). We show that cGANs generate high-quality synthetic histology images that can be leveraged for explaining DNN models trained to classify molecularly-subtyped tumors, exposing histologic features associated with molecular state. Fine-tuning synthetic histology through class and layer blending illustrates nuanced morphologic differences between tumor subtypes. Finally, we demonstrate the use of synthetic histology for augmenting pathologist-in-training education, showing that these intuitive visualizations can reinforce and improve understanding of histologic manifestations of tumor biology.

There is an increasing need in our society to achieve faster advances in Science to tackle urgent problems, such as climate changes, environmental hazards, sustainable energy systems, pandemics, among others. In certain domains like chemistry, scientific discovery carries the extra burden of assessing risks of the proposed novel solutions before moving to the experimental stage. Despite several recent advances in Machine Learning and AI to address some of these challenges, there is still a gap in technologies to support end-to-end discovery applications, integrating the myriad of available technologies into a coherent, orchestrated, yet flexible discovery process. Such applications need to handle complex knowledge management at scale, enabling knowledge consumption and production in a timely and efficient way for subject matter experts (SMEs). Furthermore, the discovery of novel functional materials strongly relies on the development of exploration strategies in the chemical space. For instance, generative models have gained attention within the scientific community due to their ability to generate enormous volumes of novel molecules across material domains. These models exhibit extreme creativity that often translates in low viability of the generated candidates. In this work, we propose a workbench framework that aims at enabling the human-AI co-creation to reduce the time until the first discovery and the opportunity costs involved. This framework relies on a knowledge base with domain and process knowledge, and user-interaction components to acquire knowledge and advise the SMEs. Currently,the framework supports four main activities: generative modeling, dataset triage, molecule adjudication, and risk assessment.

Finetuning language models on a collection of datasets phrased as instructions has been shown to improve model performance and generalization to unseen tasks. In this paper we explore instruction finetuning with a particular focus on (1) scaling the number of tasks, (2) scaling the model size, and (3) finetuning on chain-of-thought data. We find that instruction finetuning with the above aspects dramatically improves performance on a variety of model classes (PaLM, T5, U-PaLM), prompting setups (zero-shot, few-shot, CoT), and evaluation benchmarks (MMLU, BBH, TyDiQA, MGSM, open-ended generation). For instance, Flan-PaLM 540B instruction-finetuned on 1.8K tasks outperforms PALM 540B by a large margin (+9.4% on average). Flan-PaLM 540B achieves state-of-the-art performance on several benchmarks, such as 75.2% on five-shot MMLU. We also publicly release Flan-T5 checkpoints, which achieve strong few-shot performance even compared to much larger models, such as PaLM 62B. Overall, instruction finetuning is a general method for improving the performance and usability of pretrained language models.

Visualization methods based on the nearest neighbor graph, such as t-SNE or UMAP, are widely used for visualizing high-dimensional data. Yet, these approaches only produce meaningful results if the nearest neighbors themselves are meaningful. For images represented in pixel space this is not the case, as distances in pixel space are often not capturing our sense of similarity and therefore neighbors are not semantically close. This problem can be circumvented by self-supervised approaches based on contrastive learning, such as SimCLR, relying on data augmentation to generate implicit neighbors, but these methods do not produce two-dimensional embeddings suitable for visualization. Here, we present a new method, called t-SimCNE, for unsupervised visualization of image data. T-SimCNE combines ideas from contrastive learning and neighbor embeddings, and trains a parametric mapping from the high-dimensional pixel space into two dimensions. We show that the resulting 2D embeddings achieve classification accuracy comparable to the state-of-the-art high-dimensional SimCLR representations, thus faithfully capturing semantic relationships. Using t-SimCNE, we obtain informative visualizations of the CIFAR-10 and CIFAR-100 datasets, showing rich cluster structure and highlighting artifacts and outliers.