我们提出了一种准确的3D重建方法的方法。我们基于神经重建和渲染（例如神经辐射场（NERF））的最新进展的优势。这种方法的一个主要缺点是，它们未能重建对象的任何部分，这些部分在训练图像中不明确可见，这通常是野外图像和视频的情况。当缺乏证据时，可以使用诸如对称的结构先验来完成缺失的信息。但是，在神经渲染中利用此类先验是高度不平凡的：虽然几何和非反射材料可能是对称的，但环境场景的阴影和反射通常不是对称的。为了解决这个问题，我们将软对称性约束应用于3D几何和材料特性，并将外观纳入照明，反照率和反射率。我们在最近引入的CO3D数据集上评估了我们的方法，这是由于重建高度反射材料的挑战，重点是汽车类别。我们表明，它可以用高保真度重建未观察到的区域，并渲染高质量的新型视图图像。

用于视觉数据的变压器模型的最新进程导致识别和检测任务的显着改进。特别是，使用学习查询代替区域建议，这已经引起了一种新的一类单级检测模型，由检测变压器（DETR）。这种单阶段方法的变化已经主导了人对象相互作用（HOI）检测。然而，这种单阶段Hoi探测器的成功可以很大程度上被归因于变压器的表示力。我们发现，当配备相同的变压器时，他们的两级同行可以更加性能和记忆力，同时取得一小部分训练。在这项工作中，我们提出了一对成对变压器，这是一个用于HOI的一元和成对表示的两级检测器。我们观察到我们的变压器网络的一对和成对部分专门化，前者优先增加积极示例的分数，后者降低了阴性实例的分数。我们评估我们在HiCO-DET和V-Coco数据集上的方法，并显着优于最先进的方法。在推理时间内，我们使用RESET50的模型在单个GPU上接近实时性能。

This paper presents a novel framework for planning in unknown and occluded urban spaces. We specifically focus on turns and intersections where occlusions significantly impact navigability. Our approach uses an inpainting model to fill in a sparse, occluded, semantic lidar point cloud and plans dynamically feasible paths for a vehicle to traverse through the open and inpainted spaces. We demonstrate our approach using a car's lidar data with real-time occlusions, and show that by inpainting occluded areas, we can plan longer paths, with more turn options compared to without inpainting; in addition, our approach more closely follows paths derived from a planner with no occlusions (called the ground truth) compared to other state of the art approaches.

When robots interact with humans in homes, roads, or factories the human's behavior often changes in response to the robot. Non-stationary humans are challenging for robot learners: actions the robot has learned to coordinate with the original human may fail after the human adapts to the robot. In this paper we introduce an algorithmic formalism that enables robots (i.e., ego agents) to co-adapt alongside dynamic humans (i.e., other agents) using only the robot's low-level states, actions, and rewards. A core challenge is that humans not only react to the robot's behavior, but the way in which humans react inevitably changes both over time and between users. To deal with this challenge, our insight is that -- instead of building an exact model of the human -- robots can learn and reason over high-level representations of the human's policy and policy dynamics. Applying this insight we develop RILI: Robustly Influencing Latent Intent. RILI first embeds low-level robot observations into predictions of the human's latent strategy and strategy dynamics. Next, RILI harnesses these predictions to select actions that influence the adaptive human towards advantageous, high reward behaviors over repeated interactions. We demonstrate that -- given RILI's measured performance with users sampled from an underlying distribution -- we can probabilistically bound RILI's expected performance across new humans sampled from the same distribution. Our simulated experiments compare RILI to state-of-the-art representation and reinforcement learning baselines, and show that RILI better learns to coordinate with imperfect, noisy, and time-varying agents. Finally, we conduct two user studies where RILI co-adapts alongside actual humans in a game of tag and a tower-building task. See videos of our user studies here: https://youtu.be/WYGO5amDXbQ

The number of international benchmarking competitions is steadily increasing in various fields of machine learning (ML) research and practice. So far, however, little is known about the common practice as well as bottlenecks faced by the community in tackling the research questions posed. To shed light on the status quo of algorithm development in the specific field of biomedical imaging analysis, we designed an international survey that was issued to all participants of challenges conducted in conjunction with the IEEE ISBI 2021 and MICCAI 2021 conferences (80 competitions in total). The survey covered participants' expertise and working environments, their chosen strategies, as well as algorithm characteristics. A median of 72% challenge participants took part in the survey. According to our results, knowledge exchange was the primary incentive (70%) for participation, while the reception of prize money played only a minor role (16%). While a median of 80 working hours was spent on method development, a large portion of participants stated that they did not have enough time for method development (32%). 25% perceived the infrastructure to be a bottleneck. Overall, 94% of all solutions were deep learning-based. Of these, 84% were based on standard architectures. 43% of the respondents reported that the data samples (e.g., images) were too large to be processed at once. This was most commonly addressed by patch-based training (69%), downsampling (37%), and solving 3D analysis tasks as a series of 2D tasks. K-fold cross-validation on the training set was performed by only 37% of the participants and only 50% of the participants performed ensembling based on multiple identical models (61%) or heterogeneous models (39%). 48% of the respondents applied postprocessing steps.

Recent methods in self-supervised learning have demonstrated that masking-based pretext tasks extend beyond NLP, serving as useful pretraining objectives in computer vision. However, existing approaches apply random or ad hoc masking strategies that limit the difficulty of the reconstruction task and, consequently, the strength of the learnt representations. We improve upon current state-of-the-art work in learning adversarial masks by proposing a new framework that generates masks in a sequential fashion with different constraints on the adversary. This leads to improvements in performance on various downstream tasks, such as classification on ImageNet100, STL10, and CIFAR10/100 and segmentation on Pascal VOC. Our results further demonstrate the promising capabilities of masking-based approaches for SSL in computer vision.

Calorimeter shower simulations are often the bottleneck in simulation time for particle physics detectors. A lot of effort is currently spent on optimizing generative architectures for specific detector geometries, which generalize poorly. We develop a geometry-aware autoregressive model on a range of calorimeter geometries such that the model learns to adapt its energy deposition depending on the size and position of the cells. This is a key proof-of-concept step towards building a model that can generalize to new unseen calorimeter geometries with little to no additional training. Such a model can replace the hundreds of generative models used for calorimeter simulation in a Large Hadron Collider experiment. For the study of future detectors, such a model will dramatically reduce the large upfront investment usually needed to generate simulations.

Owing to the prohibitive costs of generating large amounts of labeled data, programmatic weak supervision is a growing paradigm within machine learning. In this setting, users design heuristics that provide noisy labels for subsets of the data. These weak labels are combined (typically via a graphical model) to form pseudolabels, which are then used to train a downstream model. In this work, we question a foundational premise of the typical weakly supervised learning pipeline: given that the heuristic provides all ``label" information, why do we need to generate pseudolabels at all? Instead, we propose to directly transform the heuristics themselves into corresponding loss functions that penalize differences between our model and the heuristic. By constructing losses directly from the heuristics, we can incorporate more information than is used in the standard weakly supervised pipeline, such as how the heuristics make their decisions, which explicitly informs feature selection during training. We call our method Losses over Labels (LoL) as it creates losses directly from heuristics without going through the intermediate step of a label. We show that LoL improves upon existing weak supervision methods on several benchmark text and image classification tasks and further demonstrate that incorporating gradient information leads to better performance on almost every task.

The rectified linear unit (ReLU) is a highly successful activation function in neural networks as it allows networks to easily obtain sparse representations, which reduces overfitting in overparameterized networks. However, in network pruning, we find that the sparsity introduced by ReLU, which we quantify by a term called dynamic dead neuron rate (DNR), is not beneficial for the pruned network. Interestingly, the more the network is pruned, the smaller the dynamic DNR becomes during optimization. This motivates us to propose a method to explicitly reduce the dynamic DNR for the pruned network, i.e., de-sparsify the network. We refer to our method as Activating-while-Pruning (AP). We note that AP does not function as a stand-alone method, as it does not evaluate the importance of weights. Instead, it works in tandem with existing pruning methods and aims to improve their performance by selective activation of nodes to reduce the dynamic DNR. We conduct extensive experiments using popular networks (e.g., ResNet, VGG) via two classical and three state-of-the-art pruning methods. The experimental results on public datasets (e.g., CIFAR-10/100) suggest that AP works well with existing pruning methods and improves the performance by 3% - 4%. For larger scale datasets (e.g., ImageNet) and state-of-the-art networks (e.g., vision transformer), we observe an improvement of 2% - 3% with AP as opposed to without. Lastly, we conduct an ablation study to examine the effectiveness of the components comprising AP.

We introduce an imitation learning-based physical human-robot interaction algorithm capable of predicting appropriate robot responses in complex interactions involving a superposition of multiple interactions. Our proposed algorithm, Blending Bayesian Interaction Primitives (B-BIP) allows us to achieve responsive interactions in complex hugging scenarios, capable of reciprocating and adapting to a hugs motion and timing. We show that this algorithm is a generalization of prior work, for which the original formulation reduces to the particular case of a single interaction, and evaluate our method through both an extensive user study and empirical experiments. Our algorithm yields significantly better quantitative prediction error and more-favorable participant responses with respect to accuracy, responsiveness, and timing, when compared to existing state-of-the-art methods.