The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safe and accurate navigation of a needle through living tissue to an intra-tissue target is currently often challenging or infeasible due to the presence of anatomical obstacles in the tissue, high levels of uncertainty, and natural tissue motion (e.g., due to breathing). Medical robots capable of automating needle-based procedures in vivo have the potential to overcome these challenges and enable an enhanced level of patient care and safety. In this paper, we show the first medical robot that autonomously navigates a needle inside living tissue around anatomical obstacles to an intra-tissue target. Our system leverages an aiming device and a laser-patterned highly flexible steerable needle, a type of needle capable of maneuvering along curvilinear trajectories to avoid obstacles. The autonomous robot accounts for anatomical obstacles and uncertainty in living tissue/needle interaction with replanning and control and accounts for respiratory motion by defining safe insertion time windows during the breathing cycle. We apply the system to lung biopsy, which is critical in the diagnosis of lung cancer, the leading cause of cancer-related death in the United States. We demonstrate successful performance of our system in multiple in vivo porcine studies and also demonstrate that our approach leveraging autonomous needle steering outperforms a standard manual clinical technique for lung nodule access.

To extend the scope of coding queries to more realistic settings, we propose ODEX, the first open-domain execution-based natural language (NL) to code generation dataset. ODEX has 945 NL-Code pairs spanning 79 diverse libraries, along with 1,707 human-written test cases for execution. Our NL-Code pairs are harvested from StackOverflow forums to encourage natural and practical coding queries, which are then carefully rephrased to ensure intent clarity and prevent potential data memorization. Moreover, ODEX supports four natural languages as intents, in English, Spanish, Japanese, and Russian. ODEX unveils intriguing behavioral differences between top-performing Code LMs: Codex performs better on open-domain queries, yet CodeGen captures a better balance between open- and closed-domain. ODEX corroborates the merits of execution-based evaluation over metrics without execution but also unveils their complementary effects. Powerful models such as CodeGen-6B only achieve an 11.96 pass rate at top-1 prediction, suggesting plenty of headroom for improvement. We release ODEX to facilitate research into open-domain problems for the code generation community.

Understanding the 3D world from 2D images involves more than detection and segmentation of the objects within the scene. It also includes the interpretation of the structure and arrangement of the scene elements. Such understanding is often rooted in recognizing the physical world and its limitations, and in prior knowledge as to how similar typical scenes are arranged. In this research we pose a new challenge for neural network (or other) scene understanding algorithms - can they distinguish between plausible and implausible scenes? Plausibility can be defined both in terms of physical properties and in terms of functional and typical arrangements. Hence, we define plausibility as the probability of encountering a given scene in the real physical world. We build a dataset of synthetic images containing both plausible and implausible scenes, and test the success of various vision models in the task of recognizing and understanding plausibility.

Video synthesis methods rapidly improved in recent years, allowing easy creation of synthetic humans. This poses a problem, especially in the era of social media, as synthetic videos of speaking humans can be used to spread misinformation in a convincing manner. Thus, there is a pressing need for accurate and robust deepfake detection methods, that can detect forgery techniques not seen during training. In this work, we explore whether this can be done by leveraging a multi-modal, out-of-domain backbone trained in a self-supervised manner, adapted to the video deepfake domain. We propose FakeOut; a novel approach that relies on multi-modal data throughout both the pre-training phase and the adaption phase. We demonstrate the efficacy and robustness of FakeOut in detecting various types of deepfakes, especially manipulations which were not seen during training. Our method achieves state-of-the-art results in cross-manipulation and cross-dataset generalization. This study shows that, perhaps surprisingly, training on out-of-domain videos (i.e., videos with no speaking humans), can lead to better deepfake detection systems. Code is available on GitHub.

Sampling diverse programs from a code language model and reranking with model likelihood is a popular method for code generation but it is prone to preferring degenerate solutions. Inspired by collaborative programming, we propose Coder-Reviewer reranking. We augment Coder language models from past work, which generate programs given language instructions, with Reviewer models, which evaluate the likelihood of the instruction given the generated programs. We perform an extensive study across six datasets with eight models from three model families. Experimental results show that Coder-Reviewer reranking leads to consistent and significant improvement (up to 17% absolute accuracy gain) over reranking with the Coder model only. When combined with executability filtering, Coder-Reviewer reranking can often outperform the minimum Bayes risk method. Coder-Reviewer reranking is easy to implement by prompting, can generalize to different programming languages, and works well with off-the-shelf hyperparameters.

Generative models are becoming ever more powerful, being able to synthesize highly realistic images. We propose an algorithm for taming these models - changing the probability that the model will produce a specific image or image category. We consider generative models that are powered by normalizing flows, which allows us to reason about the exact generation probability likelihood for a given image. Our method is general purpose, and we exemplify it using models that generate human faces, a subdomain with many interesting privacy and bias considerations. Our method can be used in the context of privacy, e.g., removing a specific person from the output of a model, and also in the context of de-biasing by forcing a model to output specific image categories according to a given target distribution. Our method uses a fast fine-tuning process without retraining the model from scratch, achieving the goal in less than 1% of the time taken to initially train the generative model. We evaluate qualitatively and quantitatively, to examine the success of the taming process and output quality.

We demonstrate how language can improve geolocation: the task of predicting the location where an image was taken. Here we study explicit knowledge from human-written guidebooks that describe the salient and class-discriminative visual features humans use for geolocation. We propose the task of Geolocation via Guidebook Grounding that uses a dataset of StreetView images from a diverse set of locations and an associated textual guidebook for GeoGuessr, a popular interactive geolocation game. Our approach predicts a country for each image by attending over the clues automatically extracted from the guidebook. Supervising attention with country-level pseudo labels achieves the best performance. Our approach substantially outperforms a state-of-the-art image-only geolocation method, with an improvement of over 5% in Top-1 accuracy. Our dataset and code can be found at https://github.com/g-luo/geolocation_via_guidebook_grounding.

Recent advances in deep learning techniques and applications have revolutionized artistic creation and manipulation in many domains (text, images, music); however, fonts have not yet been integrated with deep learning architectures in a manner that supports their multi-scale nature. In this work we aim to bridge this gap, proposing a network architecture capable of rasterizing glyphs in multiple sizes, potentially paving the way for easy and accessible creation and manipulation of fonts.

与传统的机器人手不同，由于固有的不确定性，兼容的手不足的手对模型的挑战。因此，通常基于视觉感知执行抓握对象的姿势估计。但是，在闭塞或部分占地环境中，对手和物体的视觉感知可以受到限制。在本文中，我们旨在探索触觉的使用，即动力学和触觉感测，以构成姿势估计和手动操纵，手工不足。这种触觉方法会减轻并非总是可用的视线。我们强调识别系统的特征状态表示，该状态表示不包括视觉，可以通过简单和低成本的硬件获得。因此，对于触觉传感，我们提出了一个低成本和灵活的传感器，该传感器主要是与指尖一起打印的3D，并可以提供隐式的接触信息。我们将双手手动的手作为测试案例不足，我们分析了动力学和触觉特征以及各种回归模型对预测准确性的贡献。此外，我们提出了一种模型预测控制（MPC）方法，该方法利用姿势估计将对象操纵为仅基于触觉的所需状态。我们进行了一系列实验，以验证具有不同几何形状，刚度和纹理的各种物体的姿势的能力，并以相对较高的精度显示工作空间中的目标。

与人类类似，动物的面部表情与情绪状态紧密相关。但是，与人类领域相反，动物面部表情对情绪状态的自动识别是没有充满反应的，这主要是由于数据收集和建立地面真相的困难，涉及非语言用户的情绪状态。我们将最近的深度学习技术应用于在受控的实验环境中收集的数据集上对狗的挫败进行分类和（负面）的挫败感。我们探索在此任务的不同监督下不同骨干（例如，重新连接，VIT）的适用性，并发现自我监督的预定的VIT（DINO-VIT）的特征优于其他替代方案。据我们所知，这项工作是第一个解决对受控实验中获得的数据自动分类的任务。