Diffusion models have emerged as the state-of-the-art for image generation, among other tasks. Here, we present an efficient diffusion-based model for 3D-aware generation of neural fields. Our approach pre-processes training data, such as ShapeNet meshes, by converting them to continuous occupancy fields and factoring them into a set of axis-aligned triplane feature representations. Thus, our 3D training scenes are all represented by 2D feature planes, and we can directly train existing 2D diffusion models on these representations to generate 3D neural fields with high quality and diversity, outperforming alternative approaches to 3D-aware generation. Our approach requires essential modifications to existing triplane factorization pipelines to make the resulting features easy to learn for the diffusion model. We demonstrate state-of-the-art results on 3D generation on several object classes from ShapeNet.

We consider the problem of estimating a multivariate function $f_0$ of bounded variation (BV), from noisy observations $y_i = f_0(x_i) + z_i$ made at random design points $x_i \in \mathbb{R}^d$, $i=1,\ldots,n$. We study an estimator that forms the Voronoi diagram of the design points, and then solves an optimization problem that regularizes according to a certain discrete notion of total variation (TV): the sum of weighted absolute differences of parameters $\theta_i,\theta_j$ (which estimate the function values $f_0(x_i),f_0(x_j)$) at all neighboring cells $i,j$ in the Voronoi diagram. This is seen to be equivalent to a variational optimization problem that regularizes according to the usual continuum (measure-theoretic) notion of TV, once we restrict the domain to functions that are piecewise constant over the Voronoi diagram. The regression estimator under consideration hence performs (shrunken) local averaging over adaptively formed unions of Voronoi cells, and we refer to it as the Voronoigram, following the ideas in Koenker (2005), and drawing inspiration from Tukey's regressogram (Tukey, 1961). Our contributions in this paper span both the conceptual and theoretical frontiers: we discuss some of the unique properties of the Voronoigram in comparison to TV-regularized estimators that use other graph-based discretizations; we derive the asymptotic limit of the Voronoi TV functional; and we prove that the Voronoigram is minimax rate optimal (up to log factors) for estimating BV functions that are essentially bounded.

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.

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

Many dynamical systems exhibit latent states with intrinsic orderings such as "ally", "neutral" and "enemy" relationships in international relations. Such latent states are evidenced through entities' cooperative versus conflictual interactions which are similarly ordered. Models of such systems often involve state-to-action emission and state-to-state transition matrices. It is common practice to assume that the rows of these stochastic matrices are independently sampled from a Dirichlet distribution. However, this assumption discards ordinal information and treats states and actions falsely as order-invariant categoricals, which hinders interpretation and evaluation. To address this problem, we propose the Ordered Matrix Dirichlet (OMD): rows are sampled conditionally dependent such that probability mass is shifted to the right of the matrix as we move down rows. This results in a well-ordered mapping between latent states and observed action types. We evaluate the OMD in two settings: a Hidden Markov Model and a novel Bayesian Dynamic Poisson Tucker Model tailored to political event data. Models built on the OMD recover interpretable latent states and show superior forecasting performance in few-shot settings. We detail the wide applicability of the OMD to other domains where models with Dirichlet-sampled matrices are popular (e.g. topic modeling) and publish user-friendly code.

DeepAngle is a machine learning-based method to determine the contact angles of different phases in the tomography images of porous materials. Measurement of angles in 3--D needs to be done within the surface perpendicular to the angle planes, and it could become inaccurate when dealing with the discretized space of the image voxels. A computationally intensive solution is to correlate and vectorize all surfaces using an adaptable grid, and then measure the angles within the desired planes. On the contrary, the present study provides a rapid and low-cost technique powered by deep learning to estimate the interfacial angles directly from images. DeepAngle is tested on both synthetic and realistic images against the direct measurement technique and found to improve the r-squared by 5 to 16% while lowering the computational cost 20 times. This rapid method is especially applicable for processing large tomography data and time-resolved images, which is computationally intensive. The developed code and the dataset are available at an open repository on GitHub (https://www.github.com/ArashRabbani/DeepAngle).

Large language models (LLMs) have been shown to be able to perform new tasks based on a few demonstrations or natural language instructions. While these capabilities have led to widespread adoption, most LLMs are developed by resource-rich organizations and are frequently kept from the public. As a step towards democratizing this powerful technology, we present BLOOM, a 176B-parameter open-access language model designed and built thanks to a collaboration of hundreds of researchers. BLOOM is a decoder-only Transformer language model that was trained on the ROOTS corpus, a dataset comprising hundreds of sources in 46 natural and 13 programming languages (59 in total). We find that BLOOM achieves competitive performance on a wide variety of benchmarks, with stronger results after undergoing multitask prompted finetuning. To facilitate future research and applications using LLMs, we publicly release our models and code under the Responsible AI License.

相干显微镜技术提供了跨科学和技术领域的材料的无与伦比的多尺度视图，从结构材料到量子设备，从综合电路到生物细胞。在构造更明亮的来源和高速探测器的驱动下，连贯的X射线显微镜方法（如Ptychography）有望彻底改变纳米级材料的特征。但是，相关的数据和计算需求显着增加意味着，常规方法不再足以从高速相干成像实验实时恢复样品图像。在这里，我们演示了一个工作流程，该工作流利用边缘的人工智能和高性能计算，以实现直接从检测器直接从检测器流出的X射线ptychography数据实时反演。拟议的AI支持的工作流程消除了传统的Ptychography施加的采样约束，从而使用比传统方法所需的数据较少的数据级允许低剂量成像。

通用数据模型解决了标准化电子健康记录（EHR）数据的许多挑战，但无法将其集成深度表型所需的资源。开放的生物学和生物医学本体论（OBO）铸造本体论提供了可用于生物学知识的语义计算表示，并能够整合多种生物医学数据。但是，将EHR数据映射到OBO Foundry本体论需要大量的手动策展和域专业知识。我们介绍了一个框架，用于将观察性医学成果合作伙伴关系（OMOP）标准词汇介绍给OBO铸造本体。使用此框架，我们制作了92,367条条件，8,615种药物成分和10,673个测量结果的映射。域专家验证了映射准确性，并且在24家医院进行检查时，映射覆盖了99％的条件和药物成分和68％的测量结果。最后，我们证明OMOP2OBO映射可以帮助系统地识别可能受益于基因检测的未诊断罕见病患者。

拟议的控制方法使用基于自适应的馈电控制器来为CDPR建立一个被动输入输出映射，该映射与线性不变的严格阳性真实反馈控制器一起使用，以确保稳健的闭环输入输出稳定性和渐进式姿势轨迹通过消极定理跟踪。所提出的控制器的新颖性是其配方用于一系列有效载荷态度参数化，包括任何无约束的态度参数化，四元组或方向余弦矩阵（DCM）。通过用刚性和柔性电缆的CDPR进行数值模拟，证明了所提出的控制器的性能和鲁棒性。结果证明了仔细定义CDPR的姿势误差的重要性，CDPR的姿势误差是在使用Quaternion和dcm时以乘法方式执行的，并且在使用不受约束的态度参数时（例如Euler-andle-angle序列）时以特定的添加剂方式执行。