3D手形状和姿势估计从单一深度地图是一种新的和具有挑战性的计算机视觉问题，具有许多应用。现有方法通过2D卷积神经网络直接回归手网，这导致由于图像中的透视失真导致人工制品。为了解决现有方法的局限性，我们开发HandvoxNet ++，即基于体素的深网络，其3D和图形卷轴以完全监督的方式训练。对我们网络的输入是基于截短的符号距离函数（TSDF）的3D Voxelized-Depth-Map。 handvoxnet ++依赖于两只手形状表示。第一个是手工形状的3D体蛋白化网格，它不保留网状拓扑，这是最准确的表示。第二个表示是保留网状拓扑的手表面。我们通过用基于新的神经图卷曲的网格登记（GCN-Meshreg）或典型的段 - 明智的非刚性重力方法（NRGA ++）来将手表面与Voxelized手形状对齐，通过将手表面对准依靠培训数据。在三个公共基准的广泛评估中，即Synhand5M，基于深度的Hands19挑战和HO-3D，所提出的Handvoxnet ++实现了最先进的性能。在本杂志中，我们在CVPR 2020呈现的先前方法的延伸中，我们分别在Synhand5M和17分数据集上获得41.09％和13.7％的形状对准精度。我们的方法在2020年8月将结果提交到门户网站时，首先在Hands19挑战数据集（任务1：基于深度3D手姿势估计）上排名。

Are extralinguistic signals such as image pixels crucial for inducing constituency grammars? While past work has shown substantial gains from multimodal cues, we investigate whether such gains persist in the presence of rich information from large language models (LLMs). We find that our approach, LLM-based C-PCFG (LC-PCFG), outperforms previous multi-modal methods on the task of unsupervised constituency parsing, achieving state-of-the-art performance on a variety of datasets. Moreover, LC-PCFG results in an over 50% reduction in parameter count, and speedups in training time of 1.7x for image-aided models and more than 5x for video-aided models, respectively. These results challenge the notion that extralinguistic signals such as image pixels are needed for unsupervised grammar induction, and point to the need for better text-only baselines in evaluating the need of multi-modality for the task.

We present Masked Audio-Video Learners (MAViL) to train audio-visual representations. Our approach learns with three complementary forms of self-supervision: (1) reconstruction of masked audio and video input data, (2) intra- and inter-modal contrastive learning with masking, and (3) self-training by reconstructing joint audio-video contextualized features learned from the first two objectives. Pre-training with MAViL not only enables the model to perform well in audio-visual classification and retrieval tasks but also improves representations of each modality in isolation, without using information from the other modality for fine-tuning or inference. Empirically, MAViL sets a new state-of-the-art on AudioSet (53.1 mAP) and VGGSound (67.1% accuracy). For the first time, a self-supervised audio-visual model outperforms ones that use external supervision on these benchmarks. Code will be available soon.

Semantic navigation is necessary to deploy mobile robots in uncontrolled environments like our homes, schools, and hospitals. Many learning-based approaches have been proposed in response to the lack of semantic understanding of the classical pipeline for spatial navigation, which builds a geometric map using depth sensors and plans to reach point goals. Broadly, end-to-end learning approaches reactively map sensor inputs to actions with deep neural networks, while modular learning approaches enrich the classical pipeline with learning-based semantic sensing and exploration. But learned visual navigation policies have predominantly been evaluated in simulation. How well do different classes of methods work on a robot? We present a large-scale empirical study of semantic visual navigation methods comparing representative methods from classical, modular, and end-to-end learning approaches across six homes with no prior experience, maps, or instrumentation. We find that modular learning works well in the real world, attaining a 90% success rate. In contrast, end-to-end learning does not, dropping from 77% simulation to 23% real-world success rate due to a large image domain gap between simulation and reality. For practitioners, we show that modular learning is a reliable approach to navigate to objects: modularity and abstraction in policy design enable Sim-to-Real transfer. For researchers, we identify two key issues that prevent today's simulators from being reliable evaluation benchmarks - (A) a large Sim-to-Real gap in images and (B) a disconnect between simulation and real-world error modes - and propose concrete steps forward.

We consider the problem of embodied visual navigation given an image-goal (ImageNav) where an agent is initialized in an unfamiliar environment and tasked with navigating to a location 'described' by an image. Unlike related navigation tasks, ImageNav does not have a standardized task definition which makes comparison across methods difficult. Further, existing formulations have two problematic properties; (1) image-goals are sampled from random locations which can lead to ambiguity (e.g., looking at walls), and (2) image-goals match the camera specification and embodiment of the agent; this rigidity is limiting when considering user-driven downstream applications. We present the Instance-specific ImageNav task (InstanceImageNav) to address these limitations. Specifically, the goal image is 'focused' on some particular object instance in the scene and is taken with camera parameters independent of the agent. We instantiate InstanceImageNav in the Habitat Simulator using scenes from the Habitat-Matterport3D dataset (HM3D) and release a standardized benchmark to measure community progress.

National Health and Nutritional Status Survey (NHANSS) is conducted annually by the Ministry of Health in Negara Brunei Darussalam to assess the population health and nutritional patterns and characteristics. The main aim of this study was to discover meaningful patterns (groups) from the obese sample of NHANSS data by applying data reduction and interpretation techniques. The mixed nature of the variables (qualitative and quantitative) in the data set added novelty to the study. Accordingly, the Categorical Principal Component (CATPCA) technique was chosen to interpret the meaningful results. The relationships between obesity and the lifestyle factors like demography, socioeconomic status, physical activity, dietary behavior, history of blood pressure, diabetes, etc., were determined based on the principal components generated by CATPCA. The results were validated with the help of the split method technique to counter verify the authenticity of the generated groups. Based on the analysis and results, two subgroups were found in the data set, and the salient features of these subgroups have been reported. These results can be proposed for the betterment of the healthcare industry.

In this work, we show how to learn a visual walking policy that only uses a monocular RGB camera and proprioception. Since simulating RGB is hard, we necessarily have to learn vision in the real world. We start with a blind walking policy trained in simulation. This policy can traverse some terrains in the real world but often struggles since it lacks knowledge of the upcoming geometry. This can be resolved with the use of vision. We train a visual module in the real world to predict the upcoming terrain with our proposed algorithm Cross-Modal Supervision (CMS). CMS uses time-shifted proprioception to supervise vision and allows the policy to continually improve with more real-world experience. We evaluate our vision-based walking policy over a diverse set of terrains including stairs (up to 19cm high), slippery slopes (inclination of 35 degrees), curbs and tall steps (up to 20cm), and complex discrete terrains. We achieve this performance with less than 30 minutes of real-world data. Finally, we show that our policy can adapt to shifts in the visual field with a limited amount of real-world experience. Video results and code at https://antonilo.github.io/vision_locomotion/.

Adaptive optimization methods are well known to achieve superior convergence relative to vanilla gradient methods. The traditional viewpoint in optimization, particularly in convex optimization, explains this improved performance by arguing that, unlike vanilla gradient schemes, adaptive algorithms mimic the behavior of a second-order method by adapting to the global geometry of the loss function. We argue that in the context of neural network optimization, this traditional viewpoint is insufficient. Instead, we advocate for a local trajectory analysis. For iterate trajectories produced by running a generic optimization algorithm OPT, we introduce $R^{\text{OPT}}_{\text{med}}$, a statistic that is analogous to the condition number of the loss Hessian evaluated at the iterates. Through extensive experiments, we show that adaptive methods such as Adam bias the trajectories towards regions where $R^{\text{Adam}}_{\text{med}}$ is small, where one might expect faster convergence. By contrast, vanilla gradient methods like SGD bias the trajectories towards regions where $R^{\text{SGD}}_{\text{med}}$ is comparatively large. We complement these empirical observations with a theoretical result that provably demonstrates this phenomenon in the simplified setting of a two-layer linear network. We view our findings as evidence for the need of a new explanation of the success of adaptive methods, one that is different than the conventional wisdom.

Named entity recognition models (NER), are widely used for identifying named entities (e.g., individuals, locations, and other information) in text documents. Machine learning based NER models are increasingly being applied in privacy-sensitive applications that need automatic and scalable identification of sensitive information to redact text for data sharing. In this paper, we study the setting when NER models are available as a black-box service for identifying sensitive information in user documents and show that these models are vulnerable to membership inference on their training datasets. With updated pre-trained NER models from spaCy, we demonstrate two distinct membership attacks on these models. Our first attack capitalizes on unintended memorization in the NER's underlying neural network, a phenomenon NNs are known to be vulnerable to. Our second attack leverages a timing side-channel to target NER models that maintain vocabularies constructed from the training data. We show that different functional paths of words within the training dataset in contrast to words not previously seen have measurable differences in execution time. Revealing membership status of training samples has clear privacy implications, e.g., in text redaction, sensitive words or phrases to be found and removed, are at risk of being detected in the training dataset. Our experimental evaluation includes the redaction of both password and health data, presenting both security risks and privacy/regulatory issues. This is exacerbated by results that show memorization with only a single phrase. We achieved 70% AUC in our first attack on a text redaction use-case. We also show overwhelming success in the timing attack with 99.23% AUC. Finally we discuss potential mitigation approaches to realize the safe use of NER models in light of the privacy and security implications of membership inference attacks.

我们探索一种以数据为基础的学习方法来优化神经网络。我们构建神经网络检查点的数据集，并培训有关参数的生成模型。特别是，我们的模型是一个条件扩散变压器，鉴于初始输入参数向量以及提示的丢失，误差或返回，可以预测实现所需度量的参数更新的分布。在测试时，它可以在一个更新中优化具有看不见的参数的神经网络。我们发现我们的方法成功地生成了各种损失提示的参数。此外，它可以采样多模式参数解决方案，并具有有利的缩放属性。我们将方法应用于监督和强化学习中的不同神经网络体系结构和任务。