Massive data corpora like WebText, Wikipedia, Conceptual Captions, WebImageText, and LAION have propelled recent dramatic progress in AI. Large neural models trained on such datasets produce impressive results and top many of today's benchmarks. A notable omission within this family of large-scale datasets is 3D data. Despite considerable interest and potential applications in 3D vision, datasets of high-fidelity 3D models continue to be mid-sized with limited diversity of object categories. Addressing this gap, we present Objaverse 1.0, a large dataset of objects with 800K+ (and growing) 3D models with descriptive captions, tags, and animations. Objaverse improves upon present day 3D repositories in terms of scale, number of categories, and in the visual diversity of instances within a category. We demonstrate the large potential of Objaverse via four diverse applications: training generative 3D models, improving tail category segmentation on the LVIS benchmark, training open-vocabulary object-navigation models for Embodied AI, and creating a new benchmark for robustness analysis of vision models. Objaverse can open new directions for research and enable new applications across the field of AI.

Training effective embodied AI agents often involves manual reward engineering, expert imitation, specialized components such as maps, or leveraging additional sensors for depth and localization. Another approach is to use neural architectures alongside self-supervised objectives which encourage better representation learning. In practice, there are few guarantees that these self-supervised objectives encode task-relevant information. We propose the Scene Graph Contrastive (SGC) loss, which uses scene graphs as general-purpose, training-only, supervisory signals. The SGC loss does away with explicit graph decoding and instead uses contrastive learning to align an agent's representation with a rich graphical encoding of its environment. The SGC loss is generally applicable, simple to implement, and encourages representations that encode objects' semantics, relationships, and history. Using the SGC loss, we attain significant gains on three embodied tasks: Object Navigation, Multi-Object Navigation, and Arm Point Navigation. Finally, we present studies and analyses which demonstrate the ability of our trained representation to encode semantic cues about the environment.

大量数据集和高容量模型推动了计算机视觉和自然语言理解方面的许多最新进步。这项工作提出了一个平台，可以在体现的AI中实现类似的成功案例。我们提出了Procthor，这是一个程序生成体现的AI环境的框架。 Procthor使我们能够采样多种，交互式，可自定义和性能的虚拟环境的任意大型数据集，以训练和评估在导航，互动和操纵任务中的体现代理。我们通过10,000个生成的房屋和简单的神经模型的样本来证明procthor的能力和潜力。仅在Procthor上仅使用RGB图像训练的模型，没有明确的映射，并且没有人类任务监督在6个体现的AI基准中产生最先进的结果，用于导航，重排和手臂操纵，包括目前正在运行的Habitat 2022，AI2-- Thor重新安排2022，以及机器人挑战。我们还通过对procthor进行预训练，在下游基准测试上没有进行微调，通常会击败以前的最先进的系统，从而访问下游训练数据。

体现了AI已经显示出对模拟中的丰富机器人任务的结果，包括视觉导航和操纵。事先工作通常与最短的路径一起追求高成功率，同时在很大程度上忽略了互动期间碰撞引起的问题。这种缺乏优先级识别是可以理解的：在模拟环境中，不存在破坏虚拟对象的固有成本。因此，尽管最终成功，但训练有素的代理经常具有与对象的灾难性碰撞。在机器人社区中，碰撞成本大，碰撞避免是一项长期的和关键的话题，以确保机器人可以安全地部署在现实世界中。在这项工作中，我们将第一步迈向碰撞/干扰体现AI代理，用于视觉移动操作，促进真正的机器人安全部署。我们在核心开发了一种新的干扰 - 避免方法是扰动预测的辅助任务。当与干扰罚款结合时，我们的辅助任务通过知识蒸馏到代理商的知识蒸馏而大大提高了样本效率和最终性能。我们对Manipulathor的实验表明，在用新型物体的测试场景上，我们的方法将成功率提高了61.7％至85.6％，而且在原始基线的29.8％至50.2％的情况下，成功率没有干扰。广泛的消融研究表明了我们流水线方法的价值。项目网站位于https://sites.google.com/view/disturb-free

与人类沟通对AIS有挑战性，因为它需要对世界的共同理解，复杂的语义（例如，隐喻或类似物），并且在多码模态手势（例如，指向手指，或图中的箭头）。我们在基于图案的基础上的绘画和猜测的语境中调查了这些挑战，这对研究界构成了一种新的挑战。在ICONARY中，猜测者试图通过编写图标来识别抽屉绘制的短语，以及抽屉迭代地修改绘图以帮助猜测响应的猜测。这次来回经常使用规范场景，视觉隐喻或图标组成来表达具有挑战性的词语，使其成为AI中混合语言和视觉/象征性通信的理想测试。我们提出模型进行图标，并在人类球员之间的55,000多场比赛中培训。我们的型号是熟练的玩家，能够在语言模型中雇用世界知识，以便在训练期间与看不见的文字一起玩。精英人类球员优于我们的模型，特别是在绘图任务中，留下了未来研究的重要缺口。我们将数据集，代码和评估设置释放为对社区的挑战http://www.github.com/allenai/conary。

在实践中，只要可以设计教学代理以提供专家监督，仿制学习就是纯粹的加强学习。但是，我们表明，当教学代理商决定与学生无法访问的特权信息时，在模仿学习期间，此信息被边缘化，导致“模仿差距”，导致潜在，差距。先前的工作通过仿制学习的仿制学习来弥合这一差距。虽然经常成功，但逐步的进展失败，需要频繁切换勘探和记忆之间的频繁交换。为了更好地解决这些任务并减轻模仿缺口，我们提出“适应性不管”（顾问）。顾问在培训期间动态重量仿制和奖励的加固学习损失，在模仿和探索之间启用了在线切换。在Gridworlds中设置的一套充满挑战的任务，多代理粒子环境和高保真3D模拟器，我们展示了与顾问的在线交换，优于纯粹的模仿，纯粹的加固学习以及它们的顺序和并行组合。

Network models are an essential block of modern networks. For example, they are widely used in network planning and optimization. However, as networks increase in scale and complexity, some models present limitations, such as the assumption of markovian traffic in queuing theory models, or the high computational cost of network simulators. Recent advances in machine learning, such as Graph Neural Networks (GNN), are enabling a new generation of network models that are data-driven and can learn complex non-linear behaviors. In this paper, we present RouteNet-Fermi, a custom GNN model that shares the same goals as queuing theory, while being considerably more accurate in the presence of realistic traffic models. The proposed model predicts accurately the delay, jitter, and loss in networks. We have tested RouteNet-Fermi in networks of increasing size (up to 300 nodes), including samples with mixed traffic profiles -- e.g., with complex non-markovian models -- and arbitrary routing and queue scheduling configurations. Our experimental results show that RouteNet-Fermi achieves similar accuracy as computationally-expensive packet-level simulators and it is able to accurately scale to large networks. For example, the model produces delay estimates with a mean relative error of 6.24% when applied to a test dataset with 1,000 samples, including network topologies one order of magnitude larger than those seen during training.

Text-guided image editing can have a transformative impact in supporting creative applications. A key challenge is to generate edits that are faithful to input text prompts, while consistent with input images. We present Imagen Editor, a cascaded diffusion model built, by fine-tuning Imagen on text-guided image inpainting. Imagen Editor's edits are faithful to the text prompts, which is accomplished by using object detectors to propose inpainting masks during training. In addition, Imagen Editor captures fine details in the input image by conditioning the cascaded pipeline on the original high resolution image. To improve qualitative and quantitative evaluation, we introduce EditBench, a systematic benchmark for text-guided image inpainting. EditBench evaluates inpainting edits on natural and generated images exploring objects, attributes, and scenes. Through extensive human evaluation on EditBench, we find that object-masking during training leads to across-the-board improvements in text-image alignment -- such that Imagen Editor is preferred over DALL-E 2 and Stable Diffusion -- and, as a cohort, these models are better at object-rendering than text-rendering, and handle material/color/size attributes better than count/shape attributes.

This paper describes the system developed at the Universitat Polit\`ecnica de Catalunya for the Workshop on Machine Translation 2022 Sign Language Translation Task, in particular, for the sign-to-text direction. We use a Transformer model implemented with the Fairseq modeling toolkit. We have experimented with the vocabulary size, data augmentation techniques and pretraining the model with the PHOENIX-14T dataset. Our system obtains 0.50 BLEU score for the test set, improving the organizers' baseline by 0.38 BLEU. We remark the poor results for both the baseline and our system, and thus, the unreliability of our findings.

最近在自动手语理解中的具有挑战性的任务（例如手语识别，翻译和生产）方面取得了重大进展。但是，这些作品集中在相对较少的样本，简短录音以及有限的词汇和签名空间的数据集上。在这项工作中，我们介绍了手语主题检测的新颖任务。我们基于跨越多个语义域的大规模视频数据集的2sign的实验。我们为主题检测的任务提供了强大的基础，并在手语领域常用的不同视觉特征之间进行了比较。