Methods based on ordinary differential equations (ODEs) are widely used to build generative models of time-series. In addition to high computational overhead due to explicitly computing hidden states recurrence, existing ODE-based models fall short in learning sequence data with sharp transitions - common in many real-world systems - due to numerical challenges during optimization. In this work, we propose LS4, a generative model for sequences with latent variables evolving according to a state space ODE to increase modeling capacity. Inspired by recent deep state space models (S4), we achieve speedups by leveraging a convolutional representation of LS4 which bypasses the explicit evaluation of hidden states. We show that LS4 significantly outperforms previous continuous-time generative models in terms of marginal distribution, classification, and prediction scores on real-world datasets in the Monash Forecasting Repository, and is capable of modeling highly stochastic data with sharp temporal transitions. LS4 sets state-of-the-art for continuous-time latent generative models, with significant improvement of mean squared error and tighter variational lower bounds on irregularly-sampled datasets, while also being x100 faster than other baselines on long sequences.

Despite their widespread adoption, neural conversation models have yet to exhibit natural chat capabilities with humans. In this research, we examine user utterances as causes and generated responses as effects, recognizing that changes in a cause should produce a different effect. To further explore this concept, we have compiled and expanded upon a new dataset called CausalDialogue through crowd-sourcing. This dataset includes multiple cause-effect pairs within a directed acyclic graph (DAG) structure. Our analysis reveals that traditional loss functions can struggle to effectively incorporate the DAG structure, leading us to propose a causality-enhanced method called Exponential Maximum Average Treatment Effect (ExMATE) to enhance the impact of causality at the utterance level in training neural conversation models. To evaluate the effectiveness of this approach, we have built a comprehensive benchmark using the CausalDialogue dataset leveraging large-scale pre-trained language models, and have assessed the results through both human and automatic evaluation metrics for coherence, diversity, and agility. Our findings show that current techniques are still unable to effectively address conversational DAGs, and that the ExMATE method can improve the diversity and agility of conventional loss functions while maintaining coherence.

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.

The combination of artist-curated scans, and deep implicit functions (IF), is enabling the creation of detailed, clothed, 3D humans from images. However, existing methods are far from perfect. IF-based methods recover free-form geometry but produce disembodied limbs or degenerate shapes for unseen poses or clothes. To increase robustness for these cases, existing work uses an explicit parametric body model to constrain surface reconstruction, but this limits the recovery of free-form surfaces such as loose clothing that deviates from the body. What we want is a method that combines the best properties of implicit and explicit methods. To this end, we make two key observations: (1) current networks are better at inferring detailed 2D maps than full-3D surfaces, and (2) a parametric model can be seen as a "canvas" for stitching together detailed surface patches. ECON infers high-fidelity 3D humans even in loose clothes and challenging poses, while having realistic faces and fingers. This goes beyond previous methods. Quantitative, evaluation of the CAPE and Renderpeople datasets shows that ECON is more accurate than the state of the art. Perceptual studies also show that ECON's perceived realism is better by a large margin. Code and models are available for research purposes at https://xiuyuliang.cn/econ

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

Neural fields have revolutionized the area of 3D reconstruction and novel view synthesis of rigid scenes. A key challenge in making such methods applicable to articulated objects, such as the human body, is to model the deformation of 3D locations between the rest pose (a canonical space) and the deformed space. We propose a new articulation module for neural fields, Fast-SNARF, which finds accurate correspondences between canonical space and posed space via iterative root finding. Fast-SNARF is a drop-in replacement in functionality to our previous work, SNARF, while significantly improving its computational efficiency. We contribute several algorithmic and implementation improvements over SNARF, yielding a speed-up of $150\times$. These improvements include voxel-based correspondence search, pre-computing the linear blend skinning function, and an efficient software implementation with CUDA kernels. Fast-SNARF enables efficient and simultaneous optimization of shape and skinning weights given deformed observations without correspondences (e.g. 3D meshes). Because learning of deformation maps is a crucial component in many 3D human avatar methods and since Fast-SNARF provides a computationally efficient solution, we believe that this work represents a significant step towards the practical creation of 3D virtual humans.

The diverse demands of different summarization tasks and their high annotation costs are driving a need for few-shot summarization. However, despite the emergence of many summarization tasks and datasets, the current training paradigm for few-shot summarization systems ignores potentially shareable knowledge in heterogeneous datasets. To this end, we propose \textsc{UniSumm}, a unified few-shot summarization model pre-trained with multiple summarization tasks and can be prefix-tuned to excel at any few-shot summarization datasets. Meanwhile, to better evaluate few-shot summarization systems, under the principles of diversity and robustness, we assemble and publicize a new benchmark \textsc{SummZoo}. It consists of $8$ diverse summarization tasks with multiple sets of few-shot samples for each task, covering both monologue and dialogue domains. Experimental results and ablation studies show that \textsc{UniSumm} outperforms strong baseline systems by a large margin across all tasks in \textsc{SummZoo} under both automatic and human evaluations. We release our code and benchmark at \url{https://github.com/microsoft/UniSumm}.

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.

Artificial Intelligence (AI) is having a tremendous impact across most areas of science. Applications of AI in healthcare have the potential to improve our ability to detect, diagnose, prognose, and intervene on human disease. For AI models to be used clinically, they need to be made safe, reproducible and robust, and the underlying software framework must be aware of the particularities (e.g. geometry, physiology, physics) of medical data being processed. This work introduces MONAI, a freely available, community-supported, and consortium-led PyTorch-based framework for deep learning in healthcare. MONAI extends PyTorch to support medical data, with a particular focus on imaging, and provide purpose-specific AI model architectures, transformations and utilities that streamline the development and deployment of medical AI models. MONAI follows best practices for software-development, providing an easy-to-use, robust, well-documented, and well-tested software framework. MONAI preserves the simple, additive, and compositional approach of its underlying PyTorch libraries. MONAI is being used by and receiving contributions from research, clinical and industrial teams from around the world, who are pursuing applications spanning nearly every aspect of healthcare.

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from which they can be sampled as actions by a high-level RL agent. However, this skill space is expansive, and not all skills are relevant for a given robot state, making exploration difficult. Furthermore, the downstream RL agent is limited to learning structurally similar tasks to those used to construct the skill space. We firstly propose accelerating exploration in the skill space using state-conditioned generative models to directly bias the high-level agent towards only sampling skills relevant to a given state based on prior experience. Next, we propose a low-level residual policy for fine-grained skill adaptation enabling downstream RL agents to adapt to unseen task variations. Finally, we validate our approach across four challenging manipulation tasks that differ from those used to build the skill space, demonstrating our ability to learn across task variations while significantly accelerating exploration, outperforming prior works. Code and videos are available on our project website: https://krishanrana.github.io/reskill.