对象编码和识别对于自主探索，语义场景理解和重新定位等机器人任务至关重要。以前的方法已经尝试了对象或生成用于对象标识的描述符。然而，这种系统仅限于单个视点的“固定”部分对象表示。在机器人探索设置中，由于机器人从多个视点观察对象，因此需要暂时“不断发展”的全局对象表示。此外，鉴于现实世界中未知新颖对象的广泛分布，对象识别过程必须是类无话的。在此上下文中，我们提出了一种新的时间3D对象编码方法，被称为AirObject，以获取基于对象的全局关键点图形的嵌入。具体地，使用跨从基于曲线图的编码方法获得的多个帧的结构信息的时间卷积网络生成全局3D对象嵌入。我们证明AirObject实现了视频对象识别的最先进的性能，并且对严重的遮挡，感知锯齿，视点换档，变形和缩放变换，表现出最先进的单帧和稳健顺序描述符。据我们所知，AirObject是第一个时间对象编码方法之一。

Real-world applications often require learning continuously from a stream of data under ever-changing conditions. When trying to learn from such non-stationary data, deep neural networks (DNNs) undergo catastrophic forgetting of previously learned information. Among the common approaches to avoid catastrophic forgetting, rehearsal-based methods have proven effective. However, they are still prone to forgetting due to task-interference as all parameters respond to all tasks. To counter this, we take inspiration from sparse coding in the brain and introduce dynamic modularity and sparsity (Dynamos) for rehearsal-based general continual learning. In this setup, the DNN learns to respond to stimuli by activating relevant subsets of neurons. We demonstrate the effectiveness of Dynamos on multiple datasets under challenging continual learning evaluation protocols. Finally, we show that our method learns representations that are modular and specialized, while maintaining reusability by activating subsets of neurons with overlaps corresponding to the similarity of stimuli.

Multiple studies have focused on predicting the prospective popularity of an online document as a whole, without paying attention to the contributions of its individual parts. We introduce the task of proactively forecasting popularities of sentences within online news documents solely utilizing their natural language content. We model sentence-specific popularity forecasting as a sequence regression task. For training our models, we curate InfoPop, the first dataset containing popularity labels for over 1.7 million sentences from over 50,000 online news documents. To the best of our knowledge, this is the first dataset automatically created using streams of incoming search engine queries to generate sentence-level popularity annotations. We propose a novel transfer learning approach involving sentence salience prediction as an auxiliary task. Our proposed technique coupled with a BERT-based neural model exceeds nDCG values of 0.8 for proactive sentence-specific popularity forecasting. Notably, our study presents a non-trivial takeaway: though popularity and salience are different concepts, transfer learning from salience prediction enhances popularity forecasting. We release InfoPop and make our code publicly available: https://github.com/sayarghoshroy/InfoPopularity

We study algorithms for detecting and including glass objects in an optimization-based Simultaneous Localization and Mapping (SLAM) algorithm in this work. When LiDAR data is the primary exteroceptive sensory input, glass objects are not correctly registered. This occurs as the incident light primarily passes through the glass objects or reflects away from the source, resulting in inaccurate range measurements for glass surfaces. Consequently, the localization and mapping performance is impacted, thereby rendering navigation in such environments unreliable. Optimization-based SLAM solutions, which are also referred to as Graph SLAM, are widely regarded as state of the art. In this paper, we utilize a simple and computationally inexpensive glass detection scheme for detecting glass objects and present the methodology to incorporate the identified objects into the occupancy grid maintained by such an algorithm (Google Cartographer). We develop both local (submap level) and global algorithms for achieving the objective mentioned above and compare the maps produced by our method with those produced by an existing algorithm that utilizes particle filter based SLAM.

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

Reflections on glossy objects contain valuable and hidden information about the surrounding environment. By converting these objects into cameras, we can unlock exciting applications, including imaging beyond the camera's field-of-view and from seemingly impossible vantage points, e.g. from reflections on the human eye. However, this task is challenging because reflections depend jointly on object geometry, material properties, the 3D environment, and the observer viewing direction. Our approach converts glossy objects with unknown geometry into radiance-field cameras to image the world from the object's perspective. Our key insight is to convert the object surface into a virtual sensor that captures cast reflections as a 2D projection of the 5D environment radiance field visible to the object. We show that recovering the environment radiance fields enables depth and radiance estimation from the object to its surroundings in addition to beyond field-of-view novel-view synthesis, i.e. rendering of novel views that are only directly-visible to the glossy object present in the scene, but not the observer. Moreover, using the radiance field we can image around occluders caused by close-by objects in the scene. Our method is trained end-to-end on multi-view images of the object and jointly estimates object geometry, diffuse radiance, and the 5D environment radiance field.

It is essential to classify brain tumors from magnetic resonance imaging (MRI) accurately for better and timely treatment of the patients. In this paper, we propose a hybrid model, using VGG along with Nonlinear-SVM (Soft and Hard) to classify the brain tumors: glioma and pituitary and tumorous and non-tumorous. The VGG-SVM model is trained for two different datasets of two classes; thus, we perform binary classification. The VGG models are trained via the PyTorch python library to obtain the highest testing accuracy of tumor classification. The method is threefold, in the first step, we normalize and resize the images, and the second step consists of feature extraction through variants of the VGG model. The third step classified brain tumors using non-linear SVM (soft and hard). We have obtained 98.18% accuracy for the first dataset and 99.78% for the second dataset using VGG19. The classification accuracies for non-linear SVM are 95.50% and 97.98% with linear and rbf kernel and 97.95% for soft SVM with RBF kernel with D1, and 96.75% and 98.60% with linear and RBF kernel and 98.38% for soft SVM with RBF kernel with D2. Results indicate that the hybrid VGG-SVM model, especially VGG 19 with SVM, is able to outperform existing techniques and achieve high accuracy.

Deep Reinforcement Learning (DRL) has the potential to be used for synthesizing feedback controllers (agents) for various complex systems with unknown dynamics. These systems are expected to satisfy diverse safety and liveness properties best captured using temporal logic. In RL, the reward function plays a crucial role in specifying the desired behaviour of these agents. However, the problem of designing the reward function for an RL agent to satisfy complex temporal logic specifications has received limited attention in the literature. To address this, we provide a systematic way of generating rewards in real-time by using the quantitative semantics of Signal Temporal Logic (STL), a widely used temporal logic to specify the behaviour of cyber-physical systems. We propose a new quantitative semantics for STL having several desirable properties, making it suitable for reward generation. We evaluate our STL-based reinforcement learning mechanism on several complex continuous control benchmarks and compare our STL semantics with those available in the literature in terms of their efficacy in synthesizing the controller agent. Experimental results establish our new semantics to be the most suitable for synthesizing feedback controllers for complex continuous dynamical systems through reinforcement learning.

Often questions provided to open-domain question answering systems are ambiguous. Traditional QA systems that provide a single answer are incapable of answering ambiguous questions since the question may be interpreted in several ways and may have multiple distinct answers. In this paper, we address multi-answer retrieval which entails retrieving passages that can capture majority of the diverse answers to the question. We propose a re-ranking based approach using Determinantal point processes utilizing BERT as kernels. Our method jointly considers query-passage relevance and passage-passage correlation to retrieve passages that are both query-relevant and diverse. Results demonstrate that our re-ranking technique outperforms state-of-the-art method on the AmbigQA dataset.

Finding an initial noise vector that produces an input image when fed into the diffusion process (known as inversion) is an important problem in denoising diffusion models (DDMs), with applications for real image editing. The state-of-the-art approach for real image editing with inversion uses denoising diffusion implicit models (DDIMs) to deterministically noise the image to the intermediate state along the path that the denoising would follow given the original conditioning. However, DDIM inversion for real images is unstable as it relies on local linearization assumptions, which result in the propagation of errors, leading to incorrect image reconstruction and loss of content. To alleviate these problems, we propose Exact Diffusion Inversion via Coupled Transformations (EDICT), an inversion method that draws inspiration from affine coupling layers. EDICT enables mathematically exact inversion of real and model-generated images by maintaining two coupled noise vectors which are used to invert each other in an alternating fashion. Using Stable Diffusion, a state-of-the-art latent diffusion model, we demonstrate that EDICT successfully reconstructs real images with high fidelity. On complex image datasets like MS-COCO, EDICT reconstruction significantly outperforms DDIM, improving the mean square error of reconstruction by a factor of two. Using noise vectors inverted from real images, EDICT enables a wide range of image edits--from local and global semantic edits to image stylization--while maintaining fidelity to the original image structure. EDICT requires no model training/finetuning, prompt tuning, or extra data and can be combined with any pretrained DDM. Code is available at https://github.com/salesforce/EDICT.