最先进的对象姿势估计通过使用多模型公式来处理测试图像中的多个实例：检测作为第一阶段，然后每个对象单独训练的网络，以作为第二阶段的2d-3d几何对应关系预测。随后，使用Perspective-N点算法在运行时估算姿势。不幸的是，多模型配方很慢，并且与所涉及的对象实例的数量相比不能很好地扩展。最近的方法表明，直接6D对象姿势估计是可行的，当时是从上述几何对应关系得出的。我们提出了一种方法，该方法学习了多个对象的中间几何表示，以直接回归测试图像中所有实例的6D姿势。固有的端到端训练性克服了单独处理单个对象实例的要求。通过计算相互关联的联合会，将姿势假设聚集在不同的实例中，从而相对于对象实例的数量实现了可忽略的运行时开销。多个挑战性标准数据集的结果表明，尽管姿势估计的性能快于35倍以上，但姿势估计性能优于单模最先进的方法。我们还提供了一个分析，显示存在90多个对象实例的图像实时适用性（> 24 fps）。进一步的结果表明，用6D姿势监督基于几何相应的对象姿势估计的优势。

观察噪声，由于对称性和遮挡导致的分割和模糊性导致不准确的对象姿态估计。虽然深度和基于RGB的姿势细化方法提高了所得姿势估计的准确性，但它们在观察中易受歧义的影响，因为它们考虑了视觉对齐。我们建议利用我们经常观察静态，刚性场景的事实。因此，其中的对象需要在物理上似是姿势。我们表明，考虑合理性降低了歧义，结果，允许在杂乱的环境中更准确地预测姿势。为此，我们扩展了最近基于RL的登记方法，以实现对象姿势的迭代细化。LineMod和YCB-Video数据集的实验证明了我们深度的细化方法的最先进的性能。

Optical coherence tomography (OCT) captures cross-sectional data and is used for the screening, monitoring, and treatment planning of retinal diseases. Technological developments to increase the speed of acquisition often results in systems with a narrower spectral bandwidth, and hence a lower axial resolution. Traditionally, image-processing-based techniques have been utilized to reconstruct subsampled OCT data and more recently, deep-learning-based methods have been explored. In this study, we simulate reduced axial scan (A-scan) resolution by Gaussian windowing in the spectral domain and investigate the use of a learning-based approach for image feature reconstruction. In anticipation of the reduced resolution that accompanies wide-field OCT systems, we build upon super-resolution techniques to explore methods to better aid clinicians in their decision-making to improve patient outcomes, by reconstructing lost features using a pixel-to-pixel approach with an altered super-resolution generative adversarial network (SRGAN) architecture.

Micro-CT images of the renal arteries of intact rat kidneys, which had their vasculature injected with the contrast agent polymer Microfil, were characterized. Measurement of inter-branch segment properties and the hierarchical structure of the vessel trees were computed by an automated algorithmic approach. The perfusion territories of the different kidneys, as well as the local diameters of the segmented vasculature were mapped onto the representative structures and visually explored. Various parameters were compared in order to outline key geometrical properties, properties which were shown to not have a wide range of inter-specimen variation. It is shown that the fractal scaling in non-symmetric branching reveals itself differently, than in symmetric branching (e.g., in the lung the mean bronchial diameters at each generation are closely related). Also, perfused tissue is shown to have very little inter-specimen variation and therefore could be used in future studies related to characterizing various disease states of tissues and organs based on vascular branching geometry.

We present NusaCrowd, a collaborative initiative to collect and unite existing resources for Indonesian languages, including opening access to previously non-public resources. Through this initiative, we have has brought together 137 datasets and 117 standardized data loaders. The quality of the datasets has been assessed manually and automatically, and their effectiveness has been demonstrated in multiple experiments. NusaCrowd's data collection enables the creation of the first zero-shot benchmarks for natural language understanding and generation in Indonesian and its local languages. Furthermore, NusaCrowd brings the creation of the first multilingual automatic speech recognition benchmark in Indonesian and its local languages. Our work is intended to help advance natural language processing research in under-represented languages.

As language models (LMs) scale, they develop many novel behaviors, good and bad, exacerbating the need to evaluate how they behave. Prior work creates evaluations with crowdwork (which is time-consuming and expensive) or existing data sources (which are not always available). Here, we automatically generate evaluations with LMs. We explore approaches with varying amounts of human effort, from instructing LMs to write yes/no questions to making complex Winogender schemas with multiple stages of LM-based generation and filtering. Crowdworkers rate the examples as highly relevant and agree with 90-100% of labels, sometimes more so than corresponding human-written datasets. We generate 154 datasets and discover new cases of inverse scaling where LMs get worse with size. Larger LMs repeat back a dialog user's preferred answer ("sycophancy") and express greater desire to pursue concerning goals like resource acquisition and goal preservation. We also find some of the first examples of inverse scaling in RL from Human Feedback (RLHF), where more RLHF makes LMs worse. For example, RLHF makes LMs express stronger political views (on gun rights and immigration) and a greater desire to avoid shut down. Overall, LM-written evaluations are high-quality and let us quickly discover many novel LM behaviors.

In a wide variety of fields, analysis of images involves defining a region and measuring its inherent properties. Such measurements include a region's surface area, curvature, volume, average gray and/or color scale, and so on. Furthermore, the subsequent subdivision of these regions is sometimes performed. These subdivisions are then used to measure local information, at even finer scales. However, simple griding or manual editing methods are typically used to subdivide a region into smaller units. The resulting subdivisions can therefore either not relate well to the actual shape or property of the region being studied (i.e., gridding methods), or be time consuming and based on user subjectivity (i.e., manual methods). The method discussed in this work extracts subdivisional units based on a region's general shape information. We present the results of applying our method to the medical image analysis of nested regions-of-interest of myocardial wall, where the subdivisions are used to study temporal and/or spatial heterogeneity of myocardial perfusion. This method is of particular interest for creating subdivision regions-of-interest (SROIs) when no variable intensity or other criteria within a region need be used to separate a particular region into subunits.

This paper proposes a perception and path planning pipeline for autonomous racing in an unknown bounded course. The pipeline was initially created for the 2021 evGrandPrix autonomous division and was further improved for the 2022 event, both of which resulting in first place finishes. Using a simple LiDAR-based perception pipeline feeding into an occupancy grid based expansion algorithm, we determine a goal point to drive. This pipeline successfully achieved reliable and consistent laps in addition with occupancy grid algorithm to know the ways around a cone-defined track with an averaging speeds of 6.85 m/s over a distance 434.2 meters for a total lap time of 63.4 seconds.

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.

Recent image degradation estimation methods have enabled single-image super-resolution (SR) approaches to better upsample real-world images. Among these methods, explicit kernel estimation approaches have demonstrated unprecedented performance at handling unknown degradations. Nonetheless, a number of limitations constrain their efficacy when used by downstream SR models. Specifically, this family of methods yields i) excessive inference time due to long per-image adaptation times and ii) inferior image fidelity due to kernel mismatch. In this work, we introduce a learning-to-learn approach that meta-learns from the information contained in a distribution of images, thereby enabling significantly faster adaptation to new images with substantially improved performance in both kernel estimation and image fidelity. Specifically, we meta-train a kernel-generating GAN, named MetaKernelGAN, on a range of tasks, such that when a new image is presented, the generator starts from an informed kernel estimate and the discriminator starts with a strong capability to distinguish between patch distributions. Compared with state-of-the-art methods, our experiments show that MetaKernelGAN better estimates the magnitude and covariance of the kernel, leading to state-of-the-art blind SR results within a similar computational regime when combined with a non-blind SR model. Through supervised learning of an unsupervised learner, our method maintains the generalizability of the unsupervised learner, improves the optimization stability of kernel estimation, and hence image adaptation, and leads to a faster inference with a speedup between 14.24 to 102.1x over existing methods.