视觉定位通过使用查询图像和地图之间的对应分析来解决估计摄像机姿势的挑战。此任务是计算和数据密集型，这在彻底评估各种数据集上的方法攻击挑战。然而，为了进一步进一步前进，我们声称应该在覆盖广域品种的多个数据集上进行稳健的视觉定位算法。为了促进这一点，我们介绍了Kapture，一种新的，灵活，统一的数据格式和工具箱，用于视觉本地化和结构 - 来自运动（SFM）。它可以轻松使用不同的数据集以及有效和可重复使用的数据处理。为了证明这一点，我们提出了一种多功能管道，用于视觉本地化，促进使用不同的本地和全局特征，3D数据（例如深度图），非视觉传感器数据（例如IMU，GPS，WiFi）和各种处理算法。使用多种管道配置，我们在我们的实验中显示出Kapture的巨大功能性。此外，我们在八个公共数据集中评估我们的方法，在那里他们排名第一，并在其中许多上排名第一。为了促进未来的研究，我们在允许BSD许可证下释放本文中使用的代码，模型和本文中使用的所有数据集。 github.com/naver/kapture，github.com/naver/kapture-localization.

Charisma is considered as one's ability to attract and potentially also influence others. Clearly, there can be considerable interest from an artificial intelligence's (AI) perspective to provide it with such skill. Beyond, a plethora of use cases opens up for computational measurement of human charisma, such as for tutoring humans in the acquisition of charisma, mediating human-to-human conversation, or identifying charismatic individuals in big social data. A number of models exist that base charisma on various dimensions, often following the idea that charisma is given if someone could and would help others. Examples include influence (could help) and affability (would help) in scientific studies or power (could help), presence, and warmth (both would help) as a popular concept. Modelling high levels in these dimensions for humanoid robots or virtual agents, seems accomplishable. Beyond, also automatic measurement appears quite feasible with the recent advances in the related fields of Affective Computing and Social Signal Processing. Here, we, thereforem present a blueprint for building machines that can appear charismatic, but also analyse the charisma of others. To this end, we first provide the psychological perspective including different models of charisma and behavioural cues of it. We then switch to conversational charisma in spoken language as an exemplary modality that is essential for human-human and human-computer conversations. The computational perspective then deals with the recognition and generation of charismatic behaviour by AI. This includes an overview of the state of play in the field and the aforementioned blueprint. We then name exemplary use cases of computational charismatic skills before switching to ethical aspects and concluding this overview and perspective on building charisma-enabled AI.

There are two important things in science: (A) Finding answers to given questions, and (B) Coming up with good questions. Our artificial scientists not only learn to answer given questions, but also continually invent new questions, by proposing hypotheses to be verified or falsified through potentially complex and time-consuming experiments, including thought experiments akin to those of mathematicians. While an artificial scientist expands its knowledge, it remains biased towards the simplest, least costly experiments that still have surprising outcomes, until they become boring. We present an empirical analysis of the automatic generation of interesting experiments. In the first setting, we investigate self-invented experiments in a reinforcement-providing environment and show that they lead to effective exploration. In the second setting, pure thought experiments are implemented as the weights of recurrent neural networks generated by a neural experiment generator. Initially interesting thought experiments may become boring over time.

Recent advances in deep learning have enabled us to address the curse of dimensionality (COD) by solving problems in higher dimensions. A subset of such approaches of addressing the COD has led us to solving high-dimensional PDEs. This has resulted in opening doors to solving a variety of real-world problems ranging from mathematical finance to stochastic control for industrial applications. Although feasible, these deep learning methods are still constrained by training time and memory. Tackling these shortcomings, Tensor Neural Networks (TNN) demonstrate that they can provide significant parameter savings while attaining the same accuracy as compared to the classical Dense Neural Network (DNN). In addition, we also show how TNN can be trained faster than DNN for the same accuracy. Besides TNN, we also introduce Tensor Network Initializer (TNN Init), a weight initialization scheme that leads to faster convergence with smaller variance for an equivalent parameter count as compared to a DNN. We benchmark TNN and TNN Init by applying them to solve the parabolic PDE associated with the Heston model, which is widely used in financial pricing theory.

A statistical ensemble of neural networks can be described in terms of a quantum field theory (NN-QFT correspondence). The infinite-width limit is mapped to a free field theory, while finite N corrections are mapped to interactions. After reviewing the correspondence, we will describe how to implement renormalization in this context and discuss preliminary numerical results for translation-invariant kernels. A major outcome is that changing the standard deviation of the neural network weight distribution corresponds to a renormalization flow in the space of networks.

We present an automatic method for annotating images of indoor scenes with the CAD models of the objects by relying on RGB-D scans. Through a visual evaluation by 3D experts, we show that our method retrieves annotations that are at least as accurate as manual annotations, and can thus be used as ground truth without the burden of manually annotating 3D data. We do this using an analysis-by-synthesis approach, which compares renderings of the CAD models with the captured scene. We introduce a 'cloning procedure' that identifies objects that have the same geometry, to annotate these objects with the same CAD models. This allows us to obtain complete annotations for the ScanNet dataset and the recent ARKitScenes dataset.

This article presents a novel review of Active SLAM (A-SLAM) research conducted in the last decade. We discuss the formulation, application, and methodology applied in A-SLAM for trajectory generation and control action selection using information theory based approaches. Our extensive qualitative and quantitative analysis highlights the approaches, scenarios, configurations, types of robots, sensor types, dataset usage, and path planning approaches of A-SLAM research. We conclude by presenting the limitations and proposing future research possibilities. We believe that this survey will be helpful to researchers in understanding the various methods and techniques applied to A-SLAM formulation.

This paper presents a methodology for integrating machine learning techniques into metaheuristics for solving combinatorial optimization problems. Namely, we propose a general machine learning framework for neighbor generation in metaheuristic search. We first define an efficient neighborhood structure constructed by applying a transformation to a selected subset of variables from the current solution. Then, the key of the proposed methodology is to generate promising neighbors by selecting a proper subset of variables that contains a descent of the objective in the solution space. To learn a good variable selection strategy, we formulate the problem as a classification task that exploits structural information from the characteristics of the problem and from high-quality solutions. We validate our methodology on two metaheuristic applications: a Tabu Search scheme for solving a Wireless Network Optimization problem and a Large Neighborhood Search heuristic for solving Mixed-Integer Programs. The experimental results show that our approach is able to achieve a satisfactory trade-off between the exploration of a larger solution space and the exploitation of high-quality solution regions on both applications.

Underwater images are altered by the physical characteristics of the medium through which light rays pass before reaching the optical sensor. Scattering and strong wavelength-dependent absorption significantly modify the captured colors depending on the distance of observed elements to the image plane. In this paper, we aim to recover the original colors of the scene as if the water had no effect on them. We propose two novel methods that rely on different sets of inputs. The first assumes that pixel intensities in the restored image are normally distributed within each color channel, leading to an alternative optimization of the well-known \textit{Sea-thru} method which acts on single images and their distance maps. We additionally introduce SUCRe, a new method that further exploits the scene's 3D Structure for Underwater Color Restoration. By following points in multiple images and tracking their intensities at different distances to the sensor we constrain the optimization of the image formation model parameters. When compared to similar existing approaches, SUCRe provides clear improvements in a variety of scenarios ranging from natural light to deep-sea environments. The code for both approaches is publicly available at https://github.com/clementinboittiaux/sucre .

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.