Contrastive learning has been successfully used for retrieval of semantically aligned sentences, but it often requires large batch sizes or careful engineering to work well. In this paper, we instead propose a generative model for learning multilingual text embeddings which can be used to retrieve or score sentence pairs. Our model operates on parallel data in $N$ languages and, through an approximation we introduce, efficiently encourages source separation in this multilingual setting, separating semantic information that is shared between translations from stylistic or language-specific variation. We show careful large-scale comparisons between contrastive and generation-based approaches for learning multilingual text embeddings, a comparison that has not been done to the best of our knowledge despite the popularity of these approaches. We evaluate this method on a suite of tasks including semantic similarity, bitext mining, and cross-lingual question retrieval -- the last of which we introduce in this paper. Overall, our Variational Multilingual Source-Separation Transformer (VMSST) model outperforms both a strong contrastive and generative baseline on these tasks.

本文提出了一种新的点云卷积结构，该结构学习了SE（3） - 等级功能。与现有的SE（3） - 等级网络相比，我们的设计轻巧，简单且灵活，可以合并到一般的点云学习网络中。我们通过为特征地图选择一个非常规域，在模型的复杂性和容量之间取得平衡。我们通过正确离散$ \ mathbb {r}^3 $来完全利用旋转对称性来进一步减少计算负载。此外，我们采用置换层从其商空间中恢复完整的SE（3）组。实验表明，我们的方法在各种任务中实现了可比或卓越的性能，同时消耗的内存和运行速度要比现有工作更快。所提出的方法可以在基于点云的各种实用应用中促进模棱两可的特征学习，并激发现实世界应用的Equivariant特征学习的未来发展。

开放程序代表全球手术的主要形式。人工智能（AI）有可能优化手术实践并改善患者结果，但努力主要集中在微创技术上。我们的工作通过策划，从YouTube，从YouTube，Open Surgical视频的最大数据集克服了培训AI模型的现有数据限制：1997年从50个国家上传的23个外科手术的视频。使用此数据集，我们开发了一种能够实时了解外科行为，手和工具的多任务AI模型 - 程序流程和外科医生技能的构建块。我们表明我们的模型推广了各种外科类型和环境。说明这种普遍性，我们直接应用了YouTube培训的模型，分析了在学术医疗中心前瞻性收集的开放式手术，并确定了与手动效率相关的外科技能的运动学描述符。我们的开放外科（AVOS）数据集和培训模式的注释视频将可用于进一步发展外科艾。

目标是在杂乱或Textuleless环境，相机（和多传感器）校准任务中的对象跟踪等问题，以及同时本地化和映射（SLAM）。用于这些任务的目标形状通常是对称的（方形，矩形或圆形），并且适用于结构化的密集传感器数据（例如像素阵列（即，图像）。然而，当使用稀疏传感器数据（例如LIDAR点云）并且遭受LIDAR的量化不确定性时，对称形状导致占用歧义。本文介绍了优化目标形状的概念，以消除LIDAR点云的姿势模糊性。目标被设计成在旋转和平移下的边缘点处引起大梯度，而相对于LIDAR以改善与点云稀疏相关的量化不确定性。此外，考虑到目标形状，我们提出了一种利用目标的几何形状来估计目标顶点的手段，同时全局估计姿势。模拟和实验结果（通过运动捕获系统验证）确认，通过使用最佳形状和全球求解器，即使在部分照明的目标放置30米处，我们也可以在翻译中的厘米误差和几度旋转。所有实现和数据集都可以在https://github.com/umich-bipedlab/optimal_shape_global_pose_estimation中获得。

A Digital Twin (DT) is a simulation of a physical system that provides information to make decisions that add economic, social or commercial value. The behaviour of a physical system changes over time, a DT must therefore be continually updated with data from the physical systems to reflect its changing behaviour. For resource-constrained systems, updating a DT is non-trivial because of challenges such as on-board learning and the off-board data transfer. This paper presents a framework for updating data-driven DTs of resource-constrained systems geared towards system health monitoring. The proposed solution consists of: (1) an on-board system running a light-weight DT allowing the prioritisation and parsimonious transfer of data generated by the physical system; and (2) off-board robust updating of the DT and detection of anomalous behaviours. Two case studies are considered using a production gas turbine engine system to demonstrate the digital representation accuracy for real-world, time-varying physical systems.

We present Muse, a text-to-image Transformer model that achieves state-of-the-art image generation performance while being significantly more efficient than diffusion or autoregressive models. Muse is trained on a masked modeling task in discrete token space: given the text embedding extracted from a pre-trained large language model (LLM), Muse is trained to predict randomly masked image tokens. Compared to pixel-space diffusion models, such as Imagen and DALL-E 2, Muse is significantly more efficient due to the use of discrete tokens and requiring fewer sampling iterations; compared to autoregressive models, such as Parti, Muse is more efficient due to the use of parallel decoding. The use of a pre-trained LLM enables fine-grained language understanding, translating to high-fidelity image generation and the understanding of visual concepts such as objects, their spatial relationships, pose, cardinality etc. Our 900M parameter model achieves a new SOTA on CC3M, with an FID score of 6.06. The Muse 3B parameter model achieves an FID of 7.88 on zero-shot COCO evaluation, along with a CLIP score of 0.32. Muse also directly enables a number of image editing applications without the need to fine-tune or invert the model: inpainting, outpainting, and mask-free editing. More results are available at https://muse-model.github.io

We introduce Argoverse 2 (AV2) - a collection of three datasets for perception and forecasting research in the self-driving domain. The annotated Sensor Dataset contains 1,000 sequences of multimodal data, encompassing high-resolution imagery from seven ring cameras, and two stereo cameras in addition to lidar point clouds, and 6-DOF map-aligned pose. Sequences contain 3D cuboid annotations for 26 object categories, all of which are sufficiently-sampled to support training and evaluation of 3D perception models. The Lidar Dataset contains 20,000 sequences of unlabeled lidar point clouds and map-aligned pose. This dataset is the largest ever collection of lidar sensor data and supports self-supervised learning and the emerging task of point cloud forecasting. Finally, the Motion Forecasting Dataset contains 250,000 scenarios mined for interesting and challenging interactions between the autonomous vehicle and other actors in each local scene. Models are tasked with the prediction of future motion for "scored actors" in each scenario and are provided with track histories that capture object location, heading, velocity, and category. In all three datasets, each scenario contains its own HD Map with 3D lane and crosswalk geometry - sourced from data captured in six distinct cities. We believe these datasets will support new and existing machine learning research problems in ways that existing datasets do not. All datasets are released under the CC BY-NC-SA 4.0 license.

There are multiple scales of abstraction from which we can describe the same image, depending on whether we are focusing on fine-grained details or a more global attribute of the image. In brain mapping, learning to automatically parse images to build representations of both small-scale features (e.g., the presence of cells or blood vessels) and global properties of an image (e.g., which brain region the image comes from) is a crucial and open challenge. However, most existing datasets and benchmarks for neuroanatomy consider only a single downstream task at a time. To bridge this gap, we introduce a new dataset, annotations, and multiple downstream tasks that provide diverse ways to readout information about brain structure and architecture from the same image. Our multi-task neuroimaging benchmark (MTNeuro) is built on volumetric, micrometer-resolution X-ray microtomography images spanning a large thalamocortical section of mouse brain, encompassing multiple cortical and subcortical regions. We generated a number of different prediction challenges and evaluated several supervised and self-supervised models for brain-region prediction and pixel-level semantic segmentation of microstructures. Our experiments not only highlight the rich heterogeneity of this dataset, but also provide insights into how self-supervised approaches can be used to learn representations that capture multiple attributes of a single image and perform well on a variety of downstream tasks. Datasets, code, and pre-trained baseline models are provided at: https://mtneuro.github.io/ .

Aligning users across networks using graph representation learning has been found effective where the alignment is accomplished in a low-dimensional embedding space. Yet, achieving highly precise alignment is still challenging, especially when nodes with long-range connectivity to the labeled anchors are encountered. To alleviate this limitation, we purposefully designed WL-Align which adopts a regularized representation learning framework to learn distinctive node representations. It extends the Weisfeiler-Lehman Isormorphism Test and learns the alignment in alternating phases of "across-network Weisfeiler-Lehman relabeling" and "proximity-preserving representation learning". The across-network Weisfeiler-Lehman relabeling is achieved through iterating the anchor-based label propagation and a similarity-based hashing to exploit the known anchors' connectivity to different nodes in an efficient and robust manner. The representation learning module preserves the second-order proximity within individual networks and is regularized by the across-network Weisfeiler-Lehman hash labels. Extensive experiments on real-world and synthetic datasets have demonstrated that our proposed WL-Align outperforms the state-of-the-art methods, achieving significant performance improvements in the "exact matching" scenario. Data and code of WL-Align are available at https://github.com/ChenPengGang/WLAlignCode.

Knowledge distillation (KD) has gained a lot of attention in the field of model compression for edge devices thanks to its effectiveness in compressing large powerful networks into smaller lower-capacity models. Online distillation, in which both the teacher and the student are learning collaboratively, has also gained much interest due to its ability to improve on the performance of the networks involved. The Kullback-Leibler (KL) divergence ensures the proper knowledge transfer between the teacher and student. However, most online KD techniques present some bottlenecks under the network capacity gap. By cooperatively and simultaneously training, the models the KL distance becomes incapable of properly minimizing the teacher's and student's distributions. Alongside accuracy, critical edge device applications are in need of well-calibrated compact networks. Confidence calibration provides a sensible way of getting trustworthy predictions. We propose BD-KD: Balancing of Divergences for online Knowledge Distillation. We show that adaptively balancing between the reverse and forward divergences shifts the focus of the training strategy to the compact student network without limiting the teacher network's learning process. We demonstrate that, by performing this balancing design at the level of the student distillation loss, we improve upon both performance accuracy and calibration of the compact student network. We conducted extensive experiments using a variety of network architectures and show improvements on multiple datasets including CIFAR-10, CIFAR-100, Tiny-ImageNet, and ImageNet. We illustrate the effectiveness of our approach through comprehensive comparisons and ablations with current state-of-the-art online and offline KD techniques.