An increasing number of public datasets have shown a marked clinical impact on assessing anatomical structures. However, each of the datasets is small, partially labeled, and rarely investigates severe tumor subjects. Moreover, current models are limited to segmenting specific organs/tumors, which can not be extended to novel domains and classes. To tackle these limitations, we introduce embedding learned from Contrastive Language-Image Pre-training (CLIP) to segmentation models, dubbed the CLIP-Driven Universal Model. The Universal Model can better segment 25 organs and 6 types of tumors by exploiting the semantic relationship between abdominal structures. The model is developed from an assembly of 14 datasets with 3,410 CT scans and evaluated on 6,162 external CT scans from 3 datasets. We rank first on the public leaderboard of the Medical Segmentation Decathlon (MSD) and achieve the state-of-the-art results on Beyond The Cranial Vault (BTCV). Compared with dataset-specific models, the Universal Model is computationally more efficient (6x faster), generalizes better to CT scans from varying sites, and shows stronger transfer learning performance on novel tasks. The design of CLIP embedding enables the Universal Model to be easily extended to new classes without catastrophically forgetting the previously learned classes.

最近，机器学习（ML）电位的发展使得以量子力学（QM）模型的精度进行大规模和长期分子模拟成为可能。但是，对于高水平的QM方法，例如在元gga级和/或具有精确交换的密度函数理论（DFT），量子蒙特卡洛等，生成足够数量的用于训练的数据由于其高成本，计算挑战性。在这项工作中，我们证明了基于ML的DFT模型Deep Kohn-Sham（Deepks）可以在很大程度上缓解这个问题。 DeepKS采用计算高效的基于神经网络的功能模型来构建在廉价DFT模型上添加的校正项。在训练后，DeepKs提供了与高级QM方法相比，具有紧密匹配的能量和力，但是所需的训练数据的数量是比训练可靠的ML潜力所需的数量级要小。因此，DeepKs可以用作昂贵的QM型号和ML电位之间的桥梁：一个人可以生成相当数量的高准确性QM数据来训练DeepKs模型，然后使用DeepKs型号来标记大量的配置以标记训练ML潜力。该周期系统方案在DFT软件包算盘中实施，该计划是开源的，可以在各种应用程序中使用。

我们提出了一种自我监督的方法，用于预测需要良好牵引力才能导航的轮式移动机器人的可穿越路径。我们的算法称为Wayfast（无路线自动驾驶系统用于遍历性），使用RGB和深度数据以及导航经验，自主在室外非结构化环境中自主生成可遍历的路径。我们的主要灵感是，可以使用动力动力学模型估算滚动机器人的牵引力。使用在线退化的视野估计器提供的牵引力估计值，我们能够以自我监督的方式训练遍历性预测神经网络，而无需以前的方法使用的启发式方法。我们通过在各种环境中进行广泛的现场测试来证明Wayfast的有效性，从沙滩到森林檐篷和积雪覆盖的草田不等。我们的结果清楚地表明，Wayfast可以学会避免几何障碍物以及不可传输的地形，例如雪，这很难避免使用仅提供几何数据（例如LiDAR）的传感器。此外，我们表明，基于在线牵引力估计的培训管道比其他基于启发式的方法更有效率。

预先培训用于学习可转让的视频文本表示的模型，以近年来引起了很多关注。以前的主导作品主要采用两个独立的编码器来有效检索，但忽略视频和文本之间的本地关联。另一种研究使用联合编码器与文本交互视频，但是由于每个文本视频对需要馈送到模型中的低效率。在这项工作中，我们能够通过新颖的借口任务进行微粒视频文本交互，以便通过新颖的借口任务进行检索，称为多项选择题（MCQ），其中参数模块BridgeFormer培训以接受由此构建的“问题”。文本功能通过诉诸视频功能。具体来说，我们利用了文本的丰富语义（即，名词和动词）来构建问题，可以培训视频编码器以捕获更多区域内容和时间动态。以问题和答案的形式，可以正确建立本地视频文本功能之间的语义关联。 BridgeFormer能够删除下游检索，只有两个编码器渲染高效且灵活的模型。我们的方法在具有不同实验设置（即零拍摄和微调）的五个数据集中，在五个数据集中优于最先进的方法，包括不同的实验设置（即零拍摄和微调），包括HOWTO100M（一百万个视频）。我们进一步开展零射击动作识别，可以作为视频到文本检索，我们的方法也显着超越了其对应物。作为额外的好处，我们的方法在单模下游任务中实现了竞争力，在单模下游任务上具有更短的预训练视频，例如，使用线性评估的动作识别。

自从深度神经网络被广泛应用以来，计算病理学领域已经取得了巨大的进步。这些网络通常需要大量注释的数据来训练大量参数。但是，注释大型组织病理学数据集需要大量精力。我们引入了一个轻巧且可解释的模型，用于核检测和弱监督的分割。它仅需要在孤立的核上进行注释，而不是数据集中的所有核。此外，这是一个生成的组成模型，首先定位核的一部分，然后学习各部分的空间相关性，以进一步定位核。这个过程在预测中带来了可解释性。内部数据集的经验结果表明，在检测中，提出的方法比其深层网络对应物获得了可比性或更好的性能，尤其是在注释数据受到限制的情况下。它还优于流行的弱监督分割方法。提出的方法可能是深度学习方法渴望数据问题的替代解决方案。

When testing conditions differ from those represented in training data, so-called out-of-distribution (OOD) inputs can mar the reliability of black-box learned components in the modern robot autonomy stack. Therefore, coping with OOD data is an important challenge on the path towards trustworthy learning-enabled open-world autonomy. In this paper, we aim to demystify the topic of OOD data and its associated challenges in the context of data-driven robotic systems, drawing connections to emerging paradigms in the ML community that study the effect of OOD data on learned models in isolation. We argue that as roboticists, we should reason about the overall system-level competence of a robot as it performs tasks in OOD conditions. We highlight key research questions around this system-level view of OOD problems to guide future research toward safe and reliable learning-enabled autonomy.

To reproduce the success of text-to-image (T2I) generation, recent works in text-to-video (T2V) generation employ large-scale text-video dataset for fine-tuning. However, such paradigm is computationally expensive. Humans have the amazing ability to learn new visual concepts from just one single exemplar. We hereby study a new T2V generation problem$\unicode{x2014}$One-Shot Video Generation, where only a single text-video pair is presented for training an open-domain T2V generator. Intuitively, we propose to adapt the T2I diffusion model pretrained on massive image data for T2V generation. We make two key observations: 1) T2I models are able to generate images that align well with the verb terms; 2) extending T2I models to generate multiple images concurrently exhibits surprisingly good content consistency. To further learn continuous motion, we propose Tune-A-Video with a tailored Sparse-Causal Attention, which generates videos from text prompts via an efficient one-shot tuning of pretrained T2I diffusion models. Tune-A-Video is capable of producing temporally-coherent videos over various applications such as change of subject or background, attribute editing, style transfer, demonstrating the versatility and effectiveness of our method.

Vector-Quantized (VQ-based) generative models usually consist of two basic components, i.e., VQ tokenizers and generative transformers. Prior research focuses on improving the reconstruction fidelity of VQ tokenizers but rarely examines how the improvement in reconstruction affects the generation ability of generative transformers. In this paper, we surprisingly find that improving the reconstruction fidelity of VQ tokenizers does not necessarily improve the generation. Instead, learning to compress semantic features within VQ tokenizers significantly improves generative transformers' ability to capture textures and structures. We thus highlight two competing objectives of VQ tokenizers for image synthesis: semantic compression and details preservation. Different from previous work that only pursues better details preservation, we propose Semantic-Quantized GAN (SeQ-GAN) with two learning phases to balance the two objectives. In the first phase, we propose a semantic-enhanced perceptual loss for better semantic compression. In the second phase, we fix the encoder and codebook, but enhance and finetune the decoder to achieve better details preservation. The proposed SeQ-GAN greatly improves VQ-based generative models and surpasses the GAN and Diffusion Models on both unconditional and conditional image generation. Our SeQ-GAN (364M) achieves Frechet Inception Distance (FID) of 6.25 and Inception Score (IS) of 140.9 on 256x256 ImageNet generation, a remarkable improvement over VIT-VQGAN (714M), which obtains 11.2 FID and 97.2 IS.

In this study, we explore the representation mapping from the domain of visual arts to the domain of music, with which we can use visual arts as an effective handle to control music generation. Unlike most studies in multimodal representation learning that are purely data-driven, we adopt an analysis-by-synthesis approach that combines deep music representation learning with user studies. Such an approach enables us to discover \textit{interpretable} representation mapping without a huge amount of paired data. In particular, we discover that visual-to-music mapping has a nice property similar to equivariant. In other words, we can use various image transformations, say, changing brightness, changing contrast, style transfer, to control the corresponding transformations in the music domain. In addition, we released the Vis2Mus system as a controllable interface for symbolic music generation.

在混乱的环境中自动二次运动的敏捷飞行需要受到限制的运动计划和控制，但要受翻译和旋转动力学的影响。传统的基于模型的方法通常需要复杂的设计和重型计算。在本文中，我们开发了一种基于深厚的增强学习方法，该方法解决了通过动态狭窄大门飞行的挑战性任务。我们设计了一个模型预测控制器，其自适应跟踪参考参考由深神经网络（DNN）进行了参数。这些参考文献包括遍历时间和四型SE（3）遍历姿势，这些姿势鼓励机器人从各种初始条件中使用最大的安全边缘飞行大门。为了应对在高度动态环境中的训练困难，我们开发了一个增强的学习框架，以有效地训练DNN，从而很好地介绍了各种环境。此外，我们提出了一种二进制搜索算法，该算法允许在线适应（3）对动态门的引用。最后，通过广泛的高保真模拟，我们表明我们的方法对门的速度不确定性具有鲁棒性，并适应了不同的门轨迹和方向。