Diffusion-based generative models have achieved remarkable success in image generation. Their guidance formulation allows an external model to plug-and-play control the generation process for various tasks without fine-tuning the diffusion model. However, the direct use of publicly available off-the-shelf models for guidance fails due to their poor performance on noisy inputs. For that, the existing practice is to fine-tune the guidance models with labeled data corrupted with noises. In this paper, we argue that this practice has limitations in two aspects: (1) performing on inputs with extremely various noises is too hard for a single model; (2) collecting labeled datasets hinders scaling up for various tasks. To tackle the limitations, we propose a novel strategy that leverages multiple experts where each expert is specialized in a particular noise range and guides the reverse process at its corresponding timesteps. However, as it is infeasible to manage multiple networks and utilize labeled data, we present a practical guidance framework termed Practical Plug-And-Play (PPAP), which leverages parameter-efficient fine-tuning and data-free knowledge transfer. We exhaustively conduct ImageNet class conditional generation experiments to show that our method can successfully guide diffusion with small trainable parameters and no labeled data. Finally, we show that image classifiers, depth estimators, and semantic segmentation models can guide publicly available GLIDE through our framework in a plug-and-play manner.

最近，自我监督方法在图像级代表学习中表现出显着的成就。尽管如此，它们的图像级自我监督将学习的表示来引导到密集预测任务的次优，例如对象检测，实例分割等来解决这个问题，最近的几个自我监督的学习方法具有扩展图像级单个嵌入到像素级密集嵌入物。与图像级表示学习不同，由于增强的空间变形，难以采样像素级正对。以前的研究使用赢家 - 所有在密集嵌入之间的相似性或阈值距离之间采样像素级正对。然而，这些天真的方法可以通过背景混乱和异常值问题挣扎。在本文中，我们介绍了霍夫对比学习（Houghcl），一种基于Hough空间的方法，该方法强制了两个密集特征之间的几何一致性。 Houghcl实现了对背景杂乱和异常值的鲁棒性。此外，与基线相比，我们密集的正配对方法没有额外的学习参数，并且具有小的额外计算成本。与以前的作品相比，我们的方法在密集的预测微调任务上显示了更好或相当的性能。

我们提出了一种新的成本聚合网络，称为成本聚合变压器（CAT），在语义类似的图像之间找到密集的对应关系，其中具有大型类内外观和几何变化构成的额外挑战。成本聚合是匹配任务的一个非常重要的过程，匹配精度取决于其输出的质量。与寻址成本聚集的手工制作或基于CNN的方法相比，缺乏严重变形的鲁棒性或继承了由于接受领域有限而无法区分错误匹配的CNN的限制，猫探讨了初始相关图之间的全球共识一些建筑设计的帮助，使我们能够充分利用自我关注机制。具体地，我们包括外观亲和力建模，以帮助成本聚合过程，以消除嘈杂的初始相关映射并提出多级聚合，以有效地从分层特征表示中捕获不同的语义。然后，我们与交换自我关注技术和残留连接相结合，不仅要强制执行一致的匹配，而且还可以缓解学习过程，我们发现这些结果导致了表观性能提升。我们进行实验，以证明拟议模型在最新方法中的有效性，并提供广泛的消融研究。代码和培训的型号可以在https://github.com/sunghwanhong/cats提供。

域泛化（DG）方法旨在通过仅使用来自源域的训练数据来实现未经证明的目标域的概括性。虽然已经提出了各种DG方法，但最近的一项研究表明，在一个公平的评估方案下，称为域底，简单的经验风险最小化（ERM）方法可与以前的方法相当。不幸的是，简单地解决了ERM在复杂的非凸损函数上，可以通过寻求尖锐的最小值来容易地导致次优化的普遍性。在本文中，我们理论上表明发现扁平最小值导致较小的域泛化差距。我们还提出了一种简单而有效的方法，名为随机重量平均（纵向），找到扁平的最小值。瑞郎发现更漂亮的最小值，并且由于通过密集和过度感知的随机重量采样策略而遭受的过度装备不足。瑞士瑞士展示了五个DG基准测试，即PACS，VLC，OfficeHome，Terraincognita和Domainnet的最先进的表演，符合域名准确度的一致和大幅度+ 1.6％。我们还与常规的泛化方法（如数据增强和一致性正则化方法）进行比较，以验证显着的性能改进是通过寻求扁平的最小值，而不是更好的域概括性。最后但并非最不重要的是，瑞士剧本适应现有的DG方法而无需修改;施联和现有DG方法的组合进一步提高了DG性能。源代码可在https://github.com/khanrc/swad提供。

The 3D-aware image synthesis focuses on conserving spatial consistency besides generating high-resolution images with fine details. Recently, Neural Radiance Field (NeRF) has been introduced for synthesizing novel views with low computational cost and superior performance. While several works investigate a generative NeRF and show remarkable achievement, they cannot handle conditional and continuous feature manipulation in the generation procedure. In this work, we introduce a novel model, called Class-Continuous Conditional Generative NeRF ($\text{C}^{3}$G-NeRF), which can synthesize conditionally manipulated photorealistic 3D-consistent images by projecting conditional features to the generator and the discriminator. The proposed $\text{C}^{3}$G-NeRF is evaluated with three image datasets, AFHQ, CelebA, and Cars. As a result, our model shows strong 3D-consistency with fine details and smooth interpolation in conditional feature manipulation. For instance, $\text{C}^{3}$G-NeRF exhibits a Fr\'echet Inception Distance (FID) of 7.64 in 3D-aware face image synthesis with a $\text{128}^{2}$ resolution. Additionally, we provide FIDs of generated 3D-aware images of each class of the datasets as it is possible to synthesize class-conditional images with $\text{C}^{3}$G-NeRF.

Cellular automata (CA) captivate researchers due to teh emergent, complex individualized behavior that simple global rules of interaction enact. Recent advances in the field have combined CA with convolutional neural networks to achieve self-regenerating images. This new branch of CA is called neural cellular automata [1]. The goal of this project is to use the idea of idea of neural cellular automata to grow prediction machines. We place many different convolutional neural networks in a grid. Each conv net cell outputs a prediction of what the next state will be, and minimizes predictive error. Cells received their neighbors' colors and fitnesses as input. Each cell's fitness score described how accurate its predictions were. Cells could also move to explore their environment and some stochasticity was applied to movement.

There is a dramatic shortage of skilled labor for modern vineyards. The Vinum project is developing a mobile robotic solution to autonomously navigate through vineyards for winter grapevine pruning. This necessitates an autonomous navigation stack for the robot pruning a vineyard. The Vinum project is using the quadruped robot HyQReal. This paper introduces an architecture for a quadruped robot to autonomously move through a vineyard by identifying and approaching grapevines for pruning. The higher level control is a state machine switching between searching for destination positions, autonomously navigating towards those locations, and stopping for the robot to complete a task. The destination points are determined by identifying grapevine trunks using instance segmentation from a Mask Region-Based Convolutional Neural Network (Mask-RCNN). These detections are sent through a filter to avoid redundancy and remove noisy detections. The combination of these features is the basis for the proposed architecture.

Feature selection helps reduce data acquisition costs in ML, but the standard approach is to train models with static feature subsets. Here, we consider the dynamic feature selection (DFS) problem where a model sequentially queries features based on the presently available information. DFS is often addressed with reinforcement learning (RL), but we explore a simpler approach of greedily selecting features based on their conditional mutual information. This method is theoretically appealing but requires oracle access to the data distribution, so we develop a learning approach based on amortized optimization. The proposed method is shown to recover the greedy policy when trained to optimality and outperforms numerous existing feature selection methods in our experiments, thus validating it as a simple but powerful approach for this problem.

In this paper, we learn a diffusion model to generate 3D data on a scene-scale. Specifically, our model crafts a 3D scene consisting of multiple objects, while recent diffusion research has focused on a single object. To realize our goal, we represent a scene with discrete class labels, i.e., categorical distribution, to assign multiple objects into semantic categories. Thus, we extend discrete diffusion models to learn scene-scale categorical distributions. In addition, we validate that a latent diffusion model can reduce computation costs for training and deploying. To the best of our knowledge, our work is the first to apply discrete and latent diffusion for 3D categorical data on a scene-scale. We further propose to perform semantic scene completion (SSC) by learning a conditional distribution using our diffusion model, where the condition is a partial observation in a sparse point cloud. In experiments, we empirically show that our diffusion models not only generate reasonable scenes, but also perform the scene completion task better than a discriminative model. Our code and models are available at https://github.com/zoomin-lee/scene-scale-diffusion

We introduce a new tool for stochastic convex optimization (SCO): a Reweighted Stochastic Query (ReSQue) estimator for the gradient of a function convolved with a (Gaussian) probability density. Combining ReSQue with recent advances in ball oracle acceleration [CJJJLST20, ACJJS21], we develop algorithms achieving state-of-the-art complexities for SCO in parallel and private settings. For a SCO objective constrained to the unit ball in $\mathbb{R}^d$, we obtain the following results (up to polylogarithmic factors). We give a parallel algorithm obtaining optimization error $\epsilon_{\text{opt}}$ with $d^{1/3}\epsilon_{\text{opt}}^{-2/3}$ gradient oracle query depth and $d^{1/3}\epsilon_{\text{opt}}^{-2/3} + \epsilon_{\text{opt}}^{-2}$ gradient queries in total, assuming access to a bounded-variance stochastic gradient estimator. For $\epsilon_{\text{opt}} \in [d^{-1}, d^{-1/4}]$, our algorithm matches the state-of-the-art oracle depth of [BJLLS19] while maintaining the optimal total work of stochastic gradient descent. We give an $(\epsilon_{\text{dp}}, \delta)$-differentially private algorithm which, given $n$ samples of Lipschitz loss functions, obtains near-optimal optimization error and makes $\min(n, n^2\epsilon_{\text{dp}}^2 d^{-1}) + \min(n^{4/3}\epsilon_{\text{dp}}^{1/3}, (nd)^{2/3}\epsilon_{\text{dp}}^{-1})$ queries to the gradients of these functions. In the regime $d \le n \epsilon_{\text{dp}}^{2}$, where privacy comes at no cost in terms of the optimal loss up to constants, our algorithm uses $n + (nd)^{2/3}\epsilon_{\text{dp}}^{-1}$ queries and improves recent advancements of [KLL21, AFKT21]. In the moderately low-dimensional setting $d \le \sqrt n \epsilon_{\text{dp}}^{3/2}$, our query complexity is near-linear.