Snap-it, Tap-it, Splat-it: Tactile-Informed 3D Gaussian Splatting for Reconstructing Challenging Surfaces

Touch and vision go hand in hand, mutually enhancing our ability to understand the world. From a research perspective, the problem of mixing touch and vision is underexplored and presents interesting challenges. To this end, we propose Tactile-Informed 3DGS, a novel approach that incorporates touch data (local depth maps) with multi-view vision data to achieve surface reconstruction and novel view synthesis. Our method optimises 3D Gaussian primitives to accurately model the object's geometry at points of contact. By creating a framework that decreases the transmittance at touch locations, we achieve a refined surface reconstruction, ensuring a uniformly smooth depth map. Touch is particularly useful when considering non-Lambertian objects (e.g. shiny or reflective surfaces) since contemporary methods tend to fail to reconstruct with fidelity specular highlights. By combining vision and tactile sensing, we achieve more accurate geometry reconstructions with fewer images than prior methods. We conduct evaluation on objects with glossy and reflective surfaces and demonstrate the effectiveness of our approach, offering significant improvements in reconstruction quality.

Batch size invariant Adam

We propose a batch size invariant version of Adam, for use in large-scale, distributed settings, in which the mini-batch is divided into micro-batches which are distributed among worker nodes. For the v term, standard Adam first computes the average over micro-batch gradients, then squares, while in the batch size invariant Adam proposed here, we first square the micro-batch gradients, then average. Previous work (e.g. Malladi et al. 2022) used an alternative approach that involved a square-root scaling of the learning rate, but this approach requires strong assumptions to work; in particular that the gradient variance dominates the square of the expected gradient. In contrast, the approach proposed here gives batch size invariance without this assumption. We confirm that in practice our scheme gives batch size invariance in a much larger range of scenarios than the previous approach.

Bayesian Reward Models for LLM Alignment

To ensure that large language model (LLM) responses are helpful and non-toxic, we usually fine-tune a reward model on human preference data. We then select policy responses with high rewards (best-of-n sampling) or further optimize the policy to produce responses with high rewards (reinforcement learning from human feedback). However, this process is vulnerable to reward overoptimization or hacking, in which the responses selected have high rewards due to errors in the reward model rather than a genuine preference. This is especially problematic as the prompt or response diverges from the training data. It should be possible to mitigate these issues by training a Bayesian reward model, which signals higher uncertainty further from the training data distribution. Therefore, we trained Bayesian reward models using Laplace-LoRA (Yang et al., 2024) and found that the resulting uncertainty estimates can successfully mitigate reward overoptimization in best-of-n sampling.

Flexible infinite-width graph convolutional networks and the importance of representation learning

A common theoretical approach to understanding neural networks is to take an infinite-width limit, at which point the outputs become Gaussian process (GP) distributed. This is known as a neural network Gaussian process (NNGP). However, the NNGP kernel is fixed, and tunable only through a small number of hyperparameters, eliminating any possibility of representation learning. This contrasts with finite-width NNs, which are often believed to perform well precisely because they are able to learn representations. Thus in simplifying NNs to make them theoretically tractable, NNGPs may eliminate precisely what makes them work well (representation learning). This motivated us to understand whether representation learning is necessary in a range of graph classification tasks. We develop a precise tool for this task, the graph convolutional deep kernel machine. This is very similar to an NNGP, in that it is an infinite width limit and uses kernels, but comes with a `knob' to control the amount of representation learning. We found that representation learning is necessary (in the sense that it gives dramatic performance improvements) in graph classification tasks and heterophilous node classification tasks, but not in homophilous node classification tasks.

Position Paper: Bayesian Deep Learning in the Age of Large-Scale AI

In the current landscape of deep learning research, there is a predominant emphasis on achieving high predictive accuracy in supervised tasks involving large image and language datasets. However, a broader perspective reveals a multitude of overlooked metrics, tasks, and data types, such as uncertainty, active and continual learning, and scientific data, that demand attention. Bayesian deep learning (BDL) constitutes a promising avenue, offering advantages across these diverse settings. This paper posits that BDL can elevate the capabilities of deep learning. It revisits the strengths of BDL, acknowledges existing challenges, and highlights some exciting research avenues aimed at addressing these obstacles. Looking ahead, the discussion focuses on possible ways to combine large-scale foundation models with BDL to unlock their full potential.

TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction using Vision-Based Tactile Sensing

Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that utilise high-resolution vision-based tactile sensors. However, 3D shape reconstruction using tactile sensing has lagged behind visual shape reconstruction because of limitations in existing techniques, including the inability to generalise over unseen shapes, the absence of real-world testing, and limited expressive capacity imposed by discrete representations. To address these challenges, we propose TouchSDF, a Deep Learning approach for tactile 3D shape reconstruction that leverages the rich information provided by a vision-based tactile sensor and the expressivity of the implicit neural representation DeepSDF. Our technique consists of two components: (1) a Convolutional Neural Network that maps tactile images into local meshes representing the surface at the touch location, and (2) an implicit neural function that predicts a signed distance function to extract the desired 3D shape. This combination allows TouchSDF to reconstruct smooth and continuous 3D shapes from tactile inputs in simulation and real-world settings, opening up research avenues for robust 3D-aware representations and improved multimodal perception in robotics. Code and supplementary material are available at: https://touchsdf.github.io/

LoRA ensembles for large language model fine-tuning

Finetuned LLMs often exhibit poor uncertainty quantification, manifesting as overconfidence, poor calibration, and unreliable prediction results on test data or out-of-distribution samples. One approach commonly used in vision for alleviating this issue is a deep ensemble, which constructs an ensemble by training the same model multiple times using different random initializations. However, there is a huge challenge to ensembling LLMs: the most effective LLMs are very, very large. Keeping a single LLM in memory is already challenging enough: keeping an ensemble of e.g. 5 LLMs in memory is impossible in many settings. To address these issues, we propose an ensemble approach using Low-Rank Adapters (LoRA), a parameter-efficient fine-tuning technique. Critically, these low-rank adapters represent a very small number of parameters, orders of magnitude less than the underlying pre-trained model. Thus, it is possible to construct large ensembles of LoRA adapters with almost the same computational overhead as using the original model. We find that LoRA ensembles, applied on its own or on top of pre-existing regularization techniques, gives consistent improvements in predictive accuracy and uncertainty quantification.

Convolutional Deep Kernel Machines

Deep kernel machines (DKMs) are a recently introduced kernel method with the flexibility of other deep models including deep NNs and deep Gaussian processes. DKMs work purely with kernels, never with features, and are therefore different from other methods ranging from NNs to deep kernel learning and even deep Gaussian processes, which all use features as a fundamental component. Here, we introduce convolutional DKMs, along with an efficient inter-domain inducing point approximation scheme. Further, we develop and experimentally assess a number of model variants, including 9 different types of normalisation designed for the convolutional DKMs, two likelihoods, and two different types of top-layer. The resulting models achieve around 99% test accuracy on MNIST, 92% on CIFAR-10 and 71% on CIFAR-100, despite training in only around 28 GPU hours, 1-2 orders of magnitude faster than full NNGP / NTK / Myrtle kernels, whilst achieving comparable performance.

Bayesian low-rank adaptation for large language models

Parameter-efficient fine-tuning (PEFT) has emerged as a new paradigm for cost-efficient fine-tuning of large language models (LLMs), with low-rank adaptation (LoRA) being a widely adopted choice. However, fine-tuned LLMs often become overconfident especially when fine-tuned on small datasets. Bayesian methods, with their inherent ability to estimate uncertainty, serve as potent tools to mitigate overconfidence and enhance calibration. In this work, we introduce Laplace-LoRA, a straightforward yet effective Bayesian method, which applies the Laplace approximation to the LoRA parameters and, considerably boosts the calibration of fine-tuned LLMs.