Most recent work in goal oriented visual navigation resorts to large-scale machine learning in simulated environments. The main challenge lies in learning compact representations generalizable to unseen environments and in learning high-capacity perception modules capable of reasoning on high-dimensional input. The latter is particularly difficult when the goal is not given as a category ("ObjectNav") but as an exemplar image ("ImageNav"), as the perception module needs to learn a comparison strategy requiring to solve an underlying visual correspondence problem. This has been shown to be difficult from reward alone or with standard auxiliary tasks. We address this problem through a sequence of two pretext tasks, which serve as a prior for what we argue is one of the main bottleneck in perception, extremely wide-baseline relative pose estimation and visibility prediction in complex scenes. The first pretext task, cross-view completion is a proxy for the underlying visual correspondence problem, while the second task addresses goal detection and finding directly. We propose a new dual encoder with a large-capacity binocular ViT model and show that correspondence solutions naturally emerge from the training signals. Experiments show significant improvements and SOTA performance on the two benchmarks, ImageNav and the Instance-ImageNav variant, where camera intrinsics and height differ between observation and goal.
The structural characterization of hetero-aggregates in 3D is of great interest, e.g., for deriving process-structure or structure-property relationships. However, since 3D imaging techniques are often difficult to perform as well as time and cost intensive, a characterization of hetero-aggregates based on 2D image data is desirable, but often non-trivial. To overcome the issues of characterizing 3D structures from 2D measurements, a method is presented that relies on machine learning combined with methods of spatial stochastic modeling, where the latter are utilized for the generation of synthetic training data. This kind of training data has the advantage that time-consuming experiments for the synthesis of differently structured materials followed by their 3D imaging can be avoided. More precisely, a parametric stochastic 3D model is presented, from which a wide spectrum of virtual hetero-aggregates can be generated. Additionally, the virtual structures are passed to a physics-based simulation tool in order to generate virtual scanning transmission electron microscopy (STEM) images. The preset parameters of the 3D model together with the simulated STEM images serve as a database for the training of convolutional neural networks, which can be used to determine the parameters of the underlying 3D model and, consequently, to predict 3D structures of hetero-aggregates from 2D STEM images. Furthermore, an error analysis is performed to evaluate the prediction power of the trained neural networks with respect to structural descriptors, e.g. the hetero-coordination number.
Generalist robot manipulators need to learn a wide variety of manipulation skills across diverse environments. Current robot training pipelines rely on humans to provide kinesthetic demonstrations or to program simulation environments and to code up reward functions for reinforcement learning. Such human involvement is an important bottleneck towards scaling up robot learning across diverse tasks and environments. We propose Generation to Simulation (Gen2Sim), a method for scaling up robot skill learning in simulation by automating generation of 3D assets, task descriptions, task decompositions and reward functions using large pre-trained generative models of language and vision. We generate 3D assets for simulation by lifting open-world 2D object-centric images to 3D using image diffusion models and querying LLMs to determine plausible physics parameters. Given URDF files of generated and human-developed assets, we chain-of-thought prompt LLMs to map these to relevant task descriptions, temporal decompositions, and corresponding python reward functions for reinforcement learning. We show Gen2Sim succeeds in learning policies for diverse long horizon tasks, where reinforcement learning with non temporally decomposed reward functions fails. Gen2Sim provides a viable path for scaling up reinforcement learning for robot manipulators in simulation, both by diversifying and expanding task and environment development, and by facilitating the discovery of reinforcement-learned behaviors through temporal task decomposition in RL. Our work contributes hundreds of simulated assets, tasks and demonstrations, taking a step towards fully autonomous robotic manipulation skill acquisition in simulation.
In recent years, Visual Question Answering (VQA) has gained significant attention for its diverse applications, including intelligent car assistance, aiding visually impaired individuals, and document image information retrieval using natural language queries. VQA requires effective integration of information from questions and images to generate accurate answers. Neural models for VQA have made remarkable progress on large-scale datasets, with a primary focus on resource-rich languages like English. To address this, we introduce the ViCLEVR dataset, a pioneering collection for evaluating various visual reasoning capabilities in Vietnamese while mitigating biases. The dataset comprises over 26,000 images and 30,000 question-answer pairs (QAs), each question annotated to specify the type of reasoning involved. Leveraging this dataset, we conduct a comprehensive analysis of contemporary visual reasoning systems, offering valuable insights into their strengths and limitations. Furthermore, we present PhoVIT, a comprehensive multimodal fusion that identifies objects in images based on questions. The architecture effectively employs transformers to enable simultaneous reasoning over textual and visual data, merging both modalities at an early model stage. The experimental findings demonstrate that our proposed model achieves state-of-the-art performance across four evaluation metrics. The accompanying code and dataset have been made publicly accessible at \url{https://github.com/kvt0012/ViCLEVR}. This provision seeks to stimulate advancements within the research community, fostering the development of more multimodal fusion algorithms, specifically tailored to address the nuances of low-resource languages, exemplified by Vietnamese.
We address a challenging lifelong few-shot image generation task for the first time. In this situation, a generative model learns a sequence of tasks using only a few samples per task. Consequently, the learned model encounters both catastrophic forgetting and overfitting problems at a time. Existing studies on lifelong GANs have proposed modulation-based methods to prevent catastrophic forgetting. However, they require considerable additional parameters and cannot generate high-fidelity and diverse images from limited data. On the other hand, the existing few-shot GANs suffer from severe catastrophic forgetting when learning multiple tasks. To alleviate these issues, we propose a framework called Lifelong Few-Shot GAN (LFS-GAN) that can generate high-quality and diverse images in lifelong few-shot image generation task. Our proposed framework learns each task using an efficient task-specific modulator - Learnable Factorized Tensor (LeFT). LeFT is rank-constrained and has a rich representation ability due to its unique reconstruction technique. Furthermore, we propose a novel mode seeking loss to improve the diversity of our model in low-data circumstances. Extensive experiments demonstrate that the proposed LFS-GAN can generate high-fidelity and diverse images without any forgetting and mode collapse in various domains, achieving state-of-the-art in lifelong few-shot image generation task. Surprisingly, we find that our LFS-GAN even outperforms the existing few-shot GANs in the few-shot image generation task. The code is available at Github.
Image registration (IR) is a process that deforms images to align them with respect to a reference space, making it easier for medical practitioners to examine various medical images in a standardized reference frame, such as having the same rotation and scale. This document introduces image registration using a simple numeric example. It provides a definition of image registration along with a space-oriented symbolic representation. This review covers various aspects of image transformations, including affine, deformable, invertible, and bidirectional transformations, as well as medical image registration algorithms such as Voxelmorph, Demons, SyN, Iterative Closest Point, and SynthMorph. It also explores atlas-based registration and multistage image registration techniques, including coarse-fine and pyramid approaches. Furthermore, this survey paper discusses medical image registration taxonomies, datasets, evaluation measures, such as correlation-based metrics, segmentation-based metrics, processing time, and model size. It also explores applications in image-guided surgery, motion tracking, and tumor diagnosis. Finally, the document addresses future research directions, including the further development of transformers.
In the analysis of optical coherence tomography angiography (OCTA) images, the operation of segmenting specific targets is necessary. Existing methods typically train on supervised datasets with limited samples (approximately a few hundred), which can lead to overfitting. To address this, the low-rank adaptation technique is adopted for foundation model fine-tuning and proposed corresponding prompt point generation strategies to process various segmentation tasks on OCTA datasets. This method is named SAM-OCTA and has been experimented on the publicly available OCTA-500 and ROSE datasets. This method achieves or approaches state-of-the-art segmentation performance metrics. The effect and applicability of prompt points are discussed in detail for the retinal vessel, foveal avascular zone, capillary, artery, and vein segmentation tasks. Furthermore, SAM-OCTA accomplishes local vessel segmentation and effective artery-vein segmentation, which was not well-solved in previous works. The code is available at https://github.com/ShellRedia/SAM-OCTA.
Healthcare is one of the foremost applications of machine learning (ML). Traditionally, ML models are trained by central servers, which aggregate data from various distributed devices to forecast the results for newly generated data. This is a major concern as models can access sensitive user information, which raises privacy concerns. A federated learning (FL) approach can help address this issue: A global model sends its copy to all clients who train these copies, and the clients send the updates (weights) back to it. Over time, the global model improves and becomes more accurate. Data privacy is protected during training, as it is conducted locally on the clients' devices. However, the global model is susceptible to data poisoning. We develop a privacy-preserving FL technique for a skin cancer dataset and show that the model is prone to data poisoning attacks. Ten clients train the model, but one of them intentionally introduces flipped labels as an attack. This reduces the accuracy of the global model. As the percentage of label flipping increases, there is a noticeable decrease in accuracy. We use a stochastic gradient descent optimization algorithm to find the most optimal accuracy for the model. Although FL can protect user privacy for healthcare diagnostics, it is also vulnerable to data poisoning, which must be addressed.
Online advertisements are important elements in e-commerce sites, social media platforms, and search engines. With the increasing popularity of mobile browsing, many online ads are displayed with visual information in the form of a cover image in addition to text descriptions to grab the attention of users. Various recent studies have focused on predicting the click rates of online advertisements aware of visual features or composing optimal advertisement elements to enhance visibility. In this paper, we propose Advertisement Style Editing and Attractiveness Enhancement (AdSEE), which explores whether semantic editing to ads images can affect or alter the popularity of online advertisements. We introduce StyleGAN-based facial semantic editing and inversion to ads images and train a click rate predictor attributing GAN-based face latent representations in addition to traditional visual and textual features to click rates. Through a large collected dataset named QQ-AD, containing 20,527 online ads, we perform extensive offline tests to study how different semantic directions and their edit coefficients may impact click rates. We further design a Genetic Advertisement Editor to efficiently search for the optimal edit directions and intensity given an input ad cover image to enhance its projected click rates. Online A/B tests performed over a period of 5 days have verified the increased click-through rates of AdSEE-edited samples as compared to a control group of original ads, verifying the relation between image styles and ad popularity. We open source the code for AdSEE research at https://github.com/LiyaoJiang1998/adsee.
Image deblurring is a critical task in the field of image restoration, aiming to eliminate blurring artifacts. However, the challenge of addressing non-uniform blurring leads to an ill-posed problem, which limits the generalization performance of existing deblurring models. To solve the problem, we propose a framework SAM-Deblur, integrating prior knowledge from the Segment Anything Model (SAM) into the deblurring task for the first time. In particular, SAM-Deblur is divided into three stages. First, We preprocess the blurred images, obtain image masks via SAM, and propose a mask dropout method for training to enhance model robustness. Then, to fully leverage the structural priors generated by SAM, we propose a Mask Average Pooling (MAP) unit specifically designed to average SAM-generated segmented areas, serving as a plug-and-play component which can be seamlessly integrated into existing deblurring networks. Finally, we feed the fused features generated by the MAP Unit into the deblurring model to obtain a sharp image. Experimental results on the RealBlurJ, ReloBlur, and REDS datasets reveal that incorporating our methods improves NAFNet's PSNR by 0.05, 0.96, and 7.03, respectively. Code will be available at \href{https://github.com/HPLQAQ/SAM-Deblur}{SAM-Deblur}.