The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so resource-hungry that they cannot run on portable devices, which deviates from the original intention of SLAM. In this paper, we present Photo-SLAM, a novel SLAM framework with a hyper primitives map. Specifically, we simultaneously exploit explicit geometric features for localization and learn implicit photometric features to represent the texture information of the observed environment. In addition to actively densifying hyper primitives based on geometric features, we further introduce a Gaussian-Pyramid-based training method to progressively learn multi-level features, enhancing photorealistic mapping performance. The extensive experiments with monocular, stereo, and RGB-D datasets prove that our proposed system Photo-SLAM significantly outperforms current state-of-the-art SLAM systems for online photorealistic mapping, e.g., PSNR is 30% higher and rendering speed is hundreds of times faster in the Replica dataset. Moreover, the Photo-SLAM can run at real-time speed using an embedded platform such as Jetson AGX Orin, showing the potential of robotics applications.
Text ranking is a critical task in various information retrieval applications, and the recent success of Large Language Models (LLMs) in natural language processing has sparked interest in their application to text ranking. These methods primarily involve combining query and candidate documents and leveraging prompt learning to determine query-document relevance using the LLM's output probabilities for specific tokens or by directly generating a ranked list of candidate documents. Although these approaches have demonstrated promise, a noteworthy disparity arises between the training objective of LLMs, which typically centers around next token prediction, and the objective of evaluating query-document relevance. To address this gap and fully leverage LLM potential in text ranking tasks, we propose a progressive multi-stage training strategy. Firstly, we introduce a large-scale weakly supervised dataset of relevance texts to enable the LLMs to acquire the ability to predict relevant tokens without altering their original training objective. Subsequently, we incorporate supervised training to further enhance LLM ranking capability. Our experimental results on multiple benchmarks demonstrate the superior performance of our proposed method compared to previous competitive approaches, both in in-domain and out-of-domain scenarios.
In today's technologically driven world, the spread of fake news, particularly during crucial events such as elections, presents an increasing challenge to the integrity of information. To address this challenge, we introduce FakeWatch ElectionShield, an innovative framework carefully designed to detect fake news. We have created a novel dataset of North American election-related news articles through a blend of advanced language models (LMs) and thorough human verification, for precision and relevance. We propose a model hub of LMs for identifying fake news. Our goal is to provide the research community with adaptable and accurate classification models in recognizing the dynamic nature of misinformation. Extensive evaluation of fake news classifiers on our dataset and a benchmark dataset shows our that while state-of-the-art LMs slightly outperform the traditional ML models, classical models are still competitive with their balance of accuracy, explainability, and computational efficiency. This research sets the foundation for future studies to address misinformation related to elections.
Visual relations are complex, multimodal concepts that play an important role in the way humans perceive the world. As a result of their complexity, high-quality, diverse and large scale datasets for visual relations are still absent. In an attempt to overcome this data barrier, we choose to focus on the problem of few-shot Visual Relationship Detection (VRD), a setting that has been so far neglected by the community. In this work we present the first pretraining method for few-shot predicate classification that does not require any annotated relations. We achieve this by introducing a generative model that is able to capture the variation of semantic, visual and spatial information of relations inside a latent space and later exploiting its representations in order to achieve efficient few-shot classification. We construct few-shot training splits and show quantitative experiments on VG200 and VRD datasets where our model outperforms the baselines. Lastly we attempt to interpret the decisions of the model by conducting various qualitative experiments.
In rapidly-evolving domains such as autonomous driving, the use of multiple sensors with different modalities is crucial to ensure high operational precision and stability. To correctly exploit the provided information by each sensor in a single common frame, it is essential for these sensors to be accurately calibrated. In this paper, we leverage the ability of Neural Radiance Fields (NeRF) to represent different sensors modalities in a common volumetric representation to achieve robust and accurate spatio-temporal sensor calibration. By designing a partitioning approach based on the visible part of the scene for each sensor, we formulate the calibration problem using only the overlapping areas. This strategy results in a more robust and accurate calibration that is less prone to failure. We demonstrate that our approach works on outdoor urban scenes by validating it on multiple established driving datasets. Results show that our method is able to get better accuracy and robustness compared to existing methods.
Deep learning-based lossless compression methods offer substantial advantages in compressing medical volumetric images. Nevertheless, many learning-based algorithms encounter a trade-off between practicality and compression performance. This paper introduces a hardware-friendly streaming lossless volumetric compression framework, utilizing merely one-thousandth of the model weights compared to other learning-based compression frameworks. We propose a gated recurrent convolutional neural network that combines diverse convolutional structures and fusion gate mechanisms to capture the inter-slice dependencies in volumetric images. Based on such contextual information, we can predict the pixel-by-pixel distribution for entropy coding. Guided by hardware/software co-design principles, we implement the proposed framework on Field Programmable Gate Array to achieve enhanced real-time performance. Extensive experimental results indicate that our method outperforms traditional lossless volumetric compressors and state-of-the-art learning-based lossless compression methods across various medical image benchmarks. Additionally, our method exhibits robust generalization ability and competitive compression speed
Question answer generation using Natural Language Processing models is ubiquitous in the world around us. It is used in many use cases such as the building of chat bots, suggestive prompts in google search and also as a way of navigating information in banking mobile applications etc. It is highly relevant because a frequently asked questions (FAQ) list can only have a finite amount of questions but a model which can perform question answer generation could be able to answer completely new questions that are within the scope of the data. This helps us to be able to answer new questions accurately as long as it is a relevant question. In commercial applications, it can be used to increase customer satisfaction and ease of usage. However a lot of data is generated by humans so it is susceptible to human error and this can adversely affect the model's performance and we are investigating this through our work
Mutual information quantifies the dependence between two random variables and remains invariant under diffeomorphisms. In this paper, we explore the pointwise mutual information profile, an extension of mutual information that maintains this invariance. We analytically describe the profiles of multivariate normal distributions and introduce the family of fine distributions, for which the profile can be accurately approximated using Monte Carlo methods. We then show how fine distributions can be used to study the limitations of existing mutual information estimators, investigate the behavior of neural critics used in variational estimators, and understand the effect of experimental outliers on mutual information estimation. Finally, we show how fine distributions can be used to obtain model-based Bayesian estimates of mutual information, suitable for problems with available domain expertise in which uncertainty quantification is necessary.
We investigate the boundary between chemotaxis driven by spatial estimation of gradients and chemotaxis driven by temporal estimation. While it is well known that spatial chemotaxis becomes disadvantageous for small organisms at high noise levels, it is unclear whether there is a discontinuous switch of optimal strategies or a continuous transition exists. Here, we employ deep reinforcement learning to study the possible integration of spatial and temporal information in an a priori unconstrained manner. We parameterize such a combined chemotactic policy by a recurrent neural network and evaluate it using a minimal theoretical model of a chemotactic cell. By comparing with constrained variants of the policy, we show that it converges to purely temporal and spatial strategies at small and large cell sizes, respectively. We find that the transition between the regimes is continuous, with the combined strategy outperforming in the transition region both the constrained variants as well as models that explicitly integrate spatial and temporal information. Finally, by utilizing the attribution method of integrated gradients, we show that the policy relies on a non-trivial combination of spatially and temporally derived gradient information in a ratio that varies dynamically during the chemotactic trajectories.
Cross-domain CTR (CDCTR) prediction is an important research topic that studies how to leverage meaningful data from a related domain to help CTR prediction in target domain. Most existing CDCTR works design implicit ways to transfer knowledge across domains such as parameter-sharing that regularizes the model training in target domain. More effectively, recent researchers propose explicit techniques to extract user interest knowledge and transfer this knowledge to target domain. However, the proposed method mainly faces two issues: 1) it usually requires a super domain, i.e. an extremely large source domain, to cover most users or items of target domain, and 2) the extracted user interest knowledge is static no matter what the context is in target domain. These limitations motivate us to develop a more flexible and efficient technique to explicitly transfer knowledge. In this work, we propose a cross-domain augmentation network (CDAnet) being able to perform explicit knowledge transfer between two domains. Specifically, CDAnet contains a designed translation network and an augmentation network which are trained sequentially. The translation network computes latent features from two domains and learns meaningful cross-domain knowledge of each input in target domain by using a designed cross-supervised feature translator. Later the augmentation network employs the explicit cross-domain knowledge as augmented information to boost the target domain CTR prediction. Through extensive experiments on two public benchmarks and one industrial production dataset, we show CDAnet can learn meaningful translated features and largely improve the performance of CTR prediction. CDAnet has been conducted online A/B test in image2product retrieval at Taobao app, bringing an absolute 0.11 point CTR improvement, a relative 0.64% deal growth and a relative 1.26% GMV increase.