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The majority of visual SLAM systems are not robust in dynamic scenarios. The ones that deal with dynamic objects in the scenes usually rely on deep-learning-based methods to detect and filter these objects. However, these methods cannot deal with unknown moving objects. This work presents Panoptic-SLAM, an open-source visual SLAM system robust to dynamic environments, even in the presence of unknown objects. It uses panoptic segmentation to filter dynamic objects from the scene during the state estimation process. Panoptic-SLAM is based on ORB-SLAM3, a state-of-the-art SLAM system for static environments. The implementation was tested using real-world datasets and compared with several state-of-the-art systems from the literature, including DynaSLAM, DS-SLAM, SaD-SLAM, PVO and FusingPanoptic. For example, Panoptic-SLAM is on average four times more accurate than PVO, the most recent panoptic-based approach for visual SLAM. Also, experiments were performed using a quadruped robot with an RGB-D camera to test the applicability of our method in real-world scenarios. The tests were validated by a ground-truth created with a motion capture system.

In real-world applications, there is often a domain shift from training to test data. This observation resulted in the development of test-time adaptation (TTA). It aims to adapt a pre-trained source model to the test data without requiring access to the source data. Thereby, most existing works are limited to the closed-set assumption, i.e. there is no category shift between source and target domain. We argue that in a realistic open-world setting a category shift can appear in addition to a domain shift. This means, individual source classes may not appear in the target domain anymore, samples of new classes may be part of the target domain or even both at the same time. Moreover, in many real-world scenarios the test data is not accessible all at once but arrives sequentially as a stream of batches demanding an immediate prediction. Hence, TTA must be applied in an online manner. To the best of our knowledge, the combination of these aspects, i.e. online source-free universal domain adaptation (online SF-UniDA), has not been studied yet. In this paper, we introduce a Contrastive Mean Teacher (COMET) tailored to this novel scenario. It applies a contrastive loss to rebuild a feature space where the samples of known classes build distinct clusters and the samples of new classes separate well from them. It is complemented by an entropy loss which ensures that the classifier output has a small entropy for samples of known classes and a large entropy for samples of new classes to be easily detected and rejected as unknown. To provide the losses with reliable pseudo labels, they are embedded into a mean teacher (MT) framework. We evaluate our method across two datasets and all category shifts to set an initial benchmark for online SF-UniDA. Thereby, COMET yields state-of-the-art performance and proves to be consistent and robust across a variety of different scenarios.

There has been growing interest in audio-language retrieval research, where the objective is to establish the correlation between audio and text modalities. However, most audio-text paired datasets often lack rich expression of the text data compared to the audio samples. One of the significant challenges facing audio-text datasets is the presence of similar or identical captions despite different audio samples. Therefore, under many-to-one mapping conditions, audio-text datasets lead to poor performance of retrieval tasks. In this paper, we propose a novel approach to tackle the data imbalance problem in audio-language retrieval task. To overcome the limitation, we introduce a method that employs a distance sampling-based paraphraser leveraging ChatGPT, utilizing distance function to generate a controllable distribution of manipulated text data. For a set of sentences with the same context, the distance is used to calculate a degree of manipulation for any two sentences, and ChatGPT's few-shot prompting is performed using a text cluster with a similar distance defined by the Jaccard similarity. Therefore, ChatGPT, when applied to few-shot prompting with text clusters, can adjust the diversity of the manipulated text based on the distance. The proposed approach is shown to significantly enhance performance in audio-text retrieval, outperforming conventional text augmentation techniques.

Graph-based collaborative filtering (CF) has emerged as a promising approach in recommendation systems. Despite its achievements, graph-based CF models face challenges due to data sparsity and negative sampling. In this paper, we propose a novel Stochastic sampling for i) COntrastive views and ii) hard NEgative samples (SCONE) to overcome these issues. By considering that they are both sampling tasks, we generate dynamic augmented views and diverse hard negative samples via our unified stochastic sampling framework based on score-based generative models. In our comprehensive evaluations with 6 benchmark datasets, our proposed SCONE significantly improves recommendation accuracy and robustness, and demonstrates the superiority of our approach over existing CF models. Furthermore, we prove the efficacy of user-item specific stochastic sampling for addressing the user sparsity and item popularity issues. The integration of the stochastic sampling and graph-based CF obtains the state-of-the-art in personalized recommendation systems, making significant strides in information-rich environments.

In this paper, we propose a general application programming interface named OpenATLib for auto-tuning (AT). OpenATLib is designed to establish the reusability of AT functions. By using OpenATLib, we develop a fully auto-tuned sparse iterative solver named Xabclib. Xabclib has several novel run-time AT functions. First, the following new implementations of sparse matrix-vector multiplication (SpMV) for thread processing are implemented:(1) non-zero elements; (2) omission of zero-elements computation for vector reduction; (3) branchless segmented scan (BSS). According to the performance evaluation and the comparison with conventional implementations, the following results are obtained: (1) 14x speedup for non-zero elements and zero-elements computation omission for symmetric SpMV; (2) 4.62x speedup by using BSS. We also develop a "numerical computation policy" that can optimize memory space and computational accuracy. Using the policy, we obtain the following: (1) an averaged 1/45 memory space reduction; (2) avoidance of the "fault convergence" situation, which is a problem of conventional solvers.

Object detectors are typically trained once and for all on a fixed set of classes. However, this closed-world assumption is unrealistic in practice, as new classes will inevitably emerge after the detector is deployed in the wild. In this work, we look at ways to extend a detector trained for a set of base classes so it can i) spot the presence of novel classes, and ii) automatically enrich its repertoire to be able to detect those newly discovered classes together with the base ones. We propose PANDAS, a method for novel class discovery and detection. It discovers clusters representing novel classes from unlabeled data, and represents old and new classes with prototypes. During inference, a distance-based classifier uses these prototypes to assign a label to each detected object instance. The simplicity of our method makes it widely applicable. We experimentally demonstrate the effectiveness of PANDAS on the VOC 2012 and COCO-to-LVIS benchmarks. It performs favorably against the state of the art for this task while being computationally more affordable.

Relational triple extraction is crucial work for the automatic construction of knowledge graphs. Existing methods only construct shallow representations from a token or token pair-level. However, previous works ignore local spatial dependencies of relational triples, resulting in a weakness of entity pair boundary detection. To tackle this problem, we propose a novel Region-based Table Filling method (RTF). We devise a novel region-based tagging scheme and bi-directional decoding strategy, which regard each relational triple as a region on the relation-specific table, and identifies triples by determining two endpoints of each region. We also introduce convolution to construct region-level table representations from a spatial perspective which makes triples easier to be captured. In addition, we share partial tagging scores among different relations to improve learning efficiency of relation classifier. Experimental results show that our method achieves state-of-the-art with better generalization capability on three variants of two widely used benchmark datasets.

Agent-based modeling and simulation has evolved as a powerful tool for modeling complex systems, offering insights into emergent behaviors and interactions among diverse agents. Integrating large language models into agent-based modeling and simulation presents a promising avenue for enhancing simulation capabilities. This paper surveys the landscape of utilizing large language models in agent-based modeling and simulation, examining their challenges and promising future directions. In this survey, since this is an interdisciplinary field, we first introduce the background of agent-based modeling and simulation and large language model-empowered agents. We then discuss the motivation for applying large language models to agent-based simulation and systematically analyze the challenges in environment perception, human alignment, action generation, and evaluation. Most importantly, we provide a comprehensive overview of the recent works of large language model-empowered agent-based modeling and simulation in multiple scenarios, which can be divided into four domains: cyber, physical, social, and hybrid, covering simulation of both real-world and virtual environments. Finally, since this area is new and quickly evolving, we discuss the open problems and promising future directions.

With the advances of data-driven machine learning research, a wide variety of prediction problems have been tackled. It has become critical to explore how machine learning and specifically deep learning methods can be exploited to analyse healthcare data. A major limitation of existing methods has been the focus on grid-like data; however, the structure of physiological recordings are often irregular and unordered which makes it difficult to conceptualise them as a matrix. As such, graph neural networks have attracted significant attention by exploiting implicit information that resides in a biological system, with interactive nodes connected by edges whose weights can be either temporal associations or anatomical junctions. In this survey, we thoroughly review the different types of graph architectures and their applications in healthcare. We provide an overview of these methods in a systematic manner, organized by their domain of application including functional connectivity, anatomical structure and electrical-based analysis. We also outline the limitations of existing techniques and discuss potential directions for future research.

Recently, ensemble has been applied to deep metric learning to yield state-of-the-art results. Deep metric learning aims to learn deep neural networks for feature embeddings, distances of which satisfy given constraint. In deep metric learning, ensemble takes average of distances learned by multiple learners. As one important aspect of ensemble, the learners should be diverse in their feature embeddings. To this end, we propose an attention-based ensemble, which uses multiple attention masks, so that each learner can attend to different parts of the object. We also propose a divergence loss, which encourages diversity among the learners. The proposed method is applied to the standard benchmarks of deep metric learning and experimental results show that it outperforms the state-of-the-art methods by a significant margin on image retrieval tasks.