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Raw depth images captured in indoor scenarios frequently exhibit extensive missing values due to the inherent limitations of the sensors and environments. For example, transparent materials frequently elude detection by depth sensors; surfaces may introduce measurement inaccuracies due to their polished textures, extended distances, and oblique incidence angles from the sensor. The presence of incomplete depth maps imposes significant challenges for subsequent vision applications, prompting the development of numerous depth completion techniques to mitigate this problem. Numerous methods excel at reconstructing dense depth maps from sparse samples, but they often falter when faced with extensive contiguous regions of missing depth values, a prevalent and critical challenge in indoor environments. To overcome these challenges, we design a novel two-branch end-to-end fusion network named RDFC-GAN, which takes a pair of RGB and incomplete depth images as input to predict a dense and completed depth map. The first branch employs an encoder-decoder structure, by adhering to the Manhattan world assumption and utilizing normal maps from RGB-D information as guidance, to regress the local dense depth values from the raw depth map. The other branch applies an RGB-depth fusion CycleGAN, adept at translating RGB imagery into detailed, textured depth maps while ensuring high fidelity through cycle consistency. We fuse the two branches via adaptive fusion modules named W-AdaIN and train the model with the help of pseudo depth maps. Comprehensive evaluations on NYU-Depth V2 and SUN RGB-D datasets show that our method significantly enhances depth completion performance particularly in realistic indoor settings.

Dataset distillation aims to compress information from a large-scale original dataset to a new compact dataset while striving to preserve the utmost degree of the original data informational essence. Previous studies have predominantly concentrated on aligning the intermediate statistics between the original and distilled data, such as weight trajectory, features, gradient, BatchNorm, etc. In this work, we consider addressing this task through the new lens of model informativeness in the compression stage on the original dataset pretraining. We observe that with the prior state-of-the-art SRe$^2$L, as model sizes increase, it becomes increasingly challenging for supervised pretrained models to recover learned information during data synthesis, as the channel-wise mean and variance inside the model are flatting and less informative. We further notice that larger variances in BN statistics from self-supervised models enable larger loss signals to update the recovered data by gradients, enjoying more informativeness during synthesis. Building on this observation, we introduce SC-DD, a simple yet effective Self-supervised Compression framework for Dataset Distillation that facilitates diverse information compression and recovery compared to traditional supervised learning schemes, further reaps the potential of large pretrained models with enhanced capabilities. Extensive experiments are conducted on CIFAR-100, Tiny-ImageNet and ImageNet-1K datasets to demonstrate the superiority of our proposed approach. The proposed SC-DD outperforms all previous state-of-the-art supervised dataset distillation methods when employing larger models, such as SRe$^2$L, MTT, TESLA, DC, CAFE, etc., by large margins under the same recovery and post-training budgets. Code is available at //github.com/VILA-Lab/SRe2L/tree/main/SCDD/.

Adversarial robustness often comes at the cost of degraded accuracy, impeding the real-life application of robust classification models. Training-based solutions for better trade-offs are limited by incompatibilities with already-trained high-performance large models, necessitating the exploration of training-free ensemble approaches. Observing that robust models are more confident in correct predictions than in incorrect ones on clean and adversarial data alike, we speculate amplifying this "benign confidence property" can reconcile accuracy and robustness in an ensemble setting. To achieve so, we propose "MixedNUTS", a training-free method where the output logits of a robust classifier and a standard non-robust classifier are processed by nonlinear transformations with only three parameters, which are optimized through an efficient algorithm. MixedNUTS then converts the transformed logits into probabilities and mixes them as the overall output. On CIFAR-10, CIFAR-100, and ImageNet datasets, experimental results with custom strong adaptive attacks demonstrate MixedNUTS's vastly improved accuracy and near-SOTA robustness -- it boosts CIFAR-100 clean accuracy by 7.86 points, sacrificing merely 0.87 points in robust accuracy.

We introduce a meta dataset for few-shot relation extraction, which includes two datasets derived from existing supervised relation extraction datasets NYT29 (Takanobu et al., 2019; Nayak and Ng, 2020) and WIKIDATA (Sorokin and Gurevych, 2017) as well as a few-shot form of the TACRED dataset (Sabo et al., 2021). Importantly, all these few-shot datasets were generated under realistic assumptions such as: the test relations are different from any relations a model might have seen before, limited training data, and a preponderance of candidate relation mentions that do not correspond to any of the relations of interest. Using this large resource, we conduct a comprehensive evaluation of six recent few-shot relation extraction methods, and observe that no method comes out as a clear winner. Further, the overall performance on this task is low, indicating substantial need for future research. We release all versions of the data, i.e., both supervised and few-shot, for future research.

Synthetic tabular data is crucial for sharing and augmenting data across silos, especially for enterprises with proprietary data. However, existing synthesizers are designed for centrally stored data. Hence, they struggle with real-world scenarios where features are distributed across multiple silos, necessitating on-premise data storage. We introduce SiloFuse, a novel generative framework for high-quality synthesis from cross-silo tabular data. To ensure privacy, SiloFuse utilizes a distributed latent tabular diffusion architecture. Through autoencoders, latent representations are learned for each client's features, masking their actual values. We employ stacked distributed training to improve communication efficiency, reducing the number of rounds to a single step. Under SiloFuse, we prove the impossibility of data reconstruction for vertically partitioned synthesis and quantify privacy risks through three attacks using our benchmark framework. Experimental results on nine datasets showcase SiloFuse's competence against centralized diffusion-based synthesizers. Notably, SiloFuse achieves 43.8 and 29.8 higher percentage points over GANs in resemblance and utility. Experiments on communication show stacked training's fixed cost compared to the growing costs of end-to-end training as the number of training iterations increases. Additionally, SiloFuse proves robust to feature permutations and varying numbers of clients.

Microvascular networks are challenging to model because these structures are currently near the diffraction limit for most advanced three-dimensional imaging modalities, including confocal and light sheet microscopy. This makes semantic segmentation difficult, because individual components of these networks fluctuate within the confines of individual pixels. Level set methods are ideally suited to solve this problem by providing surface and topological constraints on the resulting model, however these active contour techniques are extremely time intensive and impractical for terabyte-scale images. We propose a reformulation and implementation of the region-scalable fitting (RSF) level set model that makes it amenable to three-dimensional evaluation using both single-instruction multiple data (SIMD) and single-program multiple-data (SPMD) parallel processing. This enables evaluation of the level set equation on independent regions of the data set using graphics processing units (GPUs), making large-scale segmentation of high-resolution networks practical and inexpensive. We tested this 3D parallel RSF approach on multiple data sets acquired using state-of-the-art imaging techniques to acquire microvascular data, including micro-CT, light sheet fluorescence microscopy (LSFM) and milling microscopy. To assess the performance and accuracy of the RSF model, we conducted a Monte-Carlo-based validation technique to compare results to other segmentation methods. We also provide a rigorous profiling to show the gains in processing speed leveraging parallel hardware. This study showcases the practical application of the RSF model, emphasizing its utility in the challenging domain of segmenting large-scale high-topology network structures with a particular focus on building microvascular models.

Dexterous manipulation, particularly adept coordinating and grasping, constitutes a fundamental and indispensable capability for robots, facilitating the emulation of human-like behaviors. Integrating this capability into robots empowers them to supplement and even supplant humans in undertaking increasingly intricate tasks in both daily life and industrial settings. Unfortunately, contemporary methodologies encounter serious challenges in devising manipulation trajectories owing to the intricacies of tasks, the expansive robotic manipulation space, and dynamic obstacles. We propose a novel approach, APEX, to address all these difficulties by introducing a collision-free latent diffusion model for both robotic motion planning and manipulation. Firstly, we simplify the complexity of real-life ambidextrous dual-arm robotic manipulation tasks by abstracting them as aligning two vectors. Secondly, we devise latent diffusion models to produce a variety of robotic manipulation trajectories. Furthermore, we integrate obstacle information utilizing a classifier-guidance technique, thereby guaranteeing both the feasibility and safety of the generated manipulation trajectories. Lastly, we validate our proposed algorithm through extensive experiments conducted on the hardware platform of ambidextrous dual-arm robots. Our algorithm consistently generates successful and seamless trajectories across diverse tasks, surpassing conventional robotic motion planning algorithms. These results carry significant implications for the future design of diffusion robots, enhancing their capability to tackle more intricate robotic manipulation tasks with increased efficiency and safety. Complete video demonstrations of our experiments can be found in //sites.google.com/view/apex-dual-arm/home.

Recently, a large number of Low Earth Orbit (LEO) satellites have been launched and deployed successfully in space by commercial companies, such as SpaceX. Due to multimodal sensors equipped by the LEO satellites, they serve not only for communication but also for various machine learning applications, such as space modulation recognition, remote sensing image classification, etc. However, the ground station (GS) may be incapable of downloading such a large volume of raw sensing data for centralized model training due to the limited contact time with LEO satellites (e.g. 5 minutes). Therefore, federated learning (FL) has emerged as the promising solution to address this problem via on-device training. Unfortunately, to enable FL on LEO satellites, we still face three critical challenges that are i) heterogeneous computing and memory capabilities, ii) limited uplink rate, and iii) model staleness. To this end, we propose FedSN as a general FL framework to tackle the above challenges, and fully explore data diversity on LEO satellites. Specifically, we first present a novel sub-structure scheme to enable heterogeneous local model training considering different computing, memory, and communication constraints on LEO satellites. Additionally, we propose a pseudo-synchronous model aggregation strategy to dynamically schedule model aggregation for compensating model staleness. To further demonstrate the effectiveness of the FedSN, we evaluate it using space modulation recognition and remote sensing image classification tasks by leveraging the data from real-world satellite networks. Extensive experimental results demonstrate that FedSN framework achieves higher accuracy, lower computing, and communication overhead than the state-of-the-art benchmarks and the effectiveness of each components in FedSN.

The difficulty of the information extraction task lies in dealing with the task-specific label schemas and heterogeneous data structures. Recent work has proposed methods based on large language models to uniformly model different information extraction tasks. However, these existing methods are deficient in their information extraction capabilities for Chinese languages other than English. In this paper, we propose an end-to-end chat-enhanced instruction tuning framework for universal information extraction (YAYI-UIE), which supports both Chinese and English. Specifically, we utilize dialogue data and information extraction data to enhance the information extraction performance jointly. Experimental results show that our proposed framework achieves state-of-the-art performance on Chinese datasets while also achieving comparable performance on English datasets under both supervised settings and zero-shot settings.

The advent of Vision Language Models (VLM) has allowed researchers to investigate the visual understanding of a neural network using natural language. Beyond object classification and detection, VLMs are capable of visual comprehension and common-sense reasoning. This naturally led to the question: How do VLMs respond when the image itself is inherently unreasonable? To this end, we present IllusionVQA: a diverse dataset of challenging optical illusions and hard-to-interpret scenes to test the capability of VLMs in two distinct multiple-choice VQA tasks - comprehension and soft localization. GPT4V, the best-performing VLM, achieves 62.99% accuracy (4-shot) on the comprehension task and 49.7% on the localization task (4-shot and Chain-of-Thought). Human evaluation reveals that humans achieve 91.03% and 100% accuracy in comprehension and localization. We discover that In-Context Learning (ICL) and Chain-of-Thought reasoning substantially degrade the performance of GeminiPro on the localization task. Tangentially, we discover a potential weakness in the ICL capabilities of VLMs: they fail to locate optical illusions even when the correct answer is in the context window as a few-shot example.