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Dense simultaneous localization and mapping (SLAM) is pivotal for embodied scene understanding. Recent work has shown that 3D Gaussians enable high-quality reconstruction and real-time rendering of scenes using multiple posed cameras. In this light, we show for the first time that representing a scene by 3D Gaussians can enable dense SLAM using a single unposed monocular RGB-D camera. Our method, SplaTAM, addresses the limitations of prior radiance field-based representations, including fast rendering and optimization, the ability to determine if areas have been previously mapped, and structured map expansion by adding more Gaussians. We employ an online tracking and mapping pipeline while tailoring it to specifically use an underlying Gaussian representation and silhouette-guided optimization via differentiable rendering. Extensive experiments show that SplaTAM achieves up to 2X state-of-the-art performance in camera pose estimation, map construction, and novel-view synthesis, demonstrating its superiority over existing approaches, while allowing real-time rendering of a high-resolution dense 3D map.

Particle Swarm Optimization (PSO) is a stochastic technique for solving the optimization problem. Attempts have been made to shorten the computation times of PSO based algorithms with massive threads on GPUs (graphic processing units), where thread groups are formed to calculate the information of particles and the computed outputs for the particles are aggregated and analyzed to find the best solution. In particular, the reduction-based method is considered as a common approach to handle the data aggregation and analysis for the calculated particle information. Nevertheless, based on our analysis, the reduction-based method would suffer from excessive memory accesses and thread synchronization overheads. In this paper, we propose a novel algorithm to alleviate the above overheads with the atomic functions. The threads within a thread group update the calculated results atomically to the intra-group data queue conditionally, which prevents the frequent accesses to the memory as done by the parallel reduction operations. Furthermore, we develop an enhanced version of the algorithm to alleviate the synchronization barrier among the thread groups, which is achieved by allowing the thread groups to run asynchronously and updating to the global, lock-protected variables occasionally if necessary. Our experimental results show that our proposed algorithm running on the Nvidia GPU is about 200 times faster than the serial version executed by the Intel Xeon CPU. Moreover, the novel algorithm outperforms the state-of-the-art method (the parallel reduction approach) by a factor of 2.2.

The surge in real-time data collection across various industries has underscored the need for advanced anomaly detection in both univariate and multivariate time series data. Traditional methods, while comprehensive, often struggle to capture the complex interdependencies in such data. This paper introduces TransNAS-TSAD, a novel framework that synergizes transformer architecture with neural architecture search (NAS), enhanced through NSGA-II algorithm optimization. This innovative approach effectively tackles the complexities of both univariate and multivariate time series, balancing computational efficiency with detection accuracy. Our evaluation reveals that TransNAS-TSAD surpasses conventional anomaly detection models, demonstrating marked improvements in diverse data scenarios. We also propose the Efficiency-Accuracy-Complexity Score (EACS) as a new metric for assessing model performance, emphasizing the crucial balance between accuracy and computational resources. TransNAS-TSAD sets a new benchmark in time series anomaly detection, offering a versatile, efficient solution for complex real-world applications. This research paves the way for future developments in the field, highlighting its potential in a wide range of industry applications.

Adaptive Mesh Refinement (AMR) is becoming a prevalent data representation for scientific visualization. Resulting from large fluid mechanics simulations, the data is usually cell centric, imposing a number of challenges for high quality reconstruction at sample positions. While recent work has concentrated on real-time volume and isosurface rendering on GPUs, the rendering methods used still focus on simple lighting models without scattering events and global illumination. As in other areas of rendering, key to real-time performance are acceleration data structures; in this work we analyze the major bottlenecks of data structures that were originally optimized for camera/primary ray traversal when used with the incoherent ray tracing workload of a volumetric path tracer, and propose strategies to overcome the challenges coming with this.

Chat models, such as ChatGPT, have shown impressive capabilities and have been rapidly adopted across numerous domains. However, these models are only accessible through a restricted API, creating barriers for new research and progress in the field. We propose a pipeline that can automatically generate a high-quality multi-turn chat corpus by leveraging ChatGPT to engage in a conversation with itself. Subsequently, we employ parameter-efficient tuning to enhance LLaMA, an open-source large language model. The resulting model, named Baize, demonstrates good performance in multi-turn dialogues with guardrails that minimize potential risks. Furthermore, we propose a new technique called Self-Distill with Feedback, to further improve the performance of the Baize models with feedback from ChatGPT. The Baize models and data are released for research purposes only at //github.com/project-baize/baize-chatbot. An online demo is also available at //huggingface.co/spaces/project-baize/chat-with-baize.

The Shapley value is widely regarded as a trustworthy attribution metric. However, when people use Shapley values to explain the attribution of input variables of a deep neural network (DNN), it usually requires a very high computational cost to approximate relatively accurate Shapley values in real-world applications. Therefore, we propose a novel network architecture, the HarsanyiNet, which makes inferences on the input sample and simultaneously computes the exact Shapley values of the input variables in a single forward propagation. The HarsanyiNet is designed on the theoretical foundation that the Shapley value can be reformulated as the redistribution of Harsanyi interactions encoded by the network.

Detecting malicious URLs is a crucial aspect of web search and mining, significantly impacting internet security. Though advancements in machine learning have improved the effectiveness of detection methods, these methods still face significant challenges in their capacity to generalize and their resilience against evolving threats. In this paper, we propose PyraTrans, an approach that combines the strengths of pretrained Transformers and pyramid feature learning for improving malicious URL detection. We implement PyraTrans by leveraging a pretrained CharBERT as the base and augmenting it with 3 connected feature modules: 1) The Encoder Feature Extraction module, which extracts representations from each encoder layer of CharBERT to obtain multi-order features; 2) The Multi-Scale Feature Learning Module, which captures multi-scale local contextual insights and aggregate information across different layer-levels; and 3) The Pyramid Spatial Attention Module, which learns hierarchical and spatial feature attentions, highlighting critical classification signals while reducing noise. The proposed approach addresses the limitations of the Transformer in local feature learning and spatial awareness, and enabling us to extract multi-order, multi-scale URL feature representations with enhanced attentional focus. PyraTrans is evaluated using 4 benchmark datasets, where it demonstrated significant advancements over prior baseline methods. Particularly, on the imbalanced dataset, our method, with just 10% of the data for training, the TPR is 3.3-6.5 times and the F1-score is 2.9-4.5 times that of the baseline. Our approach also demonstrates robustness against adversarial attacks. Codes and data are available at //github.com/Alixyvtte/PyraTrans.

Diffusion models (DMs) have shown great potential for high-quality image synthesis. However, when it comes to producing images with complex scenes, how to properly describe both image global structures and object details remains a challenging task. In this paper, we present Frido, a Feature Pyramid Diffusion model performing a multi-scale coarse-to-fine denoising process for image synthesis. Our model decomposes an input image into scale-dependent vector quantized features, followed by a coarse-to-fine gating for producing image output. During the above multi-scale representation learning stage, additional input conditions like text, scene graph, or image layout can be further exploited. Thus, Frido can be also applied for conditional or cross-modality image synthesis. We conduct extensive experiments over various unconditioned and conditional image generation tasks, ranging from text-to-image synthesis, layout-to-image, scene-graph-to-image, to label-to-image. More specifically, we achieved state-of-the-art FID scores on five benchmarks, namely layout-to-image on COCO and OpenImages, scene-graph-to-image on COCO and Visual Genome, and label-to-image on COCO. Code is available at //github.com/davidhalladay/Frido.

Graph Neural Networks (GNNs) are widely used for analyzing graph-structured data. Most GNN methods are highly sensitive to the quality of graph structures and usually require a perfect graph structure for learning informative embeddings. However, the pervasiveness of noise in graphs necessitates learning robust representations for real-world problems. To improve the robustness of GNN models, many studies have been proposed around the central concept of Graph Structure Learning (GSL), which aims to jointly learn an optimized graph structure and corresponding representations. Towards this end, in the presented survey, we broadly review recent progress of GSL methods for learning robust representations. Specifically, we first formulate a general paradigm of GSL, and then review state-of-the-art methods classified by how they model graph structures, followed by applications that incorporate the idea of GSL in other graph tasks. Finally, we point out some issues in current studies and discuss future directions.

UMAP (Uniform Manifold Approximation and Projection) is a novel manifold learning technique for dimension reduction. UMAP is constructed from a theoretical framework based in Riemannian geometry and algebraic topology. The result is a practical scalable algorithm that applies to real world data. The UMAP algorithm is competitive with t-SNE for visualization quality, and arguably preserves more of the global structure with superior run time performance. Furthermore, UMAP has no computational restrictions on embedding dimension, making it viable as a general purpose dimension reduction technique for machine learning.