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We present an unsupervised data-driven approach for non-rigid shape matching. Shape matching identifies correspondences between two shapes and is a fundamental step in many computer vision and graphics applications. Our approach is designed to be particularly robust when matching shapes digitized using 3D scanners that contain fine geometric detail and suffer from different types of noise including topological noise caused by the coalescence of spatially close surface regions. We build on two strategies. First, using a hierarchical patch based shape representation we match shapes consistently in a coarse to fine manner, allowing for robustness to noise. This multi-scale representation drastically reduces the dimensionality of the problem when matching at the coarsest scale, rendering unsupervised learning feasible. Second, we constrain this hierarchical matching to be reflected in 3D by fitting a patch-wise near-rigid deformation model. Using this constraint, we leverage spatial continuity at different scales to capture global shape properties, resulting in matchings that generalize well to data with different deformations and noise characteristics. Experiments demonstrate that our approach obtains significantly better results on raw 3D scans than state-of-the-art methods, while performing on-par on standard test scenarios.

The inherently diverse and uncertain nature of trajectories presents a formidable challenge in accurately modeling them. Motion prediction systems must effectively learn spatial and temporal information from the past to forecast the future trajectories of the agent. Many existing methods learn temporal motion via separate components within stacked models to capture temporal features. Furthermore, prediction methods often operate under the assumption that observed trajectory waypoint sequences are complete, disregarding scenarios where missing values may occur, which can influence their performance. Moreover, these models may be biased toward particular waypoint sequences when making predictions. We propose a novel approach called Temporal Waypoint Dropping (TWD) that explicitly incorporates temporal dependencies during the training of a trajectory prediction model. By stochastically dropping waypoints from past observed trajectories, the model is forced to learn the underlying temporal representation from the remaining waypoints, resulting in an improved model. Incorporating stochastic temporal waypoint dropping into the model learning process significantly enhances its performance in scenarios with missing values. Experimental results demonstrate our approach's substantial improvement in trajectory prediction capabilities. Our approach can complement existing trajectory prediction methods to improve their prediction accuracy. We evaluate our proposed approach on three datasets: NBA Sports VU, ETH-UCY, and TrajNet++.

Hand gestures play a significant role in human interactions where non-verbal intentions, thoughts and commands are conveyed. In Human-Robot Interaction (HRI), hand gestures offer a similar and efficient medium for conveying clear and rapid directives to a robotic agent. However, state-of-the-art vision-based methods for gesture recognition have been shown to be effective only up to a user-camera distance of seven meters. Such a short distance range limits practical HRI with, for example, service robots, search and rescue robots and drones. In this work, we address the Ultra-Range Gesture Recognition (URGR) problem by aiming for a recognition distance of up to 25 meters and in the context of HRI. We propose a novel deep-learning framework for URGR using solely a simple RGB camera. First, a novel super-resolution model termed HQ-Net is used to enhance the low-resolution image of the user. Then, we propose a novel URGR classifier termed Graph Vision Transformer (GViT) which takes the enhanced image as input. GViT combines the benefits of a Graph Convolutional Network (GCN) and a modified Vision Transformer (ViT). Evaluation of the proposed framework over diverse test data yields a high recognition rate of 98.1%. The framework has also exhibited superior performance compared to human recognition in ultra-range distances. With the framework, we analyze and demonstrate the performance of an autonomous quadruped robot directed by human gestures in complex ultra-range indoor and outdoor environments.

The dramatic increase in the connectivity demand results in an excessive amount of Internet of Things (IoT) sensors. To meet the management needs of these large-scale networks, such as accurate monitoring and learning capabilities, Digital Twin (DT) is the key enabler. However, current attempts regarding DT implementations remain insufficient due to the perpetual connectivity requirements of IoT networks. Furthermore, the sensor data streaming in IoT networks cause higher processing time than traditional methods. In addition to these, the current intelligent mechanisms cannot perform well due to the spatiotemporal changes in the implemented IoT network scenario. To handle these challenges, we propose a DT-native AI-driven service architecture in support of the concept of IoT networks. Within the proposed DT-native architecture, we implement a TCP-based data flow pipeline and a Reinforcement Learning (RL)-based learner model. We apply the proposed architecture to one of the broad concepts of IoT networks, the Internet of Vehicles (IoV). We measure the efficiency of our proposed architecture and note ~30% processing time-saving thanks to the TCP-based data flow pipeline. Moreover, we test the performance of the learner model by applying several learning rate combinations for actor and critic networks and highlight the most successive model.

Performance bounds for parameter estimation play a crucial role in statistical signal processing theory and applications. Two widely recognized bounds are the Cram\'{e}r-Rao bound (CRB) in the non-Bayesian framework, and the Bayesian CRB (BCRB) in the Bayesian framework. However, unlike the CRB, the BCRB is asymptotically unattainable in general, and its equality condition is restrictive. This paper introduces an extension of the Bobrovsky--Mayer-Wolf--Zakai class of bounds, also known as the weighted BCRB (WBCRB). The WBCRB is optimized by tuning the weighting function in the scalar case. Based on this result, we propose an asymptotically tight version of the bound called AT-BCRB. We prove that the AT-BCRB is asymptotically attained by the maximum {\it a-posteriori} probability (MAP) estimator. Furthermore, we extend the WBCRB and the AT-BCRB to the case of vector parameters. The proposed bounds are evaluated in several fundamental signal processing examples, such as variance estimation of white Gaussian process, direction-of-arrival estimation, and mean estimation of Gaussian process with unknown variance and prior statistical information. It is shown that unlike the BCRB, the proposed bounds are asymptotically attainable and coincide with the expected CRB (ECRB). The ECRB, which imposes uniformly unbiasedness, cannot serve as a valid lower bound in the Bayesian framework, while the proposed bounds are valid for any estimator.

The application of artificial intelligence to simulate air-to-air combat scenarios is attracting increasing attention. To date the high-dimensional state and action spaces, the high complexity of situation information (such as imperfect and filtered information, stochasticity, incomplete knowledge about mission targets) and the nonlinear flight dynamics pose significant challenges for accurate air combat decision-making. These challenges are exacerbated when multiple heterogeneous agents are involved. We propose a hierarchical multi-agent reinforcement learning framework for air-to-air combat with multiple heterogeneous agents. In our framework, the decision-making process is divided into two stages of abstraction, where heterogeneous low-level policies control the action of individual units, and a high-level commander policy issues macro commands given the overall mission targets. Low-level policies are trained for accurate unit combat control. Their training is organized in a learning curriculum with increasingly complex training scenarios and league-based self-play. The commander policy is trained on mission targets given pre-trained low-level policies. The empirical validation advocates the advantages of our design choices.

Recent artificial intelligence (AI) systems have reached milestones in "grand challenges" ranging from Go to protein-folding. The capability to retrieve medical knowledge, reason over it, and answer medical questions comparably to physicians has long been viewed as one such grand challenge. Large language models (LLMs) have catalyzed significant progress in medical question answering; Med-PaLM was the first model to exceed a "passing" score in US Medical Licensing Examination (USMLE) style questions with a score of 67.2% on the MedQA dataset. However, this and other prior work suggested significant room for improvement, especially when models' answers were compared to clinicians' answers. Here we present Med-PaLM 2, which bridges these gaps by leveraging a combination of base LLM improvements (PaLM 2), medical domain finetuning, and prompting strategies including a novel ensemble refinement approach. Med-PaLM 2 scored up to 86.5% on the MedQA dataset, improving upon Med-PaLM by over 19% and setting a new state-of-the-art. We also observed performance approaching or exceeding state-of-the-art across MedMCQA, PubMedQA, and MMLU clinical topics datasets. We performed detailed human evaluations on long-form questions along multiple axes relevant to clinical applications. In pairwise comparative ranking of 1066 consumer medical questions, physicians preferred Med-PaLM 2 answers to those produced by physicians on eight of nine axes pertaining to clinical utility (p < 0.001). We also observed significant improvements compared to Med-PaLM on every evaluation axis (p < 0.001) on newly introduced datasets of 240 long-form "adversarial" questions to probe LLM limitations. While further studies are necessary to validate the efficacy of these models in real-world settings, these results highlight rapid progress towards physician-level performance in medical question answering.

The military is investigating methods to improve communication and agility in its multi-domain operations (MDO). Nascent popularity of Internet of Things (IoT) has gained traction in public and government domains. Its usage in MDO may revolutionize future battlefields and may enable strategic advantage. While this technology offers leverage to military capabilities, it comes with challenges where one is the uncertainty and associated risk. A key question is how can these uncertainties be addressed. Recently published studies proposed information camouflage to transform information from one data domain to another. As this is comparatively a new approach, we investigate challenges of such transformations and how these associated uncertainties can be detected and addressed, specifically unknown-unknowns to improve decision-making.

Weakly supervised phrase grounding aims at learning region-phrase correspondences using only image-sentence pairs. A major challenge thus lies in the missing links between image regions and sentence phrases during training. To address this challenge, we leverage a generic object detector at training time, and propose a contrastive learning framework that accounts for both region-phrase and image-sentence matching. Our core innovation is the learning of a region-phrase score function, based on which an image-sentence score function is further constructed. Importantly, our region-phrase score function is learned by distilling from soft matching scores between the detected object class names and candidate phrases within an image-sentence pair, while the image-sentence score function is supervised by ground-truth image-sentence pairs. The design of such score functions removes the need of object detection at test time, thereby significantly reducing the inference cost. Without bells and whistles, our approach achieves state-of-the-art results on the task of visual phrase grounding, surpassing previous methods that require expensive object detectors at test time.

Aspect level sentiment classification aims to identify the sentiment expressed towards an aspect given a context sentence. Previous neural network based methods largely ignore the syntax structure in one sentence. In this paper, we propose a novel target-dependent graph attention network (TD-GAT) for aspect level sentiment classification, which explicitly utilizes the dependency relationship among words. Using the dependency graph, it propagates sentiment features directly from the syntactic context of an aspect target. In our experiments, we show our method outperforms multiple baselines with GloVe embeddings. We also demonstrate that using BERT representations further substantially boosts the performance.