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Kriging is an established methodology for predicting spatial data in geostatistics. Current kriging techniques can handle linear dependencies on spatially referenced covariates. Although splines have shown promise in capturing nonlinear dependencies of covariates, their combination with kriging, especially in handling count data, remains underexplored. This paper proposes a novel Bayesian approach to the low-rank representation of geoadditive models, which integrates splines and kriging to account for both spatial correlations and nonlinear dependencies of covariates. The proposed method accommodates Gaussian and count data inherent in many geospatial datasets. Additionally, Laplace approximations to selected posterior distributions enhances computational efficiency, resulting in faster computation times compared to Markov chain Monte Carlo techniques commonly used for Bayesian inference. Method performance is assessed through a simulation study, demonstrating the effectiveness of the proposed approach. The methodology is applied to the analysis of heavy metal concentrations in the Meuse river and vulnerability to the coronavirus disease 2019 (COVID-19) in Belgium. Through this work, we provide a new flexible and computationally efficient framework for analyzing spatial data.

Traffic prediction, an essential component for intelligent transportation systems, endeavours to use historical data to foresee future traffic features at specific locations. Although existing traffic prediction models often emphasize developing complex neural network structures, their accuracy has not improved. Recently, large language models have shown outstanding capabilities in time series analysis. Differing from existing models, LLMs progress mainly through parameter expansion and extensive pretraining while maintaining their fundamental structures. Motivated by these developments, we propose a Spatial-Temporal Large Language Model (ST-LLM) for traffic prediction. In the ST-LLM, we define timesteps at each location as tokens and design a spatial-temporal embedding to learn the spatial location and global temporal patterns of these tokens. Additionally, we integrate these embeddings by a fusion convolution to each token for a unified spatial-temporal representation. Furthermore, we innovate a partially frozen attention strategy to adapt the LLM to capture global spatial-temporal dependencies for traffic prediction. Comprehensive experiments on real traffic datasets offer evidence that ST-LLM is a powerful spatial-temporal learner that outperforms state-of-the-art models. Notably, the ST-LLM also exhibits robust performance in both few-shot and zero-shot prediction scenarios. The code is publicly available at //github.com/ChenxiLiu-HNU/ST-LLM.

This work proposes a retrieve-and-transfer framework for zero-shot robotic manipulation, dubbed RAM, featuring generalizability across various objects, environments, and embodiments. Unlike existing approaches that learn manipulation from expensive in-domain demonstrations, RAM capitalizes on a retrieval-based affordance transfer paradigm to acquire versatile manipulation capabilities from abundant out-of-domain data. First, RAM extracts unified affordance at scale from diverse sources of demonstrations including robotic data, human-object interaction (HOI) data, and custom data to construct a comprehensive affordance memory. Then given a language instruction, RAM hierarchically retrieves the most similar demonstration from the affordance memory and transfers such out-of-domain 2D affordance to in-domain 3D executable affordance in a zero-shot and embodiment-agnostic manner. Extensive simulation and real-world evaluations demonstrate that our RAM consistently outperforms existing works in diverse daily tasks. Additionally, RAM shows significant potential for downstream applications such as automatic and efficient data collection, one-shot visual imitation, and LLM/VLM-integrated long-horizon manipulation. For more details, please check our website at //yxkryptonite.github.io/RAM/.

Self-supervised learning methods for medical images primarily rely on the imaging modality during pretraining. While such approaches deliver promising results, they do not leverage associated patient or scan information collected within Electronic Health Records (EHR). Here, we propose to incorporate EHR data during self-supervised pretraining with a Masked Siamese Network (MSN) to enhance the quality of chest X-ray representations. We investigate three types of EHR data, including demographic, scan metadata, and inpatient stay information. We evaluate our approach on three publicly available chest X-ray datasets, MIMIC-CXR, CheXpert, and NIH-14, using two vision transformer (ViT) backbones, specifically ViT-Tiny and ViT-Small. In assessing the quality of the representations via linear evaluation, our proposed method demonstrates significant improvement compared to vanilla MSN and state-of-the-art self-supervised learning baselines. Our work highlights the potential of EHR-enhanced self-supervised pre-training for medical imaging. The code is publicly available at: //github.com/nyuad-cai/CXR-EHR-MSN

Learning from demonstrations faces challenges in generalizing beyond the training data and is fragile even to slight visual variations. To tackle this problem, we introduce Lan-o3dp, a language guided object centric diffusion policy that takes 3d representation of task relevant objects as conditional input and can be guided by cost function for safety constraints at inference time. Lan-o3dp enables strong generalization in various aspects, such as background changes, visual ambiguity and can avoid novel obstacles that are unseen during the demonstration process. Specifically, We first train a diffusion policy conditioned on point clouds of target objects and then harness a large language model to decompose the user instruction into task related units consisting of target objects and obstacles, which can be used as visual observation for the policy network or converted to a cost function, guiding the generation of trajectory towards collision free region at test time. Our proposed method shows training efficiency and higher success rates compared with the baselines in simulation experiments. In real world experiments, our method exhibits strong generalization performance towards unseen instances, cluttered scenes, scenes of multiple similar objects and demonstrates training free capability of obstacle avoidance.

We propose GAN-Supervised Learning, a framework for learning discriminative models and their GAN-generated training data jointly end-to-end. We apply our framework to the dense visual alignment problem. Inspired by the classic Congealing method, our GANgealing algorithm trains a Spatial Transformer to map random samples from a GAN trained on unaligned data to a common, jointly-learned target mode. We show results on eight datasets, all of which demonstrate our method successfully aligns complex data and discovers dense correspondences. GANgealing significantly outperforms past self-supervised correspondence algorithms and performs on-par with (and sometimes exceeds) state-of-the-art supervised correspondence algorithms on several datasets -- without making use of any correspondence supervision or data augmentation and despite being trained exclusively on GAN-generated data. For precise correspondence, we improve upon state-of-the-art supervised methods by as much as $3\times$. We show applications of our method for augmented reality, image editing and automated pre-processing of image datasets for downstream GAN training.

We present a large-scale study on unsupervised spatiotemporal representation learning from videos. With a unified perspective on four recent image-based frameworks, we study a simple objective that can easily generalize all these methods to space-time. Our objective encourages temporally-persistent features in the same video, and in spite of its simplicity, it works surprisingly well across: (i) different unsupervised frameworks, (ii) pre-training datasets, (iii) downstream datasets, and (iv) backbone architectures. We draw a series of intriguing observations from this study, e.g., we discover that encouraging long-spanned persistency can be effective even if the timespan is 60 seconds. In addition to state-of-the-art results in multiple benchmarks, we report a few promising cases in which unsupervised pre-training can outperform its supervised counterpart. Code is made available at //github.com/facebookresearch/SlowFast

Recently, various auxiliary tasks have been proposed to accelerate representation learning and improve sample efficiency in deep reinforcement learning (RL). However, existing auxiliary tasks do not take the characteristics of RL problems into consideration and are unsupervised. By leveraging returns, the most important feedback signals in RL, we propose a novel auxiliary task that forces the learnt representations to discriminate state-action pairs with different returns. Our auxiliary loss is theoretically justified to learn representations that capture the structure of a new form of state-action abstraction, under which state-action pairs with similar return distributions are aggregated together. In low data regime, our algorithm outperforms strong baselines on complex tasks in Atari games and DeepMind Control suite, and achieves even better performance when combined with existing auxiliary tasks.

Learning with limited data is a key challenge for visual recognition. Few-shot learning methods address this challenge by learning an instance embedding function from seen classes and apply the function to instances from unseen classes with limited labels. This style of transfer learning is task-agnostic: the embedding function is not learned optimally discriminative with respect to the unseen classes, where discerning among them is the target task. In this paper, we propose a novel approach to adapt the embedding model to the target classification task, yielding embeddings that are task-specific and are discriminative. To this end, we employ a type of self-attention mechanism called Transformer to transform the embeddings from task-agnostic to task-specific by focusing on relating instances from the test instances to the training instances in both seen and unseen classes. Our approach also extends to both transductive and generalized few-shot classification, two important settings that have essential use cases. We verify the effectiveness of our model on two standard benchmark few-shot classification datasets --- MiniImageNet and CUB, where our approach demonstrates state-of-the-art empirical performance.

High spectral dimensionality and the shortage of annotations make hyperspectral image (HSI) classification a challenging problem. Recent studies suggest that convolutional neural networks can learn discriminative spatial features, which play a paramount role in HSI interpretation. However, most of these methods ignore the distinctive spectral-spatial characteristic of hyperspectral data. In addition, a large amount of unlabeled data remains an unexploited gold mine for efficient data use. Therefore, we proposed an integration of generative adversarial networks (GANs) and probabilistic graphical models for HSI classification. Specifically, we used a spectral-spatial generator and a discriminator to identify land cover categories of hyperspectral cubes. Moreover, to take advantage of a large amount of unlabeled data, we adopted a conditional random field to refine the preliminary classification results generated by GANs. Experimental results obtained using two commonly studied datasets demonstrate that the proposed framework achieved encouraging classification accuracy using a small number of data for training.