SLAM systems based on Gaussian Splatting have garnered attention due to their capabilities for rapid real-time rendering and high-fidelity mapping. However, current Gaussian Splatting SLAM systems usually struggle with large scene representation and lack effective loop closure detection. To address these issues, we introduce NGM-SLAM, the first 3DGS based SLAM system that utilizes neural radiance field submaps for progressive scene expression, effectively integrating the strengths of neural radiance fields and 3D Gaussian Splatting. We utilize neural radiance field submaps as supervision and achieve high-quality scene expression and online loop closure adjustments through Gaussian rendering of fused submaps. Our results on multiple real-world scenes and large-scale scene datasets demonstrate that our method can achieve accurate hole filling and high-quality scene expression, supporting monocular, stereo, and RGB-D inputs, and achieving state-of-the-art scene reconstruction and tracking performance.
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Real-time 3D reconstruction of surgical scenes plays a vital role in computer-assisted surgery, holding a promise to enhance surgeons' visibility. Recent advancements in 3D Gaussian Splatting (3DGS) have shown great potential for real-time novel view synthesis of general scenes, which relies on accurate poses and point clouds generated by Structure-from-Motion (SfM) for initialization. However, 3DGS with SfM fails to recover accurate camera poses and geometry in surgical scenes due to the challenges of minimal textures and photometric inconsistencies. To tackle this problem, in this paper, we propose the first SfM-free 3DGS-based method for surgical scene reconstruction by jointly optimizing the camera poses and scene representation. Based on the video continuity, the key of our method is to exploit the immediate optical flow priors to guide the projection flow derived from 3D Gaussians. Unlike most previous methods relying on photometric loss only, we formulate the pose estimation problem as minimizing the flow loss between the projection flow and optical flow. A consistency check is further introduced to filter the flow outliers by detecting the rigid and reliable points that satisfy the epipolar geometry. During 3D Gaussian optimization, we randomly sample frames to optimize the scene representations to grow the 3D Gaussian progressively. Experiments on the SCARED dataset demonstrate our superior performance over existing methods in novel view synthesis and pose estimation with high efficiency. Code is available at //github.com/wrld/Free-SurGS.
Multi-Modal Large Language Models (MLLMs), despite being successful, exhibit limited generality and often fall short when compared to specialized models. Recently, LLM-based agents have been developed to address these challenges by selecting appropriate specialized models as tools based on user inputs. However, such advancements have not been extensively explored within the medical domain. To bridge this gap, this paper introduces the first agent explicitly designed for the medical field, named \textbf{M}ulti-modal \textbf{Med}ical \textbf{Agent} (MMedAgent). We curate an instruction-tuning dataset comprising six medical tools solving seven tasks, enabling the agent to choose the most suitable tools for a given task. Comprehensive experiments demonstrate that MMedAgent achieves superior performance across a variety of medical tasks compared to state-of-the-art open-source methods and even the closed-source model, GPT-4o. Furthermore, MMedAgent exhibits efficiency in updating and integrating new medical tools.
Reinforcement Learning (RL) has achieved impressive results on complex tasks but struggles in multi-task settings with different embodiments. World models offer scalability by learning a simulation of the environment, yet they often rely on inefficient gradient-free optimization methods. We introduce Policy learning with large World Models (PWM), a novel model-based RL algorithm that learns continuous control policies from large multi-task world models. By pre-training the world model on offline data and using it for first-order gradient policy learning, PWM effectively solves tasks with up to 152 action dimensions and outperforms methods using ground-truth dynamics. Additionally, PWM scales to an 80-task setting, achieving up to 27% higher rewards than existing baselines without the need for expensive online planning. Visualizations and code available at //policy-world-model.github.io
We evaluate the resource efficiency of Mode Group Division Multiplexing (MGDM) with shared path protection (SPP) in optical networks. On our case studies, SPP with MGDM obtains significant savings in terms of both additional backup spectrum occupation and MIMO-computing resources compared to other few-mode-transmission scenarios.
Morphing attacks are an emerging threat to state-of-the-art Face Recognition (FR) systems, which aim to create a single image that contains the biometric information of multiple identities. Diffusion Morphs (DiM) are a recently proposed morphing attack that has achieved state-of-the-art performance for representation-based morphing attacks. However, none of the existing research on DiMs have leveraged the iterative nature of DiMs and left the DiM model as a black box, treating it no differently than one would a Generative Adversarial Network (GAN) or Varational AutoEncoder (VAE). We propose a greedy strategy on the iterative sampling process of DiM models which searches for an optimal step guided by an identity-based heuristic function. We compare our proposed algorithm against ten other state-of-the-art morphing algorithms using the open-source SYN-MAD 2022 competition dataset. We find that our proposed algorithm is unreasonably effective, fooling all of the tested FR systems with an MMPMR of 100%, outperforming all other morphing algorithms compared.
Efficiently estimating the full-body pose with minimal wearable devices presents a worthwhile research direction. Despite significant advancements in this field, most current research neglects to explore full-body avatar estimation under low-quality signal conditions, which is prevalent in practical usage. To bridge this gap, we summarize three scenarios that may be encountered in real-world applications: standard scenario, instantaneous data-loss scenario, and prolonged data-loss scenario, and propose a new evaluation benchmark. The solution we propose to address data-loss scenarios is integrating the full-body avatar pose estimation problem with motion prediction. Specifically, we present \textit{ReliaAvatar}, a real-time, \textbf{relia}ble \textbf{avatar} animator equipped with predictive modeling capabilities employing a dual-path architecture. ReliaAvatar operates effectively, with an impressive performance rate of 109 frames per second (fps). Extensive comparative evaluations on widely recognized benchmark datasets demonstrate Relia\-Avatar's superior performance in both standard and low data-quality conditions. The code is available at \url{//github.com/MIV-XJTU/ReliaAvatar}.
The Segment Anything Model (SAM) has significantly advanced interactive segmentation but struggles with high-resolution images crucial for high-precision segmentation. This is primarily due to the quadratic space complexity of SAM-implemented attention and the length extrapolation issue in common global attention. This study proposes HRSAM that integrates Flash Attention and incorporates Plain, Shifted and newly proposed Cycle-scan Window (PSCWin) attention to address these issues. The shifted window attention is redesigned with padding to maintain consistent window sizes, enabling effective length extrapolation. The cycle-scan window attention adopts the recently developed State Space Models (SSMs) to ensure global information exchange with minimal computational overhead. Such window-based attention allows HRSAM to perform effective attention computations on scaled input images while maintaining low latency. Moreover, we further propose HRSAM++ that additionally employs a multi-scale strategy to enhance HRSAM's performance. The experiments on the high-precision segmentation datasets HQSeg44K and DAVIS show that high-resolution inputs enable the SAM-distilled HRSAM models to outperform the teacher model while maintaining lower latency. Compared to the SOTAs, HRSAM achieves a 1.56 improvement in interactive segmentation's NoC95 metric with only 31% of the latency. HRSAM++ further enhances the performance, achieving a 1.63 improvement in NoC95 with just 38% of the latency.
Retrieval-Augmented Generation allows to enhance Large Language Models with external knowledge. In response to the recent popularity of generative LLMs, many RAG approaches have been proposed, which involve an intricate number of different configurations such as evaluation datasets, collections, metrics, retrievers, and LLMs. Inconsistent benchmarking poses a major challenge in comparing approaches and understanding the impact of each component in the pipeline. In this work, we study best practices that lay the groundwork for a systematic evaluation of RAG and present BERGEN, an end-to-end library for reproducible research standardizing RAG experiments. In an extensive study focusing on QA, we benchmark different state-of-the-art retrievers, rerankers, and LLMs. Additionally, we analyze existing RAG metrics and datasets. Our open-source library BERGEN is available under \url{//github.com/naver/bergen}.
Images can convey rich semantics and induce various emotions in viewers. Recently, with the rapid advancement of emotional intelligence and the explosive growth of visual data, extensive research efforts have been dedicated to affective image content analysis (AICA). In this survey, we will comprehensively review the development of AICA in the recent two decades, especially focusing on the state-of-the-art methods with respect to three main challenges -- the affective gap, perception subjectivity, and label noise and absence. We begin with an introduction to the key emotion representation models that have been widely employed in AICA and description of available datasets for performing evaluation with quantitative comparison of label noise and dataset bias. We then summarize and compare the representative approaches on (1) emotion feature extraction, including both handcrafted and deep features, (2) learning methods on dominant emotion recognition, personalized emotion prediction, emotion distribution learning, and learning from noisy data or few labels, and (3) AICA based applications. Finally, we discuss some challenges and promising research directions in the future, such as image content and context understanding, group emotion clustering, and viewer-image interaction.
Multi-agent influence diagrams (MAIDs) are a popular form of graphical model that, for certain classes of games, have been shown to offer key complexity and explainability advantages over traditional extensive form game (EFG) representations. In this paper, we extend previous work on MAIDs by introducing the concept of a MAID subgame, as well as subgame perfect and trembling hand perfect equilibrium refinements. We then prove several equivalence results between MAIDs and EFGs. Finally, we describe an open source implementation for reasoning about MAIDs and computing their equilibria.
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