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The learn-from-observation (LfO) paradigm is a human-inspired mode for a robot to learn to perform a task simply by watching it being performed. LfO can facilitate robot integration on factory floors by minimizing disruption and reducing tedious programming. A key component of the LfO pipeline is a transformation of the depth camera frames to the corresponding task state and action pairs, which are then relayed to learning techniques such as imitation or inverse reinforcement learning for understanding the task parameters. While several existing computer vision models analyze videos for activity recognition, SA-Net specifically targets robotic LfO from RGB-D data. However, SA-Net and many other models analyze frame data captured from a single viewpoint. Their analysis is therefore highly sensitive to occlusions of the observed task, which are frequent in deployments. An obvious way of reducing occlusions is to simultaneously observe the task from multiple viewpoints and synchronously fuse the multiple streams in the model. Toward this, we present multi-view SA-Net, which generalizes the SA-Net model to allow the perception of multiple viewpoints of the task activity, integrate them, and better recognize the state and action in each frame. Performance evaluations on two distinct domains establish that MVSA-Net recognizes the state-action pairs under occlusion more accurately compared to single-view MVSA-Net and other baselines. Our ablation studies further evaluate its performance under different ambient conditions and establish the contribution of the architecture components. As such, MVSA-Net offers a significantly more robust and deployable state-action trajectory generation compared to previous methods.

Multiview Self-Supervised Learning (MSSL) is based on learning invariances with respect to a set of input transformations. However, invariance partially or totally removes transformation-related information from the representations, which might harm performance for specific downstream tasks that require such information. We propose 2D strUctured and EquivarianT representations (coined DUET), which are 2d representations organized in a matrix structure, and equivariant with respect to transformations acting on the input data. DUET representations maintain information about an input transformation, while remaining semantically expressive. Compared to SimCLR (Chen et al., 2020) (unstructured and invariant) and ESSL (Dangovski et al., 2022) (unstructured and equivariant), the structured and equivariant nature of DUET representations enables controlled generation with lower reconstruction error, while controllability is not possible with SimCLR or ESSL. DUET also achieves higher accuracy for several discriminative tasks, and improves transfer learning.

Secure aggregation of high-dimensional vectors is a fundamental primitive in federated statistics and learning. A two-server system such as PRIO allows for scalable aggregation of secret-shared vectors. Adversarial clients might try to manipulate the aggregate, so it is important to ensure that each (secret-shared) contribution is well-formed. In this work, we focus on the important and well-studied goal of ensuring that each contribution vector has bounded Euclidean norm. Existing protocols for ensuring bounded-norm contributions either incur a large communication overhead, or only allow for approximate verification of the norm bound. We propose Private Inexpensive Norm Enforcement (PINE): a new protocol that allows exact norm verification with little communication overhead. For high-dimensional vectors, our approach has a communication overhead of a few percent, compared to the 16-32x overhead of previous approaches.

The effective assessment of the instruction-following ability of large language models (LLMs) is of paramount importance. A model that cannot adhere to human instructions might be not able to provide reliable and helpful responses. In pursuit of this goal, various benchmarks have been constructed to evaluate the instruction-following capacity of these models. However, these benchmarks are limited to a single language and are constructed using automated approaches, which restricts their applicability and the quality of the test examples they contain. To bridge this gap, we introduce the FollowEval benchmark in this paper. This benchmark is composed of instances in both English and Chinese, and all test examples are crafted by human experts. Furthermore, the FollowEval benchmark is designed to assess LLMs across five critical dimensions of instruction following: string manipulation, commonsense reasoning, logical reasoning, spatial reasoning, and response constraints. To enhance the complexity and present a sufficient challenge, each test example is designed to evaluate more than one dimension. We have evaluated various LLMs using the FollowEval benchmark and found that their performance significantly lags behind that of humans. This highlights the considerable room for improvement in the instruction-following ability of these models.

Signal Temporal Logic (STL) is a convenient formalism to express bounded horizon properties of autonomous critical systems. STL extends LTL to real-valued signals and associates a non-singleton bound interval to each temporal operators. In this work we provide a rigorous encoding of non-nested discrete-time STL formulas into Lustre synchronous observers. Our encoding provides a three-valued online semantics for the observers and therefore enables both the verification of the property and the search of counter-examples. A key contribution of this work is an instrumented proof of the validity of the implementation. Each node is proved correct with respect to the original STL semantics. All the experiments are automated with the Kind2 model-checker and the Z3 SMT solver.

The Segment Anything Model (SAM) has recently emerged as a groundbreaking model in the field of image segmentation. Nevertheless, both the original SAM and its medical adaptations necessitate slice-by-slice annotations, which directly increase the annotation workload with the size of the dataset. We propose MedLSAM to address this issue, ensuring a constant annotation workload irrespective of dataset size and thereby simplifying the annotation process. Our model introduces a 3D localization foundation model capable of localizing any target anatomical part within the body. To achieve this, we develop a Localize Anything Model for 3D Medical Images (MedLAM), utilizing two self-supervision tasks: unified anatomical mapping (UAM) and multi-scale similarity (MSS) across a comprehensive dataset of 14,012 CT scans. We then establish a methodology for accurate segmentation by integrating MedLAM with SAM. By annotating several extreme points across three directions on a few templates, our model can autonomously identify the target anatomical region on all data scheduled for annotation. This allows our framework to generate a 2D bbox for every slice of the image, which is then leveraged by SAM to carry out segmentation. We carried out comprehensive experiments on two 3D datasets encompassing 38 distinct organs. Our findings are twofold: 1) MedLAM is capable of directly localizing any anatomical structure using just a few template scans, yet its performance surpasses that of fully supervised models; 2) MedLSAM not only aligns closely with the performance of SAM and its specialized medical adaptations with manual prompts but achieves this with minimal reliance on extreme point annotations across the entire dataset. Furthermore, MedLAM has the potential to be seamlessly integrated with future 3D SAM models, paving the way for enhanced performance.

Large language models (LLMs) are becoming attractive as few-shot reasoners to solve Natural Language (NL)-related tasks. However, there is still much to learn about how well LLMs understand structured data, such as tables. While it is true that tables can be used as inputs to LLMs with serialization, there is a lack of comprehensive studies examining whether LLMs can truly comprehend such data. In this paper, we try to understand this by designing a benchmark to evaluate the structural understanding capabilities (SUC) of LLMs. The benchmark we create includes seven tasks, each with its own unique challenges, \eg, cell lookup, row retrieval, and size detection. We conduct a series of evaluations on GPT-3.5 and GPT-4. We find that the performance varied depending on several input choices, including table input format, content order, role prompting, and partition marks. Drawing from the insights gained through the benchmark evaluations, we propose \textit{self-augmentation} for effective structural prompting, such as critical value / range identification using LLMs' internal knowledge. When combined with carefully chosen input choices, these structural prompting methods lead to promising improvements in LLM performance on a variety of tabular tasks, \eg, TabFact($\uparrow2.31\%$), HybridQA($\uparrow2.13\%$), SQA($\uparrow2.72\%$), Feverous($\uparrow0.84\%$), and ToTTo($\uparrow5.68\%$). We believe that our benchmark and proposed prompting methods can serve as a simple yet generic selection for future research.

Image Super-Resolution (SR) is essential for a wide range of computer vision and image processing tasks. Investigating infrared (IR) image (or thermal images) super-resolution is a continuing concern within the development of deep learning. This survey aims to provide a comprehensive perspective of IR image super-resolution, including its applications, hardware imaging system dilemmas, and taxonomy of image processing methodologies. In addition, the datasets and evaluation metrics in IR image super-resolution tasks are also discussed. Furthermore, the deficiencies in current technologies and possible promising directions for the community to explore are highlighted. To cope with the rapid development in this field, we intend to regularly update the relevant excellent work at \url{//github.com/yongsongH/Infrared_Image_SR_Survey

Generalization to out-of-distribution (OOD) data is a capability natural to humans yet challenging for machines to reproduce. This is because most learning algorithms strongly rely on the i.i.d.~assumption on source/target data, which is often violated in practice due to domain shift. Domain generalization (DG) aims to achieve OOD generalization by using only source data for model learning. Since first introduced in 2011, research in DG has made great progresses. In particular, intensive research in this topic has led to a broad spectrum of methodologies, e.g., those based on domain alignment, meta-learning, data augmentation, or ensemble learning, just to name a few; and has covered various vision applications such as object recognition, segmentation, action recognition, and person re-identification. In this paper, for the first time a comprehensive literature review is provided to summarize the developments in DG for computer vision over the past decade. Specifically, we first cover the background by formally defining DG and relating it to other research fields like domain adaptation and transfer learning. Second, we conduct a thorough review into existing methods and present a categorization based on their methodologies and motivations. Finally, we conclude this survey with insights and discussions on future research directions.

Named entity recognition (NER) in Chinese is essential but difficult because of the lack of natural delimiters. Therefore, Chinese Word Segmentation (CWS) is usually considered as the first step for Chinese NER. However, models based on word-level embeddings and lexicon features often suffer from segmentation errors and out-of-vocabulary (OOV) words. In this paper, we investigate a Convolutional Attention Network called CAN for Chinese NER, which consists of a character-based convolutional neural network (CNN) with local-attention layer and a gated recurrent unit (GRU) with global self-attention layer to capture the information from adjacent characters and sentence contexts. Also, compared to other models, not depending on any external resources like lexicons and employing small size of char embeddings make our model more practical. Extensive experimental results show that our approach outperforms state-of-the-art methods without word embedding and external lexicon resources on different domain datasets including Weibo, MSRA and Chinese Resume NER dataset.