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Learning-based image stitching techniques typically involve three distinct stages: registration, fusion, and rectangling. These stages are often performed sequentially, each trained independently, leading to potential cascading error propagation and complex parameter tuning challenges. In rethinking the mathematical modeling of the fusion and rectangling stages, we discovered that these processes can be effectively combined into a single, variety-intensity inpainting problem. Therefore, we propose the Simple and Robust Stitcher (SRStitcher), an efficient training-free image stitching method that merges the fusion and rectangling stages into a unified model. By employing the weighted mask and large-scale generative model, SRStitcher can solve the fusion and rectangling problems in a single inference, without additional training or fine-tuning of other models. Our method not only simplifies the stitching pipeline but also enhances fault tolerance towards misregistration errors. Extensive experiments demonstrate that SRStitcher outperforms state-of-the-art (SOTA) methods in both quantitative assessments and qualitative evaluations. The code is released at //github.com/yayoyo66/SRStitcher

Autonomous robots navigating in changing environments demand adaptive navigation strategies for safe long-term operation. While many modern control paradigms offer theoretical guarantees, they often assume known extrinsic safety constraints, overlooking challenges when deployed in real-world environments where objects can appear, disappear, and shift over time. In this paper, we present a closed-loop perception-action pipeline that bridges this gap. Our system encodes an online-constructed dense map, along with object-level semantic and consistency estimates into a control barrier function (CBF) to regulate safe regions in the scene. A model predictive controller (MPC) leverages the CBF-based safety constraints to adapt its navigation behaviour, which is particularly crucial when potential scene changes occur. We test the system in simulations and real-world experiments to demonstrate the impact of semantic information and scene change handling on robot behavior, validating the practicality of our approach.

We consider the problem of efficiently routing jobs that arrive into a central queue to a system of heterogeneous servers. Unlike homogeneous systems, a threshold policy, that routes jobs to the slow server(s) when the queue length exceeds a certain threshold, is known to be optimal for the one-fast-one-slow two-server system. But an optimal policy for the multi-server system is unknown and non-trivial to find. While Reinforcement Learning (RL) has been recognized to have great potential for learning policies in such cases, our problem has an exponentially large state space size, rendering standard RL inefficient. In this work, we propose ACHQ, an efficient policy gradient based algorithm with a low dimensional soft threshold policy parameterization that leverages the underlying queueing structure. We provide stationary-point convergence guarantees for the general case and despite the low-dimensional parameterization prove that ACHQ converges to an approximate global optimum for the special case of two servers. Simulations demonstrate an improvement in expected response time of up to ~30% over the greedy policy that routes to the fastest available server.

Changing clinical algorithms to remove race adjustment has been proposed and implemented for multiple health conditions. Removing race adjustment from estimated glomerular filtration rate (eGFR) equations may reduce disparities in chronic kidney disease (CKD), but has not been studied in clinical practice after implementation. Here, we assessed whether implementing an eGFR equation (CKD-EPI 2021) without adjustment for Black or African American race modified quarterly rates of nephrology referrals and visits within a single healthcare system, Stanford Health Care (SHC). Our cohort study analyzed 547,194 adult patients aged 21 and older who had at least one recorded serum creatinine or serum cystatin C between January 1, 2019 and September 1, 2023. During the study period, implementation of CKD-EPI 2021 did not modify rates of quarterly nephrology referrals in those documented as Black or African American or in the overall cohort. After adjusting for capacity at SHC nephrology clinics, estimated rates of nephrology referrals and visits with CKD-EPI 2021 were 34 (95% CI 29, 39) and 188 (175, 201) per 10,000 patients documented as Black or African American. If race adjustment had not been removed, estimated rates were nearly identical: 38 (95% CI: 28, 53) and 189 (165, 218) per 10,000 patients. Changes to the eGFR equation are likely insufficient to achieve health equity in CKD care decision-making as many other structural inequities remain.

Numerous methods have been proposed for global navigation satellite system (GNSS) receivers to detect faulty GNSS signals. One such fault detection and exclusion (FDE) method is based on the mathematical concept of Euclidean distance matrices (EDMs). This paper outlines a greedy approach that uses an improved Euclidean distance matrix-based fault detection and exclusion algorithm. The novel greedy EDM FDE method implements a new fault detection test statistic and fault exclusion strategy that drastically simplifies the complexity of the algorithm over previous work. To validate the novel greedy EDM FDE algorithm, we created a simulated dataset using receiver locations from around the globe. The simulated dataset allows us to verify our results on 2,601 different satellite geometries. Additionally, we tested the greedy EDM FDE algorithm using a real-world dataset from seven different android phones. Across both the simulated and real-world datasets, the Python implementation of the greedy EDM FDE algorithm is shown to be computed an order of magnitude more rapidly than a comparable greedy residual FDE method while obtaining similar fault exclusion accuracy. We provide discussion on the comparative time complexities of greedy EDM FDE, greedy residual FDE, and solution separation. We also explain potential modifications to greedy residual FDE that can be added to alter performance characteristics.

This paper introduces a new technique to measure the feature dependency of neural network models. The motivation is to better understand a model by querying whether it is using information from human-understandable features, e.g., anatomical shape, volume, or image texture. Our method is based on the principle that if a model is dependent on a feature, then removal of that feature should significantly harm its performance. A targeted feature is "removed" by collapsing the dimension in the data distribution that corresponds to that feature. We perform this by moving data points along the feature dimension to a baseline feature value while staying on the data manifold, as estimated by a deep generative model. Then we observe how the model's performance changes on the modified test data set, with the target feature dimension removed. We test our method on deep neural network models trained on synthetic image data with known ground truth, an Alzheimer's disease prediction task using MRI and hippocampus segmentations from the OASIS-3 dataset, and a cell nuclei classification task using the Lizard dataset.

We study a scenario in which multiple uncoordinated devices aim to achieve reliable transmissions within a given time frame. The devices are intermittently active and access a shared pool of channel resources in a grant-free manner by utilizing multiple transmissions (K-repetition coding). This allows them to achieve diversity and improve the reliability within a certain latency constraint. We focus on two access methods: one where devices choose K slots at random and another one where the access patterns are deterministic and follow a specific code design, namely the Steiner System. We analyze the problem under two signal models that involve different complexity for the receiver. First, collision model is considered, where only interference-free transmissions can be used and combined. Second, a model treating interference as noise is analyzed, where the receiver is capable of utilizing all K replicas, applying maximum ratio combining (MRC). For both signal models, we investigate receivers with and without successive interference cancellation (SIC). We develop approximations and bounds for the outage probabilities that very closely match simulation results. Overall, we show that deterministic access patterns have the potential to significantly outperform random selection in terms of reliability. Furthermore, deterministic access patterns offer a simplified system design.

Big models have achieved revolutionary breakthroughs in the field of AI, but they might also pose potential concerns. Addressing such concerns, alignment technologies were introduced to make these models conform to human preferences and values. Despite considerable advancements in the past year, various challenges lie in establishing the optimal alignment strategy, such as data cost and scalable oversight, and how to align remains an open question. In this survey paper, we comprehensively investigate value alignment approaches. We first unpack the historical context of alignment tracing back to the 1920s (where it comes from), then delve into the mathematical essence of alignment (what it is), shedding light on the inherent challenges. Following this foundation, we provide a detailed examination of existing alignment methods, which fall into three categories: Reinforcement Learning, Supervised Fine-Tuning, and In-context Learning, and demonstrate their intrinsic connections, strengths, and limitations, helping readers better understand this research area. In addition, two emerging topics, personal alignment, and multimodal alignment, are also discussed as novel frontiers in this field. Looking forward, we discuss potential alignment paradigms and how they could handle remaining challenges, prospecting where future alignment will go.

The dominating NLP paradigm of training a strong neural predictor to perform one task on a specific dataset has led to state-of-the-art performance in a variety of applications (eg. sentiment classification, span-prediction based question answering or machine translation). However, it builds upon the assumption that the data distribution is stationary, ie. that the data is sampled from a fixed distribution both at training and test time. This way of training is inconsistent with how we as humans are able to learn from and operate within a constantly changing stream of information. Moreover, it is ill-adapted to real-world use cases where the data distribution is expected to shift over the course of a model's lifetime. The first goal of this thesis is to characterize the different forms this shift can take in the context of natural language processing, and propose benchmarks and evaluation metrics to measure its effect on current deep learning architectures. We then proceed to take steps to mitigate the effect of distributional shift on NLP models. To this end, we develop methods based on parametric reformulations of the distributionally robust optimization framework. Empirically, we demonstrate that these approaches yield more robust models as demonstrated on a selection of realistic problems. In the third and final part of this thesis, we explore ways of efficiently adapting existing models to new domains or tasks. Our contribution to this topic takes inspiration from information geometry to derive a new gradient update rule which alleviate catastrophic forgetting issues during adaptation.

Human-in-the-loop aims to train an accurate prediction model with minimum cost by integrating human knowledge and experience. Humans can provide training data for machine learning applications and directly accomplish some tasks that are hard for computers in the pipeline with the help of machine-based approaches. In this paper, we survey existing works on human-in-the-loop from a data perspective and classify them into three categories with a progressive relationship: (1) the work of improving model performance from data processing, (2) the work of improving model performance through interventional model training, and (3) the design of the system independent human-in-the-loop. Using the above categorization, we summarize major approaches in the field, along with their technical strengths/ weaknesses, we have simple classification and discussion in natural language processing, computer vision, and others. Besides, we provide some open challenges and opportunities. This survey intends to provide a high-level summarization for human-in-the-loop and motivates interested readers to consider approaches for designing effective human-in-the-loop solutions.