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This paper presents a novel vision-based proprioception approach for a soft robotic finger capable of estimating and reconstructing tactile interactions in terrestrial and aquatic environments. The key to this system lies in the finger's unique metamaterial structure, which facilitates omni-directional passive adaptation during grasping, protecting delicate objects across diverse scenarios. A compact in-finger camera captures high-framerate images of the finger's deformation during contact, extracting crucial tactile data in real time. We present a method of the volumetric discretized model of the soft finger and use the geometry constraints captured by the camera to find the optimal estimation of the deformed shape. The approach is benchmarked with a motion-tracking system with sparse markers and a haptic device with dense measurements. Both results show state-of-the-art accuracies, with a median error of 1.96 mm for overall body deformation, corresponding to 2.1$\%$ of the finger's length. More importantly, the state estimation is robust in both on-land and underwater environments as we demonstrate its usage for underwater object shape sensing. This combination of passive adaptation and real-time tactile sensing paves the way for amphibious robotic grasping applications.

We introduce a framework for intrinsic latent diffusion models operating directly on the surfaces of 3D shapes, with the goal of synthesizing high-quality textures. Our approach is underpinned by two contributions: field latents, a latent representation encoding textures as discrete vector fields on the mesh vertices, and field latent diffusion models, which learn to denoise a diffusion process in the learned latent space on the surface. We consider a single-textured-mesh paradigm, where our models are trained to generate variations of a given texture on a mesh. We show the synthesized textures are of superior fidelity compared those from existing single-textured-mesh generative models. Our models can also be adapted for user-controlled editing tasks such as inpainting and label-guided generation. The efficacy of our approach is due in part to the equivariance of our proposed framework under isometries, allowing our models to seamlessly reproduce details across locally similar regions and opening the door to a notion of generative texture transfer.

This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions having a physical interpretation through the notion of occupancy, it is intuitive to represent the environment with safety constraints. Hence, there is an ease of use to constructing the planning problem with density. The proposed method uses a simplified model of the robot into an integrator system, where the high-level plan is in a feedback form formulated through an analytically constructed density function. We then use the MPC to optimize the reference trajectory, in which a low-level PID controller is used to obtain the torque level control. The overall framework is implemented in simulation, demonstrating our feedback density planner for legged locomotion. The implementation of work is available at \url{//github.com/AndrewZheng-1011/legged_planner}

We propose a novel framework DropTop that suppresses the shortcut bias in online continual learning (OCL) while being adaptive to the varying degree of the shortcut bias incurred by continuously changing environment. By the observed high-attention property of the shortcut bias, highly-activated features are considered candidates for debiasing. More importantly, resolving the limitation of the online environment where prior knowledge and auxiliary data are not ready, two novel techniques -- feature map fusion and adaptive intensity shifting -- enable us to automatically determine the appropriate level and proportion of the candidate shortcut features to be dropped. Extensive experiments on five benchmark datasets demonstrate that, when combined with various OCL algorithms, DropTop increases the average accuracy by up to 10.4% and decreases the forgetting by up to 63.2%.

This paper introduces an innovative method for reducing the computational complexity of deep neural networks in real-time speech enhancement on resource-constrained devices. The proposed approach utilizes a two-stage processing framework, employing channelwise feature reorientation to reduce the computational load of convolutional operations. By combining this with a modified power law compression technique for enhanced perceptual quality, this approach achieves noise suppression performance comparable to state-of-the-art methods with significantly less computational requirements. Notably, our algorithm exhibits 3 to 4 times less computational complexity and memory usage than prior state-of-the-art approaches.

Unlike opaque object, novel view synthesis of transparent object is a challenging task, because transparent object refracts light of background causing visual distortions on the transparent object surface along the viewpoint change. Recently introduced Neural Radiance Fields (NeRF) is a view synthesis method. Thanks to its remarkable performance improvement, lots of following applications based on NeRF in various topics have been developed. However, if an object with a different refractive index is included in a scene such as transparent object, NeRF shows limited performance because refracted light ray at the surface of the transparent object is not appropriately considered. To resolve the problem, we propose a NeRF-based method consisting of the following three steps: First, we reconstruct a three-dimensional shape of a transparent object using visual hull. Second, we simulate the refraction of the rays inside of the transparent object according to Snell's law. Last, we sample points through refracted rays and put them into NeRF. Experimental evaluation results demonstrate that our method addresses the limitation of conventional NeRF with transparent objects.

Solving inverse problems using Bayesian methods can become prohibitively expensive when likelihood evaluations involve complex and large scale numerical models. A common approach to circumvent this issue is to approximate the forward model or the likelihood function with a surrogate model. But also there, due to limited computational resources, only a few training points are available in many practically relevant cases. Thus, it can be advantageous to model the additional uncertainties of the surrogate in order to incorporate the epistemic uncertainty due to limited data. In this paper, we develop a novel approach to approximate the log likelihood by a constrained Gaussian process based on prior knowledge about its boundedness. This improves the accuracy of the surrogate approximation without increasing the number of training samples. Additionally, we introduce a formulation to integrate the epistemic uncertainty due to limited training points into the posterior density approximation. This is combined with a state of the art active learning strategy for selecting training points, which allows to approximate posterior densities in higher dimensions very efficiently. We demonstrate the fast convergence of our approach for a benchmark problem and infer a random field that is discretized by 30 parameters using only about 1000 model evaluations. In a practically relevant example, the parameters of a reduced lung model are calibrated based on flow observations over time and voltage measurements from a coupled electrical impedance tomography simulation.

The field of computational pathology has witnessed remarkable progress in the development of both task-specific predictive models and task-agnostic self-supervised vision encoders. However, despite the explosive growth of generative artificial intelligence (AI), there has been limited study on building general purpose, multimodal AI assistants tailored to pathology. Here we present PathChat, a vision-language generalist AI assistant for human pathology using an in-house developed foundational vision encoder pretrained on 100 million histology images from over 100,000 patient cases and 1.18 million pathology image-caption pairs. The vision encoder is then combined with a pretrained large language model and the whole system is finetuned on over 250,000 diverse disease agnostic visual language instructions. We compare PathChat against several multimodal vision language AI assistants as well as GPT4V, which powers the commercially available multimodal general purpose AI assistant ChatGPT-4. When relevant clinical context is provided with the histology image, PathChat achieved a diagnostic accuracy of 87% on multiple-choice questions based on publicly available cases of diverse tissue origins and disease models. Additionally, using open-ended questions and human expert evaluation, we found that overall PathChat produced more accurate and pathologist-preferable responses to diverse queries related to pathology. As an interactive and general vision language AI assistant that can flexibly handle both visual and natural language inputs, PathChat can potentially find impactful applications in pathology education, research, and human-in-the-loop clinical decision making.

Recent contrastive representation learning methods rely on estimating mutual information (MI) between multiple views of an underlying context. E.g., we can derive multiple views of a given image by applying data augmentation, or we can split a sequence into views comprising the past and future of some step in the sequence. Contrastive lower bounds on MI are easy to optimize, but have a strong underestimation bias when estimating large amounts of MI. We propose decomposing the full MI estimation problem into a sum of smaller estimation problems by splitting one of the views into progressively more informed subviews and by applying the chain rule on MI between the decomposed views. This expression contains a sum of unconditional and conditional MI terms, each measuring modest chunks of the total MI, which facilitates approximation via contrastive bounds. To maximize the sum, we formulate a contrastive lower bound on the conditional MI which can be approximated efficiently. We refer to our general approach as Decomposed Estimation of Mutual Information (DEMI). We show that DEMI can capture a larger amount of MI than standard non-decomposed contrastive bounds in a synthetic setting, and learns better representations in a vision domain and for dialogue generation.

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.