Accurate intraoperative diagnosis is essential for providing safe and effective care during brain tumor surgery. Our standard-of-care diagnostic methods are time, resource, and labor intensive, which restricts access to optimal surgical treatments. To address these limitations, we propose an alternative workflow that combines stimulated Raman histology (SRH), a rapid optical imaging method, with deep learning-based automated interpretation of SRH images for intraoperative brain tumor diagnosis and real-time surgical decision support.

Recent advances in off-policy deep reinforcement learning (RL) have led to impressive success in complex tasks from visual observations. Experience replay improves sample-efficiency by reusing experiences from the past, and convolutional neural networks (CNNs) process high-dimensional inputs effectively. However, such techniques demand high memory and computational bandwidth. In this paper, we present Stored Embeddings for Efficient Reinforcement Learning (SEER), a simple modification of existing off-policy RL methods, to address these computational and memory requirements. To reduce the computational overhead of gradient updates in CNNs, we freeze the lower layers of CNN encoders early in training due to early convergence of their parameters. Additionally, we reduce memory requirements by storing the low-dimensional latent vectors for experience replay instead of high-dimensional images, enabling an adaptive increase in the replay buffer capacity, a useful technique in constrained-memory settings. In our experiments, we show that SEER does not degrade the performance of RL agents while significantly saving computation and memory across a diverse set of DeepMind Control environments and Atari games.

Human-designed visual manuals are crucial components in shape assembly activities. They provide step-by-step guidance on how we should move and connect different parts in a convenient and physically-realizable way. While there has been an ongoing effort in building agents that perform assembly tasks, the information in human-design manuals has been largely overlooked. We identify that this is due to 1) a lack of realistic 3D assembly objects that have paired manuals and 2) the difficulty of extracting structured information from purely image-based manuals. Motivated by this observation, we present IKEA-Manual, a dataset consisting of 102 IKEA objects paired with assembly manuals. We provide fine-grained annotations on the IKEA objects and assembly manuals, including decomposed assembly parts, assembly plans, manual segmentation, and 2D-3D correspondence between 3D parts and visual manuals. We illustrate the broad application of our dataset on four tasks related to shape assembly: assembly plan generation, part segmentation, pose estimationand 3D part assembly.

In this paper, we propose a general theoretical method for analyzing the risk bound in the presence of adversaries. Specifically, we try to fit the adversarial learning problem into the minimax framework. We first show that the original adversarial learning problem can be transformed into a minimax statistical learning problem by introducing a transport map between distributions. Then, we prove a new risk bound for this minimax problem in terms of covering numbers under a weak version of Lipschitz condition. Our method can be applied to multi-class classification and popular loss functions including the hinge loss and ramp loss. As some illustrative examples, we derive the adversarial risk bounds for SVMs and deep neural networks, and our bounds have two data-dependent terms, which can be optimized for achieving adversarial robustness.

Most prior methods for learning navigation policies require access to simulation environments, as they need online policy interaction and rely on ground-truth maps for rewards. However, building simulators is expensive (requires manual effort for each and every scene) and creates challenges in transferring learned policies to robotic platforms in the real-world, due to the sim-to-real domain gap. In this paper, we pose a simple question: Do we really need active interaction, ground-truth maps or even reinforcement-learning (RL) in order to solve the image-goal navigation task? We propose a self-supervised approach to learn to navigate from only passive videos of roaming. Our approach, No RL, No Simulator (NRNS), is simple and scalable, yet highly effective. NRNS outperforms RL-based formulations by a significant margin.

However, existing watermarking methods for meshes, point clouds, and implicit radiance fields cannot be directly applied to 3DGS models, as 3DGS models use explicit 3D Gaussians with distinct structures and do not rely on neural networks. Naively embedding the watermark on a pre-trained 3DGS can cause obvious distortion in rendered images. In our work, we propose an uncertainty-based method that constrains the perturbation of model parameters to achieve invisible watermarking for 3DGS.

Causal mediation analysis can unpack the black box of causality and is therefore a powerful tool for disentangling causal pathways in biomedical and social sciences, and also for evaluating machine learning fairness. To reduce bias for estimating Natural Direct and Indirect Effects in mediation analysis, we propose a new method called DeepMed that uses deep neural networks (DNNs) to cross-fit the infinite-dimensional nuisance functions in the efficient influence functions. We obtain novel theoretical results that our DeepMed method (1) can achieve semiparametric efficiency bound without imposing sparsity constraints on the DNN architecture and (2) can adapt to certain low dimensional structures of the nuisance functions, significantly advancing the existing literature on DNN-based semiparametric causal inference. Extensive synthetic experiments are conducted to support our findings and also expose the gap between theory and practice. As a proof of concept, we apply DeepMed to analyze two real datasets on machine learning fairness and reach conclusions consistent with previous findings.

Proteins are essential for almost all biological processes and derive their diverse functions from complex $3 \rm D$ structures, which are in turn determined by their amino acid sequences. In this paper, we exploit the rich biological inductive bias of amino acid sequences and introduce FoldFlow++, a novel sequence-conditioned $\text{SE}(3)$-equivariant flow matching model for protein structure generation. FoldFlow++ presents substantial new architectural features over the previous FoldFlow family of models including a protein large language model to encode sequence, a new multi-modal fusion trunk that combines structure and sequence representations, and a geometric transformer based decoder. To increase diversity and novelty of generated samples -- crucial for de-novo drug design -- wetrain FoldFlow++ at scale on a new dataset that is an order of magnitude larger than PDB datasets of prior works, containing both known proteins in PDB and high-quality synthetic structures achieved through filtering. We further demonstrate the ability to align FoldFlow++ to arbitrary rewards, e.g.

When one agent interacts with a multi-agent environment, it is challenging to deal with various opponents unseen before. Modeling the behaviors, goals, or beliefs of opponents could help the agent adjust its policy to adapt to different opponents. In addition, it is also important to consider opponents who are learning simultaneously or capable of reasoning. However, existing work usually tackles only one of the aforementioned types of opponents. In this paper, we propose model-based opponent modeling (MBOM), which employs the environment model to adapt to all kinds of opponents. MBOM simulates the recursive reasoning process in the environment model and imagines a set of improving opponent policies. To effectively and accurately represent the opponent policy, MBOM further mixes the imagined opponent policies according to the similarity with the real behaviors of opponents. Empirically, we show that MBOM achieves more effective adaptation than existing methods in a variety of tasks, respectively with different types of opponents, i.e., fixed policy, naive learner, and reasoning learner.

As we collect additional samples from a data population for which a known density function estimate may have been previously obtained by a black box method, the increased complexity of the data set may result in the true density being deviated from the known estimate by a mixture distribution.