Cross-view self-localization is a challenging scenario of visual place recognition in which database images are provided from sparse viewpoints. Recently, an approach for synthesizing database images from unseen viewpoints using NeRF (Neural Radiance Fields) technology has emerged with impressive performance. However, synthesized images provided by these techniques are often of lower quality than the original images, and furthermore they significantly increase the storage cost of the database. In this study, we explore a new hybrid scene model that combines the advantages of view-invariant appearance features computed from raw images and view-dependent spatial-semantic features computed from synthesized images. These two types of features are then fused into scene graphs, and compressively learned and recognized by a graph neural network. The effectiveness of the proposed method was verified using a novel cross-view self-localization dataset with many unseen views generated using a photorealistic Habitat simulator.

Brown et al. (2020) famously introduced the phenomenon of in-context learning in large language models (LLMs). We establish the existence of a phenomenon we call meta-out-of-context learning (meta-OCL) via carefully designed synthetic experiments with LLMs. Our results suggest that meta-OCL leads LLMs to more readily "internalize" the semantic content of text that is, or appears to be, broadly useful (such as true statements, or text from authoritative sources) and use it in appropriate circumstances. We further demonstrate meta-OCL in a synthetic computer vision setting, and propose two hypotheses for the emergence of meta-OCL: one relying on the way models store knowledge in their parameters, and another suggesting that the implicit gradient alignment bias of gradient-descent-based optimizers may be responsible. Finally, we reflect on what our results might imply about capabilities of future AI systems, and discuss potential risks. Our code can be found at https://github.com/krasheninnikov/internalization.

The aim of this study is to analyze the effect of serum metabolites on diabetic nephropathy (DN) and predict the prevalence of DN through a machine learning approach. The dataset consists of 548 patients from April 2018 to April 2019 in Second Affiliated Hospital of Dalian Medical University (SAHDMU). We select the optimal 38 features through a Least absolute shrinkage and selection operator (LASSO) regression model and a 10-fold cross-validation. We compare four machine learning algorithms, including eXtreme Gradient Boosting (XGB), random forest, decision tree and logistic regression, by AUC-ROC curves, decision curves, calibration curves. We quantify feature importance and interaction effects in the optimal predictive model by Shapley Additive exPlanations (SHAP) method. The XGB model has the best performance to screen for DN with the highest AUC value of 0.966. The XGB model also gains more clinical net benefits than others and the fitting degree is better. In addition, there are significant interactions between serum metabolites and duration of diabetes. We develop a predictive model by XGB algorithm to screen for DN. C2, C5DC, Tyr, Ser, Met, C24, C4DC, and Cys have great contribution in the model, and can possibly be biomarkers for DN.

This paper proposes a new cognitive model, acting as the main component of an AGI agent. The model is introduced in its mature intelligence state, and as an extension of previous models, DENN, and especially AKREM, by including operational models (frames/classes) and will. This model's core assumption is that cognition is about operating on accumulated knowledge, with the guidance of an appropriate will. Also, we assume that the actions, part of knowledge, are learning to be aligned with will, during the evolution phase that precedes the mature intelligence state. In addition, this model is mainly based on the duality principle in every known intelligent aspect, such as exhibiting both top-down and bottom-up model learning, generalization verse specialization, and more. Furthermore, a holistic approach is advocated for AGI designing, and cognition under constraints or efficiency is proposed, in the form of reusability and simplicity. Finally, reaching this mature state is described via a cognitive evolution from infancy to adulthood, utilizing a consolidation principle. The final product of this cognitive model is a dynamic operational memory of models and instances. Lastly, some examples and preliminary ideas for the evolution phase to reach the mature state are presented.

Few-shot learning aims to adapt models trained on the base dataset to novel tasks where the categories were not seen by the model before. This often leads to a relatively uniform distribution of feature values across channels on novel classes, posing challenges in determining channel importance for novel tasks. Standard few-shot learning methods employ geometric similarity metrics such as cosine similarity and negative Euclidean distance to gauge the semantic relatedness between two features. However, features with high geometric similarities may carry distinct semantics, especially in the context of few-shot learning. In this paper, we demonstrate that the importance ranking of feature channels is a more reliable indicator for few-shot learning than geometric similarity metrics. We observe that replacing the geometric similarity metric with Kendall's rank correlation only during inference is able to improve the performance of few-shot learning across a wide range of methods and datasets with different domains. Furthermore, we propose a carefully designed differentiable loss for meta-training to address the non-differentiability issue of Kendall's rank correlation. By replacing geometric similarity with differentiable Kendall's rank correlation, our method can integrate with numerous existing few-shot approaches and is ready for integrating with future state-of-the-art methods that rely on geometric similarity metrics.

Recent advancements in vision foundation models (VFMs) have opened up new possibilities for versatile and efficient visual perception. In this work, we introduce Seal, a novel framework that harnesses VFMs for segmenting diverse automotive point cloud sequences. Seal exhibits three appealing properties: i) Scalability: VFMs are directly distilled into point clouds, obviating the need for annotations in either 2D or 3D during pretraining. ii) Consistency: Spatial and temporal relationships are enforced at both the camera-to-LiDAR and point-to-segment regularization stages, facilitating cross-modal representation learning. iii) Generalizability: Seal enables knowledge transfer in an off-the-shelf manner to downstream tasks involving diverse point clouds, including those from real/synthetic, low/high-resolution, large/small-scale, and clean/corrupted datasets. Extensive experiments conducted on eleven different point cloud datasets showcase the effectiveness and superiority of Seal. Notably, Seal achieves a remarkable 45.0% mIoU on nuScenes after linear probing, surpassing random initialization by 36.9% mIoU and outperforming prior arts by 6.1% mIoU. Moreover, Seal demonstrates significant performance gains over existing methods across 20 different few-shot fine-tuning tasks on all eleven tested point cloud datasets.

The Laplacian-constrained Gaussian Markov Random Field (LGMRF) is a common multivariate statistical model for learning a weighted sparse dependency graph from given data. This graph learning problem can be formulated as a maximum likelihood estimation (MLE) of the precision matrix, subject to Laplacian structural constraints, with a sparsity-inducing penalty term. This paper aims to solve this learning problem accurately and efficiently. First, since the commonly used $\ell_1$-norm penalty is inappropriate in this setting and may lead to a complete graph, we employ the nonconvex minimax concave penalty (MCP), which promotes sparse solutions with lower estimation bias. Second, as opposed to existing first-order methods for this problem, we develop a second-order proximal Newton approach to obtain an efficient solver, utilizing several algorithmic features, such as using Conjugate Gradients, preconditioning, and splitting to active/free sets. Numerical experiments demonstrate the advantages of the proposed method in terms of both computational complexity and graph learning accuracy compared to existing methods.

Graph Neural Networks (GNNs) are popular models for graph learning problems. GNNs show strong empirical performance in many practical tasks. However, the theoretical properties have not been completely elucidated. In this paper, we investigate whether GNNs can exploit the graph structure from the perspective of the expressive power of GNNs. In our analysis, we consider graph generation processes that are controlled by hidden (or latent) node features, which contain all information about the graph structure. A typical example of this framework is kNN graphs constructed from the hidden features. In our main results, we show that GNNs can recover the hidden node features from the input graph alone, even when all node features, including the hidden features themselves and any indirect hints, are unavailable. GNNs can further use the recovered node features for downstream tasks. These results show that GNNs can fully exploit the graph structure by themselves, and in effect, GNNs can use both the hidden and explicit node features for downstream tasks. In the experiments, we confirm the validity of our results by showing that GNNs can accurately recover the hidden features using a GNN architecture built based on our theoretical analysis.

Deep neural networks (DNNs) often accept high-dimensional media data (e.g., photos, text, and audio) and understand their perceptual content (e.g., a cat). To test DNNs, diverse inputs are needed to trigger mis-predictions. Some preliminary works use byte-level mutations or domain-specific filters (e.g., foggy), whose enabled mutations may be limited and likely error-prone. SOTA works employ deep generative models to generate (infinite) inputs. Also, to keep the mutated inputs perceptually valid (e.g., a cat remains a "cat" after mutation), existing efforts rely on imprecise and less generalizable heuristics. This study revisits two key objectives in media input mutation - perception diversity (DIV) and validity (VAL) - in a rigorous manner based on manifold, a well-developed theory capturing perceptions of high-dimensional media data in a low-dimensional space. We show important results that DIV and VAL inextricably bound each other, and prove that SOTA generative model-based methods fundamentally fail to mutate real-world media data (either sacrificing DIV or VAL). In contrast, we discuss the feasibility of mutating real-world media data with provably high DIV and VAL based on manifold. We concretize the technical solution of mutating media data of various formats (images, audios, text) via a unified manner based on manifold. Specifically, when media data are projected into a low-dimensional manifold, the data can be mutated by walking on the manifold with certain directions and step sizes. When contrasted with the input data, the mutated data exhibit encouraging DIV in the perceptual traits (e.g., lying vs. standing dog) while retaining reasonably high VAL (i.e., a dog remains a dog). We implement our techniques in DEEPWALK for testing DNNs. DEEPWALK outperforms prior methods in testing comprehensiveness and can find more error-triggering inputs with higher quality.

In this work, we study the personalized federated $\mathcal{X}$-armed bandit problem, where the heterogeneous local objectives of the clients are optimized simultaneously in the federated learning paradigm. We propose the \texttt{PF-PNE} algorithm with a unique double elimination strategy, which safely eliminates the non-optimal regions while encouraging federated collaboration through biased but effective evaluations of the local objectives. The proposed \texttt{PF-PNE} algorithm is able to optimize local objectives with arbitrary levels of heterogeneity, and its limited communications protects the confidentiality of the client-wise reward data. Our theoretical analysis shows the benefit of the proposed algorithm over single-client algorithms. Experimentally, \texttt{PF-PNE} outperforms multiple baselines on both synthetic and real life datasets.