A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction, 3D bounding boxes in object detection, or voxel grids in occupancy prediction, or topological, such as pose graphs with loop closures in SLAM or visibility graphs in SfM. In this work, we propose to build Multiview Scene Graphs (MSG) from unposed images, representing a scene topologically with interconnected place and object nodes. The task of building MSG is challenging for existing representation learning methods since it needs to jointly address both visual place recognition, object detection, and object association from images with limited fields of view and potentially large viewpoint changes. To evaluate any method tackling this task, we developed an MSG dataset based on a public 3D dataset. We also propose an evaluation metric based on the intersection-over-union score of MSG edges. Moreover, we develop a novel baseline method built on mainstream pretrained vision models, combining visual place recognition and object association into one Transformer decoder architecture. Experiments demonstrate that our method has superior performance compared to existing relevant baselines. All codes and resources are open-source at https://ai4ce.github.io/MSG/.

Three-dimensional (3D) understanding of objects and scenes play a key role in humans' ability to interact with the world and has been an active area of research in computer vision, graphics, and robotics. Large scale synthetic and object-centric 3D datasets have shown to be effective in training models that have 3D understanding of objects. However, applying a similar approach to real-world objects and scenes is difficult due to a lack of large-scale data. Videos are a potential source for realworld 3D data, but finding diverse yet corresponding views of the same content has shown to be difficult at scale. Furthermore, standard videos come with fixed viewpoints, determined at the time of capture. This restricts the ability to access scenes from a variety of more diverse and potentially useful perspectives.

In offline RL, we have no opportunity to explore so we must make assumptions that the data is sufficient to guide picking a good policy, and we want to make these assumptions as harmless as possible. In this work, we propose value-based algorithms for offline RL with PAC guarantees under just partial coverage, specifically, coverage of just a single comparator policy, and realizability of the soft (entropy-regularized) Q-function of the single policy and a related function defined as a saddle point of certain minimax optimization problem. This offers refined and generally more lax conditions for offline RL.

Species range maps (SRMs) are essential tools for research and policy-making in ecology, conservation, and environmental management. However, traditional SRMs rely on the availability of environmental covariates and high-quality species location observation data, both of which can be challenging to obtain due to geographic inaccessibility and resource constraints. We propose a novel approach combining millions of citizen science species observations with textual descriptions from Wikipedia, covering habitat preferences and range descriptions for tens of thousands of species.

In the realm of Multimodal Large Language Models (MLLMs), vision-language connector plays a crucial role to link the pre-trained vision encoders with Large Language Models (LLMs). Despite its importance, the vision-language connector has been relatively less explored. In this study, we aim to propose a strong vision-language connector that enables MLLMs to achieve high accuracy while maintain low computation cost. We first reveal the existence of the visual anchors in Vision Transformer and propose a cost-effective search algorithm to extract them. Building on these findings, we introduce the Anchor Former (AcFormer), a novel vision-language connector designed to leverage the rich prior knowledge obtained from these visual anchors during pretraining, guiding the aggregation of information. Through extensive experimentation, we demonstrate that the proposed method significantly reduces computational costs by nearly two-thirds compared with baseline, while simultaneously outperforming baseline methods. This highlights the effectiveness and efficiency of AcFormer.

Standard contextual bandit problem assumes that all the relevant contexts are observed before the algorithm chooses an arm. This modeling paradigm, while useful, often falls short when dealing with problems in which valuable additional context can be observed after arm selection. For example, content recommendation platforms like Youtube, Instagram, Tiktok also observe valuable follow-up information pertinent to the user's reward after recommendation (e.g., how long the user stayed, what is the user's watch speed, etc.). To improve online learning efficiency in these applications, we study a novel contextual bandit problem with post-serving contexts and design a new algorithm, poLinUCB, that achieves tight regret under standard assumptions. Core to our technical proof is a robustified and generalized version of the well-known Elliptical Potential Lemma (EPL), which can accommodate noise in data. Such robustification is necessary for tackling our problem, and we believe it could also be of general interest. Extensive empirical tests on both synthetic and real-world datasets demonstrate the significant benefit of utilizing post-serving contexts as well as the superior performance of our algorithm over the state-of-the-art approaches.

Visual reprogramming (VR) leverages the intrinsic capabilities of pretrained vision models by adapting their input or output interfaces to solve downstream tasks whose labels (i.e., downstream labels) might be totally different from the labels associated with the pretrained models (i.e., pretrained labels). When adapting the output interface, label mapping methods transform the pretrained labels to downstream labels by establishing a gradient-free one-to-one correspondence between the two sets of labels. However, in this paper, we reveal that one-to-one mappings may overlook the complex relationship between pretrained and downstream labels. Motivated by this observation, we propose a Bayesian-guided Label Mapping (BLM) method.