Neural Information Processing Systems http://nips.cc/

Correspondences in point cloud registration are prone to outliers, significantly reducing registration accuracy and highlighting the need for precise inlier identification. In this paper, we propose a robust inlier identification algorithm for point cloud registration by reformulating the conventional registration problem as an alignment error $\ell_0$-minimization problem. The $\ell_0$-minimization problem is formulated for each local set, where those local sets are built on a compatibility graph of input correspondences. To resolve the $\ell_0$-minimization, we develop a novel two-stage decoupling strategy, which first decouples the alignment error into a rotation fitting error and a translation fitting error. Second, null-space matrices are employed to decouple inlier identification from the estimation of rotation and translation respectively, thereby applying Bayesian theory to $\ell_0$-minimization problems and solving for fitting errors. Correspondences with the smallest errors are identified as inliers to generate a transformation hypothesis for each local set. The best hypothesis is selected to perform registration. We demonstrate that the proposed inlier identification algorithm is robust under high outlier ratios and noise through experiments. Extensive results on the KITTI, 3DMatch, and 3DLoMatch datasets demonstrate that our method achieves state-of-the-art performance compared to both traditional and learning-based methods in various indoor and outdoor scenes.

Neural Information Processing Systems http://nips.cc/

Correspondences in point cloud registration are prone to outliers, significantly reducing registration accuracy and highlighting the need for precise inlier identification.

Robotic fabric manipulation in garment production for sewing, cutting, and ironing requires reliable flattening and alignment, yet remains challenging due to fabric deformability, effectively infinite degrees of freedom, and frequent occlusions from wrinkles, folds, and the manipulator's End-Effector (EE) and arm. To address these issues, this paper proposes the first Random-to-Target Fabric Flattening (RTFF) policy, which aligns a random wrinkled fabric state to an arbitrary wrinkle-free target state. The proposed policy adopts a hybrid Imitation Learning-Visual Servoing (IL-VS) framework, where IL learns with explicit fabric models for coarse alignment of the wrinkled fabric toward a wrinkle-free state near the target, and VS ensures fine alignment to the target. Central to this framework is a template-based mesh that offers precise target state representation, wrinkle-aware geometry prediction, and consistent vertex correspondence across RTFF manipulation steps, enabling robust manipulation and seamless IL-VS switching. Leveraging the power of mesh, a novel IL solution for RTFF-Mesh Action Chunking Transformer (MACT)-is then proposed by conditioning the mesh information into a Transformer-based policy. The RTFF policy is validated on a real dual-arm tele-operation system, showing zero-shot alignment to different targets, high accuracy, and strong generalization across fabrics and scales. Project website: https://kaitang98.github.io/RTFF_Policy/

Multimodal alignment aims to construct a joint latent vector space where two modalities representing the same concept map to the same vector. We formulate this as an inverse problem and show that under certain conditions perfect alignment can be achieved. We then address a specific application of alignment referred to as cross-modal transfer. Unsupervised cross-modal transfer aims to leverage a model trained with one modality to perform inference on another modality, without any labeled fine-tuning on the new modality. Assuming that semantic classes are represented as a mixture of Gaussians in the latent space, we show how cross-modal transfer can be performed by projecting the data points from the representation space on to difference subspaces representing each modality. Our experiments on synthetic multimodal Gaussian data verify the effectiveness of our perfect alignment and cross-modal transfer method. We hope these findings inspire further exploration of the applications of perfect alignment and the use of Gaussian models for cross-modal learning.

Automatic assembly lines have increasingly replaced human labor in various tasks; however, the automation of Flexible Flat Cable (FFC) insertion remains unrealized due to its high requirement for effective feedback and dynamic operation, limiting approximately 11% of global industrial capacity. Despite lots of approaches, like vision-based tactile sensors and reinforcement learning, having been proposed, the implementation of human-like high-reliable insertion (i.e., with a 100% success rate in completed insertion) remains a big challenge. Drawing inspiration from human behavior in FFC insertion, which involves sensing three-dimensional forces, translating them into physical concepts, and continuously improving estimates, we propose a novel framework. This framework includes a sensing module for collecting three-dimensional tactile data, a perception module for interpreting this data into meaningful physical signals, and a memory module based on Bayesian theory for reliability estimation and control. This strategy enables the robot to accurately assess its physical state and generate reliable status estimations and corrective actions. Experimental results demonstrate that the robot using this framework can detect alignment errors of 0.5 mm with an accuracy of 97.92% and then achieve a 100% success rate in all completed tests after a few iterations. This work addresses the challenges of unreliable perception and control in complex insertion tasks, highlighting the path toward the development of fully automated production lines.

Whenever an AI model is used to predict a relevant (binary) outcome in AI-assisted decision making, it is widely agreed that, together with each prediction, the model should provide an AI confidence value. However, it has been unclear why decision makers have often difficulties to develop a good sense on when to trust a prediction using AI confidence values. Very recently, Corvelo Benz and Gomez Rodriguez have argued that, for rational decision makers, the utility of AI-assisted decision making is inherently bounded by the degree of alignment between the AI confidence values and the decision maker's confidence on their own predictions. In this work, we empirically investigate to what extent the degree of alignment actually influences the utility of AI-assisted decision making. To this end, we design and run a large-scale human subject study (n=703) where participants solve a simple decision making task - an online card game - assisted by an AI model with a steerable degree of alignment. Our results show a positive association between the degree of alignment and the utility of AI-assisted decision making. In addition, our results also show that post-processing the AI confidence values to achieve multicalibration with respect to the participants' confidence on their own predictions increases both the degree of alignment and the utility of AI-assisted decision making.

The rapid development of large language models (LLMs) and large vision models (LVMs) have propelled the evolution of multi-modal AI systems, which have demonstrated the remarkable potential for industrial applications by emulating human-like cognition. However, they also pose significant ethical challenges, including amplifying harmful content and reinforcing societal biases. For instance, biases in some industrial image generation models highlighted the urgent need for robust fairness assessments. Most existing evaluation frameworks focus on the comprehensiveness of various aspects of the models, but they exhibit critical limitations, including insufficient attention to content generation alignment and social bias-sensitive domains. More importantly, their reliance on pixel-detection techniques is prone to inaccuracies. To address these issues, this paper presents INFELM, an in-depth fairness evaluation on widely-used text-to-image models. Our key contributions are: (1) an advanced skintone classifier incorporating facial topology and refined skin pixel representation to enhance classification precision by at least 16.04%, (2) a bias-sensitive content alignment measurement for understanding societal impacts, (3) a generalizable representation bias evaluation for diverse demographic groups, and (4) extensive experiments analyzing large-scale text-to-image model outputs across six social-bias-sensitive domains. We find that existing models in the study generally do not meet the empirical fairness criteria, and representation bias is generally more pronounced than alignment errors. INFELM establishes a robust benchmark for fairness assessment, supporting the development of multi-modal AI systems that align with ethical and human-centric principles.