Specifically, SegRefiner takes coarse masks as inputs and refines them using a discrete diffusion process.

This derivation first appeared in the first author's blog post [53]. Its derivation, based on Lu et al. For the HMC baseline, we use the default implementation of NUTS in Pyro. For the MAP, VB, and CSGHMC baselines, we use the same settings as Daxberger et al. The diagonal Hessian is used for CIFAR-100 and all-layer F-MNIST, while the full Hessian is used for other cases.

Specifically, SegRefiner takes coarse masks as inputs and refines them using a discrete diffusion process.

Robotic task execution faces challenges due to the inconsistency between symbolic planner models and the rich control structures actually running on the robot. In this paper, we present the first physical deployment of an integrated actor-planner system that shares hierarchical operational models for both acting and planning, interleaving the Reactive Acting Engine (RAE) with an anytime UCT-like Monte Carlo planner (UPOM). We implement RAE+UPOM on a mobile manipulator in a real-world deployment for an object collection task. Our experiments demonstrate robust task execution under action failures and sensor noise, and provide empirical insights into the interleaved acting-and-planning decision making process.

Graph partitioning (GP) is a classic problem that divides the node set of a graph into densely-connected blocks. Following the IEEE HPEC Graph Challenge and recent advances in pre-training techniques (e.g., large-language models), we propose PR-GPT (Pre-trained & Refined Graph ParTitioning) based on a novel pre-training & refinement paradigm. We first conduct the offline pre-training of a deep graph learning (DGL) model on small synthetic graphs with various topology properties. By using the inductive inference of DGL, one can directly generalize the pre-trained model (with frozen model parameters) to large graphs and derive feasible GP results. We also use the derived partition as a good initialization of an efficient GP method (e.g., InfoMap) to further refine the quality of partitioning. In this setting, the online generalization and refinement of PR-GPT can not only benefit from the transfer ability regarding quality but also ensure high inference efficiency without re-training. Based on a mechanism of reducing the scale of a graph to be processed by the refinement method, PR-GPT also has the potential to support streaming GP. Experiments on the Graph Challenge benchmark demonstrate that PR-GPT can ensure faster GP on large-scale graphs without significant quality degradation, compared with running a refinement method from scratch. We will make our code public at https://github.com/KuroginQin/PRGPT.

This work addresses the task of weakly-supervised object localization. The goal is to learn object localization using only image-level class labels, which are much easier to obtain compared to bounding box annotations. This task is important because it reduces the need for labor-intensive ground-truth annotations. However, methods for object localization trained using weak supervision often suffer from limited accuracy in localization. To address this challenge and enhance localization accuracy, we propose a multiscale object localization transformer (MOLT). It comprises multiple object localization transformers that extract patch embeddings across various scales. Moreover, we introduce a deep clustering-guided refinement method that further enhances localization accuracy by utilizing separately extracted image segments. These segments are obtained by clustering pixels using convolutional neural networks. Finally, we demonstrate the effectiveness of our proposed method by conducting experiments on the publicly available ILSVRC-2012 dataset.

Accurate detection and localization of X-corner on both planar and non-planar patterns is a core step in robotics and machine vision. However, previous works could not make a good balance between accuracy and robustness, which are both crucial criteria to evaluate the detectors performance. To address this problem, in this paper we present a novel detection algorithm which can maintain high sub-pixel precision on inputs under multiple interference, such as lens distortion, extreme poses and noise. The whole algorithm, adopting a coarse-to-fine strategy, contains a X-corner detection network and three post-processing techniques to distinguish the correct corner candidates, as well as a mixed sub-pixel refinement technique and an improved region growth strategy to recover the checkerboard pattern partially visible or occluded automatically. Evaluations on real and synthetic images indicate that the presented algorithm has the higher detection rate, sub-pixel accuracy and robustness than other commonly used methods. Finally, experiments of camera calibration and pose estimation verify it can also get smaller re-projection error in quantitative comparisons to the state-of-the-art.

Annotation and labeling of images are some of the biggest challenges in applying deep learning to medical data. Current processes are time and cost-intensive and, therefore, a limiting factor for the wide adoption of the technology. Additionally validating that measured performance improvements are significant is important to select the best model. In this paper, we demonstrate a method for creating segmentations, a necessary part of a data cleaning for ultrasound imaging machine learning pipelines. We propose a four-step method to leverage automatically generated training data and fast human visual checks to improve model accuracy while keeping the time/effort and cost low. We also showcase running experiments multiple times to allow the usage of statistical analysis. Poor quality automated ground truth data and quick visual inspections efficiently train an initial base model, which is refined using a small set of more expensive human-generated ground truth data. The method is demonstrated on a cardiac ultrasound segmentation task, removing background data, including static PHI. Significance is shown by running the experiments multiple times and using the student's t-test on the performance distributions. The initial segmentation accuracy of a simple thresholding algorithm of 92% was improved to 98%. The performance of models trained on complicated algorithms can be matched or beaten by pre-training with the poorer performing algorithms and a small quantity of high-quality data. The introduction of statistic significance analysis for deep learning models helps to validate the performance improvements measured. The method offers a cost-effective and fast approach to achieving high-accuracy models while minimizing the cost and effort of acquiring high-quality training data.

Monte Carlo (MC) integration is the de facto method for approximating the predictive distribution of Bayesian neural networks (BNNs). But, even with many MC samples, Gaussian-based BNNs could still yield bad predictive performance due to the posterior approximation's error. Meanwhile, alternatives to MC integration tend to be more expensive or biased. In this work, we experimentally show that the key to good MC-approximated predictive distributions is the quality of the approximate posterior itself. However, previous methods for obtaining accurate posterior approximations are expensive and non-trivial to implement. We, therefore, propose to refine Gaussian approximate posteriors with normalizing flows. When applied to last-layer BNNs, it yields a simple \emph{post hoc} method for improving pre-existing parametric approximations. We show that the resulting posterior approximation is competitive with even the gold-standard full-batch Hamiltonian Monte Carlo.