Abstract

With the rise in consumer depth cameras, a wealth of unlabeled RGB-D data has become available. This prompts the question of how to utilize this data for geometric reasoning of scenes. While many RGB-D registration methods rely on geometric and feature-based similarity, we take a different approach. We use cycle-consistent keypoints as salient points to enforce spatial coherence constraints during matching, improving correspondence accuracy. Additionally, we introduce a novel pose block that combines a GRU recurrent unit with transformation synchronization, blending historical and multi-view data. Our approach surpasses previous selfsupervised registration methods on ScanNet and 3DMatch, even outperforming some older supervised methods. We also integrate our components into existing methods, showing their effectiveness.

Abstract

Assistive agents performing household tasks such as making the bed or cooking breakfast often compute and execute actions that accomplish one task at a time. However, efficiency can be improved by anticipating upcoming tasks and computing an action sequence that jointly achieves these tasks. State-of-the-art methods for task anticipation use data-driven deep networks and Large Language Models (LLMs), but they do so at the level of high-level tasks and/or require many training examples. Our framework leverages the generic knowledge of LLMs through a small number of prompts to perform high-level task anticipation, using the anticipated tasks as goals in a classical planning system to compute a sequence of finer-granularity actions that jointly achieve these goals. We ground and evaluate our framework's abilities in realistic scenarios in the VirtualHome environment and demonstrate a 31% reduction in execution time compared with a system that does not consider upcoming tasks.

Abstract

Classical motion planning for robotic manipulation includes a set of general algorithms that aim to minimize a scene-specific cost of executing a given plan. This approach offers remarkable adaptability, as they can be directly used off-the-shelf for any new scene without needing specific training datasets. However, without a prior understanding of what diverse valid trajectories are and without specially designed cost functions for a given scene, the overall solutions tend to have low success rates. While deep-learning-based algorithms tremendously improve success rates, they are much harder to adopt without specialized training datasets. We propose EDMP, an Ensemble-of-costs-guided Diffusion for Motion Planning that aims to combine the strengths of classical and deep-learning-based motion planning. Our diffusion-based network is trained on a set of diverse kinematically valid trajectories. Like classical planning, for any new scene at the time of inference, we compute scene-specific costs such as "collision cost" and guide the diffusion to generate valid trajectories that satisfy the scene-specific constraints. Further, instead of a single cost function that may be insufficient in capturing diversity across scenes, we use an ensemble of costs to guide the diffusion process, significantly improving the success rate compared to classical planners. EDMP performs comparably with SOTA deep-learning-based methods while retaining the generalization capabilities primarily associated with classical planners.

Abstract

In this letter, we propose a PIPE-CovNet+ model that is ba-sed on convolutional neural networks (CNNs) with multiple kernel sizes, gradient boosting techniques, and hyper-densely connected layers for abnormality detection in wastewater pipe infrastructure. The PIPE-CovNet+ model achieved 85% accuracy and 84% F1-score following assessment utilizing an open-source dataset, overcoming the constraints of imbalanced data and over-fitting issues. Furthermore, it showed greater efficacy when compared against other relevant models, displaying 3% higher accuracy and F1-score than our prior work under ideal test settings. Installing PIPE-CovNet+ into a robot system can alleviate the limitations of being tedious, laborious, and prone to human error in closed-circuit television (CCTV) inspections.

Abstract

This edited volume presents perspectives from computer science, information theory, neuroscience and brain imaging, aesthetics, social sciences, psychiatry, and philosophy to answer frontier questions related to artificial intelligence and human experience. Can a machine think, believe, aspire and be purposeful as a human? What is the place in the machine world for hope, meaning and transformative enlightenment that inspires human existence? How, or are, the minds of machines different from that of humans and other species? These questions are responded to along with questions in the intersection of health, intelligence and the brain. It highlights the place of consciousness by attempting to respond to questions with the help of fundamental reflections on human existence, its life-purposes and machine intelligence.

Abstract

Solar absorption spectra collected using a ground-based Fourier Transform Infrared (FTIR) Spectrometer were used to retrieve the column-averaged concentrations (X) of CO2, CH4, CO, and N2O during the years 2016–2019 in the Suburban region of Shadnagar, Telangana, India. For the research period, the diurnal mean amplitudes of XCO2, XCH4, XCO, and XN2O are ∼ 13 ppmv, ∼50 ppbv, ∼13 ppbv, and ∼ 19 ppbv respectively. Strong seasonality at the study site is indicated by the seasonal variations of XCO2 and XCO of 18.3 ppmv and 39.2 ppbv, respectively. Additionally, we compared FTIR data to XCO2 detected by Orbiting Carbon Observatory-2 (OCO-2) and CO columns from Measurements of Pollution in the Troposphere (MOPITT). For the XCO2 and CO columns, the comparison research shows a mean relative bias between FTIR data and satellite data of 0.92 % and 0.71 %, respectively. The FTIR and satellite data show a Pearson correlation coefficient (r) of 0.71 (XCO2, N = 26 co-located) and 0.60 (CO columns, N = 44), respectively. The findings demonstrate a good agreement between our data and satellite data.

Abstract

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Abstract

Large-scale deployment of fully autonomous vehicles requires a very high degree of robustness to unstructured traffic, weather conditions, and should prevent unsafe mispredictions. While there are several datasets and benchmarks focusing on segmentation for drive scenes, they are not specifically focused on safety and robustness issues. We introduce the IDD-AW dataset, which provides 5000 pairs of high-quality images with pixel-level annotations, captured under rain, fog, low light, and snow in unstructured driving conditions. As compared to other adverse weather datasets, we provide i.) more annotated images, ii.) paired Near-Infrared (NIR) image for each frame, iii.) larger label set with a 4-level label hierarchy to capture unstructured traffic conditions. We benchmark state-of-the-art models for semantic segmentation in IDD-AW. We also propose a new metric called “Safe mean Intersection over Union (Safe mIoU)” for hierarchical datasets which penalizes dangerous mispredictions that are not captured in the traditional definition of mean Intersection over Union (mIoU). The results show that IDD-AW is one of the most challenging datasets to date for these tasks. The dataset and code will be available here: http://iddaw.github.io.

Abstract

Indian folk paintings have a rich mosaic of symbols, colors, textures, and stories making them an invaluable repository of cultural legacy. The paper presents a novel approach to classifying these paintings into distinct art forms and tagging them with their unique salient features. A custom dataset named FolkTalent, comprising 2279 digital images of paintings across 12 different forms, has been prepared using websites that are direct outlets of Indian folk paintings. Tags covering a wide range of attributes like color, theme, artistic style, and patterns are generated using GPT4, and verified by an expert for each painting. Classification is performed employing the RandomForest ensemble technique on fine-tuned Convolutional Neural Network (CNN) models to classify Indian folk paintings, achieving an accuracy of 91.83%. Tagging is accomplished via the prominent fine-tuned CNN-based backbones with a custom classifier attached to its top to perform multi-label image classification. The generated tags offer a deeper insight into the painting, enabling an enhanced search experience based on theme and visual attributes. The proposed hybrid model sets a new benchmark in folk painting classification and tagging, significantly contributing to cataloging India’s folk-art heritage.

Abstract

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