Abstract

Accurately recognizing a revisited place is crucial for embodied agents to localize and navigate. This requires visual representations to be distinct, despite strong variations in camera viewpoint and scene appearance. Existing visual place recognition pipelines encode the whole image and search for matches. This poses a fundamental challenge in matching two images of the same place captured from different camera viewpoints: the similarity of what overlaps can be dominated by the dissimilarity of what does not overlap. We address this by encoding and searching for image segments instead of the whole images. We propose to use open-set image segmentation to decompose an image into `meaningful' entities (i.e., things and stuff). This enables us to create a novel image representation as a collection of multiple overlapping subgraphs connecting a segment with its neighboring segments, dubbed SuperSegment. Furthermore, to efficiently encode these SuperSegments into compact vector representations, we propose a novel factorized representation of feature aggregation. We show that retrieving these partial representations leads to significantly higher recognition recall than the typical whole image based retrieval. Our segments-based approach, dubbed SegVLAD, sets a new state-of-the-art in place recognition on a diverse selection of benchmark datasets, while being applicable to both generic and task-specialized image encoders. Finally, we demonstrate the potential of our method to revisit anything by evaluating our method on an object instance retrieval task, which bridges the two disparate areas of research: visual place recognition and object-goal navigation, through their common aim of recognizing goal objects specific to a place.

Abstract

No Results Found

Abstract

Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents a significant challenge due to the complex geometries involved, requiring a deep understanding of the local geometry to generate grasps efficiently on the specified constrained regions. Existing methods only explore settings involving table-top/small objects and require augmented datasets to train, limiting their performance on complex objects. We propose CGDF: Constrained Grasp Diffusion Fields, a diffusion-based grasp generative model that generalizes to objects with arbitrary geometries, as well as generates dense grasps on the target regions. CGDF uses a part-guided diffusion approach that enables it to get high sample efficiency in constrained grasping without explicitly training on massive constraint-augmented datasets. We provide qualitative and quantitative comparisons using analytical metrics and in simulation, in both unconstrained and constrained settings to show that our method can generalize to generate stable grasps on complex objects, especially useful for dual-arm manipulation settings, while existing methods struggle to do so. More results, code and an extended version of the paper can be found on the project page: https://constrained-grasp-diffusion.github.io/

Abstract

This work presents a novel approach to identifying possible early accident-prone zones in a large city-scale road network using geo-tagged collision alert data from a vehicle fleet. The alert data has been collected for a year from 200 city buses installed with the Advanced Driver Assistance System (ADAS). To the best of our knowledge, no research paper has used ADAS alerts to identify the early accident prone zones. A nonparametric technique called Kernel Density Estimation (KDE) is employed to model the distribution of alert data across stratified time intervals. A novel recall-based measure is introduced to assess the degree of support provided by our density-based approach for existing, manually determined accident-prone zones (‘blackspots’) provided by civic authorities. This shows that our KDE approach significantly outperforms existing approaches in terms of the recall-based measure. Introducing a novel linear assignment Earth Mover Distance based measure to predict previously unidentified accident-prone zones. The results and findings support the feasibility of utilizing alert data from vehicle fleets to aid civic planners in assessing accident-zone trends and deploying traffic calming measures, thereby improving overall road safety and saving lives.

Abstract

We present the first shared task on Semantic Textual Relatedness (STR). While earlier shared tasks primarily focused on semantic similarity, we instead investigate the broader phenomenon of semantic relatedness across 14 languages: Afrikaans, Algerian Arabic, Amharic, English, Hausa, Hindi, Indonesian, Kinyarwanda, Marathi, Moroccan Arabic, Modern Standard Arabic, Punjabi, Spanish, and Telugu. These languages originate from five distinct language families and are predominantly spoken in Africa and Asia – regions characterised by the relatively limited availability of NLP resources. Each instance in the datasets is a sentence pair associated with a score that represents the degree of semantic textual relatedness between the two sentences. Participating systems were asked to rank sentence pairs by their closeness in meaning (i.e., their degree of semantic relatedness) in the 14 languages in three main tracks: (a) supervised, (b) unsupervised, and (c) crosslingual. The task attracted 163 participants. We received 70 submissions in total (across all tasks) from 51 different teams, and 38 system description papers. We report on the best-performing systems as well as the most common and the most effective approaches for the three different tracks.

Abstract

The spot size variation due to mechanical jitter is calculated for the Hermite Gaussian (HG) incoherent beam combination system. It is observed that the spot size increases with an increase in mechanical jitter and higher modes HG beams experience less mechanical jitter effect compared to lower mode HG beams.

Abstract

This paper presents the myEye2Wheeler dataset, a unique resource of real-world gaze behaviour of two-wheeler drivers navigating complex Indian traffic. Most datasets are from four-wheeler drivers on well-planned roads and homoge- neous traffic. Our dataset offers a critical lens into the unique visual attention patterns and corresponding driving decision- making of Indian two-wheeler drivers. The analysis demon- strates that existing saliency models, like TASED-Net, perform less effectively on the myEye-2Wheeler dataset compared to when applied on the European 4-wheeler eye tracking datasets (DR(Eye)VE), highlighting the need for models specifically tailored to the traffic conditions. By introducing the dataset, we not only fill a significant gap in two-wheeler driver behaviour research in India but also emphasise the critical need for developing context-specific saliency models. The larger aim is to improve road safety for two-wheeler users and lane-planning for this cost-effective mode of transpor

Abstract

Computational History, Trade in Mountain Societies, NLP – NER, Relation Extraction, Application of LLMs.

Abstract

The histone methyltransferase ASH1L, first discovered for its role in transcription, has been shown to accelerate the removal of ultraviolet (UV) light-induced cyclobutane pyrimidine dimers (CPDs) by nucleotide excision repair. Previous reports demonstrated that CPD excision is most efficient at transcriptional regulatory elements, including enhancers, relative to other genomic sites. Therefore, we analyzed DNA damage maps in ASH1L-proficient and ASH1L-deficient cells to understand how ASH1L controls enhancer stability. This comparison showed that ASH1L protects enhancer sequences against the induction of CPDs besides stimulating repair activity. ASH1L reduces CPD formation at C–containing but not at TT dinucleotides, and no protection occurs against pyrimidine-(6,4)-pyrimidone photoproducts or cisplatin crosslinks. The diminished CPD induction extends to gene promoters but excludes retrotransposons. This guardian role against CPDs in regulatory elements is associated with the presence of H3K4me3 and H3K27ac histone marks, which are known to interact with the PHD and BRD motifs of ASH1L, respectively. Molecular dynamics simulations identified a DNA-binding AT hook of ASH1L that alters the distance and dihedral angle between neighboring C nucleotides to disfavor dimerization. The loss of this protection results in a higher frequency of C–>T transitions at enhancers of skin cancers carrying ASH1L mutations compared to ASH1L-intact counterparts.

Abstract

The dense and unstructured text in historical manuscripts presents significant challenges for precise line segmentation due to large diversity in sizes, scripts and appearances of the documents. Existing approaches tackle this complexity either by performing dataset-specific processing or training per-dataset models. This strategy hampers maintainability and scalability as newer manuscript collections get digitized and annotated. In this paper, we propose LineTR, a novel two-stage line segmentation approach which can process a diverse variety of challenging handwritten documents in a unified, dataset-agnostic manner. LineTR's first stage processes context-adaptive image patches. It consists of a novel DETR-style network which generates parametric representations of text strike-through lines (scribbles) and a novel hybrid CNN-transformer network which generates a text energy map. A dataset-agnostic and robust post-processing procedure is applied on first-stage outputs to obtain document-level scribbles. In the second stage, these scribbles and the text energy map are used within a seam generation framework to obtain highly precise polygons enclosing the manuscript text lines. We also introduce three new diverse text line segmentation datasets comprising challenging Indic and South-East Asian manuscripts. Through experiments, ablations and evaluations, we show that LineTR generates significantly superior line segmentations - all with a single model. Our results also highlight the effectiveness of our unified model for good quality zero-shot inference on the newly introduced datasets.