SeaSplat: Representing Underwater Scenes with 3D Gaussian Splatting and a Physically Grounded Image Formation Model

We introduce SeaSplat, a method to enable real-time rendering of underwater scenes leveraging recent advances in 3D radiance fields. Underwater scenes are challenging visual environments, as rendering through a medium such as water introduces both range and color dependent effects on image capture. We constrain 3D Gaussian Splatting (3DGS), a recent advance in radiance fields enabling rapid training and real-time rendering of full 3D scenes, with a physically grounded underwater image formation model. Applying SeaSplat to the real-world scenes from SeaThru-NeRF dataset, a scene collected by an underwater vehicle in the US Virgin Islands, and simulation-degraded real-world scenes, not only do we see increased quantitative performance on rendering novel viewpoints from the scene with the medium present, but are also able to recover the underlying true color of the scene and restore renders to be without the presence of the intervening medium. We show that the underwater image formation helps learn scene structure, with better depth maps, as well as show that our improvements maintain the significant computational improvements afforded by leveraging a 3D Gaussian representation.

Rank2Reward: Learning Shaped Reward Functions from Passive Video

Teaching robots novel skills with demonstrations via human-in-the-loop data collection techniques like kinesthetic teaching or teleoperation puts a heavy burden on human supervisors. In contrast to this paradigm, it is often significantly easier to provide raw, action-free visual data of tasks being performed. Moreover, this data can even be mined from video datasets or the web. Ideally, this data can serve to guide robot learning for new tasks in novel environments, informing both "what" to do and "how" to do it. A powerful way to encode both the "what" and the "how" is to infer a well-shaped reward function for reinforcement learning. The challenge is determining how to ground visual demonstration inputs into a well-shaped and informative reward function. We propose a technique Rank2Reward for learning behaviors from videos of tasks being performed without access to any low-level states and actions. We do so by leveraging the videos to learn a reward function that measures incremental "progress" through a task by learning how to temporally rank the video frames in a demonstration. By inferring an appropriate ranking, the reward function is able to guide reinforcement learning by indicating when task progress is being made. This ranking function can be integrated into an adversarial imitation learning scheme resulting in an algorithm that can learn behaviors without exploiting the learned reward function. We demonstrate the effectiveness of Rank2Reward at learning behaviors from raw video on a number of tabletop manipulation tasks in both simulations and on a real-world robotic arm. We also demonstrate how Rank2Reward can be easily extended to be applicable to web-scale video datasets.

Can Text-to-image Model Assist Multi-modal Learning for Visual Recognition with Visual Modality Missing?

Multi-modal learning has emerged as an increasingly promising avenue in vision recognition, driving innovations across diverse domains ranging from media and education to healthcare and transportation. Despite its success, the robustness of multi-modal learning for visual recognition is often challenged by the unavailability of a subset of modalities, especially the visual modality. Conventional approaches to mitigate missing modalities in multi-modal learning rely heavily on algorithms and modality fusion schemes. In contrast, this paper explores the use of text-to-image models to assist multi-modal learning. Specifically, we propose a simple but effective multi-modal learning framework GTI-MM to enhance the data efficiency and model robustness against missing visual modality by imputing the missing data with generative transformers. Using multiple multi-modal datasets with visual recognition tasks, we present a comprehensive analysis of diverse conditions involving missing visual modality in data, including model training. Our findings reveal that synthetic images benefit training data efficiency with visual data missing in training and improve model robustness with visual data missing involving training and testing. Moreover, we demonstrate GTI-MM is effective with lower generation quantity and simple prompt techniques.

Context Unlocks Emotions: Text-based Emotion Classification Dataset Auditing with Large Language Models

The lack of contextual information in text data can make the annotation process of text-based emotion classification datasets challenging. As a result, such datasets often contain labels that fail to consider all the relevant emotions in the vocabulary. This misalignment between text inputs and labels can degrade the performance of machine learning models trained on top of them. As re-annotating entire datasets is a costly and time-consuming task that cannot be done at scale, we propose to use the expressive capabilities of large language models to synthesize additional context for input text to increase its alignment with the annotated emotional labels. In this work, we propose a formal definition of textual context to motivate a prompting strategy to enhance such contextual information. We provide both human and empirical evaluation to demonstrate the efficacy of the enhanced context. Our method improves alignment between inputs and their human-annotated labels from both an empirical and human-evaluated standpoint.

Does Video Summarization Require Videos? Quantifying the Effectiveness of Language in Video Summarization

Video summarization remains a huge challenge in computer vision due to the size of the input videos to be summarized. We propose an efficient, language-only video summarizer that achieves competitive accuracy with high data efficiency. Using only textual captions obtained via a zero-shot approach, we train a language transformer model and forego image representations. This method allows us to perform filtration amongst the representative text vectors and condense the sequence. With our approach, we gain explainability with natural language that comes easily for human interpretation and textual summaries of the videos. An ablation study that focuses on modality and data compression shows that leveraging text modality only effectively reduces input data processing while retaining comparable results.

Biological Hotspot Mapping in Coral Reefs with Robotic Visual Surveys

Coral reefs are fast-changing and complex ecosystems that are crucial to monitor and study. Biological hotspot detection can help coral reef managers prioritize limited resources for monitoring and intervention tasks. Here, we explore the use of autonomous underwater vehicles (AUVs) with cameras, coupled with visual detectors and photogrammetry, to map and identify these hotspots. This approach can provide high spatial resolution information in fast feedback cycles. To the best of our knowledge, we present one of the first attempts at using an AUV to gather visually-observed, fine-grain biological hotspot maps in concert with topography of a coral reefs. Our hotspot maps correlate with rugosity, an established proxy metric for coral reef biodiversity and abundance, as well as with our visual inspections of the 3D reconstruction. We also investigate issues of scaling this approach when applied to new reefs by using these visual detectors pre-trained on large public datasets.

Camera-Based Piano Sheet Music Identification

This paper presents a method for large-scale retrieval of piano sheet music images. Our work differs from previous studies on sheet music retrieval in two ways. First, we investigate the problem at a much larger scale than previous studies, using all solo piano sheet music images in the entire IMSLP dataset as a searchable database. Second, we use cell phone images of sheet music as our input queries, which lends itself to a practical, user-facing application. We show that a previously proposed fingerprinting method for sheet music retrieval is far too slow for a real-time application, and we diagnose its shortcomings. We propose a novel hashing scheme called dynamic n-gram fingerprinting that significantly reduces runtime while simultaneously boosting retrieval accuracy. In experiments on IMSLP data, our proposed method achieves a mean reciprocal rank of 0.85 and an average runtime of 0.98 seconds per query.

Robotic Grasping through Combined image-Based Grasp Proposal and 3D Reconstruction

We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is provided as input to both networks. By using the geometric reconstruction to refine the the candidate grasp produced by the grasp proposal network, our system is able to accurately grasp both known and unknown objects, even when the grasp location on the object is not visible in the input image. This paper presents the network architectures, training procedures, and grasp refinement method that comprise our system. Hardware experiments demonstrate the efficacy of our system at grasping both known and unknown objects (91% success rate). We additionally perform ablation studies that show the benefits of combining a learned grasp proposal with geometric reconstruction for grasping, and also show that our system outperforms several baselines in a grasping task.

Prediction of Autism Treatment Response from Baseline fMRI using Random Forests and Tree Bagging

Treating children with autism spectrum disorders (ASD) with behavioral interventions, such as Pivotal Response Treatment (PRT), has shown promise in recent studies. However, deciding which therapy is best for a given patient is largely by trial and error, and choosing an ineffective intervention results in loss of valuable treatment time. We propose predicting patient response to PRT from baseline task-based fMRI by the novel application of a random forest and tree bagging strategy. Our proposed learning pipeline uses random forest regression to determine candidate brain voxels that may be informative in predicting treatment response. The candidate voxels are then tested stepwise for inclusion in a bagged tree ensemble. After the predictive model is constructed, bias correction is performed to further increase prediction accuracy. Using data from 19 ASD children who underwent a 16 week trial of PRT and a leave-one-out cross-validation framework, the presented learning pipeline was tested against several standard methods and variations of the pipeline and resulted in the highest prediction accuracy.