Infinity-MM: Scaling Multimodal Performance with Large-Scale and High-Quality Instruction Data

Vision-Language Models (VLMs) have recently made significant progress, but the limited scale and quality of open-source instruction data hinder their performance compared to closed-source models. In this work, we address this limitation by introducing Infinity-MM, a large-scale multimodal instruction dataset with 40 million samples, enhanced through rigorous quality filtering and deduplication. We also propose a synthetic instruction generation method based on open-source VLMs, using detailed image annotations and diverse question generation. Using this data, we trained a 2-billion-parameter VLM, Aquila-VL-2B, achieving state-of-the-art (SOTA) performance for models of similar scale. This demonstrates that expanding instruction data and generating synthetic data can significantly improve the performance of open-source models.

Double-Ended Synthesis Planning with Goal-Constrained Bidirectional Search

Computer-aided synthesis planning (CASP) algorithms have demonstrated expert-level abilities in planning retrosynthetic routes to molecules of low to moderate complexity. However, current search methods assume the sufficiency of reaching arbitrary building blocks, failing to address the common real-world constraint where using specific molecules is desired. To this end, we present a formulation of synthesis planning with starting material constraints. Under this formulation, we propose Double-Ended Synthesis Planning (DESP), a novel CASP algorithm under a bidirectional graph search scheme that interleaves expansions from the target and from the goal starting materials to ensure constraint satisfiability. The search algorithm is guided by a goal-conditioned cost network learned offline from a partially observed hypergraph of valid chemical reactions. We demonstrate the utility of DESP in improving solve rates and reducing the number of search expansions by biasing synthesis planning towards expert goals on multiple new benchmarks. DESP can make use of existing one-step retrosynthesis models, and we anticipate its performance to scale as these one-step model capabilities improve.

GATSBI: An Online GTSP-Based Algorithm for Targeted Surface Bridge Inspection

We study the problem of visually inspecting the surface of a bridge using an Unmanned Aerial Vehicle (UAV) for defects. We do not assume that the geometric model of the bridge is known. The UAV is equipped with a LiDAR and RGB sensor that is used to build a 3D semantic map of the environment. Our planner, termed GATSBI, plans in an online fashion a path that is targeted towards inspecting all points on the surface of the bridge. The input to GATSBI consists of a 3D occupancy grid map of the part of the environment seen by the UAV so far. We use semantic segmentation to segment the voxels into those that are part of the bridge and the surroundings. Inspecting a bridge voxel requires the UAV to take images from a desired viewing angle and distance. We then create a Generalized Traveling Salesperson Problem (GTSP) instance to cluster candidate viewpoints for inspecting the bridge voxels and use an off-the-shelf GTSP solver to find the optimal path for the given instance. As more parts of the environment are seen, we replan the path. We evaluate the performance of our algorithm through high-fidelity simulations conducted in Gazebo. We compare the performance of this algorithm with a frontier exploration algorithm. Our evaluation reveals that targeting the inspection to only the segmented bridge voxels and planning carefully using a GTSP solver leads to more efficient inspection than the baseline algorithms.

Coverage of an Environment Using Energy-Constrained Unmanned Aerial Vehicles

We study the problem of covering an environment using an Unmanned Aerial Vehicle (UAV) with limited battery capacity. We consider a scenario where the UAV can land on an Unmanned Ground Vehicle (UGV) and recharge the onboard battery. The UGV can also recharge the UAV while transporting the UAV to the next take-off site. We present an algorithm to solve a new variant of the area coverage problem that takes into account this symbiotic UAV and UGV system. The input consists of a set of boustrophedon cells -- rectangular strips whose width is equal to the field-of-view of the sensor on the UAV. The goal is to find a coordinated strategy for the UAV and UGV that visits and covers all cells in minimum time, while optimally finding how much to recharge, where to recharge, and when to recharge the battery. This includes flight time for visiting and covering all cells, recharging time, as well as the take-off and landing times. We show how to reduce this problem to a known NP-hard problem, Generalized Traveling Salesperson Problem (GTSP). Given an optimal GTSP solver, our approach finds the optimal coverage paths for the UAV and UGV. Our formulation models multi-rotor UAVs as well as hybrid UAVs that can operate in fixed-wing and Vertical Take-off and Landing modes. We evaluate our algorithm through simulations and proof-of-concept experiments.

Augment Yourself: Mixed Reality Self-Augmentation Using Optical See-through Head-mounted Displays and Physical Mirrors

Optical see-though head-mounted displays (OST HMDs) are one of the key technologies for merging virtual objects and physical scenes to provide an immersive mixed reality (MR) environment to its user. A fundamental limitation of HMDs is, that the user itself cannot be augmented conveniently as, in casual posture, only the distal upper extremities are within the field of view of the HMD. Consequently, most MR applications that are centered around the user, such as virtual dressing rooms or learning of body movements, cannot be realized with HMDs. In this paper, we propose a novel concept and prototype system that combines OST HMDs and physical mirrors to enable self-augmentation and provide an immersive MR environment centered around the user. Our system, to the best of our knowledge the first of its kind, estimates the user's pose in the virtual image generated by the mirror using an RGBD camera attached to the HMD and anchors virtual objects to the reflection rather than the user directly. We evaluate our system quantitatively with respect to calibration accuracy and infrared signal degradation effects due to the mirror, and show its potential in applications where large mirrors are already an integral part of the facility. Particularly, we demonstrate its use for virtual fitting rooms, gaming applications, anatomy learning, and personal fitness. In contrast to competing devices such as LCD-equipped smart mirrors, the proposed system consists of only an HMD with RGBD camera and, thus, does not require a prepared environment making it very flexible and generic. In future work, we will aim to investigate how the system can be optimally used for physical rehabilitation and personal training as a promising application.

Combining Geometric and Information-Theoretic Approaches for Multi-Robot Exploration

We present an algorithm to explore an orthogonal polygon using a team of $p$ robots. This algorithm combines ideas from information-theoretic exploration algorithms and computational geometry based exploration algorithms. We show that the exploration time of our algorithm is competitive (as a function of $p$) with respect to the offline optimal exploration algorithm. The algorithm is based on a single-robot polygon exploration algorithm, a tree exploration algorithm for higher level planning and a submodular orienteering algorithm for lower level planning. We discuss how this strategy can be adapted to real-world settings to deal with noisy sensors. In addition to theoretical analysis, we investigate the performance of our algorithm through simulations for multiple robots and experiments with a single robot.

Garbage In, Garbage Out? Do Machine Learning Application Papers in Social Computing Report Where Human-Labeled Training Data Comes From?

Many machine learning projects for new application areas involve teams of humans who label data for a particular purpose, from hiring crowdworkers to the paper's authors labeling the data themselves. Such a task is quite similar to (or a form of) structured content analysis, which is a longstanding methodology in the social sciences and humanities, with many established best practices. In this paper, we investigate to what extent a sample of machine learning application papers in social computing --- specifically papers from ArXiv and traditional publications performing an ML classification task on Twitter data --- give specific details about whether such best practices were followed. Our team conducted multiple rounds of structured content analysis of each paper, making determinations such as: Does the paper report who the labelers were, what their qualifications were, whether they independently labeled the same items, whether inter-rater reliability metrics were disclosed, what level of training and/or instructions were given to labelers, whether compensation for crowdworkers is disclosed, and if the training data is publicly available. We find a wide divergence in whether such practices were followed and documented. Much of machine learning research and education focuses on what is done once a "gold standard" of training data is available, but we discuss issues around the equally-important aspect of whether such data is reliable in the first place.

Crop Height and Plot Estimation from Unmanned Aerial Vehicles using 3D LiDAR

In this paper, we present techniques to measure crop heights using a 3D LiDAR mounted on an Unmanned Aerial Vehicle (UAV). Knowing the height of plants is crucial to monitor their overall health and growth cycles, especially for high-throughput plant phenotyping. We present a methodology for extracting plant heights from 3D LiDAR point clouds, specifically focusing on row-crop environments. The key steps in our algorithm are clustering of LiDAR points to semi-automatically detect plots, local ground plane estimation, and height estimation. The plot detection uses a k--means clustering algorithm followed by a voting scheme to find the bounding boxes of individual plots. We conducted a series of experiments in controlled and natural settings. Our algorithm was able to estimate the plant heights in a field with 112 plots within +-5.36%. This is the first such dataset for 3D LiDAR from an airborne robot over a wheat field. The developed code can be found on the GitHub repository located at https://github.com/hsd1121/PointCloudProcessing.

View Planning and Navigation Algorithms for Autonomous Bridge Inspection with UAVs

We study the problem of infrastructure inspection using an Unmanned Aerial Vehicle (UAV) in box girder bridge environments. We consider a scenario where the UAV needs to fully inspect box girder bridges and localize along the bridge surface when standard methods like GPS and optical flow are denied. Our method for overcoming the difficulties of box girder bridges consist of creating local navigation routines, a supervisor, and a planner. The local navigation routines use two 2D Lidars for girder and column flight. For switching between local navigation routines we implement a supervisor which dictates when the UAV is able to switch between local navigation routines. Lastly, we implement a planner to calculate the path along that box girder bridge that will minimize the flight time of the UAV. With local navigation routines, a supervisor, and a planner we construct a system that can fully and autonomously inspect box girder bridges when standard methods are unavailable.

Improved visible to IR image transformation using synthetic data augmentation with cycle-consistent adversarial networks

Infrared (IR) images are essential to improve the visibility of dark or camouflaged objects. Object recognition and segmentation based on a neural network using IR images provide more accuracy and insight than color visible images. But the bottleneck is the amount of relevant IR images for training. It is difficult to collect real-world IR images for special purposes, including space exploration, military and fire-fighting applications. To solve this problem, we created color visible and IR images using a Unity-based 3D game editor. These synthetically generated color visible and IR images were used to train cycle consistent adversarial networks (CycleGAN) to convert visible images to IR images. CycleGAN has the advantage that it does not require precisely matching visible and IR pairs for transformation training. In this study, we discovered that additional synthetic data can help improve CycleGAN performance. Neural network training using real data (N = 20) performed more accurate transformations than training using real (N = 10) and synthetic (N = 10) data combinations. The result indicates that the synthetic data cannot exceed the quality of the real data. Neural network training using real (N = 10) and synthetic (N = 100) data combinations showed almost the same performance as training using real data (N = 20). At least 10 times more synthetic data than real data is required to achieve the same performance. In summary, CycleGAN is used with synthetic data to improve the IR image conversion performance of visible images.