MegaSaM: Accurate, Fast, and Robust Structure and Motion from Casual Dynamic Videos

We present a system that allows for accurate, fast, and robust estimation of camera parameters and depth maps from casual monocular videos of dynamic scenes. Most conventional structure from motion and monocular SLAM techniques assume input videos that feature predominantly static scenes with large amounts of parallax. Such methods tend to produce erroneous estimates in the absence of these conditions. Recent neural network-based approaches attempt to overcome these challenges; however, such methods are either computationally expensive or brittle when run on dynamic videos with uncontrolled camera motion or unknown field of view. We demonstrate the surprising effectiveness of a deep visual SLAM framework: with careful modifications to its training and inference schemes, this system can scale to real-world videos of complex dynamic scenes with unconstrained camera paths, including videos with little camera parallax. Extensive experiments on both synthetic and real videos demonstrate that our system is significantly more accurate and robust at camera pose and depth estimation when compared with prior and concurrent work, with faster or comparable running times. See interactive results on our project page: https://mega-sam.github.io/

Topology-Aware Graph Augmentation for Predicting Clinical Trajectories in Neurocognitive Disorders

Brain networks/graphs derived from resting-state functional MRI (fMRI) help study underlying pathophysiology of neurocognitive disorders by measuring neuronal activities in the brain. Some studies utilize learning-based methods for brain network analysis, but typically suffer from low model generalizability caused by scarce labeled fMRI data. As a notable self-supervised strategy, graph contrastive learning helps leverage auxiliary unlabeled data. But existing methods generally arbitrarily perturb graph nodes/edges to generate augmented graphs, without considering essential topology information of brain networks. To this end, we propose a topology-aware graph augmentation (TGA) framework, comprising a pretext model to train a generalizable encoder on large-scale unlabeled fMRI cohorts and a task-specific model to perform downstream tasks on a small target dataset. In the pretext model, we design two novel topology-aware graph augmentation strategies: (1) hub-preserving node dropping that prioritizes preserving brain hub regions according to node importance, and (2) weight-dependent edge removing that focuses on keeping important functional connectivities based on edge weights. Experiments on 1, 688 fMRI scans suggest that TGA outperforms several state-of-the-art methods.

Reverse Attitude Statistics Based Star Map Identification Method

The star tracker is generally affected by the atmospheric background light and the aerodynamic environment when working in near space, which results in missing stars or false stars. Moreover, high-speed maneuvering may cause star trailing, which reduces the accuracy of the star position. To address the challenges for starmap identification, a reverse attitude statistics based method is proposed to handle position noise, false stars, and missing stars. Conversely to existing methods which match before solving for attitude, this method introduces attitude solving into the matching process, and obtains the final match and the correct attitude simultaneously by frequency statistics. Firstly, based on stable angular distance features, the initial matching is obtained by utilizing spatial hash indexing. Then, the dual-vector attitude determination is introduced to calculate potential attitude. Finally, the star pairs are accurately matched by applying a frequency statistics filtering method. In addition, Bayesian optimization is employed to find optimal parameters under the impact of noises, which is able to enhance the algorithm performance further. In this work, the proposed method is validated in simulation, field test and on-orbit experiment. Compared with the state-of-the-art, the identification rate is improved by more than 14.3%, and the solving time is reduced by over 28.5%.

Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction

Humans can learn to manipulate new objects by simply watching others; providing robots with the ability to learn from such demonstrations would enable a natural interface specifying new behaviors. This work develops Robot See Robot Do (RSRD), a method for imitating articulated object manipulation from a single monocular RGB human demonstration given a single static multi-view object scan. We first propose 4D Differentiable Part Models (4D-DPM), a method for recovering 3D part motion from a monocular video with differentiable rendering. This analysis-by-synthesis approach uses part-centric feature fields in an iterative optimization which enables the use of geometric regularizers to recover 3D motions from only a single video. Given this 4D reconstruction, the robot replicates object trajectories by planning bimanual arm motions that induce the demonstrated object part motion. By representing demonstrations as part-centric trajectories, RSRD focuses on replicating the demonstration's intended behavior while considering the robot's own morphological limits, rather than attempting to reproduce the hand's motion. We evaluate 4D-DPM's 3D tracking accuracy on ground truth annotated 3D part trajectories and RSRD's physical execution performance on 9 objects across 10 trials each on a bimanual YuMi robot. Each phase of RSRD achieves an average of 87% success rate, for a total end-to-end success rate of 60% across 90 trials. Notably, this is accomplished using only feature fields distilled from large pretrained vision models -- without any task-specific training, fine-tuning, dataset collection, or annotation. Project page: https://robot-see-robot-do.github.io

Shape of Motion: 4D Reconstruction from a Single Video

Monocular dynamic reconstruction is a challenging and long-standing vision problem due to the highly ill-posed nature of the task. Existing approaches are limited in that they either depend on templates, are effective only in quasi-static scenes, or fail to model 3D motion explicitly. In this work, we introduce a method capable of reconstructing generic dynamic scenes, featuring explicit, full-sequence-long 3D motion, from casually captured monocular videos. We tackle the under-constrained nature of the problem with two key insights: First, we exploit the low-dimensional structure of 3D motion by representing scene motion with a compact set of SE3 motion bases. Each point's motion is expressed as a linear combination of these bases, facilitating soft decomposition of the scene into multiple rigidly-moving groups. Second, we utilize a comprehensive set of data-driven priors, including monocular depth maps and long-range 2D tracks, and devise a method to effectively consolidate these noisy supervisory signals, resulting in a globally consistent representation of the dynamic scene. Experiments show that our method achieves state-of-the-art performance for both long-range 3D/2D motion estimation and novel view synthesis on dynamic scenes. Project Page: https://shape-of-motion.github.io/

Augmentation-based Unsupervised Cross-Domain Functional MRI Adaptation for Major Depressive Disorder Identification

Major depressive disorder (MDD) is a common mental disorder that typically affects a person's mood, cognition, behavior, and physical health. Resting-state functional magnetic resonance imaging (rs-fMRI) data are widely used for computer-aided diagnosis of MDD. While multi-site fMRI data can provide more data for training reliable diagnostic models, significant cross-site data heterogeneity would result in poor model generalizability. Many domain adaptation methods are designed to reduce the distributional differences between sites to some extent, but usually ignore overfitting problem of the model on the source domain. Intuitively, target data augmentation can alleviate the overfitting problem by forcing the model to learn more generalized features and reduce the dependence on source domain data. In this work, we propose a new augmentation-based unsupervised cross-domain fMRI adaptation (AUFA) framework for automatic diagnosis of MDD. The AUFA consists of 1) a graph representation learning module for extracting rs-fMRI features with spatial attention, 2) a domain adaptation module for feature alignment between source and target data, 3) an augmentation-based self-optimization module for alleviating model overfitting on the source domain, and 4) a classification module. Experimental results on 1,089 subjects suggest that AUFA outperforms several state-of-the-art methods in MDD identification. Our approach not only reduces data heterogeneity between different sites, but also localizes disease-related functional connectivity abnormalities and provides interpretability for the model.

ACTION: Augmentation and Computation Toolbox for Brain Network Analysis with Functional MRI

Functional magnetic resonance imaging (fMRI) has been increasingly employed to investigate functional brain activity. Many fMRI-related software/toolboxes have been developed, providing specialized algorithms for fMRI analysis. However, existing toolboxes seldom consider fMRI data augmentation, which is quite useful, especially in studies with limited or imbalanced data. Moreover, current studies usually focus on analyzing fMRI using conventional machine learning models that rely on human-engineered fMRI features, without investigating deep learning models that can automatically learn data-driven fMRI representations. In this work, we develop an open-source toolbox, called Augmentation and Computation Toolbox for braIn netwOrk aNalysis (ACTION), offering comprehensive functions to streamline fMRI analysis. The ACTION is a Python-based and cross-platform toolbox with graphical user-friendly interfaces. It enables automatic fMRI augmentation, covering blood-oxygen-level-dependent (BOLD) signal augmentation and brain network augmentation. Many popular methods for brain network construction and network feature extraction are included. In particular, it supports constructing deep learning models, which leverage large-scale auxiliary unlabeled data (3,800+ resting-state fMRI scans) for model pretraining to enhance model performance for downstream tasks. To facilitate multi-site fMRI studies, it is also equipped with several popular federated learning strategies. Furthermore, it enables users to design and test custom algorithms through scripting, greatly improving its utility and extensibility. We demonstrate the effectiveness and user-friendliness of ACTION on real fMRI data and present the experimental results. The software, along with its source code and manual, can be accessed online.

Research on the Tender Leaf Identification and Mechanically Perceptible Plucking Finger for High-quality Green Tea

BACKGROUND: Intelligent identification and precise plucking are the keys to intelligent tea harvesting robots, which are of increasing significance nowadays. Aiming at plucking tender leaves for high-quality green tea producing, in this paper, a tender leaf identification algorithm and a mechanically perceptible plucking finger have been proposed. RESULTS: Based on segmentation algorithm and color features, the tender leaf identification algorithm shows an average identification accuracy of over 92.8%. The mechanically perceptible plucking finger plucks tender leaves in a way that a human hand does so as to remain high quality of tea products. Though finite element analysis, we determine the ideal size of grippers and the location of strain gauge attachment on a gripper to enable the employment of feedback control of desired gripping force. Revealed from our experiments, the success rate of tender leaf plucking reaches 92.5%, demonstrating the effectiveness of our design. CONCLUSION: The results show that the tender leaf identification algorithm and the mechanically perceptible plucking finger are effective for tender leaves identification and plucking, providing a foundation for the development of an intelligent tender leaf plucking robot.

Fuzzy K-Means Clustering without Cluster Centroids

Fuzzy K-Means clustering is a critical technique in unsupervised data analysis. However, the performance of popular Fuzzy K-Means algorithms is sensitive to the selection of initial cluster centroids and is also affected by noise when updating mean cluster centroids. To address these challenges, this paper proposes a novel Fuzzy K-Means clustering algorithm that entirely eliminates the reliance on cluster centroids, obtaining membership matrices solely through distance matrix computation. This innovation enhances flexibility in distance measurement between sample points, thus improving the algorithm's performance and robustness. The paper also establishes theoretical connections between the proposed model and popular Fuzzy K-Means clustering techniques. Experimental results on several real datasets demonstrate the effectiveness of the algorithm.

ByteEdit: Boost, Comply and Accelerate Generative Image Editing

Recent advancements in diffusion-based generative image editing have sparked a profound revolution, reshaping the landscape of image outpainting and inpainting tasks. Despite these strides, the field grapples with inherent challenges, including: i) inferior quality; ii) poor consistency; iii) insufficient instrcution adherence; iv) suboptimal generation efficiency. To address these obstacles, we present ByteEdit, an innovative feedback learning framework meticulously designed to Boost, Comply, and Accelerate Generative Image Editing tasks. ByteEdit seamlessly integrates image reward models dedicated to enhancing aesthetics and image-text alignment, while also introducing a dense, pixel-level reward model tailored to foster coherence in the output. Furthermore, we propose a pioneering adversarial and progressive feedback learning strategy to expedite the model's inference speed. Through extensive large-scale user evaluations, we demonstrate that ByteEdit surpasses leading generative image editing products, including Adobe, Canva, and MeiTu, in both generation quality and consistency. ByteEdit-Outpainting exhibits a remarkable enhancement of 388% and 135% in quality and consistency, respectively, when compared to the baseline model. Experiments also verfied that our acceleration models maintains excellent performance results in terms of quality and consistency.