In this position paper, we argue that baseball-and sports more broadly-provide a unique and under-explored opportunity for researchers to study human-robot interaction (HRI) in real-world settings. Using the rise of robot umpires in baseball as a primary example, we examine emerging themes such as power dynamics among players and umpires, labor implications, and technical challenges. We emphasize the affordances and benefits of studying sports within HRI, including the integration of interdisciplinary perspectives, the large-scale deployment of robots, and the examination of their role in deeply rooted cultural practices.

Our bodies are constantly in motion—from the bending of arms and legs to the less conscious movement of breathing, our precise shape and location change constantly. This can make subtler developments (e.g., the growth of hair, or the healing of a wound) difficult to observe. Our work focuses on helping users record and visualize this type of subtle, longer-term change. We present a mobile tool that combines custom 3D tracking with interactive visual feedback and computational imaging to capture personal time-lapse, which approximates longer-term video of the subject (typically, part of the capturing user’s body) under a fixed viewpoint, body pose, and lighting condition. These personal time-lapses offer a powerful and detailed way to track visual changes of the subject over time. We begin with a formative study that examines what makes personal time-lapse so difficult to capture. Building on our findings, we motivate the design of our capture tool, evaluate this design with users, and demonstrate its effectiveness in a variety of challenging examples.

Today single image deweathering is arguably more sensitive to the dataset type, rather than the model. We introduce WeatherStream, an automatic pipeline capturing all real-world weather effects (rain, snow, and rain fog degradations), along with their clean image pairs. Previous state-of-the-art methods that have attempted the all-weather removal task train on synthetic pairs, and are thus limited by the Sim2Real domain gap. Recent work has attempted to manually collect time multiplexed pairs, but the use of human labor limits the scale of such a dataset. We introduce a pipeline that uses the power of light-transport physics and a model trained on a small, initial seed dataset to reject approximately 99.6% of unwanted scenes. The pipeline is able to generalize to new scenes and degradations that can, in turn, be used to train existing models just like fully human-labeled data. Training on a dataset collected through this procedure leads to significant improvements on multiple existing weather removal methods on a carefully human-collected test set of real-world weather effects. The dataset and code can be found in the following website: http://visual.ee.ucla.edu/wstream.htm/.

While perspective is a well-studied topic in art, it is generally taken for granted in images. However, for the recent wave of high-quality image synthesis methods such as latent diffusion models, perspective accuracy is not an explicit requirement. Since these methods are capable of outputting a wide gamut of possible images, it is difficult for these synthesized images to adhere to the principles of linear perspective. We introduce a novel geometric constraint in the training process of generative models to enforce perspective accuracy. We show that outputs of models trained with this constraint both appear more realistic and improve performance of downstream models trained on generated images. Subjective human trials show that images generated with latent diffusion models trained with our constraint are preferred over images from the Stable Diffusion V2 model 70% of the time. SOTA monocular depth estimation models such as DPT and PixelFormer, fine-tuned on our images, outperform the original models trained on real images by up to 7.03% in RMSE and 19.3% in SqRel on the KITTI test set for zero-shot transfer.

Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the prediction performance. To mitigate the domain gap, we can potentially perform self-training in the target domain, using predictions on robot-captured images as pseudo labels to fine-tune the object pose estimator. Unfortunately, the pose predictions are typically outlier-corrupted, and it is hard to quantify their uncertainties, which can result in low-quality pseudo-labeled data. To address the problem, we propose a SLAM-supported self-training method, leveraging robot understanding of the 3D scene geometry to enhance the object pose inference performance. Combining the pose predictions with robot odometry, we formulate and solve pose graph optimization to refine the object pose estimates and make pseudo labels more consistent across frames. We incorporate the pose prediction covariances as variables into the optimization to automatically model their uncertainties. This automatic covariance tuning (ACT) process can fit 6D pose prediction noise at the component level, leading to higher-quality pseudo training data. We test our method with the deep object pose estimator (DOPE) on the YCB video dataset and in real robot experiments. It achieves respectively 34.3% and 17.8% accuracy enhancements in pose prediction on the two tests. Our code is available at https://github.com/520xyxyzq/slam-super-6d.

MOTIVATION: MALDI imaging mass spectrometry (IMS) has been successfully used to image a variety of biomolecules. Imaging of the many classes of biomolecules is often achieved through several incompatible sample preparations. Thus, multiple datasets must be acquired from multiple tissue sections to obtain a total molecular overview of a single sample. Addressing the need for single datasets from multiple IMS analyses, we developed the R package RegCombIMS as an extension of R package Cardinal to co-register, combine and create single IMS datasets acquired from serial sections of tissue. RESULTS: Dataset recombination and analysis is achieved by registration of the IMS datasets to a single coordinate space. The workflow allows for correlation of ions from IMS acquisitions that require incompatible sample preparations as well as multivariate analysis to mine the combined dataset for rapid and more thorough molecular query. AVAILABILITY AND IMPLEMENTATION: The source code and example data are freely available at https://github.com/NHPatterson/RegCombIMS. All code was implemented in R. SUPPLEMENTARY INFORMATION: Supplementary data are available at Bioinformatics online.