The joint optimization of Neural Radiance Fields (NeRF) and camera trajectories has been widely applied in SLAM tasks due to its superior dense mapping quality and consistency. NeRF-based SLAM learns camera poses using constraints by implicit map representation. A widely observed phenomenon that results from the constraints of this form is jerky and physically unrealistic estimated camera motion, which in turn affects the map quality. To address this deficiency of current NeRF-based SLAM, we propose in this paper TS-SLAM (TS for Trajectory Smoothness). It introduces smoothness constraints on camera trajectories by representing them with uniform cubic B-splines with continuous acceleration that guarantees smooth camera motion. Benefiting from the differentiability and local control properties of B-splines, TS-SLAM can incrementally learn the control points end-to-end using a sliding window paradigm. Additionally, we regularize camera trajectories by exploiting the dynamics prior to further smooth trajectories. Experimental results demonstrate that TS-SLAM achieves superior trajectory accuracy and improves mapping quality versus NeRF-based SLAM that does not employ the above smoothness constraints.

Few-shot object detection (FSOD) aims to detect objects using only a few examples. How to adapt state-of-the-art object detectors to the few-shot domain remains challenging. Object proposal is a key ingredient in modern object detectors. However, the quality of proposals generated for few-shot classes using existing methods is far worse than that of many-shot classes, e.g., missing boxes for few-shot classes due to misclassification or inaccurate spatial locations with respect to true objects. To address the noisy proposal problem, we propose a novel meta-learning based FSOD model by jointly optimizing the few-shot proposal generation and fine-grained few-shot proposal classification. To improve proposal generation for few-shot classes, we propose to learn a lightweight metric-learning based prototype matching network, instead of the conventional simple linear object/nonobject classifier, e.g., used in RPN. Our non-linear classifier with the feature fusion network could improve the discriminative prototype matching and the proposal recall for few-shot classes. To improve the fine-grained few-shot proposal classification, we propose a novel attentive feature alignment method to address the spatial misalignment between the noisy proposals and few-shot classes, thus improving the performance of few-shot object detection. Meanwhile we learn a separate Faster R-CNN detection head for many-shot base classes and show strong performance of maintaining base-classes knowledge. Our model achieves state-of-the-art performance on multiple FSOD benchmarks over most of the shots and metrics.

Sighted players gain spatial awareness within video games through sight and spatial awareness tools (SATs) such as minimaps. Visually impaired players (VIPs), however, must often rely heavily on SATs to gain spatial awareness, especially in complex environments where using rich ambient sound design alone may be insufficient. Researchers have developed many SATs for facilitating spatial awareness within VIPs. Yet this abundance disguises a gap in our understanding about how exactly these approaches assist VIPs in gaining spatial awareness and what their relative merits and limitations are. To address this, we investigate four leading approaches to facilitating spatial awareness for VIPs within a 3D video game context. Our findings uncover new insights into SATs for VIPs within video games, including that VIPs value position and orientation information the most from an SAT; that none of the approaches we investigated convey position and orientation effectively; and that VIPs highly value the ability to customize SATs.

Visual commonsense understanding requires Vision Language (VL) models to not only understand image and text but also crossreference in-between to fully integrate and achieve comprehension of the visual scene described.Recently, various approaches have been developed and have achieved high performance on visual commonsense benchmarks.However, it is unclear whether the models really understand the visual scene and underlying commonsense knowledge due to limited evaluation data resources.To provide an indepth analysis, we present a Multimodal Evaluation (ME) pipeline to automatically generate question-answer pairs to test models' understanding of the visual scene, text, and related knowledge.We then take a step further to show that training with the ME data boosts model's performance in standard VCR evaluation.Lastly, our in-depth analysis and comparison reveal interesting findings: (1) semantically low-level information can assist learning of high-level information but not the opposite;(2) visual information is generally under utilization compared with text.

Few-shot object detection (FSOD) aims to detect never-seen objects using few examples. This field sees recent improvement owing to the meta-learning techniques by learning how to match between the query image and few-shot class examples, such that the learned model can generalize to few-shot novel classes. However, currently, most of the meta-learning-based methods perform parwise matching between query image regions (usually proposals) and novel classes separately, therefore failing to take into account multiple relationships among them. In this paper, we propose a novel FSOD model using heterogeneous graph convolutional networks. Through efficient message passing among all the proposal and class nodes with three different types of edges, we could obtain context-aware proposal features and query-adaptive, multiclass-enhanced prototype representations for each class, which could help promote the pairwise matching and improve final FSOD accuracy. Extensive experimental results show that our proposed model, denoted as QA-FewDet, outperforms the current state-of-the-art approaches on the PASCAL VOC and MSCOCO FSOD benchmarks under different shots and evaluation metrics.

Selecting the right drugs for the right patients is a primary goal of precision medicine. In this article, we consider the problem of cancer drug selection in a learning-to-rank framework. We have formulated the cancer drug selection problem as to accurately predicting 1) the ranking positions of sensitive drugs and 2) the ranking orders among sensitive drugs in cancer cell lines based on their responses to cancer drugs. We have developed a new learning-to-rank method, denoted as pLETORg, that predicts drug ranking structures in each cell line via using drug latent vectors and cell line latent vectors. The pLETORg method learns such latent vectors through explicitly enforcing that, in the drug ranking list of each cell line, the sensitive drugs are pushed above insensitive drugs, and meanwhile the ranking orders among sensitive drugs are correct. Genomics information on cell lines is leveraged in learning the latent vectors. Our experimental results on a benchmark cell line-drug response dataset demonstrate that the new pLETORg significantly outperforms the state-of-the-art method in prioritizing new sensitive drugs.

We study a bio-detection application as a case study to demonstrate that Kmeans -- based unsupervised feature learning can be a simple yet effective alternative to deep learning techniques for small data sets with limited intra-as well as inter-class diversity. We investigate the effect on the classifier performance of data augmentation as well as feature extraction with multiple patch sizes and at different image scales. Our data set includes 1833 images from four different classes of bacteria, each bacterial culture captured at three different wavelengths and overall data collected during a three-day period. The limited number and diversity of images present, potential random effects across multiple days, and the multi-mode nature of class distributions pose a challenging setting for representation learning. Using images collected on the first day for training, on the second day for validation, and on the third day for testing Kmeans -- based representation learning achieves 97% classification accuracy on the test data. This compares very favorably to 56% accuracy achieved by deep learning and 74% accuracy achieved by handcrafted features. Our results suggest that data augmentation or dropping connections between units offers little help for deep-learning algorithms, whereas significant boost can be achieved by Kmeans -- based representation learning by augmenting data and by concatenating features obtained at multiple patch sizes or image scales.