Search

Training diffusion models on limited datasets poses challenges in terms of limited generation capacity and expressiveness, leading to unsatisfactory results in various downstream tasks utilizing pretrained diffusion models, such as domain translation and text-guided image manipulation. In this paper, we propose Self-Distillation for Fine-Tuning diffusion models (SDFT), a methodology to address these challenges by leveraging diverse features from diffusion models pretrained on large source datasets. SDFT distills more general features (shape, colors, etc.) and less domain-specific features (texture, fine details, etc) from the source model, allowing successful knowledge transfer without disturbing the training process on target datasets. The proposed method is not constrained by the specific architecture of the model and thus can be generally adopted to existing frameworks. Experimental results demonstrate that SDFT enhances the expressiveness of the diffusion model with limited datasets, resulting in improved generation capabilities across various downstream tasks., Comment: WACV 2024

Colorectal cancer is one of the most common cancers in the world. While colonoscopy is an effective screening technique, navigating an endoscope through the colon to detect polyps is challenging. A 3D map of the observed surfaces could enhance the identification of unscreened colon tissue and serve as a training platform. However, reconstructing the colon from video footage remains difficult. Learning-based approaches hold promise as robust alternatives, but necessitate extensive datasets. Establishing a benchmark dataset, the 2022 EndoVis sub-challenge SimCol3D aimed to facilitate data-driven depth and pose prediction during colonoscopy. The challenge was hosted as part of MICCAI 2022 in Singapore. Six teams from around the world and representatives from academia and industry participated in the three sub-challenges: synthetic depth prediction, synthetic pose prediction, and real pose prediction. This paper describes the challenge, the submitted methods, and their results. We show that depth prediction from synthetic colonoscopy images is robustly solvable, while pose estimation remains an open research question.

Steganography is the process of embedding secret data into another message or data, in such a way that it is not easily noticeable. With the advancement of deep learning, Deep Neural Networks (DNNs) have recently been utilized in steganography. However, existing deep steganography techniques are limited in scope, as they focus on specific data types and are not effective for cross-modal steganography. Therefore, We propose a deep cross-modal steganography framework using Implicit Neural Representations (INRs) to hide secret data of various formats in cover images. The proposed framework employs INRs to represent the secret data, which can handle data of various modalities and resolutions. Experiments on various secret datasets of diverse types demonstrate that the proposed approach is expandable and capable of accommodating different modalities., Comment: ICIP 2023 Oral

Depth estimation is an important task in various robotics systems and applications. In mobile robotics systems, monocular depth estimation is desirable since a single RGB camera can be deployable at a low cost and compact size. Due to its significant and growing needs, many lightweight monocular depth estimation networks have been proposed for mobile robotics systems. While most lightweight monocular depth estimation methods have been developed using convolution neural networks, the Transformer has been gradually utilized in monocular depth estimation recently. However, massive parameters and large computational costs in the Transformer disturb the deployment to embedded devices. In this paper, we present a Token-Sharing Transformer (TST), an architecture using the Transformer for monocular depth estimation, optimized especially in embedded devices. The proposed TST utilizes global token sharing, which enables the model to obtain an accurate depth prediction with high throughput in embedded devices. Experimental results show that TST outperforms the existing lightweight monocular depth estimation methods. On the NYU Depth v2 dataset, TST can deliver depth maps up to 63.4 FPS in NVIDIA Jetson nano and 142.6 FPS in NVIDIA Jetson TX2, with lower errors than the existing methods. Furthermore, TST achieves real-time depth estimation of high-resolution images on Jetson TX2 with competitive results., Comment: ICRA 2023

This paper takes the first step towards a reactive, hierarchical multi-robot task allocation and planning framework given a global Linear Temporal Logic specification. The capabilities of both quadrupedal and wheeled robots are leveraged via a heterogeneous team to accomplish a variety of navigation and delivery tasks. However, when deployed in the real world, all robots can be susceptible to different types of disturbances, including but not limited to locomotion failures, human interventions, and obstructions from the environment. To address these disturbances, we propose task-level local and global reallocation strategies to efficiently generate updated action-state sequences online while guaranteeing the completion of the original task. These task reallocation approaches eliminate reconstructing the entire plan or resynthesizing a new task. To integrate the task planner with low-level inputs, a Behavior Tree execution layer monitors different types of disturbances and employs the reallocation methods to make corresponding recovery strategies. To evaluate this planning framework, dynamic simulations are conducted in a realistic hospital environment with a heterogeneous robot team consisting of quadrupeds and wheeled robots for delivery tasks.