Berkeley College

Convolutional networks are powerful visual models that yield hierarchies of features. We show that convolutional networks by themselves, trained end-to-end, pixels-to-pixels, exceed the state-of-the-art in semantic segmentation. Our key insight is to build “fully convolutional” networks that take input of arbitrary size and produce correspondingly-sized output with efficient inference and learning. We define and detail the space of fully convolutional networks, explain their application to spatially dense prediction tasks, and draw connections to prior models. We adapt contemporary classification networks (AlexNet [20], the VGG net [31], and GoogLeNet [32]) into fully convolutional networks and transfer their learned representations by fine-tuning [3] to the segmentation task. We then define a skip architecture that combines semantic information from a deep, coarse layer with appearance information from a shallow, fine layer to produce accurate and detailed segmentations. Our fully convolutional network achieves state-of-the-art segmentation of PASCAL VOC (20% relative improvement to 62.2% mean IU on 2012), NYUDv2, and SIFT Flow, while inference takes less than one fifth of a second for a typical image.

Object detection performance, as measured on the canonical PASCAL VOC dataset, has plateaued in the last few years. The best-performing methods are complex ensemble systems that typically combine multiple low-level image features with high-level context. In this paper, we propose a simple and scalable detection algorithm that improves mean average precision (mAP) by more than 30% relative to the previous best result on VOC 2012 -- achieving a mAP of 53.3%. Our approach combines two key insights: (1) one can apply high-capacity convolutional neural networks (CNNs) to bottom-up region proposals in order to localize and segment objects and (2) when labeled training data is scarce, supervised pre-training for an auxiliary task, followed by domain-specific fine-tuning, yields a significant performance boost. Since we combine region proposals with CNNs, we call our method R-CNN: Regions with CNN features. We also present experiments that provide insight into what the network learns, revealing a rich hierarchy of image features. Source code for the complete system is available at http://www.cs.berkeley.edu/~rbg/rcnn.

Image-to-image translation is a class of vision and graphics problems where the goal is to learn the mapping between an input image and an output image using a training set of aligned image pairs. However, for many tasks, paired training data will not be available. We present an approach for learning to translate an image from a source domain X to a target domain Y in the absence of paired examples. Our goal is to learn a mapping G : X → Y such that the distribution of images from G(X) is indistinguishable from the distribution Y using an adversarial loss. Because this mapping is highly under-constrained, we couple it with an inverse mapping F : Y → X and introduce a cycle consistency loss to push F(G(X)) ≈ X (and vice versa). Qualitative results are presented on several tasks where paired training data does not exist, including collection style transfer, object transfiguration, season transfer, photo enhancement, etc. Quantitative comparisons against several prior methods demonstrate the superiority of our approach.

Abstract Array programming provides a powerful, compact and expressive syntax for accessing, manipulating and operating on data in vectors, matrices and higher-dimensional arrays. NumPy is the primary array programming library for the Python language. It has an essential role in research analysis pipelines in fields as diverse as physics, chemistry, astronomy, geoscience, biology, psychology, materials science, engineering, finance and economics. For example, in astronomy, NumPy was an important part of the software stack used in the discovery of gravitational waves 1 and in the first imaging of a black hole 2 . Here we review how a few fundamental array concepts lead to a simple and powerful programming paradigm for organizing, exploring and analysing scientific data. NumPy is the foundation upon which the scientific Python ecosystem is constructed. It is so pervasive that several projects, targeting audiences with specialized needs, have developed their own NumPy-like interfaces and array objects. Owing to its central position in the ecosystem, NumPy increasingly acts as an interoperability layer between such array computation libraries and, together with its application programming interface (API), provides a flexible framework to support the next decade of scientific and industrial analysis.

While it is nearly effortless for humans to quickly assess the perceptual similarity between two images, the underlying processes are thought to be quite complex. Despite this, the most widely used perceptual metrics today, such as PSNR and SSIM, are simple, shallow functions, and fail to account for many nuances of human perception. Recently, the deep learning community has found that features of the VGG network trained on ImageNet classification has been remarkably useful as a training loss for image synthesis. But how perceptual are these so-called "perceptual losses"? What elements are critical for their success? To answer these questions, we introduce a new dataset of human perceptual similarity judgments. We systematically evaluate deep features across different architectures and tasks and compare them with classic metrics. We find that deep features outperform all previous metrics by large margins on our dataset. More surprisingly, this result is not restricted to ImageNet-trained VGG features, but holds across different deep architectures and levels of supervision (supervised, self-supervised, or even unsupervised). Our results suggest that perceptual similarity is an emergent property shared across deep visual representations.

Caffe provides multimedia scientists and practitioners with a clean and modifiable framework for state-of-the-art deep learning algorithms and a collection of reference models. The framework is a BSD-licensed C++ library with Python and MATLAB bindings for training and deploying general-purpose convolutional neural networks and other deep models efficiently on commodity architectures. Caffe fits industry and internet-scale media needs by CUDA GPU computation, processing over 40 million images a day on a single K40 or Titan GPU (approx 2 ms per image). By separating model representation from actual implementation, Caffe allows experimentation and seamless switching among platforms for ease of development and deployment from prototyping machines to cloud environments.

The “Roaring 20s” of visual recognition began with the introduction of Vision Transformers (ViTs), which quickly superseded ConvNets as the state-of-the-art image classification model. A vanilla ViT, on the other hand, faces difficulties when applied to general computer vision tasks such as object detection and semantic segmentation. It is the hierarchical Transformers (e.g., Swin Transformers) that reintroduced several ConvNet priors, making Transformers practically viable as a generic vision backbone and demonstrating remarkable performance on a wide variety of vision tasks. However, the effectiveness of such hybrid approaches is still largely credited to the intrinsic superiority of Transformers, rather than the inherent inductive biases of convolutions. In this work, we reexamine the design spaces and test the limits of what a pure ConvNet can achieve. We gradually “modernize” a standard ResNet toward the design of a vision Transformer, and discover several key components that contribute to the performance difference along the way. The outcome of this exploration is a family of pure ConvNet models dubbed ConvNeXt. Constructed entirely from standard ConvNet modules, ConvNeXts compete favorably with Transformers in terms of accuracy and scalability, achieving 87.8% ImageNet top-1 accuracy and outperforming Swin Transformers on COCO detection and ADE20K segmentation, while maintaining the simplicity and efficiency of standard ConvNets.

We present a method that achieves state-of-the-art results for synthesizing novel views of complex scenes by optimizing an underlying continuous volumetric scene function using a sparse set of input views. Our algorithm represents a scene using a fully connected (nonconvolutional) deep network, whose input is a single continuous 5D coordinate (spatial location ( x , y , z ) and viewing direction ( θ, ϕ )) and whose output is the volume density and view-dependent emitted radiance at that spatial location. We synthesize views by querying 5D coordinates along camera rays and use classic volume rendering techniques to project the output colors and densities into an image. Because volume rendering is naturally differentiable, the only input required to optimize our representation is a set of images with known camera poses. We describe how to effectively optimize neural radiance fields to render photorealistic novel views of scenes with complicated geometry and appearance, and demonstrate results that outperform prior work on neural rendering and view synthesis.

The potential of the diverse chemistries present in natural products (NP) for biotechnology and medicine remains untapped because NP databases are not searchable with raw data and the NP community has no way to share data other than in published papers. Although mass spectrometry (MS) techniques are well-suited to high-throughput characterization of NP, there is a pressing need for an infrastructure to enable sharing and curation of data. We present Global Natural Products Social Molecular Networking (GNPS; http://gnps.ucsd.edu), an open-access knowledge base for community-wide organization and sharing of raw, processed or identified tandem mass (MS/MS) spectrometry data. In GNPS, crowdsourced curation of freely available community-wide reference MS libraries will underpin improved annotations. Data-driven social-networking should facilitate identification of spectra and foster collaborations. We also introduce the concept of 'living data' through continuous reanalysis of deposited data.

We present a new method for synthesizing high-resolution photo-realistic images from semantic label maps using conditional generative adversarial networks (conditional GANs). Conditional GANs have enabled a variety of applications, but the results are often limited to low-resolution and still far from realistic. In this work, we generate 2048 × 1024 visually appealing results with a novel adversarial loss, as well as new multi-scale generator and discriminator architectures. Furthermore, we extend our framework to interactive visual manipulation with two additional features. First, we incorporate object instance segmentation information, which enables object manipulations such as removing/adding objects and changing the object category. Second, we propose a method to generate diverse results given the same input, allowing users to edit the object appearance interactively. Human opinion studies demonstrate that our method significantly outperforms existing methods, advancing both the quality and the resolution of deep image synthesis and editing.

Caffe provides multimedia scientists and practitioners with a clean and modifiable framework for state-of-the-art deep learning algorithms and a collection of reference models. The framework is a BSD-licensed C++ library with Python and MATLAB bindings for training and deploying general-purpose convolutional neural networks and other deep models efficiently on commodity architectures. Caffe fits industry and internet-scale media needs by CUDA GPU computation, processing over 40 million images a day on a single K40 or Titan GPU ($\approx$ 2.5 ms per image). By separating model representation from actual implementation, Caffe allows experimentation and seamless switching among platforms for ease of development and deployment from prototyping machines to cloud environments. Caffe is maintained and developed by the Berkeley Vision and Learning Center (BVLC) with the help of an active community of contributors on GitHub. It powers ongoing research projects, large-scale industrial applications, and startup prototypes in vision, speech, and multimedia.

Carbon capture and storage (CCS) is vital to climate change mitigation, and has application across the economy, in addition to facilitating atmospheric carbon dioxide removal resulting in emissions offsets and net negative emissions. This contribution reviews the state-of-the-art and identifies key challenges which must be overcome in order to pave the way for its large-scale deployment.

BACKGROUND: Single-cell transcriptomics allows researchers to investigate complex communities of heterogeneous cells. It can be applied to stem cells and their descendants in order to chart the progression from multipotent progenitors to fully differentiated cells. While a variety of statistical and computational methods have been proposed for inferring cell lineages, the problem of accurately characterizing multiple branching lineages remains difficult to solve. RESULTS: We introduce Slingshot, a novel method for inferring cell lineages and pseudotimes from single-cell gene expression data. In previously published datasets, Slingshot correctly identifies the biological signal for one to three branching trajectories. Additionally, our simulation study shows that Slingshot infers more accurate pseudotimes than other leading methods. CONCLUSIONS: Slingshot is a uniquely robust and flexible tool which combines the highly stable techniques necessary for noisy single-cell data with the ability to identify multiple trajectories. Accurate lineage inference is a critical step in the identification of dynamic temporal gene expression.

Matching estimators for average treatment effects are widely used in evaluation research despite the fact that their large sample properties have not been established in many cases. The absence of formal results in this area may be partly due to the fact that standard asymptotic expansions do not apply to matching estimators with a fixed number of matches because such estimators are highly nonsmooth functionals of the data. In this article we develop new methods for analyzing the large sample properties of matching estimators and establish a number of new results. We focus on matching with replacement with a fixed number of matches. First, we show that matching estimators are not N1/2-consistent in general and describe conditions under which matching estimators do attain N1/2-consistency. Second, we show that even in settings where matching estimators are N1/2-consistent, simple matching estimators with a fixed number of matches do not attain the semiparametric efficiency bound. Third, we provide a consistent estimator for the large sample variance that does not require consistent nonparametric estimation of unknown functions. Software for implementing these methods is available in Matlab, Stata, and R.

We propose spatially-adaptive normalization, a simple but effective layer for synthesizing photorealistic images given an input semantic layout. Previous methods directly feed the semantic layout as input to the network, forcing the network to memorize the information throughout all the layers. Instead, we propose using the input layout for modulating the activations in normalization layers through a spatially-adaptive, learned affine transformation. Experiments on several challenging datasets demonstrate the superiority of our method compared to existing approaches, regarding both visual fidelity and alignment with input layouts. Finally, our model allows users to easily control the style and content of image synthesis results as well as create multi-modal results. Code is available upon publication.

We present an unsupervised learning framework for the task of monocular depth and camera motion estimation from unstructured video sequences. In common with recent work [10, 14, 16], we use an end-to-end learning approach with view synthesis as the supervisory signal. In contrast to the previous work, our method is completely unsupervised, requiring only monocular video sequences for training. Our method uses single-view depth and multiview pose networks, with a loss based on warping nearby views to the target using the computed depth and pose. The networks are thus coupled by the loss during training, but can be applied independently at test time. Empirical evaluation on the KITTI dataset demonstrates the effectiveness of our approach: 1) monocular depth performs comparably with supervised methods that use either ground-truth pose or depth for training, and 2) pose estimation performs favorably compared to established SLAM systems under comparable input settings.

We present the Tiny AGgregation (TAG) service for aggregation in low-power, distributed, wireless environments. TAG allows users to express simple, declarative queries and have them distributed and executed efficiently in networks of low-power, wireless sensors. We discuss various generic properties of aggregates, and show how those properties affect the performance of our in network approach. We include a performance study demonstrating the advantages of our approach over traditional centralized, out-of-network methods, and discuss a variety of optimizations for improving the performance and fault tolerance of the basic solution.

Bridging the `reality gap' that separates simulated robotics from experiments on hardware could accelerate robotic research through improved data availability. This paper explores domain randomization, a simple technique for training models on simulated images that transfer to real images by randomizing rendering in the simulator. With enough variability in the simulator, the real world may appear to the model as just another variation. We focus on the task of object localization, which is a stepping stone to general robotic manipulation skills. We find that it is possible to train a real-world object detector that is accurate to 1.5 cm and robust to distractors and partial occlusions using only data from a simulator with non-realistic random textures. To demonstrate the capabilities of our detectors, we show they can be used to perform grasping in a cluttered environment. To our knowledge, this is the first successful transfer of a deep neural network trained only on simulated RGB images (without pre-training on real images) to the real world for the purpose of robotic control.

This is the revised edition of Berlekamp's famous book, Algebraic Coding Theory, originally published in 1968, wherein he introduced several algorithms which have subsequently dominated engineering practice in this field. One of these is an algorithm for decoding Reed-Solomon and Bose–Chaudhuri–Hocquenghem codes that subsequently became known as the Berlekamp–Massey Algorithm. Another is the Berlekamp algorithm for factoring polynomials over finite fields, whose later extensions and embellishments became widely used in symbolic manipulation systems. Other novel algorithms improved the basic methods for doing various arithmetic operations in finite fields of characteristic two. Other major research contributions in this book included a new class of Lee metric codes, and precise asymptotic results on the number of information symbols in long binary BCH codes.Selected chapters of the book became a standard graduate textbook.Both practicing engineers and scholars will find this book to be of great value.

Datasets drive vision progress, yet existing driving datasets are impoverished in terms of visual content and supported tasks to study multitask learning for autonomous driving. Researchers are usually constrained to study a small set of problems on one dataset, while real-world computer vision applications require performing tasks of various complexities. We construct BDD100K, the largest driving video dataset with 100K videos and 10 tasks to evaluate the exciting progress of image recognition algorithms on autonomous driving. The dataset possesses geographic, environmental, and weather diversity, which is useful for training models that are less likely to be surprised by new conditions. Based on this diverse dataset, we build a benchmark for heterogeneous multitask learning and study how to solve the tasks together. Our experiments show that special training strategies are needed for existing models to perform such heterogeneous tasks. BDD100K opens the door for future studies in this important venue.