Ben Caine

Yingwei Li, Adams Wei Yu, Tianjian Meng et al.

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to existing 3D detection models, our study shows that fusing camera features with deep lidar features instead of raw points, can lead to better performance. However, as those features are often augmented and aggregated, a key challenge in fusion is how to effectively align the transformed features from two modalities. In this paper, we propose two novel techniques: InverseAug that inverses geometric-related augmentations, e.g., rotation, to enable accurate geometric alignment between lidar points and image pixels, and LearnableAlign that leverages cross-attention to dynamically capture the correlations between image and lidar features during fusion. Based on InverseAug and LearnableAlign, we develop a family of generic multi-modal 3D detection models named DeepFusion, which is more accurate than previous methods. For example, DeepFusion improves PointPillars, CenterPoint, and 3D-MAN baselines on Pedestrian detection for 6.7, 8.9, and 6.2 LEVEL_2 APH, respectively. Notably, our models achieve state-of-the-art performance on Waymo Open Dataset, and show strong model robustness against input corruptions and out-of-distribution data. Code will be publicly available at https://github.com/tensorflow/lingvo/tree/master/lingvo/.

Rebecca Roelofs, Liting Sun, Ben Caine et al.

As machine learning models become increasingly prevalent in motion forecasting for autonomous vehicles (AVs), it is critical to ensure that model predictions are safe and reliable. However, exhaustively collecting and labeling the data necessary to fully test the long tail of rare and challenging scenarios is difficult and expensive. In this work, we construct a new benchmark for evaluating and improving model robustness by applying perturbations to existing data. Specifically, we conduct an extensive labeling effort to identify causal agents, or agents whose presence influences human drivers' behavior in any format, in the Waymo Open Motion Dataset (WOMD), and we use these labels to perturb the data by deleting non-causal agents from the scene. We evaluate a diverse set of state-of-the-art deep-learning model architectures on our proposed benchmark and find that all models exhibit large shifts under even non-causal perturbation: we observe a 25-38% relative change in minADE as compared to the original. We also investigate techniques to improve model robustness, including increasing the training dataset size and using targeted data augmentations that randomly drop non-causal agents throughout training. Finally, we release the causal agent labels (at https://github.com/google-research/causal-agents) as an additional attribute to WOMD and the robustness benchmarks to aid the community in building more reliable and safe deep-learning models for motion forecasting.

Weicheng Kuo, AJ Piergiovanni, Dahun Kim et al.

The development of language models have moved from encoder-decoder to decoder-only designs. In addition, we observe that the two most popular multimodal tasks, the generative and contrastive tasks, are nontrivial to accommodate in one architecture, and further need adaptations for downstream tasks. We propose a novel paradigm of training with a decoder-only model for multimodal tasks, which is surprisingly effective in jointly learning of these disparate vision-language tasks. This is done with a simple model, called MaMMUT. It consists of a single vision encoder and a text decoder, and is able to accommodate contrastive and generative learning by a novel two-pass approach on the text decoder. We demonstrate that joint learning of these diverse objectives is simple, effective, and maximizes the weight-sharing of the model across these tasks. Furthermore, the same architecture enables straightforward extensions to open-vocabulary object detection and video-language tasks. The model tackles a diverse range of tasks, while being modest in capacity. Our model achieves the state of the art on image-text and text-image retrieval, video question answering and open-vocabulary detection tasks, outperforming much larger and more extensively trained foundational models. It shows very competitive results on VQA and Video Captioning, especially considering its capacity. Ablations confirm the flexibility and advantages of our approach.

Imagen-Team-Google, Jason Baldridge, Jakob Bauer et al.

We introduce Imagen 3, a latent diffusion model that generates high quality images from text prompts. We describe our quality and responsibility evaluations. Imagen 3 is preferred over other state-of-the-art (SOTA) models at the time of evaluation. In addition, we discuss issues around safety and representation, as well as methods we used to minimize the potential harm of our models.

Khaled Saab, Tao Tu, Wei-Hung Weng et al.

Excellence in a wide variety of medical applications poses considerable challenges for AI, requiring advanced reasoning, access to up-to-date medical knowledge and understanding of complex multimodal data. Gemini models, with strong general capabilities in multimodal and long-context reasoning, offer exciting possibilities in medicine. Building on these core strengths of Gemini, we introduce Med-Gemini, a family of highly capable multimodal models that are specialized in medicine with the ability to seamlessly use web search, and that can be efficiently tailored to novel modalities using custom encoders. We evaluate Med-Gemini on 14 medical benchmarks, establishing new state-of-the-art (SoTA) performance on 10 of them, and surpass the GPT-4 model family on every benchmark where a direct comparison is viable, often by a wide margin. On the popular MedQA (USMLE) benchmark, our best-performing Med-Gemini model achieves SoTA performance of 91.1% accuracy, using a novel uncertainty-guided search strategy. On 7 multimodal benchmarks including NEJM Image Challenges and MMMU (health & medicine), Med-Gemini improves over GPT-4V by an average relative margin of 44.5%. We demonstrate the effectiveness of Med-Gemini's long-context capabilities through SoTA performance on a needle-in-a-haystack retrieval task from long de-identified health records and medical video question answering, surpassing prior bespoke methods using only in-context learning. Finally, Med-Gemini's performance suggests real-world utility by surpassing human experts on tasks such as medical text summarization, alongside demonstrations of promising potential for multimodal medical dialogue, medical research and education. Taken together, our results offer compelling evidence for Med-Gemini's potential, although further rigorous evaluation will be crucial before real-world deployment in this safety-critical domain.