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  1. Book ; Online: Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening

    Schorp, Vincent / Panitch, Will / Shivakumar, Kaushik / Viswanath, Vainavi / Kerr, Justin / Avigal, Yahav / Fer, Danyal M / Ott, Lionel / Goldberg, Ken

    2023  

    Abstract: Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue. In this work we ... ...

    Abstract Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue. In this work we present a method for tracking surgical thread in 3D which is robust to occlusions and complex thread configurations, and apply it to autonomously perform the surgical suture "tail-shortening" task: pulling thread through tissue until a desired "tail" length remains exposed. The method utilizes a learned 2D surgical thread detection network to segment suturing thread in RGB images. It then identifies the thread path in 2D and reconstructs the thread in 3D as a NURBS spline by triangulating the detections from two stereo cameras. Once a 3D thread model is initialized, the method tracks the thread across subsequent frames. Experiments suggest the method achieves a 1.33 pixel average reprojection error on challenging single-frame 3D thread reconstructions, and an 0.84 pixel average reprojection error on two tracking sequences. On the tail-shortening task, it accomplishes a 90% success rate across 20 trials. Supplemental materials are available at https://sites.google.com/berkeley.edu/autolab-surgical-thread/ .

    Comment: International Conference on Automation Science and Engineering (CASE) 2023, 7 pages
    Keywords Computer Science - Robotics ; Computer Science - Artificial Intelligence
    Publishing date 2023-07-13
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  2. Book ; Online: HANDLOOM

    Viswanath, Vainavi / Shivakumar, Kaushik / Ajmera, Jainil / Parulekar, Mallika / Kerr, Justin / Ichnowski, Jeffrey / Cheng, Richard / Kollar, Thomas / Goldberg, Ken

    Learned Tracing of One-Dimensional Objects for Inspection and Manipulation

    2023  

    Abstract: Tracing - estimating the spatial state of - long deformable linear objects such as cables, threads, hoses, or ropes, is useful for a broad range of tasks in homes, retail, factories, construction, transportation, and healthcare. For long deformable ... ...

    Abstract Tracing - estimating the spatial state of - long deformable linear objects such as cables, threads, hoses, or ropes, is useful for a broad range of tasks in homes, retail, factories, construction, transportation, and healthcare. For long deformable linear objects (DLOs or simply cables) with many (over 25) crossings, we present HANDLOOM (Heterogeneous Autoregressive Learned Deformable Linear Object Observation and Manipulation), a learning-based algorithm that fits a trace to a greyscale image of cables. We evaluate HANDLOOM on semi-planar DLO configurations where each crossing involves at most 2 segments. HANDLOOM makes use of neural networks trained with 30,000 simulated examples and 568 real examples to autoregressively estimate traces of cables and classify crossings. Experiments find that in settings with multiple identical cables, HANDLOOM can trace each cable with 80% accuracy. In single-cable images, HANDLOOM can trace and identify knots with 77% accuracy. When HANDLOOM is incorporated into a bimanual robot system, it enables state-based imitation of knot tying with 80% accuracy, and it successfully untangles 64% of cable configurations across 3 levels of difficulty. Additionally, HANDLOOM demonstrates generalization to knot types and materials (rubber, cloth rope) not present in the training dataset with 85% accuracy. Supplementary material, including all code and an annotated dataset of RGB-D images of cables along with ground-truth traces, is at https://sites.google.com/view/cable-tracing.
    Keywords Computer Science - Robotics
    Subject code 629
    Publishing date 2023-03-15
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  3. Book ; Online: Semantic Mechanical Search with Large Vision and Language Models

    Sharma, Satvik / Huang, Huang / Shivakumar, Kaushik / Chen, Lawrence Yunliang / Hoque, Ryan / Ichter, Brian / Goldberg, Ken

    2023  

    Abstract: Moving objects to find a fully-occluded target object, known as mechanical search, is a challenging problem in robotics. As objects are often organized semantically, we conjecture that semantic information about object relationships can facilitate ... ...

    Abstract Moving objects to find a fully-occluded target object, known as mechanical search, is a challenging problem in robotics. As objects are often organized semantically, we conjecture that semantic information about object relationships can facilitate mechanical search and reduce search time. Large pretrained vision and language models (VLMs and LLMs) have shown promise in generalizing to uncommon objects and previously unseen real-world environments. In this work, we propose a novel framework called Semantic Mechanical Search (SMS). SMS conducts scene understanding and generates a semantic occupancy distribution explicitly using LLMs. Compared to methods that rely on visual similarities offered by CLIP embeddings, SMS leverages the deep reasoning capabilities of LLMs. Unlike prior work that uses VLMs and LLMs as end-to-end planners, which may not integrate well with specialized geometric planners, SMS can serve as a plug-in semantic module for downstream manipulation or navigation policies. For mechanical search in closed-world settings such as shelves, we compare with a geometric-based planner and show that SMS improves mechanical search performance by 24% across the pharmacy, kitchen, and office domains in simulation and 47.1% in physical experiments. For open-world real environments, SMS can produce better semantic distributions compared to CLIP-based methods, with the potential to be integrated with downstream navigation policies to improve object navigation tasks. Code, data, videos, and the appendix are available: https://sites.google.com/view/semantic-mechanical-search
    Keywords Computer Science - Robotics
    Subject code 004
    Publishing date 2023-02-24
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  4. Article ; Online: CT-ORG, a new dataset for multiple organ segmentation in computed tomography.

    Rister, Blaine / Yi, Darvin / Shivakumar, Kaushik / Nobashi, Tomomi / Rubin, Daniel L

    Scientific data

    2020  Volume 7, Issue 1, Page(s) 381

    Abstract: Despite the relative ease of locating organs in the human body, automated organ segmentation has been hindered by the scarcity of labeled training data. Due to the tedium of labeling organ boundaries, most datasets are limited to either a small number of ...

    Abstract Despite the relative ease of locating organs in the human body, automated organ segmentation has been hindered by the scarcity of labeled training data. Due to the tedium of labeling organ boundaries, most datasets are limited to either a small number of cases or a single organ. Furthermore, many are restricted to specific imaging conditions unrepresentative of clinical practice. To address this need, we developed a diverse dataset of 140 CT scans containing six organ classes: liver, lungs, bladder, kidney, bones and brain. For the lungs and bones, we expedited annotation using unsupervised morphological segmentation algorithms, which were accelerated by 3D Fourier transforms. Demonstrating the utility of the data, we trained a deep neural network which requires only 4.3 s to simultaneously segment all the organs in a case. We also show how to efficiently augment the data to improve model generalization, providing a GPU library for doing so. We hope this dataset and code, available through TCIA, will be useful for training and evaluating organ segmentation models.
    MeSH term(s) Algorithms ; Bone and Bones/diagnostic imaging ; Brain/diagnostic imaging ; Fourier Analysis ; Humans ; Image Processing, Computer-Assisted/methods ; Imaging, Three-Dimensional/methods ; Kidney/diagnostic imaging ; Liver/diagnostic imaging ; Lung/diagnostic imaging ; Neural Networks, Computer ; Tomography, X-Ray Computed ; Urinary Bladder/diagnostic imaging
    Language English
    Publishing date 2020-11-11
    Publishing country England
    Document type Dataset ; Journal Article ; Research Support, N.I.H., Extramural
    ZDB-ID 2775191-0
    ISSN 2052-4463 ; 2052-4463
    ISSN (online) 2052-4463
    ISSN 2052-4463
    DOI 10.1038/s41597-020-00715-8
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  5. Book ; Online: Learning to Fold Real Garments with One Arm

    Hoque, Ryan / Shivakumar, Kaushik / Aeron, Shrey / Deza, Gabriel / Ganapathi, Aditya / Wong, Adrian / Lee, Johnny / Zeng, Andy / Vanhoucke, Vincent / Goldberg, Ken

    A Case Study in Cloud-Based Robotics Research

    2022  

    Abstract: Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution of control ... ...

    Abstract Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution of control policies on physical robots, we present the first systematic benchmarking of fabric manipulation algorithms on physical hardware. We develop 4 novel learning-based algorithms that model expert actions, keypoints, reward functions, and dynamic motions, and we compare these against 4 learning-free and inverse dynamics algorithms on the task of folding a crumpled T-shirt with a single robot arm. The entire lifecycle of data collection, model training, and policy evaluation is performed remotely without physical access to the robot workcell. Results suggest a new algorithm combining imitation learning with analytic methods achieves 84% of human-level performance on the folding task. See https://sites.google.com/berkeley.edu/cloudfolding for all data, code, models, and supplemental material.
    Keywords Computer Science - Robotics ; Computer Science - Artificial Intelligence
    Subject code 629
    Publishing date 2022-04-21
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  6. Book ; Online: Autonomously Untangling Long Cables

    Viswanath, Vainavi / Shivakumar, Kaushik / Kerr, Justin / Thananjeyan, Brijen / Novoseller, Ellen / Ichnowski, Jeffrey / Escontrela, Alejandro / Laskey, Michael / Gonzalez, Joseph E. / Goldberg, Ken

    2022  

    Abstract: Cables are ubiquitous in many settings and it is often useful to untangle them. However, cables are prone to self-occlusions and knots, making them difficult to perceive and manipulate. The challenge increases with cable length: long cables require more ... ...

    Abstract Cables are ubiquitous in many settings and it is often useful to untangle them. However, cables are prone to self-occlusions and knots, making them difficult to perceive and manipulate. The challenge increases with cable length: long cables require more complex slack management to facilitate observability and reachability. In this paper, we focus on autonomously untangling cables up to 3 meters in length using a bilateral robot. We develop RGBD perception and motion primitives to efficiently untangle long cables and novel gripper jaws specialized for this task. We present Sliding and Grasping for Tangle Manipulation (SGTM), an algorithm that composes these primitives to iteratively untangle cables with success rates of 67% on isolated overhand and figure-eight knots and 50% on more complex configurations. Supplementary material, visualizations, and videos can be found at https://sites.google.com/view/rss-2022-untangling/home.
    Keywords Computer Science - Robotics ; Computer Science - Artificial Intelligence
    Subject code 629
    Publishing date 2022-07-15
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  7. Book ; Online: Gemini

    Gemini Team / Anil, Rohan / Borgeaud, Sebastian / Wu, Yonghui / Alayrac, Jean-Baptiste / Yu, Jiahui / Soricut, Radu / Schalkwyk, Johan / Dai, Andrew M. / Hauth, Anja / Millican, Katie / Silver, David / Petrov, Slav / Johnson, Melvin / Antonoglou, Ioannis / Schrittwieser, Julian / Glaese, Amelia / Chen, Jilin / Pitler, Emily /
    Lillicrap, Timothy / Lazaridou, Angeliki / Firat, Orhan / Molloy, James / Isard, Michael / Barham, Paul R. / Hennigan, Tom / Lee, Benjamin / Viola, Fabio / Reynolds, Malcolm / Xu, Yuanzhong / Doherty, Ryan / Collins, Eli / Meyer, Clemens / Rutherford, Eliza / Moreira, Erica / Ayoub, Kareem / Goel, Megha / Tucker, George / Piqueras, Enrique / Krikun, Maxim / Barr, Iain / Savinov, Nikolay / Danihelka, Ivo / Roelofs, Becca / White, Anaïs / Andreassen, Anders / von Glehn, Tamara / Yagati, Lakshman / Kazemi, Mehran / Gonzalez, Lucas / Khalman, Misha / Sygnowski, Jakub / Frechette, Alexandre / Smith, Charlotte / Culp, Laura / Proleev, Lev / Luan, Yi / Chen, Xi / Lottes, James / Schucher, Nathan / Lebron, Federico / Rrustemi, Alban / Clay, Natalie / Crone, Phil / Kocisky, Tomas / Zhao, Jeffrey / Perz, Bartek / Yu, Dian / Howard, Heidi / Bloniarz, Adam / Rae, Jack W. / Lu, Han / Sifre, Laurent / Maggioni, Marcello / Alcober, Fred / Garrette, Dan / Barnes, Megan / Thakoor, Shantanu / Austin, Jacob / Barth-Maron, Gabriel / Wong, William / Joshi, Rishabh / Chaabouni, Rahma / Fatiha, Deeni / Ahuja, Arun / Liu, Ruibo / Li, Yunxuan / Cogan, Sarah / Chen, Jeremy / Jia, Chao / Gu, Chenjie / Zhang, Qiao / Grimstad, Jordan / Hartman, Ale Jakse / Chadwick, Martin / Tomar, Gaurav Singh / Garcia, Xavier / Senter, Evan / Taropa, Emanuel / Pillai, Thanumalayan Sankaranarayana / Devlin, Jacob / Laskin, Michael / Casas, Diego de Las / Valter, Dasha / Tao, Connie / Blanco, Lorenzo / Badia, Adrià Puigdomènech / Reitter, David / Chen, Mianna / Brennan, Jenny / Rivera, Clara / Brin, Sergey / Iqbal, Shariq / Surita, Gabriela / Labanowski, Jane / Rao, Abhi / Winkler, Stephanie / Parisotto, Emilio / Gu, Yiming / Olszewska, Kate / Zhang, Yujing / Addanki, Ravi / Miech, Antoine / Louis, Annie / Shafey, Laurent El / Teplyashin, Denis / Brown, Geoff / Catt, Elliot / Attaluri, Nithya / Balaguer, Jan / Xiang, Jackie / Wang, Pidong / Ashwood, Zoe / Briukhov, Anton / Webson, Albert / Ganapathy, Sanjay / Sanghavi, Smit / Kannan, Ajay / Chang, Ming-Wei / Stjerngren, Axel / Djolonga, Josip / Sun, Yuting / Bapna, Ankur / Aitchison, Matthew / Pejman, Pedram / Michalewski, Henryk / Yu, Tianhe / Wang, Cindy / Love, Juliette / Ahn, Junwhan / Bloxwich, Dawn / Han, Kehang / Humphreys, Peter / Sellam, Thibault / Bradbury, James / Godbole, Varun / Samangooei, Sina / Damoc, Bogdan / Kaskasoli, Alex / Arnold, Sébastien M. R. / Vasudevan, Vijay / Agrawal, Shubham / Riesa, Jason / Lepikhin, Dmitry / Tanburn, Richard / Srinivasan, Srivatsan / Lim, Hyeontaek / Hodkinson, Sarah / Shyam, Pranav / Ferret, Johan / Hand, Steven / Garg, Ankush / Paine, Tom Le / Li, Jian / Li, Yujia / Giang, Minh / Neitz, Alexander / Abbas, Zaheer / York, Sarah / Reid, Machel / Cole, Elizabeth / Chowdhery, Aakanksha / Das, Dipanjan / Rogozińska, Dominika / Nikolaev, Vitaly / Sprechmann, Pablo / Nado, Zachary / Zilka, Lukas / Prost, Flavien / He, Luheng / Monteiro, Marianne / Mishra, Gaurav / Welty, Chris / Newlan, Josh / Jia, Dawei / Allamanis, Miltiadis / Hu, Clara Huiyi / de Liedekerke, Raoul / Gilmer, Justin / Saroufim, Carl / Rijhwani, Shruti / Hou, Shaobo / Shrivastava, Disha / Baddepudi, Anirudh / Goldin, Alex / Ozturel, Adnan / Cassirer, Albin / Xu, Yunhan / Sohn, Daniel / Sachan, Devendra / Amplayo, Reinald Kim / Swanson, Craig / Petrova, Dessie / Narayan, Shashi / Guez, Arthur / Brahma, Siddhartha / Landon, Jessica / Patel, Miteyan / Zhao, Ruizhe / Villela, Kevin / Wang, Luyu / Jia, Wenhao / Rahtz, Matthew / Giménez, Mai / Yeung, Legg / Lin, Hanzhao / Keeling, James / Georgiev, Petko / Mincu, Diana / Wu, Boxi / Haykal, Salem / Saputro, Rachel / Vodrahalli, Kiran / Qin, James / Cankara, Zeynep / Sharma, Abhanshu / Fernando, Nick / Hawkins, Will / Neyshabur, Behnam / Kim, Solomon / Hutter, Adrian / Agrawal, Priyanka / Castro-Ros, Alex / Driessche, George van den / Wang, Tao / Yang, Fan / Chang, Shuo-yiin / Komarek, Paul / McIlroy, Ross / Lučić, Mario / Zhang, Guodong / Farhan, Wael / Sharman, Michael / Natsev, Paul / Michel, Paul / Cheng, Yong / Bansal, Yamini / Qiao, Siyuan / Cao, Kris / Shakeri, Siamak / Butterfield, Christina / Chung, Justin / Rubenstein, Paul Kishan / Agrawal, Shivani / Mensch, Arthur / Soparkar, Kedar / Lenc, Karel / Chung, Timothy / Pope, Aedan / Maggiore, Loren / Kay, Jackie / Jhakra, Priya / Wang, Shibo / Maynez, Joshua / Phuong, Mary / Tobin, Taylor / Tacchetti, Andrea / Trebacz, Maja / Robinson, Kevin / Katariya, Yash / Riedel, Sebastian / Bailey, Paige / Xiao, Kefan / Ghelani, Nimesh / Aroyo, Lora / Slone, Ambrose / Houlsby, Neil / Xiong, Xuehan / Yang, Zhen / Gribovskaya, Elena / Adler, Jonas / Wirth, Mateo / Lee, Lisa / Li, Music / Kagohara, Thais / Pavagadhi, Jay / Bridgers, Sophie / Bortsova, Anna / Ghemawat, Sanjay / Ahmed, Zafarali / Liu, Tianqi / Powell, Richard / Bolina, Vijay / Iinuma, Mariko / Zablotskaia, Polina / Besley, James / Chung, Da-Woon / Dozat, Timothy / Comanescu, Ramona / Si, Xiance / Greer, Jeremy / Su, Guolong / Polacek, Martin / Kaufman, Raphaël Lopez / Tokumine, Simon / Hu, Hexiang / Buchatskaya, Elena / Miao, Yingjie / Elhawaty, Mohamed / Siddhant, Aditya / Tomasev, Nenad / Xing, Jinwei / Greer, Christina / Miller, Helen / Ashraf, Shereen / Roy, Aurko / Zhang, Zizhao / Ma, Ada / Filos, Angelos / Besta, Milos / Blevins, Rory / Klimenko, Ted / Yeh, Chih-Kuan / Changpinyo, Soravit / Mu, Jiaqi / Chang, Oscar / Pajarskas, Mantas / Muir, Carrie / Cohen, Vered / Lan, Charline Le / Haridasan, Krishna / Marathe, Amit / Hansen, Steven / Douglas, Sholto / Samuel, Rajkumar / Wang, Mingqiu / Austin, Sophia / Lan, Chang / Jiang, Jiepu / Chiu, Justin / Lorenzo, Jaime Alonso / Sjösund, Lars Lowe / Cevey, Sébastien / Gleicher, Zach / Avrahami, Thi / Boral, Anudhyan / Srinivasan, Hansa / Selo, Vittorio / May, Rhys / Aisopos, Konstantinos / Hussenot, Léonard / Soares, Livio Baldini / Baumli, Kate / Chang, Michael B. / Recasens, Adrià / Caine, Ben / Pritzel, Alexander / Pavetic, Filip / Pardo, Fabio / Gergely, Anita / Frye, Justin / Ramasesh, Vinay / Horgan, Dan / Badola, Kartikeya / Kassner, Nora / Roy, Subhrajit / Dyer, Ethan / Campos, Víctor / Tomala, Alex / Tang, Yunhao / Badawy, Dalia El / White, Elspeth / Mustafa, Basil / Lang, Oran / Jindal, Abhishek / Vikram, Sharad / Gong, Zhitao / Caelles, Sergi / Hemsley, Ross / Thornton, Gregory / Feng, Fangxiaoyu / Stokowiec, Wojciech / Zheng, Ce / Thacker, Phoebe / Ünlü, Çağlar / Zhang, Zhishuai / Saleh, Mohammad / Svensson, James / Bileschi, Max / Patil, Piyush / Anand, Ankesh / Ring, Roman / Tsihlas, Katerina / Vezer, Arpi / Selvi, Marco / Shevlane, Toby / Rodriguez, Mikel / Kwiatkowski, Tom / Daruki, Samira / Rong, Keran / Dafoe, Allan / FitzGerald, Nicholas / Gu-Lemberg, Keren / Khan, Mina / Hendricks, Lisa Anne / Pellat, Marie / Feinberg, Vladimir / Cobon-Kerr, James / Sainath, Tara / Rauh, Maribeth / Hashemi, Sayed Hadi / Ives, Richard / Hasson, Yana / Li, YaGuang / Noland, Eric / Cao, Yuan / Byrd, Nathan / Hou, Le / Wang, Qingze / Sottiaux, Thibault / Paganini, Michela / Lespiau, Jean-Baptiste / Moufarek, Alexandre / Hassan, Samer / Shivakumar, Kaushik / van Amersfoort, Joost / Mandhane, Amol / Joshi, Pratik / Goyal, Anirudh / Tung, Matthew / Brock, Andrew / Sheahan, Hannah / Misra, Vedant / Li, Cheng / Rakićević, Nemanja / Dehghani, Mostafa / Liu, Fangyu / Mittal, Sid / Oh, Junhyuk / Noury, Seb / Sezener, Eren / Huot, Fantine / Lamm, Matthew / De Cao, Nicola / Chen, Charlie / Elsayed, Gamaleldin / Chi, Ed / Mahdieh, Mahdis / Tenney, Ian / Hua, Nan / Petrychenko, Ivan / Kane, Patrick / Scandinaro, Dylan / Jain, Rishub / Uesato, Jonathan / Datta, Romina / Sadovsky, Adam / Bunyan, Oskar / Rabiej, Dominik / Wu, Shimu / Zhang, John / Vasudevan, Gautam / Leurent, Edouard / Alnahlawi, Mahmoud / Georgescu, Ionut / Wei, Nan / Zheng, Ivy / Chan, Betty / Rabinovitch, Pam G / Stanczyk, Piotr / Zhang, Ye / Steiner, David / Naskar, Subhajit / Azzam, Michael / Johnson, Matthew / Paszke, Adam / Chiu, Chung-Cheng / Elias, Jaume Sanchez / Mohiuddin, Afroz / Muhammad, Faizan / Miao, Jin / Lee, Andrew / Vieillard, Nino / Potluri, Sahitya / Park, Jane / Davoodi, Elnaz / Zhang, Jiageng / Stanway, Jeff / Garmon, Drew / Karmarkar, Abhijit / Dong, Zhe / Lee, Jong / Kumar, Aviral / Zhou, Luowei / Evens, Jonathan / Isaac, William / Chen, Zhe / Jia, Johnson / Levskaya, Anselm / Zhu, Zhenkai / Gorgolewski, Chris / Grabowski, Peter / Mao, Yu / Magni, Alberto / Yao, Kaisheng / Snaider, Javier / Casagrande, Norman / Suganthan, Paul / Palmer, Evan / Irving, Geoffrey / Loper, Edward / Faruqui, Manaal / Arkatkar, Isha / Chen, Nanxin / Shafran, Izhak / Fink, Michael / Castaño, Alfonso / Giannoumis, Irene / Kim, Wooyeol / Rybiński, Mikołaj / Sreevatsa, Ashwin / Prendki, Jennifer / Soergel, David / Goedeckemeyer, Adrian / Gierke, Willi / Jafari, Mohsen / Gaba, Meenu / Wiesner, Jeremy / Wright, Diana Gage / Wei, Yawen / Vashisht, Harsha / Kulizhskaya, Yana / Hoover, Jay / Le, Maigo / Li, Lu / Iwuanyanwu, Chimezie / Liu, Lu / Ramirez, Kevin / Khorlin, Andrey / Cui, Albert / LIN, Tian / Georgiev, Marin / Wu, Marcus / Aguilar, Ricardo / Pallo, Keith / Chakladar, Abhishek / Repina, Alena / Wu, Xihui / van der Weide, Tom / Ponnapalli, Priya / Kaplan, Caroline / Simsa, Jiri / Li, Shuangfeng / Dousse, Olivier / Piper, Jeff / Ie, Nathan / Lui, Minnie / Pasumarthi, Rama / Lintz, Nathan / Vijayakumar, Anitha / Thiet, Lam Nguyen / Andor, Daniel / Valenzuela, Pedro / Paduraru, Cosmin / Peng, Daiyi / Lee, Katherine / Zhang, Shuyuan / Greene, Somer / Nguyen, Duc Dung / Kurylowicz, Paula / Velury, Sarmishta / Krause, Sebastian / Hardin, Cassidy / Dixon, Lucas / Janzer, Lili / Choo, Kiam / Feng, Ziqiang / Zhang, Biao / Singhal, Achintya / Latkar, Tejasi / Zhang, Mingyang / Le, Quoc / Abellan, Elena Allica / Du, Dayou / McKinnon, Dan / Antropova, Natasha / Bolukbasi, Tolga / Keller, Orgad / Reid, David / Finchelstein, Daniel / Raad, Maria Abi / Crocker, Remi / Hawkins, Peter / Dadashi, Robert / Gaffney, Colin / Lall, Sid / Franko, Ken / Filonov, Egor / Bulanova, Anna / Leblond, Rémi / Yadav, Vikas / Chung, Shirley / Askham, Harry / Cobo, Luis C. / Xu, Kelvin / Fischer, Felix / Xu, Jun / Sorokin, Christina / Alberti, Chris / Lin, Chu-Cheng / Evans, Colin / Zhou, Hao / Dimitriev, Alek / Forbes, Hannah / Banarse, Dylan / Tung, Zora / Liu, Jeremiah / Omernick, Mark / Bishop, Colton / Kumar, Chintu / Sterneck, Rachel / Foley, Ryan / Jain, Rohan / Mishra, Swaroop / Xia, Jiawei / Bos, Taylor / Cideron, Geoffrey / Amid, Ehsan / Piccinno, Francesco / Wang, Xingyu / Banzal, Praseem / Gurita, Petru / Noga, Hila / Shah, Premal / Mankowitz, Daniel J. / Polozov, Alex / Kushman, Nate / Krakovna, Victoria / Brown, Sasha / Bateni, MohammadHossein / Duan, Dennis / Firoiu, Vlad / Thotakuri, Meghana / Natan, Tom / Mohananey, Anhad / Geist, Matthieu / Mudgal, Sidharth / Girgin, Sertan / Li, Hui / Ye, Jiayu / Roval, Ofir / Tojo, Reiko / Kwong, Michael / Lee-Thorp, James / Yew, Christopher / Yuan, Quan / Bagri, Sumit / Sinopalnikov, Danila / Ramos, Sabela / Mellor, John / Sharma, Abhishek / Severyn, Aliaksei / Lai, Jonathan / Wu, Kathy / Cheng, Heng-Tze / Miller, David / Sonnerat, Nicolas / Vnukov, Denis / Greig, Rory / Beattie, Jennifer / Caveness, Emily / Bai, Libin / Eisenschlos, Julian / Korchemniy, Alex / Tsai, Tomy / Jasarevic, Mimi / Kong, Weize / Dao, Phuong / Zheng, Zeyu / Liu, Frederick / Zhu, Rui / Geller, Mark / Teh, Tian Huey / 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    A Family of Highly Capable Multimodal Models

    2023  

    Abstract: This report introduces a new family of multimodal models, Gemini, that exhibit remarkable capabilities across image, audio, video, and text understanding. The Gemini family consists of Ultra, Pro, and Nano sizes, suitable for applications ranging from ... ...

    Abstract This report introduces a new family of multimodal models, Gemini, that exhibit remarkable capabilities across image, audio, video, and text understanding. The Gemini family consists of Ultra, Pro, and Nano sizes, suitable for applications ranging from complex reasoning tasks to on-device memory-constrained use-cases. Evaluation on a broad range of benchmarks shows that our most-capable Gemini Ultra model advances the state of the art in 30 of 32 of these benchmarks - notably being the first model to achieve human-expert performance on the well-studied exam benchmark MMLU, and improving the state of the art in every one of the 20 multimodal benchmarks we examined. We believe that the new capabilities of Gemini models in cross-modal reasoning and language understanding will enable a wide variety of use cases and we discuss our approach toward deploying them responsibly to users.
    Keywords Computer Science - Computation and Language ; Computer Science - Artificial Intelligence ; Computer Science - Computer Vision and Pattern Recognition
    Subject code 004
    Publishing date 2023-12-18
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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