从单眼图像中恢复纹理的3D网格是高度挑战的，尤其是对于缺乏3D地面真理的野外物体。在这项工作中，我们提出了网络文化，这是一个新的框架，可通过利用3D GAN预先训练的3D纹理网格合成的3D GAN的生成性先验。重建是通过在3D GAN中搜索最类似于目标网格的潜在空间来实现重建。由于预先训练的GAN以网状几何形状和纹理封装了丰富的3D语义，因此在GAN歧管内进行搜索，因此自然地使重建的真实性和忠诚度正常。重要的是，这种正则化直接应用于3D空间，从而提供了在2D空间中未观察到的网格零件的关键指导。标准基准测试的实验表明，我们的框架获得了忠实的3D重建，并在观察到的部分和未观察到的部分中都具有一致的几何形状和纹理。此外，它可以很好地推广到不太常见的网格中，例如可变形物体的扩展表达。代码在https://github.com/junzhezhang/mesh-inversion上发布

基于图像和视频的3D人类恢复（即姿势和形状估计）取得了实质性进展。但是，由于运动捕获的高度成本，现有的数据集通常受到规模和多样性的限制。在这项工作中，我们通过使用自动注释的3D地面真相玩电子游戏来获得大量的人类序列。具体来说，我们贡献了GTA-Human，这是一种由GTA-V游戏引擎生成的大规模3D人类数据集，具有高度多样化的主题，动作和场景。更重要的是，我们研究游戏玩法数据的使用并获得五个主要见解。首先，游戏数据非常有效。基于框架的简单基线对GTA-Human训练，其优于更复杂的方法的幅度很大。对于基于视频的方法，GTA-Human甚至与内域训练集相当。其次，我们发现合成数据为通常在室内收集的真实数据提供了关键补充。我们对域间隙的调查为简单但有用的数据混合策略提供了解释。第三，数据集的比例很重要。性能提升与可用的其他数据密切相关。一项系统的研究揭示了来自多个关键方面的数据密度的模型敏感性。第四，GTA-Human的有效性还归因于丰富的强制监督标签（SMPL参数），在实际数据集中获取否则它们很昂贵。第五，合成数据的好处扩展到较大的模型，例如更深层次的卷积神经网络（CNN）和变压器，也观察到了重大影响。我们希望我们的工作可以为将3D人类恢复到现实世界铺平道路。主页：https：//caizhongang.github.io/projects/gta-human/

Masked image modeling (MIM) performs strongly in pre-training large vision Transformers (ViTs). However, small models that are critical for real-world applications cannot or only marginally benefit from this pre-training approach. In this paper, we explore distillation techniques to transfer the success of large MIM-based pre-trained models to smaller ones. We systematically study different options in the distillation framework, including distilling targets, losses, input, network regularization, sequential distillation, etc, revealing that: 1) Distilling token relations is more effective than CLS token- and feature-based distillation; 2) An intermediate layer of the teacher network as target perform better than that using the last layer when the depth of the student mismatches that of the teacher; 3) Weak regularization is preferred; etc. With these findings, we achieve significant fine-tuning accuracy improvements over the scratch MIM pre-training on ImageNet-1K classification, using all the ViT-Tiny, ViT-Small, and ViT-base models, with +4.2%/+2.4%/+1.4% gains, respectively. Our TinyMIM model of base size achieves 52.2 mIoU in AE20K semantic segmentation, which is +4.1 higher than the MAE baseline. Our TinyMIM model of tiny size achieves 79.6% top-1 accuracy on ImageNet-1K image classification, which sets a new record for small vision models of the same size and computation budget. This strong performance suggests an alternative way for developing small vision Transformer models, that is, by exploring better training methods rather than introducing inductive biases into architectures as in most previous works. Code is available at https://github.com/OliverRensu/TinyMIM.

This paper presents a practical global optimization algorithm for the K-center clustering problem, which aims to select K samples as the cluster centers to minimize the maximum within-cluster distance. This algorithm is based on a reduced-space branch and bound scheme and guarantees convergence to the global optimum in a finite number of steps by only branching on the regions of centers. To improve efficiency, we have designed a two-stage decomposable lower bound, the solution of which can be derived in a closed form. In addition, we also propose several acceleration techniques to narrow down the region of centers, including bounds tightening, sample reduction, and parallelization. Extensive studies on synthetic and real-world datasets have demonstrated that our algorithm can solve the K-center problems to global optimal within 4 hours for ten million samples in the serial mode and one billion samples in the parallel mode. Moreover, compared with the state-of-the-art heuristic methods, the global optimum obtained by our algorithm can averagely reduce the objective function by 25.8% on all the synthetic and real-world datasets.

Score-based diffusion models have captured widespread attention and funded fast progress of recent vision generative tasks. In this paper, we focus on diffusion model backbone which has been much neglected before. We systematically explore vision Transformers as diffusion learners for various generative tasks. With our improvements the performance of vanilla ViT-based backbone (IU-ViT) is boosted to be on par with traditional U-Net-based methods. We further provide a hypothesis on the implication of disentangling the generative backbone as an encoder-decoder structure and show proof-of-concept experiments verifying the effectiveness of a stronger encoder for generative tasks with ASymmetriC ENcoder Decoder (ASCEND). Our improvements achieve competitive results on CIFAR-10, CelebA, LSUN, CUB Bird and large-resolution text-to-image tasks. To the best of our knowledge, we are the first to successfully train a single diffusion model on text-to-image task beyond 64x64 resolution. We hope this will motivate people to rethink the modeling choices and the training pipelines for diffusion-based generative models.

Deep learning-based methods have achieved significant performance for image defogging. However, existing methods are mainly developed for land scenes and perform poorly when dealing with overwater foggy images, since overwater scenes typically contain large expanses of sky and water. In this work, we propose a Prior map Guided CycleGAN (PG-CycleGAN) for defogging of images with overwater scenes. To promote the recovery of the objects on water in the image, two loss functions are exploited for the network where a prior map is designed to invert the dark channel and the min-max normalization is used to suppress the sky and emphasize objects. However, due to the unpaired training set, the network may learn an under-constrained domain mapping from foggy to fog-free image, leading to artifacts and loss of details. Thus, we propose an intuitive Upscaling Inception Module (UIM) and a Long-range Residual Coarse-to-fine framework (LRC) to mitigate this issue. Extensive experiments on qualitative and quantitative comparisons demonstrate that the proposed method outperforms the state-of-the-art supervised, semi-supervised, and unsupervised defogging approaches.

Conversational recommender systems (CRSs) often utilize external knowledge graphs (KGs) to introduce rich semantic information and recommend relevant items through natural language dialogues. However, original KGs employed in existing CRSs are often incomplete and sparse, which limits the reasoning capability in recommendation. Moreover, only few of existing studies exploit the dialogue context to dynamically refine knowledge from KGs for better recommendation. To address the above issues, we propose the Variational Reasoning over Incomplete KGs Conversational Recommender (VRICR). Our key idea is to incorporate the large dialogue corpus naturally accompanied with CRSs to enhance the incomplete KGs; and perform dynamic knowledge reasoning conditioned on the dialogue context. Specifically, we denote the dialogue-specific subgraphs of KGs as latent variables with categorical priors for adaptive knowledge graphs refactor. We propose a variational Bayesian method to approximate posterior distributions over dialogue-specific subgraphs, which not only leverages the dialogue corpus for restructuring missing entity relations but also dynamically selects knowledge based on the dialogue context. Finally, we infuse the dialogue-specific subgraphs to decode the recommendation and responses. We conduct experiments on two benchmark CRSs datasets. Experimental results confirm the effectiveness of our proposed method.

Automatic image colorization is a particularly challenging problem. Due to the high illness of the problem and multi-modal uncertainty, directly training a deep neural network usually leads to incorrect semantic colors and low color richness. Existing transformer-based methods can deliver better results but highly depend on hand-crafted dataset-level empirical distribution priors. In this work, we propose DDColor, a new end-to-end method with dual decoders, for image colorization. More specifically, we design a multi-scale image decoder and a transformer-based color decoder. The former manages to restore the spatial resolution of the image, while the latter establishes the correlation between semantic representations and color queries via cross-attention. The two decoders incorporate to learn semantic-aware color embedding by leveraging the multi-scale visual features. With the help of these two decoders, our method succeeds in producing semantically consistent and visually plausible colorization results without any additional priors. In addition, a simple but effective colorfulness loss is introduced to further improve the color richness of generated results. Our extensive experiments demonstrate that the proposed DDColor achieves significantly superior performance to existing state-of-the-art works both quantitatively and qualitatively. Codes will be made publicly available.

We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic models, which lays a foundation for generating dynamically feasible trajectory and achieving high-performance tracking control. We have found that a tail-sitter is differentially flat with accurate aerodynamic models within the entire flight envelope, by specifying coordinate flight condition and choosing the vehicle position as the flat output. This fundamental property allows us to fully exploit the high-fidelity aerodynamic models in the trajectory planning and tracking control to achieve accurate tail-sitter flights. Particularly, an optimization-based trajectory planner for tail-sitters is proposed to design high-quality, smooth trajectories with consideration of kinodynamic constraints, singularity-free constraints and actuator saturation. The planned trajectory of flat output is transformed to state trajectory in real-time with consideration of wind in environments. To track the state trajectory, a global, singularity-free, and minimally-parameterized on-manifold MPC is developed, which fully leverages the accurate aerodynamic model to achieve high-accuracy trajectory tracking within the whole flight envelope. The effectiveness of the proposed framework is demonstrated through extensive real-world experiments in both indoor and outdoor field tests, including agile SE(3) flight through consecutive narrow windows requiring specific attitude and with speed up to 10m/s, typical tail-sitter maneuvers (transition, level flight and loiter) with speed up to 20m/s, and extremely aggressive aerobatic maneuvers (Wingover, Loop, Vertical Eight and Cuban Eight) with acceleration up to 2.5g.

Curriculum learning and self-paced learning are the training strategies that gradually feed the samples from easy to more complex. They have captivated increasing attention due to their excellent performance in robotic vision. Most recent works focus on designing curricula based on difficulty levels in input samples or smoothing the feature maps. However, smoothing labels to control the learning utility in a curriculum manner is still unexplored. In this work, we design a paced curriculum by label smoothing (P-CBLS) using paced learning with uniform label smoothing (ULS) for classification tasks and fuse uniform and spatially varying label smoothing (SVLS) for semantic segmentation tasks in a curriculum manner. In ULS and SVLS, a bigger smoothing factor value enforces a heavy smoothing penalty in the true label and limits learning less information. Therefore, we design the curriculum by label smoothing (CBLS). We set a bigger smoothing value at the beginning of training and gradually decreased it to zero to control the model learning utility from lower to higher. We also designed a confidence-aware pacing function and combined it with our CBLS to investigate the benefits of various curricula. The proposed techniques are validated on four robotic surgery datasets of multi-class, multi-label classification, captioning, and segmentation tasks. We also investigate the robustness of our method by corrupting validation data into different severity levels. Our extensive analysis shows that the proposed method improves prediction accuracy and robustness.