本文着重于当前过度参数化的阴影去除模型的局限性。我们提出了一个新颖的轻型深神经网络，该网络在实验室色彩空间中处理阴影图像。提出的称为“实验室网络”的网络是由以下三个观察结果激励的：首先，实验室颜色空间可以很好地分离亮度信息和颜色属性。其次，顺序堆叠的卷积层无法完全使用来自不同接受场的特征。第三，非阴影区域是重要的先验知识，可以减少阴影和非阴影区域之间的剧烈差异。因此，我们通过涉及两个分支结构的结构来设计实验室网络：L和AB分支。因此，与阴影相关的亮度信息可以很好地处理在L分支中，而颜色属性则很好地保留在AB分支中。此外，每个分支由几个基本块，局部空间注意模块（LSA）和卷积过滤器组成。每个基本块由多个平行的扩张扩张率的扩张卷积组成，以接收不同的接收场，这些接收场具有不同的网络宽度，以节省模型参数和计算成本。然后，构建了增强的通道注意模块（ECA），以从不同的接受场聚集特征，以更好地去除阴影。最后，进一步开发了LSA模块，以充分利用非阴影区域中的先前信息来清洁阴影区域。我们在ISTD和SRD数据集上执行广泛的实验。实验结果表明，我们的实验室网络井胜过最先进的方法。同样，我们的模型参数和计算成本降低了几个数量级。我们的代码可在https://github.com/ngrxmu/lab-net上找到。

学习综合数据已成为零拍量化（ZSQ）的有希望的方向，其代表低位整数而不访问任何实际数据的神经网络。在本文中，我们在实际数据中观察到阶级内异质性的有趣现象，并表明现有方法未能在其合成图像中保留此属性，这导致有限的性能增加。要解决此问题，我们提出了一种新颖的零射量量化方法，称为IntraQ。首先，我们提出了一种局部对象加强件，该局部对象加强能够以不同的尺度和合成图像的位置定位目标对象。其次，我们引入了边缘距离约束，以形成分布在粗糙区域中的类相关的特征。最后，我们设计了一种软的成立损失，该损耗注射了软的先前标签，以防止合成图像过度接近固定物体。我们的intraQ被证明是在合成图像中提供阶级内的异质性，并且还观察到执行最先进的。例如，与高级ZSQ相比，当MobileNetv1的所有层被量化为4位时，我们的IntraIS获取9.17 \％增加了Imagenet上的前1个精度。代码是https://github.com/viperit/interq。

In this paper, we present a novel visual SLAM and long-term localization benchmark for autonomous driving in challenging conditions based on the large-scale 4Seasons dataset. The proposed benchmark provides drastic appearance variations caused by seasonal changes and diverse weather and illumination conditions. While significant progress has been made in advancing visual SLAM on small-scale datasets with similar conditions, there is still a lack of unified benchmarks representative of real-world scenarios for autonomous driving. We introduce a new unified benchmark for jointly evaluating visual odometry, global place recognition, and map-based visual localization performance which is crucial to successfully enable autonomous driving in any condition. The data has been collected for more than one year, resulting in more than 300 km of recordings in nine different environments ranging from a multi-level parking garage to urban (including tunnels) to countryside and highway. We provide globally consistent reference poses with up to centimeter-level accuracy obtained from the fusion of direct stereo-inertial odometry with RTK GNSS. We evaluate the performance of several state-of-the-art visual odometry and visual localization baseline approaches on the benchmark and analyze their properties. The experimental results provide new insights into current approaches and show promising potential for future research. Our benchmark and evaluation protocols will be available at https://www.4seasons-dataset.com/.

Feedforward fully convolutional neural networks currently dominate in semantic segmentation of 3D point clouds. Despite their great success, they suffer from the loss of local information at low-level layers, posing significant challenges to accurate scene segmentation and precise object boundary delineation. Prior works either address this issue by post-processing or jointly learn object boundaries to implicitly improve feature encoding of the networks. These approaches often require additional modules which are difficult to integrate into the original architecture. To improve the segmentation near object boundaries, we propose a boundary-aware feature propagation mechanism. This mechanism is achieved by exploiting a multi-task learning framework that aims to explicitly guide the boundaries to their original locations. With one shared encoder, our network outputs (i) boundary localization, (ii) prediction of directions pointing to the object's interior, and (iii) semantic segmentation, in three parallel streams. The predicted boundaries and directions are fused to propagate the learned features to refine the segmentation. We conduct extensive experiments on the S3DIS and SensatUrban datasets against various baseline methods, demonstrating that our proposed approach yields consistent improvements by reducing boundary errors. Our code is available at https://github.com/shenglandu/PushBoundary.

Open vocabulary object detection has been greatly advanced by the recent development of vision-language pretrained model, which helps recognize novel objects with only semantic categories. The prior works mainly focus on knowledge transferring to the object proposal classification and employ class-agnostic box and mask prediction. In this work, we propose CondHead, a principled dynamic network design to better generalize the box regression and mask segmentation for open vocabulary setting. The core idea is to conditionally parameterize the network heads on semantic embedding and thus the model is guided with class-specific knowledge to better detect novel categories. Specifically, CondHead is composed of two streams of network heads, the dynamically aggregated head and the dynamically generated head. The former is instantiated with a set of static heads that are conditionally aggregated, these heads are optimized as experts and are expected to learn sophisticated prediction. The latter is instantiated with dynamically generated parameters and encodes general class-specific information. With such a conditional design, the detection model is bridged by the semantic embedding to offer strongly generalizable class-wise box and mask prediction. Our method brings significant improvement to the state-of-the-art open vocabulary object detection methods with very minor overhead, e.g., it surpasses a RegionClip model by 3.0 detection AP on novel categories, with only 1.1% more computation.

Tongue cancer is a common oral cavity malignancy that originates in the mouth and throat. Much effort has been invested in improving its diagnosis, treatment, and management. Surgical removal, chemotherapy, and radiation therapy remain the major treatment for tongue cancer. The survival of patients determines the treatment effect. Previous studies have identified certain survival and risk factors based on descriptive statistics, ignoring the complex, nonlinear relationship among clinical and demographic variables. In this study, we utilize five cutting-edge machine learning models and clinical data to predict the survival of tongue cancer patients after treatment. Five-fold cross-validation, bootstrap analysis, and permutation feature importance are applied to estimate and interpret model performance. The prognostic factors identified by our method are consistent with previous clinical studies. Our method is accurate, interpretable, and thus useable as additional evidence in tongue cancer treatment and management.

In this paper, we propose a large-scale language pre-training for text GENeration using dIffusion modEl, which is named GENIE. GENIE is a pre-training sequence-to-sequence text generation model which combines Transformer and diffusion. The diffusion model accepts the latent information from the encoder, which is used to guide the denoising of the current time step. After multiple such denoise iterations, the diffusion model can restore the Gaussian noise to the diverse output text which is controlled by the input text. Moreover, such architecture design also allows us to adopt large scale pre-training on the GENIE. We propose a novel pre-training method named continuous paragraph denoise based on the characteristics of the diffusion model. Extensive experiments on the XSum, CNN/DailyMail, and Gigaword benchmarks shows that GENIE can achieves comparable performance with various strong baselines, especially after pre-training, the generation quality of GENIE is greatly improved. We have also conduct a lot of experiments on the generation diversity and parameter impact of GENIE. The code for GENIE 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.

Fine-grained capturing of 3D HOI boosts human activity understanding and facilitates downstream visual tasks, including action recognition, holistic scene reconstruction, and human motion synthesis. Despite its significance, existing works mostly assume that humans interact with rigid objects using only a few body parts, limiting their scope. In this paper, we address the challenging problem of f-AHOI, wherein the whole human bodies interact with articulated objects, whose parts are connected by movable joints. We present CHAIRS, a large-scale motion-captured f-AHOI dataset, consisting of 16.2 hours of versatile interactions between 46 participants and 81 articulated and rigid sittable objects. CHAIRS provides 3D meshes of both humans and articulated objects during the entire interactive process, as well as realistic and physically plausible full-body interactions. We show the value of CHAIRS with object pose estimation. By learning the geometrical relationships in HOI, we devise the very first model that leverage human pose estimation to tackle the estimation of articulated object poses and shapes during whole-body interactions. Given an image and an estimated human pose, our model first reconstructs the pose and shape of the object, then optimizes the reconstruction according to a learned interaction prior. Under both evaluation settings (e.g., with or without the knowledge of objects' geometries/structures), our model significantly outperforms baselines. We hope CHAIRS will promote the community towards finer-grained interaction understanding. We will make the data/code publicly available.

The dual-encoder has become the de facto architecture for dense retrieval. Typically, it computes the latent representations of the query and document independently, thus failing to fully capture the interactions between the query and document. To alleviate this, recent work expects to get query-informed representations of documents. During training, it expands the document with a real query, while replacing the real query with a generated pseudo query at inference. This discrepancy between training and inference makes the dense retrieval model pay more attention to the query information but ignore the document when computing the document representation. As a result, it even performs worse than the vanilla dense retrieval model, since its performance depends heavily on the relevance between the generated queries and the real query. In this paper, we propose a curriculum sampling strategy, which also resorts to the pseudo query at training and gradually increases the relevance of the generated query to the real query. In this way, the retrieval model can learn to extend its attention from the document only to both the document and query, hence getting high-quality query-informed document representations. Experimental results on several passage retrieval datasets show that our approach outperforms the previous dense retrieval methods1.