准确的自我和相对状态估计是完成群体任务的关键前提，例如协作自主探索，目标跟踪，搜索和救援。本文提出了一种全面分散的状态估计方法，用于空中群体系统，其中每个无人机执行精确的自我状态估计，通过无线通信交换自我状态和相互观察信息，并估算相对状态（W.R.T.）（W.R.T.）无人机，全部实时，仅基于激光惯性测量。提出了一种基于3D激光雷达的新型无人机检测，识别和跟踪方法，以获得队友无人机的观察。然后，将相互观察测量与IMU和LIDAR测量紧密耦合，以实时和准确地估计自我状态和相对状态。广泛的现实世界实验显示了对复杂场景的广泛适应性，包括被GPS贬低的场景，摄影机的退化场景（漆黑的夜晚）或激光雷达（面对单个墙）。与运动捕获系统提供的地面真相相比，结果显示了厘米级的定位精度，该精度优于单个无人机系统的其他最先进的激光惯性射测。

应用于物理工程系统的纯粹数据驱动的深神经网络（DNN）可以推断出违反物理定律的关系，从而导致意外后果。为了应对这一挑战，我们提出了一个基于物理模型的DNN框架，即Phy-Taylor，该框架以物理知识加速了学习合规的表示。 Phy-Taylor框架做出了两个关键的贡献。它引入了一个新的建筑物理兼容神经网络（PHN），并具有新颖的合规机制，我们称{\ em物理学引导的神经网络编辑\/}。 PHN的目的是直接捕获受物质量的启发的非线性，例如动能，势能，电力和空气动力阻力。为此，PHN增强了具有两个关键组成部分的神经网络层：（i）泰勒级数序列扩展的非线性功能捕获物理知识的扩展，以及（ii）缓解噪声影响的抑制器。神经网络编辑机制进一步修改了网络链接和激活功能与物理知识一致。作为扩展，我们还提出了一个自我校正的Phy-Taylor框架，该框架介绍了两个其他功能：（i）基于物理模型的安全关系学习，以及（ii）在违反安全性的情况下自动输出校正。通过实验，我们表明（通过直接表达难以学习的非线性并通过限制依赖性）Phy-Taylor的特征较少的参数和明显加速的训练过程，同时提供增强的模型稳健性和准确性。

随着阿里巴巴的业务在各种行业中扩大世界各地，对大数据云计算平台的服务质量和可靠性施加了更高的标准，这构成了阿里巴巴云的基础设施。然而，由于系统架构复杂，这些平台中的根本原因分析是非微不足道的。在本文中，我们提出了一个根本原因分析框架，称为Cloudrca，它利用包括关键绩效指标（KPI），日志以及拓扑的异构多源数据，并通过最先进的异常提取重要特征检测和日志分析技术。然后在知识通知的分层贝叶斯网络（KHBN）模型中使用工程化特征，以推断出高精度和效率的根本原因。消融研究和综合实验比较表明，与现有框架，Cloudrca 1相比，Cloudrca 1）始终如一地优于不同云系统的F1分数的现有方法; 2）由于KHBN的层次结构，可以处理新颖的根本原因; 3）相对于算法配置更强大地执行; 4）在数据和特征尺寸中更有利地缩放。实验还表明，可以采用跨平台转移学习机制来进一步提高10％以上的准确性。 Cloudrca已被整合到阿里巴巴云的诊断系统中，并在三个典型的云计算平台中使用，包括MaxCompute，实时计算和Hologres。它节省了站点可靠性工程师（SRES）在过去的十二个月内解决故障的时间超过20美元，并且显着提高了服务可靠性。

社交媒体意见两极分化的大量工作集中在媒体痕迹不同社区的立场（或正交信念）的平坦分类。我们在两个重要方面扩展了这项工作。首先，我们不仅检测到社区之间的分歧点，而且还检测到一致性点。换句话说，我们在存在重叠的情况下估计社区信念。其次，代替平坦的分类，我们考虑了层次的信念估计，在该估计中，社区可能会分层。例如，两个反对党可能在核心问题上不同意，但是在一方，尽管同意基本面，但在进一步的细节上可能会出现分歧。我们称由此产生的组合问题为分层重叠的信念估计问题。为了解决它，本文开发了一类新的无监督的非负矩阵分解（NMF）算法，我们称信仰结构化矩阵分解（BSMF）。我们提出的无监督算法捕获了潜在的信仰交叉点和差异性以及等级结构。我们讨论算法的属性，并在合成数据集和现实世界数据集上进行评估。在合成数据集中，我们的模型将误差降低了40％。在实际的Twitter痕迹中，它的准确性提高了约10％。该模型还可以在理智检查中实现96.08％的自洽性。

A recent study has shown a phenomenon called neural collapse in that the within-class means of features and the classifier weight vectors converge to the vertices of a simplex equiangular tight frame at the terminal phase of training for classification. In this paper, we explore the corresponding structures of the last-layer feature centers and classifiers in semantic segmentation. Based on our empirical and theoretical analysis, we point out that semantic segmentation naturally brings contextual correlation and imbalanced distribution among classes, which breaks the equiangular and maximally separated structure of neural collapse for both feature centers and classifiers. However, such a symmetric structure is beneficial to discrimination for the minor classes. To preserve these advantages, we introduce a regularizer on feature centers to encourage the network to learn features closer to the appealing structure in imbalanced semantic segmentation. Experimental results show that our method can bring significant improvements on both 2D and 3D semantic segmentation benchmarks. Moreover, our method ranks 1st and sets a new record (+6.8% mIoU) on the ScanNet200 test leaderboard. Code will be available at https://github.com/dvlab-research/Imbalanced-Learning.

Weakly-supervised object localization aims to indicate the category as well as the scope of an object in an image given only the image-level labels. Most of the existing works are based on Class Activation Mapping (CAM) and endeavor to enlarge the discriminative area inside the activation map to perceive the whole object, yet ignore the co-occurrence confounder of the object and context (e.g., fish and water), which makes the model inspection hard to distinguish object boundaries. Besides, the use of CAM also brings a dilemma problem that the classification and localization always suffer from a performance gap and can not reach their highest accuracy simultaneously. In this paper, we propose a casual knowledge distillation method, dubbed KD-CI-CAM, to address these two under-explored issues in one go. More specifically, we tackle the co-occurrence context confounder problem via causal intervention (CI), which explores the causalities among image features, contexts, and categories to eliminate the biased object-context entanglement in the class activation maps. Based on the de-biased object feature, we additionally propose a multi-teacher causal distillation framework to balance the absorption of classification knowledge and localization knowledge during model training. Extensive experiments on several benchmarks demonstrate the effectiveness of KD-CI-CAM in learning clear object boundaries from confounding contexts and addressing the dilemma problem between classification and localization performance.

Witnessing the impressive achievements of pre-training techniques on large-scale data in the field of computer vision and natural language processing, we wonder whether this idea could be adapted in a grab-and-go spirit, and mitigate the sample inefficiency problem for visuomotor driving. Given the highly dynamic and variant nature of the input, the visuomotor driving task inherently lacks view and translation invariance, and the visual input contains massive irrelevant information for decision making, resulting in predominant pre-training approaches from general vision less suitable for the autonomous driving task. To this end, we propose PPGeo (Policy Pre-training via Geometric modeling), an intuitive and straightforward fully self-supervised framework curated for the policy pretraining in visuomotor driving. We aim at learning policy representations as a powerful abstraction by modeling 3D geometric scenes on large-scale unlabeled and uncalibrated YouTube driving videos. The proposed PPGeo is performed in two stages to support effective self-supervised training. In the first stage, the geometric modeling framework generates pose and depth predictions simultaneously, with two consecutive frames as input. In the second stage, the visual encoder learns driving policy representation by predicting the future ego-motion and optimizing with the photometric error based on current visual observation only. As such, the pre-trained visual encoder is equipped with rich driving policy related representations and thereby competent for multiple visuomotor driving tasks. Extensive experiments covering a wide span of challenging scenarios have demonstrated the superiority of our proposed approach, where improvements range from 2% to even over 100% with very limited data. Code and models will be available at https://github.com/OpenDriveLab/PPGeo.

In this work, we focus on instance-level open vocabulary segmentation, intending to expand a segmenter for instance-wise novel categories without mask annotations. We investigate a simple yet effective framework with the help of image captions, focusing on exploiting thousands of object nouns in captions to discover instances of novel classes. Rather than adopting pretrained caption models or using massive caption datasets with complex pipelines, we propose an end-to-end solution from two aspects: caption grounding and caption generation. In particular, we devise a joint Caption Grounding and Generation (CGG) framework based on a Mask Transformer baseline. The framework has a novel grounding loss that performs explicit and implicit multi-modal feature alignments. We further design a lightweight caption generation head to allow for additional caption supervision. We find that grounding and generation complement each other, significantly enhancing the segmentation performance for novel categories. We conduct extensive experiments on the COCO dataset with two settings: Open Vocabulary Instance Segmentation (OVIS) and Open Set Panoptic Segmentation (OSPS). The results demonstrate the superiority of our CGG framework over previous OVIS methods, achieving a large improvement of 6.8% mAP on novel classes without extra caption data. Our method also achieves over 15% PQ improvements for novel classes on the OSPS benchmark under various settings.

Nearest-Neighbor (NN) classification has been proven as a simple and effective approach for few-shot learning. The query data can be classified efficiently by finding the nearest support class based on features extracted by pretrained deep models. However, NN-based methods are sensitive to the data distribution and may produce false prediction if the samples in the support set happen to lie around the distribution boundary of different classes. To solve this issue, we present P3DC-Shot, an improved nearest-neighbor based few-shot classification method empowered by prior-driven data calibration. Inspired by the distribution calibration technique which utilizes the distribution or statistics of the base classes to calibrate the data for few-shot tasks, we propose a novel discrete data calibration operation which is more suitable for NN-based few-shot classification. Specifically, we treat the prototypes representing each base class as priors and calibrate each support data based on its similarity to different base prototypes. Then, we perform NN classification using these discretely calibrated support data. Results from extensive experiments on various datasets show our efficient non-learning based method can outperform or at least comparable to SOTA methods which need additional learning steps.

In this tutorial paper, we look into the evolution and prospect of network architecture and propose a novel conceptual architecture for the 6th generation (6G) networks. The proposed architecture has two key elements, i.e., holistic network virtualization and pervasive artificial intelligence (AI). The holistic network virtualization consists of network slicing and digital twin, from the aspects of service provision and service demand, respectively, to incorporate service-centric and user-centric networking. The pervasive network intelligence integrates AI into future networks from the perspectives of networking for AI and AI for networking, respectively. Building on holistic network virtualization and pervasive network intelligence, the proposed architecture can facilitate three types of interplay, i.e., the interplay between digital twin and network slicing paradigms, between model-driven and data-driven methods for network management, and between virtualization and AI, to maximize the flexibility, scalability, adaptivity, and intelligence for 6G networks. We also identify challenges and open issues related to the proposed architecture. By providing our vision, we aim to inspire further discussions and developments on the potential architecture of 6G.