在跨越监督分类和顺序控制的应用程序中，据报道，深度学习发现了“快捷方式”解决方案，这些解决方案在数据分布的较小变化下灾难性地失败。在本文中，我们从经验上表明，可以通过提供从关键输入特征计算出的其他“启动”功能，通常是粗略的输出估计，以避免DNNs诱发了差异。启动依赖于这些与任务相关的关键输入特征的近似域知识，在实际设置中通常很容易获得。例如，可以将最近的帧优先于过去的视频输入中，以进行视觉模仿学习，或者在背景像素上进行图像分类的明显前景。关于NICO图像分类，Mujoco连续控制和Carla自动驾驶，我们的启动策略的效果要比几种流行的最先进的方法来选择和数据增强。我们将这些经验发现与DNN优化的最新理论结果联系起来，并从理论上说，启动启动通过创建更好，更简单的快捷方式来分散优化器的注意力。

过去几年的技术创新的巨大浪潮，标志着AI技术的进展，是深刻的重塑行业和社会。然而，在路上，一个关键的挑战等待着我们，即我们满足快速增长的情景的能力的能力受到收购培训数据的成本的严重限制。由于主流学习范式的局限性，这一困难的局面是基于主流学习范式的局限性：我们需要根据大量注释的数据以及通常从头来训练每个新场景的新模型。在解决这一基本问题时，我们超越并开发一个名为实习生的新学习范式。通过在多个阶段的来自多个来源的监控信号学习，培训的模型将产生强大的相互性。我们在26个众所周知的数据集中评估我们的模型，该数据集涵盖计算机视觉中的四类任务。在大多数情况下，我们的模型仅适用于目标域中的培训数据的10％，始终以完整的数据培训的对应物，通常由显着的边距。这是一个重要前景的重要一步，其中具有一般视觉能力的这种模型可以大大降低对数据的依赖，从而加速通过AI技术的采用。此外，围绕我们的新范式旋转，我们还介绍了一个新的数据系统，新的架构和新的基准，以及一起形成一般愿景生态系统，以开放和包容性的方式支持其未来的发展。

We propose Hierarchical ProtoPNet: an interpretable network that explains its reasoning process by considering the hierarchical relationship between classes. Different from previous methods that explain their reasoning process by dissecting the input image and finding the prototypical parts responsible for the classification, we propose to explain the reasoning process for video action classification by dissecting the input video frames on multiple levels of the class hierarchy. The explanations leverage the hierarchy to deal with uncertainty, akin to human reasoning: When we observe water and human activity, but no definitive action it can be recognized as the water sports parent class. Only after observing a person swimming can we definitively refine it to the swimming action. Experiments on ActivityNet and UCF-101 show performance improvements while providing multi-level explanations.

Sparse principal component analysis (SPCA) has been widely used for dimensionality reduction and feature extraction in high-dimensional data analysis. Despite there are many methodological and theoretical developments in the past two decades, the theoretical guarantees of the popular SPCA algorithm proposed by Zou, Hastie & Tibshirani (2006) based on the elastic net are still unknown. We aim to close this important theoretical gap in this paper. We first revisit the SPCA algorithm of Zou et al. (2006) and present our implementation. Also, we study a computationally more efficient variant of the SPCA algorithm in Zou et al. (2006) that can be considered as the limiting case of SPCA. We provide the guarantees of convergence to a stationary point for both algorithms. We prove that, under a sparse spiked covariance model, both algorithms can recover the principal subspace consistently under mild regularity conditions. We show that their estimation error bounds match the best available bounds of existing works or the minimax rates up to some logarithmic factors. Moreover, we demonstrate the numerical performance of both algorithms in simulation studies.

Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncertainty. One main difficulty is to determine contact points and directions, which involves joint logic and geometrical reasoning in the modes of the dynamics model. To tackle this issue, we propose a demonstration-guided hierarchical optimization framework to achieve offline task and motion planning (TAMP). Our work extends the formulation of the dynamics model of the pusher-slider system to include separation mode with face switching cases, and solves a warm-started TAMP problem by exploiting human demonstrations. We show that our approach can cope well with the local minima problems currently present in the state-of-the-art solvers and determine a valid solution to the task. We validate our results in simulation and demonstrate its applicability on a pusher-slider system with real Franka Emika robot in the presence of external disturbances.

Human modeling and relighting are two fundamental problems in computer vision and graphics, where high-quality datasets can largely facilitate related research. However, most existing human datasets only provide multi-view human images captured under the same illumination. Although valuable for modeling tasks, they are not readily used in relighting problems. To promote research in both fields, in this paper, we present UltraStage, a new 3D human dataset that contains more than 2K high-quality human assets captured under both multi-view and multi-illumination settings. Specifically, for each example, we provide 32 surrounding views illuminated with one white light and two gradient illuminations. In addition to regular multi-view images, gradient illuminations help recover detailed surface normal and spatially-varying material maps, enabling various relighting applications. Inspired by recent advances in neural representation, we further interpret each example into a neural human asset which allows novel view synthesis under arbitrary lighting conditions. We show our neural human assets can achieve extremely high capture performance and are capable of representing fine details such as facial wrinkles and cloth folds. We also validate UltraStage in single image relighting tasks, training neural networks with virtual relighted data from neural assets and demonstrating realistic rendering improvements over prior arts. UltraStage will be publicly available to the community to stimulate significant future developments in various human modeling and rendering tasks.

Ongoing risks from climate change have impacted the livelihood of global nomadic communities, and are likely to lead to increased migratory movements in coming years. As a result, mobility considerations are becoming increasingly important in energy systems planning, particularly to achieve energy access in developing countries. Advanced Plug and Play control strategies have been recently developed with such a decentralized framework in mind, more easily allowing for the interconnection of nomadic communities, both to each other and to the main grid. In light of the above, the design and planning strategy of a mobile multi-energy supply system for a nomadic community is investigated in this work. Motivated by the scale and dimensionality of the associated uncertainties, impacting all major design and decision variables over the 30-year planning horizon, Deep Reinforcement Learning (DRL) is implemented for the design and planning problem tackled. DRL based solutions are benchmarked against several rigid baseline design options to compare expected performance under uncertainty. The results on a case study for ger communities in Mongolia suggest that mobile nomadic energy systems can be both technically and economically feasible, particularly when considering flexibility, although the degree of spatial dispersion among households is an important limiting factor. Key economic, sustainability and resilience indicators such as Cost, Equivalent Emissions and Total Unmet Load are measured, suggesting potential improvements compared to available baselines of up to 25%, 67% and 76%, respectively. Finally, the decomposition of values of flexibility and plug and play operation is presented using a variation of real options theory, with important implications for both nomadic communities and policymakers focused on enabling their energy access.

Event cameras, offering high temporal resolutions and high dynamic ranges, have brought a new perspective to address common challenges (e.g., motion blur and low light) in monocular depth estimation. However, how to effectively exploit the sparse spatial information and rich temporal cues from asynchronous events remains a challenging endeavor. To this end, we propose a novel event-based monocular depth estimator with recurrent transformers, namely EReFormer, which is the first pure transformer with a recursive mechanism to process continuous event streams. Technically, for spatial modeling, a novel transformer-based encoder-decoder with a spatial transformer fusion module is presented, having better global context information modeling capabilities than CNN-based methods. For temporal modeling, we design a gate recurrent vision transformer unit that introduces a recursive mechanism into transformers, improving temporal modeling capabilities while alleviating the expensive GPU memory cost. The experimental results show that our EReFormer outperforms state-of-the-art methods by a margin on both synthetic and real-world datasets. We hope that our work will attract further research to develop stunning transformers in the event-based vision community. Our open-source code can be found in the supplemental material.

Recently, Bird's-Eye-View (BEV) representation has gained increasing attention in multi-view 3D object detection, which has demonstrated promising applications in autonomous driving. Although multi-view camera systems can be deployed at low cost, the lack of depth information makes current approaches adopt large models for good performance. Therefore, it is essential to improve the efficiency of BEV 3D object detection. Knowledge Distillation (KD) is one of the most practical techniques to train efficient yet accurate models. However, BEV KD is still under-explored to the best of our knowledge. Different from image classification tasks, BEV 3D object detection approaches are more complicated and consist of several components. In this paper, we propose a unified framework named BEV-LGKD to transfer the knowledge in the teacher-student manner. However, directly applying the teacher-student paradigm to BEV features fails to achieve satisfying results due to heavy background information in RGB cameras. To solve this problem, we propose to leverage the localization advantage of LiDAR points. Specifically, we transform the LiDAR points to BEV space and generate the foreground mask and view-dependent mask for the teacher-student paradigm. It is to be noted that our method only uses LiDAR points to guide the KD between RGB models. As the quality of depth estimation is crucial for BEV perception, we further introduce depth distillation to our framework. Our unified framework is simple yet effective and achieves a significant performance boost. Code will be released.

Background and Purpose: Colorectal cancer is a common fatal malignancy, the fourth most common cancer in men, and the third most common cancer in women worldwide. Timely detection of cancer in its early stages is essential for treating the disease. Currently, there is a lack of datasets for histopathological image segmentation of rectal cancer, which often hampers the assessment accuracy when computer technology is used to aid in diagnosis. Methods: This present study provided a new publicly available Enteroscope Biopsy Histopathological Hematoxylin and Eosin Image Dataset for Image Segmentation Tasks (EBHI-Seg). To demonstrate the validity and extensiveness of EBHI-Seg, the experimental results for EBHI-Seg are evaluated using classical machine learning methods and deep learning methods. Results: The experimental results showed that deep learning methods had a better image segmentation performance when utilizing EBHI-Seg. The maximum accuracy of the Dice evaluation metric for the classical machine learning method is 0.948, while the Dice evaluation metric for the deep learning method is 0.965. Conclusion: This publicly available dataset contained 5,170 images of six types of tumor differentiation stages and the corresponding ground truth images. The dataset can provide researchers with new segmentation algorithms for medical diagnosis of colorectal cancer, which can be used in the clinical setting to help doctors and patients.