无源的无监督域适应性（SFUDA）旨在使用预训练的源模型而不是源数据来获得未标记的目标域中的高性能。现有的SFUDA方法为所有目标样本分配了相同的重要性，这很容易受到错误的伪标记。为了区分样本重要性，在这项研究中，我们提出了一个新的样本置信度评分，即SFUDA的联合模型数据结构（JMDS）得分。与仅使用源或目标域知识之一的现有置信分数不同，JMDS分数都使用了两种知识。然后，我们建议使用SFUDA的JMDS（COWA-JMDS）框架进行置信度评分适应。 COWA-JMD由JMDS分数作为样品重量和权重混合，这是我们提出的混合变体。重量混合促进该模型更多地利用目标域知识。实验结果表明，JMDS得分的表现优于现有的置信得分。此外，Cowa-JMDS在各种SFUDA方案：封闭，开放和部分集合方案中实现最先进的表现。

Masked language modeling (MLM) has been widely used for pre-training effective bidirectional representations, but incurs substantial training costs. In this paper, we propose a novel concept-based curriculum masking (CCM) method to efficiently pre-train a language model. CCM has two key differences from existing curriculum learning approaches to effectively reflect the nature of MLM. First, we introduce a carefully-designed linguistic difficulty criterion that evaluates the MLM difficulty of each token. Second, we construct a curriculum that gradually masks words related to the previously masked words by retrieving a knowledge graph. Experimental results show that CCM significantly improves pre-training efficiency. Specifically, the model trained with CCM shows comparative performance with the original BERT on the General Language Understanding Evaluation benchmark at half of the training cost.

Inspired by the impressive performance of recent face image editing methods, several studies have been naturally proposed to extend these methods to the face video editing task. One of the main challenges here is temporal consistency among edited frames, which is still unresolved. To this end, we propose a novel face video editing framework based on diffusion autoencoders that can successfully extract the decomposed features - for the first time as a face video editing model - of identity and motion from a given video. This modeling allows us to edit the video by simply manipulating the temporally invariant feature to the desired direction for the consistency. Another unique strength of our model is that, since our model is based on diffusion models, it can satisfy both reconstruction and edit capabilities at the same time, and is robust to corner cases in wild face videos (e.g. occluded faces) unlike the existing GAN-based methods.

We present a robust, privacy-preserving visual localization algorithm using event cameras. While event cameras can potentially make robust localization due to high dynamic range and small motion blur, the sensors exhibit large domain gaps making it difficult to directly apply conventional image-based localization algorithms. To mitigate the gap, we propose applying event-to-image conversion prior to localization which leads to stable localization. In the privacy perspective, event cameras capture only a fraction of visual information compared to normal cameras, and thus can naturally hide sensitive visual details. To further enhance the privacy protection in our event-based pipeline, we introduce privacy protection at two levels, namely sensor and network level. Sensor level protection aims at hiding facial details with lightweight filtering while network level protection targets hiding the entire user's view in private scene applications using a novel neural network inference pipeline. Both levels of protection involve light-weight computation and incur only a small performance loss. We thus project our method to serve as a building block for practical location-based services using event cameras. The code and dataset will be made public through the following link: https://github.com/82magnolia/event_localization.

Most scanning LiDAR sensors generate a sequence of point clouds in real-time. While conventional 3D object detectors use a set of unordered LiDAR points acquired over a fixed time interval, recent studies have revealed that substantial performance improvement can be achieved by exploiting the spatio-temporal context present in a sequence of LiDAR point sets. In this paper, we propose a novel 3D object detection architecture, which can encode LiDAR point cloud sequences acquired by multiple successive scans. The encoding process of the point cloud sequence is performed on two different time scales. We first design a short-term motion-aware voxel encoding that captures the short-term temporal changes of point clouds driven by the motion of objects in each voxel. We also propose long-term motion-guided bird's eye view (BEV) feature enhancement that adaptively aligns and aggregates the BEV feature maps obtained by the short-term voxel encoding by utilizing the dynamic motion context inferred from the sequence of the feature maps. The experiments conducted on the public nuScenes benchmark demonstrate that the proposed 3D object detector offers significant improvements in performance compared to the baseline methods and that it sets a state-of-the-art performance for certain 3D object detection categories. Code is available at https://github.com/HYjhkoh/MGTANet.git

The Modboat is a low-cost, underactuated, modular robot capable of surface swimming, docking to other modules, and undocking from them using only a single motor and two passive flippers. Undocking is achieved by causing intentional self-collision between the tails of neighboring modules in certain configurations; this becomes a challenge, however, when collective swimming as one connected component is desirable. Prior work has developed controllers that turn arbitrary configurations of docked Modboats into steerable vehicles, but they cannot counteract lateral forces and disturbances. In this work we present a centralized control strategy to create holonomic vehicles out of arbitrary configurations of docked Modboats using an iterative potential-field based search. We experimentally demonstrate that our controller performs well and can control surge and sway velocities and yaw angle simultaneously.

We propose a domain adaptation method, MoDA, which adapts a pretrained embodied agent to a new, noisy environment without ground-truth supervision. Map-based memory provides important contextual information for visual navigation, and exhibits unique spatial structure mainly composed of flat walls and rectangular obstacles. Our adaptation approach encourages the inherent regularities on the estimated maps to guide the agent to overcome the prevalent domain discrepancy in a novel environment. Specifically, we propose an efficient learning curriculum to handle the visual and dynamics corruptions in an online manner, self-supervised with pseudo clean maps generated by style transfer networks. Because the map-based representation provides spatial knowledge for the agent's policy, our formulation can deploy the pretrained policy networks from simulators in a new setting. We evaluate MoDA in various practical scenarios and show that our proposed method quickly enhances the agent's performance in downstream tasks including localization, mapping, exploration, and point-goal navigation.

We present a dataset generator engine named Web-based Visual Corpus Builder (Webvicob). Webvicob can readily construct a large-scale visual corpus (i.e., images with text annotations) from a raw Wikipedia HTML dump. In this report, we validate that Webvicob-generated data can cover a wide range of context and knowledge and helps practitioners to build a powerful Visual Document Understanding (VDU) backbone. The proposed engine is publicly available at https://github.com/clovaai/webvicob.

Robotics has been widely applied in smart construction for generating the digital twin or for autonomous inspection of construction sites. For example, for thermal inspection during concrete curing, continual monitoring of the concrete temperature is required to ensure concrete strength and to avoid cracks. However, buildings are typically too large to be monitored by installing fixed thermal cameras, and post-processing is required to compute the accumulated heat of each measurement point. Thus, by using an autonomous monitoring system with the capability of long-term thermal mapping at a large construction site, both cost-effectiveness and a precise safety margin of the curing period estimation can be acquired. Therefore, this study proposes a low-cost thermal mapping system consisting of a 2D range scanner attached to a consumer-level inertial measurement unit and a thermal camera for automated heat monitoring in construction using mobile robots.

MODBOAT是一种低成本，不足的模块化机器人，能够进行表面游泳，停靠到其他模块，并仅使用一个电动机和两个被动式拖鞋从中脱落。通过在某些配置中引起相邻模块的尾巴之间的故意自我碰撞来实现撤消；但是，当集体游泳作为一个连接的组件是理想的时，这将成为一个挑战。在这项工作中，我们制定了一种集中式控制策略，以允许\ textit {任意}配置Modboats作为单个可通道的车辆游泳，并保证不会意外撤离。我们还提出了一个简化的模型，用于在实时控制的配置中以船只之间的流体动力相互作用。我们在实验上证明，我们的控制器的性能很好，对于各种尺寸和形状的配置都是一致的，并且可以同时控制潮流速度和偏航角。游泳时保持可控性，但是纯偏航控制会导致侧向运动，而横向运动不能被提出的框架抵消。