In this work we present a fast occupancy map building approach based on the VDB datastructure. Existing log-odds based occupancy mapping systems are often not able to keep up with the high point densities and framerates of modern sensors. Therefore, we suggest a highly optimized approach based on a modern datastructure coming from a computer graphic background. A multithreaded insertion scheme allows occupancy map building at unprecedented speed. Multiple optimizations allow for a customizable tradeoff between runtime and map quality. We first demonstrate the effectiveness of the approach quantitatively on a set of ablation studies and typical benchmark sets, before we practically demonstrate the system using a legged robot and a UAV.

语义分割（CSS）的持续学习是一个快速新兴的领域，其中分割模型的功能通过学习新类或新域而逐渐改善。持续学习中的一个核心挑战是克服灾难性遗忘的影响，这是指在模型对新类或领域进行培训后，准确性突然下降了先前学习的任务。在持续分类中，通常通过重播以前任务中的少量样本来克服这种挑战，但是在CSS中很少考虑重播。因此，我们研究了各种重播策略对语义细分的影响，并在类和域内的环境中评估它们。我们的发现表明，在课堂开发环境中，至关重要的是，对于缓冲区中不同类别的不同类别的分布至关重要，以避免对新学习的班级产生偏见。在域内营养设置中，通过从学习特征表示的分布或通过中位熵选择样品来选择缓冲液样品是最有效的。最后，我们观察到，有效的抽样方法有助于减少早期层中的表示形式的变化，这是忘记域内收入学习的主要原因。

持续深度学习的领域是一个新兴领域，已经取得了很多进步。但是，同时仅根据图像分类的任务进行了大多数方法，这在智能车辆领域无关。直到最近才提出了班级开展语义分割的方法。但是，所有这些方法都是基于某种形式的知识蒸馏。目前，尚未对基于重播的方法进行调查，这些方法通常在连续的环境中用于对象识别。同时，尽管无监督的语义分割的域适应性获得了很多吸引力，但在持续环境中有关域内收入学习的调查并未得到充分研究。因此，我们工作的目的是评估和调整已建立的解决方案，以连续对象识别语义分割任务，并为连续语义分割的任务提供基线方法和评估协议。首先，我们介绍了类和域内的分割的评估协议，并分析了选定的方法。我们表明，语义分割变化的任务的性质在减轻与图像分类相比最有效的方法中最有效。特别是，在课堂学习中，学习知识蒸馏被证明是至关重要的工具，而在域内，学习重播方法是最有效的方法。

语义细分（CISS）的课堂学习学习目前是一个经过深入研究的领域，旨在通过依次学习新的语义类别来更新语义分割模型。 CISS中的一个主要挑战是克服灾难性遗忘的影响，这描述了在模型接受新的一组课程培训之后，先前学习的类的准确性突然下降。尽管在减轻灾难性遗忘方面取得了最新进展，但在CISS中特别遗忘的根本原因尚未得到很好的理解。因此，在一组实验和代表性分析中，我们证明了背景类别的语义转移和对新类别的偏见是忘记CISS的主要原因。此外，我们表明两者都在网络的更深层分类层中表现出来，而模型的早期层没有影响。最后，我们证明了如何利用背景中包含的信息在知识蒸馏和无偏见的跨透镜损失的帮助下有效地减轻两种原因。

在视频监视和时尚检索中，识别软性识别人行人属性至关重要。最近的作品在单个数据集上显示了有希望的结果。然而，这些方法在不同属性分布，观点，不同的照明和低分辨率下的概括能力很少因当前数据集中的强偏差和变化属性而很少被理解。为了缩小这一差距并支持系统的调查，我们介绍了UPAR，即统一的人属性识别数据集。它基于四个知名人士属性识别数据集：PA100K，PETA，RAPV2和Market1501。我们通过提供3300万个附加注释来统一这些数据集，以在整个数据集中统一40个属性类别的40个重要二进制属性。因此，我们首次对可概括的行人属性识别以及基于属性的人检索进行研究。由于图像分布，行人姿势，规模和遮挡的巨大差异，现有方法在准确性和效率方面都受到了极大的挑战。此外，我们基于对正则化方法的彻底分析，为基于PAR和属性的人检索开发了强大的基线。我们的模型在PA100K，PETA，RAPV2，Market1501-Atributes和UPAR上的跨域和专业设置中实现了最先进的性能。我们相信UPAR和我们的强大基线将为人工智能界做出贡献，并促进有关大规模，可推广属性识别系统的研究。

With the advent of Neural Style Transfer (NST), stylizing an image has become quite popular. A convenient way for extending stylization techniques to videos is by applying them on a per-frame basis. However, such per-frame application usually lacks temporal-consistency expressed by undesirable flickering artifacts. Most of the existing approaches for enforcing temporal-consistency suffers from one or more of the following drawbacks. They (1) are only suitable for a limited range of stylization techniques, (2) can only be applied in an offline fashion requiring the complete video as input, (3) cannot provide consistency for the task of stylization, or (4) do not provide interactive consistency-control. Note that existing consistent video-filtering approaches aim to completely remove flickering artifacts and thus do not respect any specific consistency-control aspect. For stylization tasks, however, consistency-control is an essential requirement where a certain amount of flickering can add to the artistic look and feel. Moreover, making this control interactive is paramount from a usability perspective. To achieve the above requirements, we propose an approach that can stylize video streams while providing interactive consistency-control. Apart from stylization, our approach also supports various other image processing filters. For achieving interactive performance, we develop a lite optical-flow network that operates at 80 Frames per second (FPS) on desktop systems with sufficient accuracy. We show that the final consistent video-output using our flow network is comparable to that being obtained using state-of-the-art optical-flow network. Further, we employ an adaptive combination of local and global consistent features and enable interactive selection between the two. By objective and subjective evaluation, we show that our method is superior to state-of-the-art approaches.

Meta Learning automates the search for learning algorithms. At the same time, it creates a dependency on human engineering on the meta-level, where meta learning algorithms need to be designed. In this paper, we investigate self-referential meta learning systems that modify themselves without the need for explicit meta optimization. We discuss the relationship of such systems to in-context and memory-based meta learning and show that self-referential neural networks require functionality to be reused in the form of parameter sharing. Finally, we propose fitness monotonic execution (FME), a simple approach to avoid explicit meta optimization. A neural network self-modifies to solve bandit and classic control tasks, improves its self-modifications, and learns how to learn, purely by assigning more computational resources to better performing solutions.

There are two important things in science: (A) Finding answers to given questions, and (B) Coming up with good questions. Our artificial scientists not only learn to answer given questions, but also continually invent new questions, by proposing hypotheses to be verified or falsified through potentially complex and time-consuming experiments, including thought experiments akin to those of mathematicians. While an artificial scientist expands its knowledge, it remains biased towards the simplest, least costly experiments that still have surprising outcomes, until they become boring. We present an empirical analysis of the automatic generation of interesting experiments. In the first setting, we investigate self-invented experiments in a reinforcement-providing environment and show that they lead to effective exploration. In the second setting, pure thought experiments are implemented as the weights of recurrent neural networks generated by a neural experiment generator. Initially interesting thought experiments may become boring over time.

Capturing large fields of view with only one camera is an important aspect in surveillance and automotive applications, but the wide-angle fisheye imagery thus obtained exhibits very special characteristics that may not be very well suited for typical image and video processing methods such as motion estimation. This paper introduces a motion estimation method that adapts to the typical radial characteristics of fisheye video sequences by making use of an equisolid re-projection after moving part of the motion vector search into the perspective domain via a corresponding back-projection. By combining this approach with conventional translational motion estimation and compensation, average gains in luminance PSNR of up to 1.14 dB are achieved for synthetic fish-eye sequences and up to 0.96 dB for real-world data. Maximum gains for selected frame pairs amount to 2.40 dB and 1.39 dB for synthetic and real-world data, respectively.

The extensive surviving corpus of the ancient scholar Plutarch of Chaeronea (ca. 45-120 CE) also contains several texts which, according to current scholarly opinion, did not originate with him and are therefore attributed to an anonymous author Pseudo-Plutarch. These include, in particular, the work Placita Philosophorum (Quotations and Opinions of the Ancient Philosophers), which is extremely important for the history of ancient philosophy. Little is known about the identity of that anonymous author and its relation to other authors from the same period. This paper presents a BERT language model for Ancient Greek. The model discovers previously unknown statistical properties relevant to these literary, philosophical, and historical problems and can shed new light on this authorship question. In particular, the Placita Philosophorum, together with one of the other Pseudo-Plutarch texts, shows similarities with the texts written by authors from an Alexandrian context (2nd/3rd century CE).