In the future, service robots are expected to be able to operate autonomously for long periods of time without human intervention. Many work striving for this goal have been emerging with the development of robotics, both hardware and software. Today we believe that an important underpinning of long-term robot autonomy is the ability of robots to learn on site and on-the-fly, especially when they are deployed in changing environments or need to traverse different environments. In this paper, we examine the problem of long-term autonomy from the perspective of robot learning, especially in an online way, and discuss in tandem its premise "data" and the subsequent "deployment".

The most useful data mining primitives are distance measures. With an effective distance measure, it is possible to perform classification, clustering, anomaly detection, segmentation, etc. For single-event time series Euclidean Distance and Dynamic Time Warping distance are known to be extremely effective. However, for time series containing cyclical behaviors, the semantic meaningfulness of such comparisons is less clear. For example, on two separate days the telemetry from an athlete workout routine might be very similar. The second day may change the order in of performing push-ups and squats, adding repetitions of pull-ups, or completely omitting dumbbell curls. Any of these minor changes would defeat existing time series distance measures. Some bag-of-features methods have been proposed to address this problem, but we argue that in many cases, similarity is intimately tied to the shapes of subsequences within these longer time series. In such cases, summative features will lack discrimination ability. In this work we introduce PRCIS, which stands for Pattern Representation Comparison in Series. PRCIS is a distance measure for long time series, which exploits recent progress in our ability to summarize time series with dictionaries. We will demonstrate the utility of our ideas on diverse tasks and datasets.

This work explores an efficient approach to establish a foundational video-text model for tasks including open-vocabulary video classification, text-to-video retrieval, video captioning and video question-answering. We present VideoCoCa that reuses a pretrained image-text contrastive captioner (CoCa) model and adapt it to video-text tasks with minimal extra training. While previous works adapt image-text models with various cross-frame fusion modules (for example, cross-frame attention layer or perceiver resampler) and finetune the modified architecture on video-text data, we surprisingly find that the generative attentional pooling and contrastive attentional pooling layers in the image-text CoCa design are instantly adaptable to ``flattened frame embeddings'', yielding a strong zero-shot transfer baseline for many video-text tasks. Specifically, the frozen image encoder of a pretrained image-text CoCa takes each video frame as inputs and generates \(N\) token embeddings per frame for totally \(T\) video frames. We flatten \(N \times T\) token embeddings as a long sequence of frozen video representation and apply CoCa's generative attentional pooling and contrastive attentional pooling on top. All model weights including pooling layers are directly loaded from an image-text CoCa pretrained model. Without any video or video-text data, VideoCoCa's zero-shot transfer baseline already achieves state-of-the-art results on zero-shot video classification on Kinetics 400/600/700, UCF101, HMDB51, and Charades, as well as zero-shot text-to-video retrieval on MSR-VTT and ActivityNet Captions. We also explore lightweight finetuning on top of VideoCoCa, and achieve strong results on video question-answering (iVQA, MSRVTT-QA, MSVD-QA) and video captioning (MSR-VTT, ActivityNet, Youcook2). Our approach establishes a simple and effective video-text baseline for future research.

Scene text spotting is of great importance to the computer vision community due to its wide variety of applications. Recent methods attempt to introduce linguistic knowledge for challenging recognition rather than pure visual classification. However, how to effectively model the linguistic rules in end-to-end deep networks remains a research challenge. In this paper, we argue that the limited capacity of language models comes from 1) implicit language modeling; 2) unidirectional feature representation; and 3) language model with noise input. Correspondingly, we propose an autonomous, bidirectional and iterative ABINet++ for scene text spotting. Firstly, the autonomous suggests enforcing explicitly language modeling by decoupling the recognizer into vision model and language model and blocking gradient flow between both models. Secondly, a novel bidirectional cloze network (BCN) as the language model is proposed based on bidirectional feature representation. Thirdly, we propose an execution manner of iterative correction for the language model which can effectively alleviate the impact of noise input. Finally, to polish ABINet++ in long text recognition, we propose to aggregate horizontal features by embedding Transformer units inside a U-Net, and design a position and content attention module which integrates character order and content to attend to character features precisely. ABINet++ achieves state-of-the-art performance on both scene text recognition and scene text spotting benchmarks, which consistently demonstrates the superiority of our method in various environments especially on low-quality images. Besides, extensive experiments including in English and Chinese also prove that, a text spotter that incorporates our language modeling method can significantly improve its performance both in accuracy and speed compared with commonly used attention-based recognizers.

Video super-resolution is one of the most popular tasks on mobile devices, being widely used for an automatic improvement of low-bitrate and low-resolution video streams. While numerous solutions have been proposed for this problem, they are usually quite computationally demanding, demonstrating low FPS rates and power efficiency on mobile devices. In this Mobile AI challenge, we address this problem and propose the participants to design an end-to-end real-time video super-resolution solution for mobile NPUs optimized for low energy consumption. The participants were provided with the REDS training dataset containing video sequences for a 4X video upscaling task. The runtime and power efficiency of all models was evaluated on the powerful MediaTek Dimensity 9000 platform with a dedicated AI processing unit capable of accelerating floating-point and quantized neural networks. All proposed solutions are fully compatible with the above NPU, demonstrating an up to 500 FPS rate and 0.2 [Watt / 30 FPS] power consumption. A detailed description of all models developed in the challenge is provided in this paper.

Image super-resolution is a common task on mobile and IoT devices, where one often needs to upscale and enhance low-resolution images and video frames. While numerous solutions have been proposed for this problem in the past, they are usually not compatible with low-power mobile NPUs having many computational and memory constraints. In this Mobile AI challenge, we address this problem and propose the participants to design an efficient quantized image super-resolution solution that can demonstrate a real-time performance on mobile NPUs. The participants were provided with the DIV2K dataset and trained INT8 models to do a high-quality 3X image upscaling. The runtime of all models was evaluated on the Synaptics VS680 Smart Home board with a dedicated edge NPU capable of accelerating quantized neural networks. All proposed solutions are fully compatible with the above NPU, demonstrating an up to 60 FPS rate when reconstructing Full HD resolution images. A detailed description of all models developed in the challenge is provided in this paper.

反转合是药物发现的主要任务。通过许多现有方法，它被称为生成图的问题。具体而言，这些方法首先识别反应中心，并相应地打破靶分子以生成合成子。反应物是通过顺序添加到合成图或直接添加正确的离开组来生成反应物。但是，两种策略都遭受了添加原子以来会导致长期的预测顺序，从而增加了产生难度，同时添加离开组只能考虑训练集中的序列，从而导致概括不佳。在本文中，我们提出了一个新颖的端到端图生成模型，用于逆转录合成预测，该模型顺序识别反应中心，生成合成子，并将基序添加到合成子中以生成反应物。由于化学有意义的基序比原子大，比离开组还小，因此与添加原子相比，与添加离开组相比，我们的方法的预测复杂性较低。基准数据集上的实验表明，所提出的模型显着胜过先前的最新算法。

TOR（洋葱路由器）网络是一种广泛使用的开源匿名通信工具，滥用Tor使得很难监视在线犯罪的扩散，例如访问犯罪网站。大多数现有的TOR网络去匿名化的批准都在很大程度上依赖手动提取的功能，从而导致耗时和性能差。为了解决这些缺点，本文提出了一种神经表示方法，以根据分类算法识别网站指纹。我们构建了一个基于卷积神经网络（CNN）的新网站指纹攻击模型，并通过扩张和因果卷积，可以改善CNN的感知场并捕获输入数据的顺序特征。三个主流公共数据集的实验表明，与最先进的方法相比，提出的模型对网站指纹分类非常有效且有效，并将准确性提高了12.21％。

视频时间基础（VTG）的目标是根据自然语言（NL）描述在未修剪视频中定位时间矩。由于现实世界的应用程序提供了永无止境的视频流，因此它提出了对长形视频的时间基础的需求，这导致了两个主要挑战：（1）长视频长度使得很难处理整个视频而不减少样本速率并导致高计算负担； （2）随着候选时间的增加数量，准确的多模式对准更具挑战性。为了应对这些挑战，我们提出了一个有效的以窗户为中心的粗略对齐框架，它可以灵活地处理具有较高推理速度的长格式视频输入，并通过我们的新颖的Choce-Fine Muly-Fine增强了时间基础模态对齐框架。具体来说，我们通过滑动窗口方法将长视频将长视频切成候选窗口。 Cone（1）以窗户为中心，通过对比度学习和通过对NL查询相关的候选窗口进行过滤来学习窗口间的（粗粒）语义差异，并且（2）执行内部（罚款） - 使用强大的对比视力文本预训练模型的强大多模式对齐能力对候选力矩进行排名。长期视频的两个大规模VTG基准测试的广泛实验始终显示出可观的性能增长（MAD的3.13％至6.87％，从10.46％到EGO4D-NLQ上的10.46％至13.46％），并且Cone在两个数据集上都可以达到SOTA结果。分析揭示了组件的有效性和长期视频接地的效率较高，因为我们的系统在EGO4D-NLQ上提高了2倍的推理速度，而在MAD上提高了15倍的速度，同时保持了锥体的SOTA性能。

在卷积神经网络（CNN）的动力下，医学图像分类迅速发展。由于卷积内核的接受场的固定尺寸，很难捕获医学图像的全局特征。尽管基于自发的变压器可以对远程依赖性进行建模，但它具有很高的计算复杂性，并且缺乏局部电感偏见。许多研究表明，全球和本地特征对于图像分类至关重要。但是，医学图像具有许多嘈杂，分散的特征，类内的变化和类间的相似性。本文提出了三个分支分层的多尺度特征融合网络结构，称为医学图像分类为新方法。它可以融合多尺度层次结构的变压器和CNN的优势，而不会破坏各自的建模，从而提高各种医学图像的分类精度。局部和全局特征块的平行层次结构旨在有效地提取各种语义尺度的本地特征和全局表示，并灵活地在不同的尺度上建模，并与图像大小相关的线性计算复杂性。此外，自适应分层特征融合块（HFF块）旨在全面利用在不同层次级别获得的功能。 HFF块包含空间注意力，通道注意力，残留的倒置MLP和快捷方式，以在每个分支的各个规模特征之间适应融合语义信息。我们在ISIC2018数据集上提出的模型的准确性比基线高7.6％，COVID-19数据集的准确性为21.5％，Kvasir数据集的准确性为10.4％。与其他高级模型相比，HIFUSE模型表现最好。我们的代码是开源的，可从https://github.com/huoxiangzuo/hifuse获得。