组合多个传感器使机器人能够最大程度地提高其对环境的感知意识，并增强其对外部干扰的鲁棒性，对机器人导航至关重要。本文提出了可融合的基准测试，这是一个完整的多传感器数据集，具有多种移动机器人序列。本文提出了三项贡献。我们首先推进便携式和通用的多传感器套件，可提供丰富的感官测量值：10Hz激光镜点云，20Hz立体声框架图像，来自立体声事件相机的高速率和异步事件，来自IMU的200Hz惯性读数以及10Hz GPS信号。传感器已经在硬件中暂时同步。该设备轻巧，独立，并为移动机器人提供插件支持。其次，我们通过收集17个序列来构建数据集，该序列通过利用多个机器人平台进行数据收集来涵盖校园上各种环境。一些序列对现有的SLAM算法具有挑战性。第三，我们为将本地化和映射绩效评估提供了基础真理。我们还评估最新的大满贯方法并确定其局限性。该数据集将发布由原始传感器的设置，地面真相，校准数据和评估算法组成：https：//ram-lab.com/file/site/site/multi-sensor-dataset。

分类激活图（CAM），利用分类结构来生成像素定位图，是弱监督物体定位（WSOL）的关键机制。但是，CAM直接使用对图像级特征训练的分类器来定位对象，从而更喜欢辨别全局歧视性因素，而不是区域对象提示。因此，在将像素级特征馈入此分类器时，只有判别位置才能激活。为了解决此问题，本文详细阐述了一种称为Bagcams的插件机制，以更好地投射训练有素的本地化任务分类器，而无需完善或重新训练基线结构。我们的手袋采用了拟议的区域定位器（RLG）策略来定义一组区域本地化，然后从训练有素的分类器中得出。这些区域本地化可以被视为基础学习者，只能辨别出针对本地化任务的区域对象因素，而我们的袋子可以有效地加权其结果以形成最终的本地化图。实验表明，采用我们提出的口袋可以在很大程度上提高基线WSOL方法的性能，并在三个WSOL基准上获得最先进的性能。代码可在https://github.com/zh460045050/bagcams上发布。

通过使用图像级分类掩模监督其学习过程，弱监督对象本地化（WSOL）放宽对对象本地化的密度注释的要求。然而，当前的WSOL方法遭受背景位置的过度激活，并且需要后处理以获得定位掩模。本文将这些问题归因于背景提示的不明显，并提出了背景感知分类激活映射（B-CAM），以便仅使用图像级标签同时学习对象和背景的本地化分数。在我们的B-CAM中，两个图像级功能，由潜在背景和对象位置的像素级别功能聚合，用于从对象相关的背景中净化对象功能，并表示纯背景样本的功能，分别。然后基于这两个特征，学习对象分类器和背景分类器，以确定二进制对象本地化掩码。我们的B-CAM可以基于提出的错开分类损失以端到端的方式培训，这不仅可以改善对象本地化，而且还抑制了背景激活。实验表明，我们的B-CAM在Cub-200，OpenImages和VOC2012数据集上优于一级WSOL方法。

Optical coherence tomography (OCT) captures cross-sectional data and is used for the screening, monitoring, and treatment planning of retinal diseases. Technological developments to increase the speed of acquisition often results in systems with a narrower spectral bandwidth, and hence a lower axial resolution. Traditionally, image-processing-based techniques have been utilized to reconstruct subsampled OCT data and more recently, deep-learning-based methods have been explored. In this study, we simulate reduced axial scan (A-scan) resolution by Gaussian windowing in the spectral domain and investigate the use of a learning-based approach for image feature reconstruction. In anticipation of the reduced resolution that accompanies wide-field OCT systems, we build upon super-resolution techniques to explore methods to better aid clinicians in their decision-making to improve patient outcomes, by reconstructing lost features using a pixel-to-pixel approach with an altered super-resolution generative adversarial network (SRGAN) architecture.

We introduce a new tool for stochastic convex optimization (SCO): a Reweighted Stochastic Query (ReSQue) estimator for the gradient of a function convolved with a (Gaussian) probability density. Combining ReSQue with recent advances in ball oracle acceleration [CJJJLST20, ACJJS21], we develop algorithms achieving state-of-the-art complexities for SCO in parallel and private settings. For a SCO objective constrained to the unit ball in $\mathbb{R}^d$, we obtain the following results (up to polylogarithmic factors). We give a parallel algorithm obtaining optimization error $\epsilon_{\text{opt}}$ with $d^{1/3}\epsilon_{\text{opt}}^{-2/3}$ gradient oracle query depth and $d^{1/3}\epsilon_{\text{opt}}^{-2/3} + \epsilon_{\text{opt}}^{-2}$ gradient queries in total, assuming access to a bounded-variance stochastic gradient estimator. For $\epsilon_{\text{opt}} \in [d^{-1}, d^{-1/4}]$, our algorithm matches the state-of-the-art oracle depth of [BJLLS19] while maintaining the optimal total work of stochastic gradient descent. We give an $(\epsilon_{\text{dp}}, \delta)$-differentially private algorithm which, given $n$ samples of Lipschitz loss functions, obtains near-optimal optimization error and makes $\min(n, n^2\epsilon_{\text{dp}}^2 d^{-1}) + \min(n^{4/3}\epsilon_{\text{dp}}^{1/3}, (nd)^{2/3}\epsilon_{\text{dp}}^{-1})$ queries to the gradients of these functions. In the regime $d \le n \epsilon_{\text{dp}}^{2}$, where privacy comes at no cost in terms of the optimal loss up to constants, our algorithm uses $n + (nd)^{2/3}\epsilon_{\text{dp}}^{-1}$ queries and improves recent advancements of [KLL21, AFKT21]. In the moderately low-dimensional setting $d \le \sqrt n \epsilon_{\text{dp}}^{3/2}$, our query complexity is near-linear.

Cashews are grown by over 3 million smallholders in more than 40 countries worldwide as a principal source of income. As the third largest cashew producer in Africa, Benin has nearly 200,000 smallholder cashew growers contributing 15% of the country's national export earnings. However, a lack of information on where and how cashew trees grow across the country hinders decision-making that could support increased cashew production and poverty alleviation. By leveraging 2.4-m Planet Basemaps and 0.5-m aerial imagery, newly developed deep learning algorithms, and large-scale ground truth datasets, we successfully produced the first national map of cashew in Benin and characterized the expansion of cashew plantations between 2015 and 2021. In particular, we developed a SpatioTemporal Classification with Attention (STCA) model to map the distribution of cashew plantations, which can fully capture texture information from discriminative time steps during a growing season. We further developed a Clustering Augmented Self-supervised Temporal Classification (CASTC) model to distinguish high-density versus low-density cashew plantations by automatic feature extraction and optimized clustering. Results show that the STCA model has an overall accuracy of 80% and the CASTC model achieved an overall accuracy of 77.9%. We found that the cashew area in Benin has doubled from 2015 to 2021 with 60% of new plantation development coming from cropland or fallow land, while encroachment of cashew plantations into protected areas has increased by 70%. Only half of cashew plantations were high-density in 2021, suggesting high potential for intensification. Our study illustrates the power of combining high-resolution remote sensing imagery and state-of-the-art deep learning algorithms to better understand tree crops in the heterogeneous smallholder landscape.

There are multiple scales of abstraction from which we can describe the same image, depending on whether we are focusing on fine-grained details or a more global attribute of the image. In brain mapping, learning to automatically parse images to build representations of both small-scale features (e.g., the presence of cells or blood vessels) and global properties of an image (e.g., which brain region the image comes from) is a crucial and open challenge. However, most existing datasets and benchmarks for neuroanatomy consider only a single downstream task at a time. To bridge this gap, we introduce a new dataset, annotations, and multiple downstream tasks that provide diverse ways to readout information about brain structure and architecture from the same image. Our multi-task neuroimaging benchmark (MTNeuro) is built on volumetric, micrometer-resolution X-ray microtomography images spanning a large thalamocortical section of mouse brain, encompassing multiple cortical and subcortical regions. We generated a number of different prediction challenges and evaluated several supervised and self-supervised models for brain-region prediction and pixel-level semantic segmentation of microstructures. Our experiments not only highlight the rich heterogeneity of this dataset, but also provide insights into how self-supervised approaches can be used to learn representations that capture multiple attributes of a single image and perform well on a variety of downstream tasks. Datasets, code, and pre-trained baseline models are provided at: https://mtneuro.github.io/ .

In this paper, we develop an efficient multi-scale network to predict action classes in partial videos in an end-to-end manner. Unlike most existing methods with offline feature generation, our method directly takes frames as input and further models motion evolution on two different temporal scales.Therefore, we solve the complexity problems of the two stages of modeling and the problem of insufficient temporal and spatial information of a single scale. Our proposed End-to-End MultiScale Network (E2EMSNet) is composed of two scales which are named segment scale and observed global scale. The segment scale leverages temporal difference over consecutive frames for finer motion patterns by supplying 2D convolutions. For observed global scale, a Long Short-Term Memory (LSTM) is incorporated to capture motion features of observed frames. Our model provides a simple and efficient modeling framework with a small computational cost. Our E2EMSNet is evaluated on three challenging datasets: BIT, HMDB51, and UCF101. The extensive experiments demonstrate the effectiveness of our method for action prediction in videos.

Off-policy evaluation (OPE) is a method for estimating the return of a target policy using some pre-collected observational data generated by a potentially different behavior policy. In some cases, there may be unmeasured variables that can confound the action-reward or action-next-state relationships, rendering many existing OPE approaches ineffective. This paper develops an instrumental variable (IV)-based method for consistent OPE in confounded Markov decision processes (MDPs). Similar to single-stage decision making, we show that IV enables us to correctly identify the target policy's value in infinite horizon settings as well. Furthermore, we propose an efficient and robust value estimator and illustrate its effectiveness through extensive simulations and analysis of real data from a world-leading short-video platform.

Patients take care of what their teeth will be like after the orthodontics. Orthodontists usually describe the expectation movement based on the original smile images, which is unconvincing. The growth of deep-learning generative models change this situation. It can visualize the outcome of orthodontic treatment and help patients foresee their future teeth and facial appearance. While previous studies mainly focus on 2D or 3D virtual treatment outcome (VTO) at a profile level, the problem of simulating treatment outcome at a frontal facial image is poorly explored. In this paper, we build an efficient and accurate system for simulating virtual teeth alignment effects in a frontal facial image. Our system takes a frontal face image of a patient with visible malpositioned teeth and the patient's 3D scanned teeth model as input, and progressively generates the visual results of the patient's teeth given the specific orthodontics planning steps from the doctor (i.e., the specification of translations and rotations of individual tooth). We design a multi-modal encoder-decoder based generative model to synthesize identity-preserving frontal facial images with aligned teeth. In addition, the original image color information is used to optimize the orthodontic outcomes, making the results more natural. We conduct extensive qualitative and clinical experiments and also a pilot study to validate our method.