We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic models, which lays a foundation for generating dynamically feasible trajectory and achieving high-performance tracking control. We have found that a tail-sitter is differentially flat with accurate aerodynamic models within the entire flight envelope, by specifying coordinate flight condition and choosing the vehicle position as the flat output. This fundamental property allows us to fully exploit the high-fidelity aerodynamic models in the trajectory planning and tracking control to achieve accurate tail-sitter flights. Particularly, an optimization-based trajectory planner for tail-sitters is proposed to design high-quality, smooth trajectories with consideration of kinodynamic constraints, singularity-free constraints and actuator saturation. The planned trajectory of flat output is transformed to state trajectory in real-time with consideration of wind in environments. To track the state trajectory, a global, singularity-free, and minimally-parameterized on-manifold MPC is developed, which fully leverages the accurate aerodynamic model to achieve high-accuracy trajectory tracking within the whole flight envelope. The effectiveness of the proposed framework is demonstrated through extensive real-world experiments in both indoor and outdoor field tests, including agile SE(3) flight through consecutive narrow windows requiring specific attitude and with speed up to 10m/s, typical tail-sitter maneuvers (transition, level flight and loiter) with speed up to 20m/s, and extremely aggressive aerobatic maneuvers (Wingover, Loop, Vertical Eight and Cuban Eight) with acceleration up to 2.5g.

在本文中，我们提出了Nuwa-Infinity，这是无限视觉合成的生成模型，该模型被定义为生成任意尺寸的高分辨率图像或长期视频的任务。提出了一种自回旋的自回旋生成机制来处理这一可变大小的生成任务，其中全球补丁级自回归模型考虑了补丁之间的依赖性，以及局部令牌级自动回收式模型在每个贴片中的视觉令牌之间的依赖性。将附近的上下文池（NCP）引入已生成的与缓存相关的补丁，作为当前补丁生成的上下文，该贴片可以显着节省计算成本而不牺牲补丁级依赖性模型。任意方向控制器（ADC）用于确定不同视觉合成任务的合适生成订单，并学习订单感知的位置嵌入。与DALL-E，Imagen和Parti相比，NUWA-INFINITY可以生成具有任意大小的高分辨率图像，并支持长期视频的生成。与NUWA（也涵盖图像和视频）相比，NUWA-Infinity在分辨率和可变尺寸的生成方面具有出色的视觉合成功能。 github链接是https://github.com/microsoft/nuwa。主页链接是https://nuwa-infinity.microsoft.com。

神经网络中的大多数工作都集中在给定一组协变量的情况下估计连续响应变量的条件平均值。在本文中，我们考虑使用神经网络估算有条件的分布函数，以审查和未经审查的数据。该算法建立在与时间依赖性协变量有关COX回归的数据结构上。在不施加任何模型假设的情况下，我们考虑了基于条件危险函数是唯一未知的非参数参数的损失函数，可以应用不明显的优化方法。通过仿真研究，我们显示了所提出的方法具有理想的性能，而部分可能性方法和传统的神经网络具有$ l_2 $损失产量的偏向估计，当模型假设违反。我们进一步用几个现实世界数据集说明了提出的方法。提出的方法的实现可在https://github.com/bingqing0729/nncde上获得。

知识增强的预训练预审语言模型（Keplms）是预先接受的模型，具有从知识图中注入的关系三元组，以提高语言理解能力。为了保证有效的知识注入，之前的研究将模型与知识编码器集成，以表示从知识图表中检索的知识。知识检索和编码的操作带来了重要的计算负担，限制了在需要高推理速度的现实应用程序中使用这些模型。在本文中，我们提出了一种名为DKPLM的新型KEPLM，其在预训练，微调和推理阶段进行了预先训练的语言模型的知识注射过程，这有助于KEPLMS在现实世界场景中的应用。具体而言，我们首先检测知识感知的长尾实体作为知识注射的目标，增强了Keplms的语义理解能力，避免注入冗余信息。长尾实体的嵌入式被相关知识三元组形成的“伪令牌表示”取代。我们进一步设计了用于预培训的关系知识解码任务，以强制模型通过关系三重重建来真正了解注入的知识。实验表明，我们的模型在零拍摄知识探测任务和多种知识意识语言理解任务中显着优于其他KEPLS。我们进一步表明，由于分解机制，DKPLM具有比其他竞争模型更高的推理速度。

In this paper, we present a novel visual SLAM and long-term localization benchmark for autonomous driving in challenging conditions based on the large-scale 4Seasons dataset. The proposed benchmark provides drastic appearance variations caused by seasonal changes and diverse weather and illumination conditions. While significant progress has been made in advancing visual SLAM on small-scale datasets with similar conditions, there is still a lack of unified benchmarks representative of real-world scenarios for autonomous driving. We introduce a new unified benchmark for jointly evaluating visual odometry, global place recognition, and map-based visual localization performance which is crucial to successfully enable autonomous driving in any condition. The data has been collected for more than one year, resulting in more than 300 km of recordings in nine different environments ranging from a multi-level parking garage to urban (including tunnels) to countryside and highway. We provide globally consistent reference poses with up to centimeter-level accuracy obtained from the fusion of direct stereo-inertial odometry with RTK GNSS. We evaluate the performance of several state-of-the-art visual odometry and visual localization baseline approaches on the benchmark and analyze their properties. The experimental results provide new insights into current approaches and show promising potential for future research. Our benchmark and evaluation protocols will be available at https://www.4seasons-dataset.com/.

Feedforward fully convolutional neural networks currently dominate in semantic segmentation of 3D point clouds. Despite their great success, they suffer from the loss of local information at low-level layers, posing significant challenges to accurate scene segmentation and precise object boundary delineation. Prior works either address this issue by post-processing or jointly learn object boundaries to implicitly improve feature encoding of the networks. These approaches often require additional modules which are difficult to integrate into the original architecture. To improve the segmentation near object boundaries, we propose a boundary-aware feature propagation mechanism. This mechanism is achieved by exploiting a multi-task learning framework that aims to explicitly guide the boundaries to their original locations. With one shared encoder, our network outputs (i) boundary localization, (ii) prediction of directions pointing to the object's interior, and (iii) semantic segmentation, in three parallel streams. The predicted boundaries and directions are fused to propagate the learned features to refine the segmentation. We conduct extensive experiments on the S3DIS and SensatUrban datasets against various baseline methods, demonstrating that our proposed approach yields consistent improvements by reducing boundary errors. Our code is available at https://github.com/shenglandu/PushBoundary.

Open vocabulary object detection has been greatly advanced by the recent development of vision-language pretrained model, which helps recognize novel objects with only semantic categories. The prior works mainly focus on knowledge transferring to the object proposal classification and employ class-agnostic box and mask prediction. In this work, we propose CondHead, a principled dynamic network design to better generalize the box regression and mask segmentation for open vocabulary setting. The core idea is to conditionally parameterize the network heads on semantic embedding and thus the model is guided with class-specific knowledge to better detect novel categories. Specifically, CondHead is composed of two streams of network heads, the dynamically aggregated head and the dynamically generated head. The former is instantiated with a set of static heads that are conditionally aggregated, these heads are optimized as experts and are expected to learn sophisticated prediction. The latter is instantiated with dynamically generated parameters and encodes general class-specific information. With such a conditional design, the detection model is bridged by the semantic embedding to offer strongly generalizable class-wise box and mask prediction. Our method brings significant improvement to the state-of-the-art open vocabulary object detection methods with very minor overhead, e.g., it surpasses a RegionClip model by 3.0 detection AP on novel categories, with only 1.1% more computation.

Tongue cancer is a common oral cavity malignancy that originates in the mouth and throat. Much effort has been invested in improving its diagnosis, treatment, and management. Surgical removal, chemotherapy, and radiation therapy remain the major treatment for tongue cancer. The survival of patients determines the treatment effect. Previous studies have identified certain survival and risk factors based on descriptive statistics, ignoring the complex, nonlinear relationship among clinical and demographic variables. In this study, we utilize five cutting-edge machine learning models and clinical data to predict the survival of tongue cancer patients after treatment. Five-fold cross-validation, bootstrap analysis, and permutation feature importance are applied to estimate and interpret model performance. The prognostic factors identified by our method are consistent with previous clinical studies. Our method is accurate, interpretable, and thus useable as additional evidence in tongue cancer treatment and management.

In this paper, we propose a large-scale language pre-training for text GENeration using dIffusion modEl, which is named GENIE. GENIE is a pre-training sequence-to-sequence text generation model which combines Transformer and diffusion. The diffusion model accepts the latent information from the encoder, which is used to guide the denoising of the current time step. After multiple such denoise iterations, the diffusion model can restore the Gaussian noise to the diverse output text which is controlled by the input text. Moreover, such architecture design also allows us to adopt large scale pre-training on the GENIE. We propose a novel pre-training method named continuous paragraph denoise based on the characteristics of the diffusion model. Extensive experiments on the XSum, CNN/DailyMail, and Gigaword benchmarks shows that GENIE can achieves comparable performance with various strong baselines, especially after pre-training, the generation quality of GENIE is greatly improved. We have also conduct a lot of experiments on the generation diversity and parameter impact of GENIE. The code for GENIE will be made publicly available.

Fine-grained capturing of 3D HOI boosts human activity understanding and facilitates downstream visual tasks, including action recognition, holistic scene reconstruction, and human motion synthesis. Despite its significance, existing works mostly assume that humans interact with rigid objects using only a few body parts, limiting their scope. In this paper, we address the challenging problem of f-AHOI, wherein the whole human bodies interact with articulated objects, whose parts are connected by movable joints. We present CHAIRS, a large-scale motion-captured f-AHOI dataset, consisting of 16.2 hours of versatile interactions between 46 participants and 81 articulated and rigid sittable objects. CHAIRS provides 3D meshes of both humans and articulated objects during the entire interactive process, as well as realistic and physically plausible full-body interactions. We show the value of CHAIRS with object pose estimation. By learning the geometrical relationships in HOI, we devise the very first model that leverage human pose estimation to tackle the estimation of articulated object poses and shapes during whole-body interactions. Given an image and an estimated human pose, our model first reconstructs the pose and shape of the object, then optimizes the reconstruction according to a learned interaction prior. Under both evaluation settings (e.g., with or without the knowledge of objects' geometries/structures), our model significantly outperforms baselines. We hope CHAIRS will promote the community towards finer-grained interaction understanding. We will make the data/code publicly available.