人类行为的不确定性对拥挤的城市环境中的自动驾驶构成了重大挑战。部分可观察到的马尔可夫决策过程（POMDP）为不确定性下的计划提供了一个原则的框架，通常利用蒙特卡洛抽样来实现在线绩效进行复杂的任务。但是，抽样还通过潜在缺失关键事件引起了安全问题。为了解决这个问题，我们提出了一种新的算法，学习对驾驶行为（领导者）的关注，这些算法在计划过程中学习了批判性人类行为。领导者学习了一个神经网络生成器，以实时情况下对人类行为的关注。它将注意力集成到信仰空间计划者中，使用重要性抽样来偏向关键事件。为了训练该算法，我们让注意力生成器和计划者组成了最小游戏。通过解决Min-Max游戏，领导者学会了无需人类标签即可执行风险意识的计划。

不确定性下的实时计划对于在复杂的动态环境中运行的机器人至关重要。例如，考虑一下，汽车，摩托车，公共汽车等不受监管的城市交通不受监管的自动机器人车辆驾驶。机器人车辆必须在短期和长时间内计划，以便与许多具有不确定意图和不确定意图的交通参与者互动有效驾驶。然而，在很长一段时间内明确规划会产生过度的计算成本，并且在实时限制下是不切实际的。为了实现大规模计划的实时性能，这项工作从树木搜索驾驶（Lets-Drive）中引入了一种新的算法学习，该算法将计划和学习集成到封闭的循环中，并将其应用于拥挤的城市交通中的自动驾驶在模拟中。具体而言，让我们驱动器从在线规划者提供的数据中学习策略及其价值函数，该数据搜索了稀疏采样的信念树；在线规划师依次使用学习的策略和价值功能作为启发式方法来扩展其运行时性能，以实现实时机器人控制。重复这两个步骤以形成一个封闭的循环，以便计划者和学习者相互通知并同步改进。该算法以自我监督的方式自行学习，而无需人工努力明确的数据标记。实验结果表明，让驱动器的表现优于计划或学习，以及计划和学习的开环集成。

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks for invariance have seldom been looked into. In this work, we review rotation invariance in terms of point cloud registration and propose an effective framework for rotation invariance learning via three sequential stages, namely rotation-invariant shape encoding, aligned feature integration, and deep feature registration. We first encode shape descriptors constructed with respect to reference frames defined over different scales, e.g., local patches and global topology, to generate rotation-invariant latent shape codes. Within the integration stage, we propose Aligned Integration Transformer to produce a discriminative feature representation by integrating point-wise self- and cross-relations established within the shape codes. Meanwhile, we adopt rigid transformations between reference frames to align the shape codes for feature consistency across different scales. Finally, the deep integrated feature is registered to both rotation-invariant shape codes to maximize feature similarities, such that rotation invariance of the integrated feature is preserved and shared semantic information is implicitly extracted from shape codes. Experimental results on 3D shape classification, part segmentation, and retrieval tasks prove the feasibility of our work. Our project page is released at: https://rotation3d.github.io/.

With the attention mechanism, transformers achieve significant empirical successes. Despite the intuitive understanding that transformers perform relational inference over long sequences to produce desirable representations, we lack a rigorous theory on how the attention mechanism achieves it. In particular, several intriguing questions remain open: (a) What makes a desirable representation? (b) How does the attention mechanism infer the desirable representation within the forward pass? (c) How does a pretraining procedure learn to infer the desirable representation through the backward pass? We observe that, as is the case in BERT and ViT, input tokens are often exchangeable since they already include positional encodings. The notion of exchangeability induces a latent variable model that is invariant to input sizes, which enables our theoretical analysis. - To answer (a) on representation, we establish the existence of a sufficient and minimal representation of input tokens. In particular, such a representation instantiates the posterior distribution of the latent variable given input tokens, which plays a central role in predicting output labels and solving downstream tasks. - To answer (b) on inference, we prove that attention with the desired parameter infers the latent posterior up to an approximation error, which is decreasing in input sizes. In detail, we quantify how attention approximates the conditional mean of the value given the key, which characterizes how it performs relational inference over long sequences. - To answer (c) on learning, we prove that both supervised and self-supervised objectives allow empirical risk minimization to learn the desired parameter up to a generalization error, which is independent of input sizes. Particularly, in the self-supervised setting, we identify a condition number that is pivotal to solving downstream tasks.

In the new era of personalization, learning the heterogeneous treatment effect (HTE) becomes an inevitable trend with numerous applications. Yet, most existing HTE estimation methods focus on independently and identically distributed observations and cannot handle the non-stationarity and temporal dependency in the common panel data setting. The treatment evaluators developed for panel data, on the other hand, typically ignore the individualized information. To fill the gap, in this paper, we initialize the study of HTE estimation in panel data. Under different assumptions for HTE identifiability, we propose the corresponding heterogeneous one-side and two-side synthetic learner, namely H1SL and H2SL, by leveraging the state-of-the-art HTE estimator for non-panel data and generalizing the synthetic control method that allows flexible data generating process. We establish the convergence rates of the proposed estimators. The superior performance of the proposed methods over existing ones is demonstrated by extensive numerical studies.

The high feature dimensionality is a challenge in music emotion recognition. There is no common consensus on a relation between audio features and emotion. The MER system uses all available features to recognize emotion; however, this is not an optimal solution since it contains irrelevant data acting as noise. In this paper, we introduce a feature selection approach to eliminate redundant features for MER. We created a Selected Feature Set (SFS) based on the feature selection algorithm (FSA) and benchmarked it by training with two models, Support Vector Regression (SVR) and Random Forest (RF) and comparing them against with using the Complete Feature Set (CFS). The result indicates that the performance of MER has improved for both Random Forest (RF) and Support Vector Regression (SVR) models by using SFS. We found using FSA can improve performance in all scenarios, and it has potential benefits for model efficiency and stability for MER task.

A general, {\em rectangular} kernel matrix may be defined as $K_{ij} = \kappa(x_i,y_j)$ where $\kappa(x,y)$ is a kernel function and where $X=\{x_i\}_{i=1}^m$ and $Y=\{y_i\}_{i=1}^n$ are two sets of points. In this paper, we seek a low-rank approximation to a kernel matrix where the sets of points $X$ and $Y$ are large and are not well-separated (e.g., the points in $X$ and $Y$ may be ``intermingled''). Such rectangular kernel matrices may arise, for example, in Gaussian process regression where $X$ corresponds to the training data and $Y$ corresponds to the test data. In this case, the points are often high-dimensional. Since the point sets are large, we must exploit the fact that the matrix arises from a kernel function, and avoid forming the matrix, and thus ruling out most algebraic techniques. In particular, we seek methods that can scale linearly, i.e., with computational complexity $O(m)$ or $O(n)$ for a fixed accuracy or rank. The main idea in this paper is to {\em geometrically} select appropriate subsets of points to construct a low rank approximation. An analysis in this paper guides how this selection should be performed.

We propose a new neural network design paradigm Reversible Column Network (RevCol). The main body of RevCol is composed of multiple copies of subnetworks, named columns respectively, between which multi-level reversible connections are employed. Such architectural scheme attributes RevCol very different behavior from conventional networks: during forward propagation, features in RevCol are learned to be gradually disentangled when passing through each column, whose total information is maintained rather than compressed or discarded as other network does. Our experiments suggest that CNN-style RevCol models can achieve very competitive performances on multiple computer vision tasks such as image classification, object detection and semantic segmentation, especially with large parameter budget and large dataset. For example, after ImageNet-22K pre-training, RevCol-XL obtains 88.2% ImageNet-1K accuracy. Given more pre-training data, our largest model RevCol-H reaches 90.0% on ImageNet-1K, 63.8% APbox on COCO detection minival set, 61.0% mIoU on ADE20k segmentation. To our knowledge, it is the best COCO detection and ADE20k segmentation result among pure (static) CNN models. Moreover, as a general macro architecture fashion, RevCol can also be introduced into transformers or other neural networks, which is demonstrated to improve the performances in both computer vision and NLP tasks. We release code and models at https://github.com/megvii-research/RevCol

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.

Keyword spotting (KWS) based on deep neural networks (DNNs) has achieved massive success in voice control scenarios. However, training of such DNN-based KWS systems often requires significant data and hardware resources. Manufacturers often entrust this process to a third-party platform. This makes the training process uncontrollable, where attackers can implant backdoors in the model by manipulating third-party training data. An effective backdoor attack can force the model to make specified judgments under certain conditions, i.e., triggers. In this paper, we design a backdoor attack scheme based on Voiceprint Selection and Voice Conversion, abbreviated as VSVC. Experimental results demonstrated that VSVC is feasible to achieve an average attack success rate close to 97% in four victim models when poisoning less than 1% of the training data.