快速的空中抓握机器人可以导致许多应用程序，这些应用程序利用了快速，动态的拾取和放置对象。传统上用于空中操纵器中的刚性握手需要高精度和特定的物体几何形状才能成功抓握。我们提出了猛禽（Raptor），这是一个四轮摩托车平台，结合了自定义的鳍射线抓地力，以实现具有不同几何形状的物体的更灵活的抓握，利用软材料的特性来增加抓地力和物体之间的接触表面。为了减少通信延迟，我们提出了一种基于快速DDS（数据分配服务）的新的轻型中间件解决方案，作为ROS（机器人操作系统）的替代方案。我们表明，猛禽在现实环境中平均达到了83％的抓地力，用于四种不同的物体几何形状，同时在握把期间以1 m/s的平均速度移动。在高速设置中，与以前的作品相比，Raptor最多支持有效载荷的四倍。我们的结果突出了自动仓库中航空无人机的潜力以及其他在难以到达的地方运行时速度，迅速和鲁棒性至关重要的操作应用。

我们证明了连续和离散时间添加功能的浓度不平等和相关的PAC界限，用于可能是多元，不可逆扩散过程的无界函数。我们的分析依赖于通过泊松方程的方法，使我们能够考虑一系列非常广泛的指数性千古过程。这些结果增加了现有的浓度不平等，用于扩散过程的加性功能，这些功能仅适用于有界函数或从明显较小的类别中的过程的无限函数。我们通过两个截然不同的区域的例子来证明这些指数不平等的力量。考虑到在稀疏性约束下可能具有高维参数非线性漂移模型，我们应用连续的时间浓度结果来验证套索估计的受限特征值条件，这对于甲骨文不平等的推导至关重要。离散添加功能的结果用于研究未经调整的Langevin MCMC算法，用于采样中等重尾密度$ \ pi $。特别是，我们为多项式增长功能$ f $的样品蒙特卡洛估计量$ \ pi（f）提供PAC边界，以量化足够的样本和阶梯尺寸，以在规定的边距内近似具有很高的可能性。

连续时间过程随机控制中的一个根本假设是底层（扩散）过程的动态是已知的。然而，这通常在实践中显然没有实现。另一方面，在过去几十年中，已经开发出用于连续时间过程的漂移（和波动性）的非参数估计的丰富理论。本文的目的是将随机控制的技术与来自随机过程的统计方法一起带来的技术，以便在同一时间找到以合理的方式学习底层过程的动态。更确切地说，我们研究了长期平均脉冲控制问题，是古典福斯曼木材采伐问题的随机版本。立即出现的问题之一是探索 - 剥削困境，因为机器学习中的问题众所周知。我们建议通过以合适的方式结合勘探和剥削期间来处理这个问题。我们的主要发现是，这种结构可以基于估算器的收敛率，以实现不变的密度。使用此项，我们获得平均累积遗憾是统一的订单$ O（{T ^ { - 1/3}）$。

Panoptic Part Segmentation (PPS) unifies panoptic segmentation and part segmentation into one task. Previous works utilize separated approaches to handle thing, stuff, and part predictions without shared computation and task association. We aim to unify these tasks at the architectural level, designing the first end-to-end unified framework named Panoptic-PartFormer. Moreover, we find the previous metric PartPQ biases to PQ. To handle both issues, we make the following contributions: Firstly, we design a meta-architecture that decouples part feature and things/stuff feature, respectively. We model things, stuff, and parts as object queries and directly learn to optimize all three forms of prediction as a unified mask prediction and classification problem. We term our model as Panoptic-PartFormer. Secondly, we propose a new metric Part-Whole Quality (PWQ) to better measure such task from both pixel-region and part-whole perspectives. It can also decouple the error for part segmentation and panoptic segmentation. Thirdly, inspired by Mask2Former, based on our meta-architecture, we propose Panoptic-PartFormer++ and design a new part-whole cross attention scheme to further boost part segmentation qualities. We design a new part-whole interaction method using masked cross attention. Finally, the extensive ablation studies and analysis demonstrate the effectiveness of both Panoptic-PartFormer and Panoptic-PartFormer++. Compared with previous Panoptic-PartFormer, our Panoptic-PartFormer++ achieves 2% PartPQ and 3% PWQ improvements on the Cityscapes PPS dataset and 5% PartPQ on the Pascal Context PPS dataset. On both datasets, Panoptic-PartFormer++ achieves new state-of-the-art results with a significant cost drop of 70% on GFlops and 50% on parameters. Our models can serve as a strong baseline and aid future research in PPS. Code will be available.

Vision transformers have emerged as powerful tools for many computer vision tasks. It has been shown that their features and class tokens can be used for salient object segmentation. However, the properties of segmentation transformers remain largely unstudied. In this work we conduct an in-depth study of the spatial attentions of different backbone layers of semantic segmentation transformers and uncover interesting properties. The spatial attentions of a patch intersecting with an object tend to concentrate within the object, whereas the attentions of larger, more uniform image areas rather follow a diffusive behavior. In other words, vision transformers trained to segment a fixed set of object classes generalize to objects well beyond this set. We exploit this by extracting heatmaps that can be used to segment unknown objects within diverse backgrounds, such as obstacles in traffic scenes. Our method is training-free and its computational overhead negligible. We use off-the-shelf transformers trained for street-scene segmentation to process other scene types.

Vision transformers (ViTs) encoding an image as a sequence of patches bring new paradigms for semantic segmentation.We present an efficient framework of representation separation in local-patch level and global-region level for semantic segmentation with ViTs. It is targeted for the peculiar over-smoothness of ViTs in semantic segmentation, and therefore differs from current popular paradigms of context modeling and most existing related methods reinforcing the advantage of attention. We first deliver the decoupled two-pathway network in which another pathway enhances and passes down local-patch discrepancy complementary to global representations of transformers. We then propose the spatially adaptive separation module to obtain more separate deep representations and the discriminative cross-attention which yields more discriminative region representations through novel auxiliary supervisions. The proposed methods achieve some impressive results: 1) incorporated with large-scale plain ViTs, our methods achieve new state-of-the-art performances on five widely used benchmarks; 2) using masked pre-trained plain ViTs, we achieve 68.9% mIoU on Pascal Context, setting a new record; 3) pyramid ViTs integrated with the decoupled two-pathway network even surpass the well-designed high-resolution ViTs on Cityscapes; 4) the improved representations by our framework have favorable transferability in images with natural corruptions. The codes will be released publicly.

The following article presents a memetic algorithm with applying deep reinforcement learning (DRL) for solving practically oriented dual resource constrained flexible job shop scheduling problems (DRC-FJSSP). In recent years, there has been extensive research on DRL techniques, but without considering realistic, flexible and human-centered shopfloors. A research gap can be identified in the context of make-to-order oriented discontinuous manufacturing as it is often represented in medium-size companies with high service levels. From practical industry projects in this domain, we recognize requirements to depict flexible machines, human workers and capabilities, setup and processing operations, material arrival times, complex job paths with parallel tasks for bill of material (BOM) manufacturing, sequence-depended setup times and (partially) automated tasks. On the other hand, intensive research has been done on metaheuristics in the context of DRC-FJSSP. However, there is a lack of suitable and generic scheduling methods that can be holistically applied in sociotechnical production and assembly processes. In this paper, we first formulate an extended DRC-FJSSP induced by the practical requirements mentioned. Then we present our proposed hybrid framework with parallel computing for multicriteria optimization. Through numerical experiments with real-world data, we confirm that the framework generates feasible schedules efficiently and reliably. Utilizing DRL instead of random operations leads to better results and outperforms traditional approaches.

Active learning as a paradigm in deep learning is especially important in applications involving intricate perception tasks such as object detection where labels are difficult and expensive to acquire. Development of active learning methods in such fields is highly computationally expensive and time consuming which obstructs the progression of research and leads to a lack of comparability between methods. In this work, we propose and investigate a sandbox setup for rapid development and transparent evaluation of active learning in deep object detection. Our experiments with commonly used configurations of datasets and detection architectures found in the literature show that results obtained in our sandbox environment are representative of results on standard configurations. The total compute time to obtain results and assess the learning behavior can thereby be reduced by factors of up to 14 when comparing with Pascal VOC and up to 32 when comparing with BDD100k. This allows for testing and evaluating data acquisition and labeling strategies in under half a day and contributes to the transparency and development speed in the field of active learning for object detection.

Segmentation of lidar data is a task that provides rich, point-wise information about the environment of robots or autonomous vehicles. Currently best performing neural networks for lidar segmentation are fine-tuned to specific datasets. Switching the lidar sensor without retraining on a big set of annotated data from the new sensor creates a domain shift, which causes the network performance to drop drastically. In this work we propose a new method for lidar domain adaption, in which we use annotated panoptic lidar datasets and recreate the recorded scenes in the structure of a different lidar sensor. We narrow the domain gap to the target data by recreating panoptic data from one domain in another and mixing the generated data with parts of (pseudo) labeled target domain data. Our method improves the nuScenes to SemanticKITTI unsupervised domain adaptation performance by 15.2 mean Intersection over Union points (mIoU) and by 48.3 mIoU in our semi-supervised approach. We demonstrate a similar improvement for the SemanticKITTI to nuScenes domain adaptation by 21.8 mIoU and 51.5 mIoU, respectively. We compare our method with two state of the art approaches for semantic lidar segmentation domain adaptation with a significant improvement for unsupervised and semi-supervised domain adaptation. Furthermore we successfully apply our proposed method to two entirely unlabeled datasets of two state of the art lidar sensors Velodyne Alpha Prime and InnovizTwo, and train well performing semantic segmentation networks for both.

Explanations are crucial parts of deep neural network (DNN) classifiers. In high stakes applications, faithful and robust explanations are important to understand and gain trust in DNN classifiers. However, recent work has shown that state-of-the-art attribution methods in text classifiers are susceptible to imperceptible adversarial perturbations that alter explanations significantly while maintaining the correct prediction outcome. If undetected, this can critically mislead the users of DNNs. Thus, it is crucial to understand the influence of such adversarial perturbations on the networks' explanations and their perceptibility. In this work, we establish a novel definition of attribution robustness (AR) in text classification, based on Lipschitz continuity. Crucially, it reflects both attribution change induced by adversarial input alterations and perceptibility of such alterations. Moreover, we introduce a wide set of text similarity measures to effectively capture locality between two text samples and imperceptibility of adversarial perturbations in text. We then propose our novel TransformerExplanationAttack (TEA), a strong adversary that provides a tight estimation for attribution robustness in text classification. TEA uses state-of-the-art language models to extract word substitutions that result in fluent, contextual adversarial samples. Finally, with experiments on several text classification architectures, we show that TEA consistently outperforms current state-of-the-art AR estimators, yielding perturbations that alter explanations to a greater extent while being more fluent and less perceptible.