We introduce OPEND, a benchmark for learning how to use a hand to open cabinet doors or drawers in a photo-realistic and physics-reliable simulation environment driven by language instruction. To solve the task, we propose a multi-step planner composed of a deep neural network and rule-base controllers. The network is utilized to capture spatial relationships from images and understand semantic meaning from language instructions. Controllers efficiently execute the plan based on the spatial and semantic understanding. We evaluate our system by measuring its zero-shot performance in test data set. Experimental results demonstrate the effectiveness of decision planning by our multi-step planner for different hands, while suggesting that there is significant room for developing better models to address the challenge brought by language understanding, spatial reasoning, and long-term manipulation. We will release OPEND and host challenges to promote future research in this area.

我们为合作和异构多机构学习提供了多模式（视觉和语言）基准。我们介绍了一个基准的多模式数据集，其任务涉及在丰富的多房间环境中多个模拟异质机器人之间的协作。我们提供了一个集成的学习框架，最先进的多机构增强学习技术的多模式实现以及一致的评估协议。我们的实验研究了不同方式对多代理学习绩效的影响。我们还引入了代理之间的简单消息传递方法。结果表明，多模式为合作多学院学习带来了独特的挑战，并且在此类环境中推进多机构增强学习方法还有很大的空间。

语言指导的体现了AI基准，要求代理导航环境并操纵对象通常允许单向通信：人类用户向代理提供了自然语言命令，而代理只能被动地遵循命令。我们介绍了基于Alfred基准测试的基准测试后的拨号式拨号。Dialfred允许代理商积极向人类用户提出问题；代理使用用户响应中的其他信息来更好地完成其任务。我们发布了一个具有53K任务的问题和答案的人类注销数据集，以及一个可以回答问题的甲骨文。为了解决Dialfred，我们提出了一个提问者绩效框架，其中发问者通过人类通知的数据进行了预训练，并通过增强学习进行了微调。我们将拨号拨入公开，并鼓励研究人员提出和评估他们的解决方案，以构建支持对话的体现代理。

基于学习的培训方法的方法通常需要大量包含现实布局的高质量场景并支持有意义的互动。然而，用于体现AI（EAI）挑战的当前模拟器仅提供具有有限数量的布局的模拟室内场景。本文呈现出发光，第一研究框架采用最先进的室内场景综合算法，以在体现AI挑战的情况下生成大规模模拟场景。此外，我们通过支持复杂的家庭任务的能力自动和定量地评估生成的室内场景的质量。发光结合了一种新颖的场景生成算法（受限的随机现场生成（CSSG）），实现了具有人类设计的场景的竞争性能。在发光，EAI任务执行器，任务指令生成模块和视频呈现工具包中可以集体为实现的AI代理商的培训和评估集体为新场景产生大量多模式数据集。广泛的实验结果表明了发光产生的数据的有效性，使对泛化和鲁棒性的体现特性进行全面评估。

表演家庭和办公室任务的语言引导机器人必须导航和与世界互动。接地语言指示视觉观察和携带环境的行动是一个开放的挑战。我们呈现体现伯尔特（Embert），一种基于变压器的模型，可以参加跨长时间视野的高维，多模态输入进行语言条件任务完成。此外，我们通过引入Embert培训的对象导航目标来介绍用于非交互式代理的成功对象的导航模型和用于非交互式代理和语言引导的视觉任务完成基准。我们在Alfred基准测试中实现了竞争性能，eMbert标志着一个基于一个基于变压器的模型，以成功处理Alfred的长地平线，密集，多模态历史，以及使用以对象为中心的导航目标的第一个Alfred模型。

In this paper, we study the problem of knowledge-intensive text-to-SQL, in which domain knowledge is necessary to parse expert questions into SQL queries over domain-specific tables. We formalize this scenario by building a new Chinese benchmark KnowSQL consisting of domain-specific questions covering various domains. We then address this problem by presenting formulaic knowledge, rather than by annotating additional data examples. More concretely, we construct a formulaic knowledge bank as a domain knowledge base and propose a framework (ReGrouP) to leverage this formulaic knowledge during parsing. Experiments using ReGrouP demonstrate a significant 28.2% improvement overall on KnowSQL.

Weakly-supervised object localization aims to indicate the category as well as the scope of an object in an image given only the image-level labels. Most of the existing works are based on Class Activation Mapping (CAM) and endeavor to enlarge the discriminative area inside the activation map to perceive the whole object, yet ignore the co-occurrence confounder of the object and context (e.g., fish and water), which makes the model inspection hard to distinguish object boundaries. Besides, the use of CAM also brings a dilemma problem that the classification and localization always suffer from a performance gap and can not reach their highest accuracy simultaneously. In this paper, we propose a casual knowledge distillation method, dubbed KD-CI-CAM, to address these two under-explored issues in one go. More specifically, we tackle the co-occurrence context confounder problem via causal intervention (CI), which explores the causalities among image features, contexts, and categories to eliminate the biased object-context entanglement in the class activation maps. Based on the de-biased object feature, we additionally propose a multi-teacher causal distillation framework to balance the absorption of classification knowledge and localization knowledge during model training. Extensive experiments on several benchmarks demonstrate the effectiveness of KD-CI-CAM in learning clear object boundaries from confounding contexts and addressing the dilemma problem between classification and localization performance.

Dynamic treatment regimes assign personalized treatments to patients sequentially over time based on their baseline information and time-varying covariates. In mobile health applications, these covariates are typically collected at different frequencies over a long time horizon. In this paper, we propose a deep spectral Q-learning algorithm, which integrates principal component analysis (PCA) with deep Q-learning to handle the mixed frequency data. In theory, we prove that the mean return under the estimated optimal policy converges to that under the optimal one and establish its rate of convergence. The usefulness of our proposal is further illustrated via simulations and an application to a diabetes dataset.

Nowadays, time-stamped web documents related to a general news query floods spread throughout the Internet, and timeline summarization targets concisely summarizing the evolution trajectory of events along the timeline. Unlike traditional document summarization, timeline summarization needs to model the time series information of the input events and summarize important events in chronological order. To tackle this challenge, in this paper, we propose a Unified Timeline Summarizer (UTS) that can generate abstractive and extractive timeline summaries in time order. Concretely, in the encoder part, we propose a graph-based event encoder that relates multiple events according to their content dependency and learns a global representation of each event. In the decoder part, to ensure the chronological order of the abstractive summary, we propose to extract the feature of event-level attention in its generation process with sequential information remained and use it to simulate the evolutionary attention of the ground truth summary. The event-level attention can also be used to assist in extracting summary, where the extracted summary also comes in time sequence. We augment the previous Chinese large-scale timeline summarization dataset and collect a new English timeline dataset. Extensive experiments conducted on these datasets and on the out-of-domain Timeline 17 dataset show that UTS achieves state-of-the-art performance in terms of both automatic and human evaluations.

Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of hybrid micro-small UAVs, coined as lifting-wing quadcopters. The airframe orientation of the lifting wing needs to tilt a specific angle often within $ 45$ degrees, neither nearly $ 90$ nor approximately $ 0$ degrees. Compared with some convertiplane and tail-sitter UAVs, the lifting-wing quadcopter has a highly reliable structure, robust wind resistance, low cruise speed and reliable transition flight, making it potential to work fully-autonomous outdoor or some confined airspace indoor. In the modeling part, forces and moments generated by both lifting wing and rotors are considered. Based on the established model, a unified controller for the full flight phase is designed. The controller has the capability of uniformly treating the hovering and forward flight, and enables a continuous transition between two modes, depending on the velocity command. What is more, by taking rotor thrust and aerodynamic force under consideration simultaneously, a control allocation based on optimization is utilized to realize cooperative control for energy saving. Finally, comprehensive Hardware-In-the-Loop (HIL) simulations are performed to verify the advantages of the designed aircraft and the proposed controller.