联合学习的目的是从多个分散设备（即客户）培训全球模型，而无需交换其私人本地数据。关键挑战是处理非i.i.d。 （独立分布的）数据，这些数据可能引起其本地功能的差异。我们介绍了超球联邦学习（球形）框架，以解决非i.i.d。通过限制学习数据点的学习表示，以在客户共享的单位超孔上。具体而言，所有客户都通过最大程度地减少固定分类器的损失来学习其本地表示，其权重跨度跨越了单位。在联合培训改善了全球模型后，通过最大程度地减少平方平方损失，通过封闭形式的解决方案进一步校准了该分类器。我们表明，可以有效地计算校准解决方案，而无需直接访问本地数据。广泛的实验表明，我们的球形方法能够通过相当大的利润率（在具有挑战性的数据集中达到6％）来提高多个现有联合学习算法的准确性，并具有增强的计算和跨数据集和模型架构的通信效率。

联合学习（FL）是一种培训技术，使客户端设备能够通过聚合本地计算的模型来共同学习共享模型，而无需暴露其原始数据。虽然大多数现有工作侧重于提高流动模型准确性，但在本文中，我们专注于提高培训效率，这往往是采用现实世界应用的流域的障碍。具体而言，我们设计了一个有效的FL框架，该框架共同优化了模型精度，处理延迟和通信效率，所有这些都是FL实际实施的主要设计考虑因素。灵感来自近期多智能经纪增强学习（MARL）在解决复杂控制问题方面的成功，我们呈现\ TEXTIT {FEDMARL}，基于MARL为基础的FL框架，它执行有效的运行时客户端选择。实验表明，Fedmarl可以显着提高模型准确性，处理延迟和通信成本要低得多。

Video-language pre-training has advanced the performance of various downstream video-language tasks. However, most previous methods directly inherit or adapt typical image-language pre-training paradigms to video-language pre-training, thus not fully exploiting the unique characteristic of video, i.e., temporal. In this paper, we propose a Hierarchical Temporal-Aware video-language pre-training framework, HiTeA, with two novel pre-training tasks for modeling cross-modal alignment between moments and texts as well as the temporal relations of video-text pairs. Specifically, we propose a cross-modal moment exploration task to explore moments in videos, which results in detailed video moment representation. Besides, the inherent temporal relations are captured by aligning video-text pairs as a whole in different time resolutions with multi-modal temporal relation exploration task. Furthermore, we introduce the shuffling test to evaluate the temporal reliance of datasets and video-language pre-training models. We achieve state-of-the-art results on 15 well-established video-language understanding and generation tasks, especially on temporal-oriented datasets (e.g., SSv2-Template and SSv2-Label) with 8.6% and 11.1% improvement respectively. HiTeA also demonstrates strong generalization ability when directly transferred to downstream tasks in a zero-shot manner. Models and demo will be available on ModelScope.

Face manipulation detection has been receiving a lot of attention for the reliability and security of the face images. Recent studies focus on using auxiliary information or prior knowledge to capture robust manipulation traces, which are shown to be promising. As one of the important face features, the face depth map, which has shown to be effective in other areas such as the face recognition or face detection, is unfortunately paid little attention to in literature for detecting the manipulated face images. In this paper, we explore the possibility of incorporating the face depth map as auxiliary information to tackle the problem of face manipulation detection in real world applications. To this end, we first propose a Face Depth Map Transformer (FDMT) to estimate the face depth map patch by patch from a RGB face image, which is able to capture the local depth anomaly created due to manipulation. The estimated face depth map is then considered as auxiliary information to be integrated with the backbone features using a Multi-head Depth Attention (MDA) mechanism that is newly designed. Various experiments demonstrate the advantage of our proposed method for face manipulation detection.

Future work sentences (FWS) are the particular sentences in academic papers that contain the author's description of their proposed follow-up research direction. This paper presents methods to automatically extract FWS from academic papers and classify them according to the different future directions embodied in the paper's content. FWS recognition methods will enable subsequent researchers to locate future work sentences more accurately and quickly and reduce the time and cost of acquiring the corpus. The current work on automatic identification of future work sentences is relatively small, and the existing research cannot accurately identify FWS from academic papers, and thus cannot conduct data mining on a large scale. Furthermore, there are many aspects to the content of future work, and the subdivision of the content is conducive to the analysis of specific development directions. In this paper, Nature Language Processing (NLP) is used as a case study, and FWS are extracted from academic papers and classified into different types. We manually build an annotated corpus with six different types of FWS. Then, automatic recognition and classification of FWS are implemented using machine learning models, and the performance of these models is compared based on the evaluation metrics. The results show that the Bernoulli Bayesian model has the best performance in the automatic recognition task, with the Macro F1 reaching 90.73%, and the SCIBERT model has the best performance in the automatic classification task, with the weighted average F1 reaching 72.63%. Finally, we extract keywords from FWS and gain a deep understanding of the key content described in FWS, and we also demonstrate that content determination in FWS will be reflected in the subsequent research work by measuring the similarity between future work sentences and the abstracts.

Point clouds are characterized by irregularity and unstructuredness, which pose challenges in efficient data exploitation and discriminative feature extraction. In this paper, we present an unsupervised deep neural architecture called Flattening-Net to represent irregular 3D point clouds of arbitrary geometry and topology as a completely regular 2D point geometry image (PGI) structure, in which coordinates of spatial points are captured in colors of image pixels. \mr{Intuitively, Flattening-Net implicitly approximates a locally smooth 3D-to-2D surface flattening process while effectively preserving neighborhood consistency.} \mr{As a generic representation modality, PGI inherently encodes the intrinsic property of the underlying manifold structure and facilitates surface-style point feature aggregation.} To demonstrate its potential, we construct a unified learning framework directly operating on PGIs to achieve \mr{diverse types of high-level and low-level} downstream applications driven by specific task networks, including classification, segmentation, reconstruction, and upsampling. Extensive experiments demonstrate that our methods perform favorably against the current state-of-the-art competitors. We will make the code and data publicly available at https://github.com/keeganhk/Flattening-Net.

Multi-modal and multi-hop question answering aims to answer a question based on multiple input sources from different modalities. Previous methods retrieve the evidence separately and feed the retrieved evidence to a language model to generate the corresponding answer. However, these methods fail to build connections between candidates and thus cannot model the inter-dependent relation during retrieval. Moreover, the reasoning process over multi-modality candidates can be unbalanced without building alignments between different modalities. To address this limitation, we propose a Structured Knowledge and Unified Retrieval Generation based method (SKURG). We align the sources from different modalities via the shared entities and map them into a shared semantic space via structured knowledge. Then, we utilize a unified retrieval-generation decoder to integrate intermediate retrieval results for answer generation and adaptively determine the number of retrieval steps. We perform experiments on two multi-modal and multi-hop datasets: WebQA and MultimodalQA. The results demonstrate that SKURG achieves state-of-the-art performance on both retrieval and answer generation.

In this paper, we introduce a novel approach for ground plane normal estimation of wheeled vehicles. In practice, the ground plane is dynamically changed due to braking and unstable road surface. As a result, the vehicle pose, especially the pitch angle, is oscillating from subtle to obvious. Thus, estimating ground plane normal is meaningful since it can be encoded to improve the robustness of various autonomous driving tasks (e.g., 3D object detection, road surface reconstruction, and trajectory planning). Our proposed method only uses odometry as input and estimates accurate ground plane normal vectors in real time. Particularly, it fully utilizes the underlying connection between the ego pose odometry (ego-motion) and its nearby ground plane. Built on that, an Invariant Extended Kalman Filter (IEKF) is designed to estimate the normal vector in the sensor's coordinate. Thus, our proposed method is simple yet efficient and supports both camera- and inertial-based odometry algorithms. Its usability and the marked improvement of robustness are validated through multiple experiments on public datasets. For instance, we achieve state-of-the-art accuracy on KITTI dataset with the estimated vector error of 0.39{\deg}. Our code is available at github.com/manymuch/ground_normal_filter.

This paper presents the TransBoat, a novel omnidirectional unmanned surface vehicle (USV) with a magnetbased docking system for overwater construction with wave disturbances. This is the first such USV that can build overwater structures by transporting modules. The TransBoat incorporates two features designed to reject wave disturbances. First, the TransBoat's expandable body structure can actively transform from a mono-hull into a multi-hull for stabilization in turbulent environments by extending its four outrigger hulls. Second, a real-time nonlinear model predictive control (NMPC) scheme is proposed for all shapes of the TransBoat to enhance its maneuverability and resist disturbance to its movement, based on a nonlinear dynamic model. An experimental approach is proposed to identify the parameters of the dynamic model, and a subsequent trajectory tracking test validates the dynamics, NMPC controller and system mobility. Further, docking experiments identify improved performance in the expanded form of the TransBoat compared with the contracted form, including an increased success rate (of ~ 10%) and reduced docking time (of ~ 40 s on average). Finally, a bridge construction test verifies our system design and the NMPC control method.

Motion prediction is highly relevant to the perception of dynamic objects and static map elements in the scenarios of autonomous driving. In this work, we propose PIP, the first end-to-end Transformer-based framework which jointly and interactively performs online mapping, object detection and motion prediction. PIP leverages map queries, agent queries and mode queries to encode the instance-wise information of map elements, agents and motion intentions, respectively. Based on the unified query representation, a differentiable multi-task interaction scheme is proposed to exploit the correlation between perception and prediction. Even without human-annotated HD map or agent's historical tracking trajectory as guidance information, PIP realizes end-to-end multi-agent motion prediction and achieves better performance than tracking-based and HD-map-based methods. PIP provides comprehensive high-level information of the driving scene (vectorized static map and dynamic objects with motion information), and contributes to the downstream planning and control. Code and models will be released for facilitating further research.