在本文中，我们解决了未知和非结构化环境中在线四型全身运动计划（SE（3）计划）的问题。我们提出了一种新颖的多分辨率搜索方法，该方法发现了需要完整的姿势计划和仅需要位置计划的正常区域的狭窄区域。结果，将四型计划问题分解为几个SE（3）（如有必要）和R^3子问题。为了飞过发现的狭窄区域，提出了一个精心设计的狭窄区域的走廊生成策略，这大大提高了计划的成功率。总体问题分解和分层计划框架大大加速了计划过程，使得可以在未知环境中进行完全的板载感应和计算在线工作。广泛的仿真基准比较表明，所提出的方法的数量级比计算时间中最先进的方法快，同时保持高计划成功率。最终将所提出的方法集成到基于激光雷达的自主四旋转器中，并在未知和非结构化环境中进行了各种现实世界实验，以证明该方法的出色性能。

准确的自我和相对状态估计是完成群体任务的关键前提，例如协作自主探索，目标跟踪，搜索和救援。本文提出了一种全面分散的状态估计方法，用于空中群体系统，其中每个无人机执行精确的自我状态估计，通过无线通信交换自我状态和相互观察信息，并估算相对状态（W.R.T.）（W.R.T.）无人机，全部实时，仅基于激光惯性测量。提出了一种基于3D激光雷达的新型无人机检测，识别和跟踪方法，以获得队友无人机的观察。然后，将相互观察测量与IMU和LIDAR测量紧密耦合，以实时和准确地估计自我状态和相对状态。广泛的现实世界实验显示了对复杂场景的广泛适应性，包括被GPS贬低的场景，摄影机的退化场景（漆黑的夜晚）或激光雷达（面对单个墙）。与运动捕获系统提供的地面真相相比，结果显示了厘米级的定位精度，该精度优于单个无人机系统的其他最先进的激光惯性射测。

RNA结构的确定和预测可以促进靶向RNA的药物开发和可用的共性元素设计。但是，由于RNA的固有结构灵活性，所有三种主流结构测定方法（X射线晶体学，NMR和Cryo-EM）在解决RNA结构时会遇到挑战，这导致已解决的RNA结构的稀缺性。计算预测方法作为实验技术的补充。但是，\ textit {de从头}的方法都不基于深度学习，因为可用的结构太少。取而代之的是，他们中的大多数采用了耗时的采样策略，而且它们的性能似乎达到了高原。在这项工作中，我们开发了第一种端到端的深度学习方法E2FOLD-3D，以准确执行\ textit {de de novo} RNA结构预测。提出了几个新的组件来克服数据稀缺性，例如完全不同的端到端管道，二级结构辅助自我鉴定和参数有效的骨干配方。此类设计在独立的，非重叠的RNA拼图测试数据集上进行了验证，并达到平均sub-4 \ aa {}根平方偏差，与最先进的方法相比，它表现出了优越的性能。有趣的是，它在预测RNA复杂结构时也可以取得令人鼓舞的结果，这是先前系统无法完成的壮举。当E2FOLD-3D与实验技术耦合时，RNA结构预测场可以大大提高。

恶意攻击者和诚实但有趣的服务器可以从联合学习中上传的梯度中窃取私人客户数据。尽管当前的保护方法（例如，添加剂同构密码系统）可以保证联合学习系统的安全性，但它们带来了额外的计算和通信成本。为了减轻成本，我们提出了\ texttt {fedage}框架，该框架使服务器能够在编码域中汇总梯度，而无需访问任何单个客户端的原始梯度。因此，\ texttt {fedage}可以防止好奇的服务器逐渐窃取，同时保持相同的预测性能而没有额外的通信成本。此外，从理论上讲，我们证明所提出的编码编码框架是具有差异隐私的高斯机制。最后，我们在几个联合设置下评估\ texttt {fedage}，结果证明了提出的框架的功效。

This paper focuses on designing efficient models with low parameters and FLOPs for dense predictions. Even though CNN-based lightweight methods have achieved stunning results after years of research, trading-off model accuracy and constrained resources still need further improvements. This work rethinks the essential unity of efficient Inverted Residual Block in MobileNetv2 and effective Transformer in ViT, inductively abstracting a general concept of Meta-Mobile Block, and we argue that the specific instantiation is very important to model performance though sharing the same framework. Motivated by this phenomenon, we deduce a simple yet efficient modern \textbf{I}nverted \textbf{R}esidual \textbf{M}obile \textbf{B}lock (iRMB) for mobile applications, which absorbs CNN-like efficiency to model short-distance dependency and Transformer-like dynamic modeling capability to learn long-distance interactions. Furthermore, we design a ResNet-like 4-phase \textbf{E}fficient \textbf{MO}del (EMO) based only on a series of iRMBs for dense applications. Massive experiments on ImageNet-1K, COCO2017, and ADE20K benchmarks demonstrate the superiority of our EMO over state-of-the-art methods, \eg, our EMO-1M/2M/5M achieve 71.5, 75.1, and 78.4 Top-1 that surpass \textbf{SoTA} CNN-/Transformer-based models, while trading-off the model accuracy and efficiency well.

Decompilation aims to transform a low-level program language (LPL) (eg., binary file) into its functionally-equivalent high-level program language (HPL) (e.g., C/C++). It is a core technology in software security, especially in vulnerability discovery and malware analysis. In recent years, with the successful application of neural machine translation (NMT) models in natural language processing (NLP), researchers have tried to build neural decompilers by borrowing the idea of NMT. They formulate the decompilation process as a translation problem between LPL and HPL, aiming to reduce the human cost required to develop decompilation tools and improve their generalizability. However, state-of-the-art learning-based decompilers do not cope well with compiler-optimized binaries. Since real-world binaries are mostly compiler-optimized, decompilers that do not consider optimized binaries have limited practical significance. In this paper, we propose a novel learning-based approach named NeurDP, that targets compiler-optimized binaries. NeurDP uses a graph neural network (GNN) model to convert LPL to an intermediate representation (IR), which bridges the gap between source code and optimized binary. We also design an Optimized Translation Unit (OTU) to split functions into smaller code fragments for better translation performance. Evaluation results on datasets containing various types of statements show that NeurDP can decompile optimized binaries with 45.21% higher accuracy than state-of-the-art neural decompilation frameworks.

Image Virtual try-on aims at replacing the cloth on a personal image with a garment image (in-shop clothes), which has attracted increasing attention from the multimedia and computer vision communities. Prior methods successfully preserve the character of clothing images, however, occlusion remains a pernicious effect for realistic virtual try-on. In this work, we first present a comprehensive analysis of the occlusions and categorize them into two aspects: i) Inherent-Occlusion: the ghost of the former cloth still exists in the try-on image; ii) Acquired-Occlusion: the target cloth warps to the unreasonable body part. Based on the in-depth analysis, we find that the occlusions can be simulated by a novel semantically-guided mixup module, which can generate semantic-specific occluded images that work together with the try-on images to facilitate training a de-occlusion try-on (DOC-VTON) framework. Specifically, DOC-VTON first conducts a sharpened semantic parsing on the try-on person. Aided by semantics guidance and pose prior, various complexities of texture are selectively blending with human parts in a copy-and-paste manner. Then, the Generative Module (GM) is utilized to take charge of synthesizing the final try-on image and learning to de-occlusion jointly. In comparison to the state-of-the-art methods, DOC-VTON achieves better perceptual quality by reducing occlusion effects.

In recent years, the Transformer architecture has shown its superiority in the video-based person re-identification task. Inspired by video representation learning, these methods mainly focus on designing modules to extract informative spatial and temporal features. However, they are still limited in extracting local attributes and global identity information, which are critical for the person re-identification task. In this paper, we propose a novel Multi-Stage Spatial-Temporal Aggregation Transformer (MSTAT) with two novel designed proxy embedding modules to address the above issue. Specifically, MSTAT consists of three stages to encode the attribute-associated, the identity-associated, and the attribute-identity-associated information from the video clips, respectively, achieving the holistic perception of the input person. We combine the outputs of all the stages for the final identification. In practice, to save the computational cost, the Spatial-Temporal Aggregation (STA) modules are first adopted in each stage to conduct the self-attention operations along the spatial and temporal dimensions separately. We further introduce the Attribute-Aware and Identity-Aware Proxy embedding modules (AAP and IAP) to extract the informative and discriminative feature representations at different stages. All of them are realized by employing newly designed self-attention operations with specific meanings. Moreover, temporal patch shuffling is also introduced to further improve the robustness of the model. Extensive experimental results demonstrate the effectiveness of the proposed modules in extracting the informative and discriminative information from the videos, and illustrate the MSTAT can achieve state-of-the-art accuracies on various standard benchmarks.

It has been observed in practice that applying pruning-at-initialization methods to neural networks and training the sparsified networks can not only retain the testing performance of the original dense models, but also sometimes even slightly boost the generalization performance. Theoretical understanding for such experimental observations are yet to be developed. This work makes the first attempt to study how different pruning fractions affect the model's gradient descent dynamics and generalization. Specifically, this work considers a classification task for overparameterized two-layer neural networks, where the network is randomly pruned according to different rates at the initialization. It is shown that as long as the pruning fraction is below a certain threshold, gradient descent can drive the training loss toward zero and the network exhibits good generalization performance. More surprisingly, the generalization bound gets better as the pruning fraction gets larger. To complement this positive result, this work further shows a negative result: there exists a large pruning fraction such that while gradient descent is still able to drive the training loss toward zero (by memorizing noise), the generalization performance is no better than random guessing. This further suggests that pruning can change the feature learning process, which leads to the performance drop of the pruned neural network. Up to our knowledge, this is the \textbf{first} generalization result for pruned neural networks, suggesting that pruning can improve the neural network's generalization.

This work studies training one-hidden-layer overparameterized ReLU networks via gradient descent in the neural tangent kernel (NTK) regime, where, differently from the previous works, the networks' biases are trainable and are initialized to some constant rather than zero. The first set of results of this work characterize the convergence of the network's gradient descent dynamics. Surprisingly, it is shown that the network after sparsification can achieve as fast convergence as the original network. The contribution over previous work is that not only the bias is allowed to be updated by gradient descent under our setting but also a finer analysis is given such that the required width to ensure the network's closeness to its NTK is improved. Secondly, the networks' generalization bound after training is provided. A width-sparsity dependence is presented which yields sparsity-dependent localized Rademacher complexity and a generalization bound matching previous analysis (up to logarithmic factors). As a by-product, if the bias initialization is chosen to be zero, the width requirement improves the previous bound for the shallow networks' generalization. Lastly, since the generalization bound has dependence on the smallest eigenvalue of the limiting NTK and the bounds from previous works yield vacuous generalization, this work further studies the least eigenvalue of the limiting NTK. Surprisingly, while it is not shown that trainable biases are necessary, trainable bias helps to identify a nice data-dependent region where a much finer analysis of the NTK's smallest eigenvalue can be conducted, which leads to a much sharper lower bound than the previously known worst-case bound and, consequently, a non-vacuous generalization bound.