Instance segmentation in videos, which aims to segment and track multiple objects in video frames, has garnered a flurry of research attention in recent years. In this paper, we present a novel weakly supervised framework with \textbf{S}patio-\textbf{T}emporal \textbf{C}ollaboration for instance \textbf{Seg}mentation in videos, namely \textbf{STC-Seg}. Concretely, STC-Seg demonstrates four contributions. First, we leverage the complementary representations from unsupervised depth estimation and optical flow to produce effective pseudo-labels for training deep networks and predicting high-quality instance masks. Second, to enhance the mask generation, we devise a puzzle loss, which enables end-to-end training using box-level annotations. Third, our tracking module jointly utilizes bounding-box diagonal points with spatio-temporal discrepancy to model movements, which largely improves the robustness to different object appearances. Finally, our framework is flexible and enables image-level instance segmentation methods to operate the video-level task. We conduct an extensive set of experiments on the KITTI MOTS and YT-VIS datasets. Experimental results demonstrate that our method achieves strong performance and even outperforms fully supervised TrackR-CNN and MaskTrack R-CNN. We believe that STC-Seg can be a valuable addition to the community, as it reflects the tip of an iceberg about the innovative opportunities in the weakly supervised paradigm for instance segmentation in videos.

我们建议以人为本的4D场景捕获（HSC4D）准确有效地创建一个动态的数字世界，其中包含大规模的室内场景，各种各样的人类动作以及人类与环境之间的丰富互动。 HSC4D仅使用车身安装的IMU和LIDAR，没有任何外部设备的限制和无图形地图，没有预构建的地图。考虑到IMU可以捕获人的姿势，但始终为长期使用而漂移，而LiDar对于全球本地化却是稳定的，但对于本地位置和方向而言，HSC4D使两个传感器通过联合优化和实现长期的有希望的结果相互补充。捕获。还探索了人与环境之间的关系，以使其相互作用更加现实。为了促进许多下游任务，例如AR，VR，机器人，自动驾驶等，我们提出了一个数据集，其中包含三个大型场景（1k-5k $ m^2 $），并具有准确的动态人类动作和位置。各种场景（攀岩馆，多层建筑，坡度等）以及挑战人类活动（锻炼，上下楼梯，攀岩等）展示了HSC4D的有效性和概括能力。数据集和代码可在http://www.lidarhumanmotion.net/hsc4d/上获得。

为了支持各种任务和处理不同的飞行环境，无人机控制程序通常提供可配置的控制参数。但是，这种灵活性引入了漏洞。最近已识别出一种称为范围规范错误的这种漏洞。该漏洞起源于即使每个单独的参数在推荐值范围内接收值，也可能影响无人机物理稳定性的某些组合。在本文中，我们开发了一种新颖的学习引导的搜索系统来寻找这样的组合，即我们称之为不正确的配置。我们的系统应用了Metaheuristic Search算法突变配置，以检测将无人机驱动到不稳定物理状态的值的配置参数。为了引导突变，我们的系统利用机器学习预测因子作为健身评估。最后，通过利用多目标优化，我们的系统基于突变搜索结果返回可行的范围。由于在我们的系统中，突变由预测器引导，评估参数配置不需要现实/仿真执行。因此，我们的系统支持全面但有效地检测不正确的配置。我们对我们的系统进行了实验评估。评估结果表明，该系统成功地报告了可能不正确的配置，其中85％以上导致实际不稳定的物理状态。

Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction and planning. As sensors and hardware get improved, there is trending popularity to devise a system that can perform a wide diversity of tasks to fulfill higher-level intelligence. Contemporary approaches resort to either deploying standalone models for individual tasks, or designing a multi-task paradigm with separate heads. These might suffer from accumulative error or negative transfer effect. Instead, we argue that a favorable algorithm framework should be devised and optimized in pursuit of the ultimate goal, i.e. planning of the self-driving-car. Oriented at this goal, we revisit the key components within perception and prediction. We analyze each module and prioritize the tasks hierarchically, such that all these tasks contribute to planning (the goal). To this end, we introduce Unified Autonomous Driving (UniAD), the first comprehensive framework up-to-date that incorporates full-stack driving tasks in one network. It is exquisitely devised to leverage advantages of each module, and provide complementary feature abstractions for agent interaction from a global perspective. Tasks are communicated with unified query design to facilitate each other toward planning. We instantiate UniAD on the challenging nuScenes benchmark. With extensive ablations, the effectiveness of using such a philosophy is proven to surpass previous state-of-the-arts by a large margin in all aspects. The full suite of codebase and models would be available to facilitate future research in the community.

The quality of knowledge retrieval is crucial in knowledge-intensive conversations. Two common strategies to improve the retrieval quality are finetuning the retriever or generating a self-contained query, while they encounter heavy burdens on expensive computation and elaborate annotations. In this paper, we propose an unsupervised query enhanced approach for knowledge-intensive conversations, namely QKConv. There are three modules in QKConv: a query generator, an off-the-shelf knowledge selector, and a response generator. Without extra supervision, the end-to-end joint training of QKConv explores multiple candidate queries and utilizes corresponding selected knowledge to yield the target response. To evaluate the effectiveness of the proposed method, we conducted comprehensive experiments on conversational question-answering, task-oriented dialogue, and knowledge-grounded conversation. Experimental results demonstrate that QKConv achieves state-of-the-art performance compared to unsupervised methods and competitive performance compared to supervised methods.

End-to-end Speech Translation (E2E ST) aims to translate source speech into target translation without generating the intermediate transcript. However, existing approaches for E2E ST degrade considerably when only limited ST data are available. We observe that an ST model's performance strongly correlates with its embedding similarity from speech and transcript. In this paper, we propose Word-Aligned COntrastive learning (WACO), a novel method for few-shot speech-to-text translation. Our key idea is bridging word-level representations for both modalities via contrastive learning. We evaluate WACO and other methods on the MuST-C dataset, a widely used ST benchmark. Our experiments demonstrate that WACO outperforms the best baseline methods by 0.7-8.5 BLEU points with only 1-hour parallel data. Code is available at https://anonymous.4open.science/r/WACO .

How can we extend a pre-trained model to many language understanding tasks, without labeled or additional unlabeled data? Pre-trained language models (PLMs) have been effective for a wide range of NLP tasks. However, existing approaches either require fine-tuning on downstream labeled datasets or manually constructing proper prompts. In this paper, we propose nonparametric prompting PLM (NPPrompt) for fully zero-shot language understanding. Unlike previous methods, NPPrompt uses only pre-trained language models and does not require any labeled data or additional raw corpus for further fine-tuning, nor does it rely on humans to construct a comprehensive set of prompt label words. We evaluate NPPrompt against previous major few-shot and zero-shot learning methods on diverse NLP tasks: including text classification, text entailment, similar text retrieval, and paraphrasing. Experimental results demonstrate that our NPPrompt outperforms the previous best fully zero-shot method by big margins, with absolute gains of 12.8% in accuracy on text classification and 18.9% on the GLUE benchmark.

Understanding objects is a central building block of artificial intelligence, especially for embodied AI. Even though object recognition excels with deep learning, current machines still struggle to learn higher-level knowledge, e.g., what attributes an object has, and what can we do with an object. In this work, we propose a challenging Object Concept Learning (OCL) task to push the envelope of object understanding. It requires machines to reason out object affordances and simultaneously give the reason: what attributes make an object possesses these affordances. To support OCL, we build a densely annotated knowledge base including extensive labels for three levels of object concept (category, attribute, affordance), and the causal relations of three levels. By analyzing the causal structure of OCL, we present a baseline, Object Concept Reasoning Network (OCRN). It leverages causal intervention and concept instantiation to infer the three levels following their causal relations. In experiments, OCRN effectively infers the object knowledge while following the causalities well. Our data and code are available at https://mvig-rhos.com/ocl.

Pseudo supervision is regarded as the core idea in semi-supervised learning for semantic segmentation, and there is always a tradeoff between utilizing only the high-quality pseudo labels and leveraging all the pseudo labels. Addressing that, we propose a novel learning approach, called Conservative-Progressive Collaborative Learning (CPCL), among which two predictive networks are trained in parallel, and the pseudo supervision is implemented based on both the agreement and disagreement of the two predictions. One network seeks common ground via intersection supervision and is supervised by the high-quality labels to ensure a more reliable supervision, while the other network reserves differences via union supervision and is supervised by all the pseudo labels to keep exploring with curiosity. Thus, the collaboration of conservative evolution and progressive exploration can be achieved. To reduce the influences of the suspicious pseudo labels, the loss is dynamic re-weighted according to the prediction confidence. Extensive experiments demonstrate that CPCL achieves state-of-the-art performance for semi-supervised semantic segmentation.

We demonstrate transfer learning-assisted neural network models for optical matrix multipliers with scarce measurement data. Our approach uses <10\% of experimental data needed for best performance and outperforms analytical models for a Mach-Zehnder interferometer mesh.