The cooperation of a human pilot with an autonomous agent during flight control realizes parallel autonomy. A parallel-autonomous system acts as a guardian that significantly enhances the robustness and safety of flight operations in challenging circumstances. Here, we propose an air-guardian concept that facilitates cooperation between an artificial pilot agent and a parallel end-to-end neural control system. Our vision-based air-guardian system combines a causal continuous-depth neural network model with a cooperation layer to enable parallel autonomy between a pilot agent and a control system based on perceived differences in their attention profile. The attention profiles are obtained by computing the networks' saliency maps (feature importance) through the VisualBackProp algorithm. The guardian agent is trained via reinforcement learning in a fixed-wing aircraft simulated environment. When the attention profile of the pilot and guardian agents align, the pilot makes control decisions. If the attention map of the pilot and the guardian do not align, the air-guardian makes interventions and takes over the control of the aircraft. We show that our attention-based air-guardian system can balance the trade-off between its level of involvement in the flight and the pilot's expertise and attention. We demonstrate the effectivness of our methods in simulated flight scenarios with a fixed-wing aircraft and on a real drone platform.

线性状态空间模型（SSM）的状态过渡矩阵的适当参数化，然后是标准非线性，使他们能够从顺序数据中有效地学习表示形式，从。在本文中，我们表明，当线性液体时恒定（LTC）状态空间模型给出诸如S4之类的结构SSM时，我们可以进一步改善。 LTC神经网络是带有输入依赖性状态过渡模块的因果连续神经网络，这使他们学会在推理时适应传入的输入。我们表明，通过使用对角和S4中引入的状态过渡矩阵的对角线加低级分解以及一些简化的基于LTC的结构状态空间模型（称为Liquid-S4）实现了新的最新最先进的最先进跨序列建模任务具有长期依赖性（例如图像，文本，音频和医疗时间序列）的艺术概括，在远程竞技场基准中的平均性能为87.32％。在完整的原始语音命令识别中，数据集Liquid-S4的精度达到96.78％，与S4相比，参数计数降低了30％。性能的额外增益是液体-S4的核结构的直接结果，该结构考虑了训练和推理过程中输入序列样本的相似性。

数据驱动的模拟器承诺高数据效率进行驾驶策略学习。当用于建模相互作用时，这种数据效率变为瓶颈：小型基础数据集通常缺乏用于学习交互式驾驶的有趣和具有挑战性的边缘案例。我们通过提出使用绘制的ADO车辆学习强大的驾驶策略的仿真方法来解决这一挑战。因此，我们的方法可用于学习涉及多代理交互的策略，并允许通过最先进的策略学习方法进行培训。我们评估了驾驶中学习标准交互情景的方法。在广泛的实验中，我们的工作表明，由此产生的政策可以直接转移到全规模的自治车辆，而无需使用任何传统的SIM-to-Real传输技术，例如域随机化。

仿真有可能改变在安全关键方案中部署的移动代理的强大算法的开发。然而，对现有模拟发动机的差的光敏性和缺乏不同的传感器方式保持关键障碍朝来实现这种潜力。在这里，我们呈现Vista，一个开源，数据驱动模拟器，用于为自动车辆集成多种类型的传感器。使用高保真度，实际数据集，Vista表示和模拟RGB摄像机，3D LIDAR和基于事件的相机，可以快速生成模拟中的新颖观点，从而富集可用于与难以实现的拐角案例的政策学习的数据在物理世界中捕获。使用Vista，我们展示了在每个传感器类型上培训和测试对控制策略的能力，并通过在全尺度自主车辆上进行展示这种方法的功率。在Vista中学到的政策展示了SIM-TEAR-REAL转移，而不是改进和更高的鲁棒性，而不是完全在现实世界数据上培训的鲁棒性。

In this paper, we propose a robust 3D detector, named Cross Modal Transformer (CMT), for end-to-end 3D multi-modal detection. Without explicit view transformation, CMT takes the image and point clouds tokens as inputs and directly outputs accurate 3D bounding boxes. The spatial alignment of multi-modal tokens is performed implicitly, by encoding the 3D points into multi-modal features. The core design of CMT is quite simple while its performance is impressive. CMT obtains 73.0% NDS on nuScenes benchmark. Moreover, CMT has a strong robustness even if the LiDAR is missing. Code will be released at https://github.com/junjie18/CMT.

Knowledge graphs (KG) have served as the key component of various natural language processing applications. Commonsense knowledge graphs (CKG) are a special type of KG, where entities and relations are composed of free-form text. However, previous works in KG completion and CKG completion suffer from long-tail relations and newly-added relations which do not have many know triples for training. In light of this, few-shot KG completion (FKGC), which requires the strengths of graph representation learning and few-shot learning, has been proposed to challenge the problem of limited annotated data. In this paper, we comprehensively survey previous attempts on such tasks in the form of a series of methods and applications. Specifically, we first introduce FKGC challenges, commonly used KGs, and CKGs. Then we systematically categorize and summarize existing works in terms of the type of KGs and the methods. Finally, we present applications of FKGC models on prediction tasks in different areas and share our thoughts on future research directions of FKGC.

Few Shot Instance Segmentation (FSIS) requires models to detect and segment novel classes with limited several support examples. In this work, we explore a simple yet unified solution for FSIS as well as its incremental variants, and introduce a new framework named Reference Twice (RefT) to fully explore the relationship between support/query features based on a Transformer-like framework. Our key insights are two folds: Firstly, with the aid of support masks, we can generate dynamic class centers more appropriately to re-weight query features. Secondly, we find that support object queries have already encoded key factors after base training. In this way, the query features can be enhanced twice from two aspects, i.e., feature-level and instance-level. In particular, we firstly design a mask-based dynamic weighting module to enhance support features and then propose to link object queries for better calibration via cross-attention. After the above steps, the novel classes can be improved significantly over our strong baseline. Additionally, our new framework can be easily extended to incremental FSIS with minor modification. When benchmarking results on the COCO dataset for FSIS, gFSIS, and iFSIS settings, our method achieves a competitive performance compared to existing approaches across different shots, e.g., we boost nAP by noticeable +8.2/+9.4 over the current state-of-the-art FSIS method for 10/30-shot. We further demonstrate the superiority of our approach on Few Shot Object Detection. Code and model will be available.

Graph Neural Networks (GNNs) have shown satisfying performance on various graph learning tasks. To achieve better fitting capability, most GNNs are with a large number of parameters, which makes these GNNs computationally expensive. Therefore, it is difficult to deploy them onto edge devices with scarce computational resources, e.g., mobile phones and wearable smart devices. Knowledge Distillation (KD) is a common solution to compress GNNs, where a light-weighted model (i.e., the student model) is encouraged to mimic the behavior of a computationally expensive GNN (i.e., the teacher GNN model). Nevertheless, most existing GNN-based KD methods lack fairness consideration. As a consequence, the student model usually inherits and even exaggerates the bias from the teacher GNN. To handle such a problem, we take initial steps towards fair knowledge distillation for GNNs. Specifically, we first formulate a novel problem of fair knowledge distillation for GNN-based teacher-student frameworks. Then we propose a principled framework named RELIANT to mitigate the bias exhibited by the student model. Notably, the design of RELIANT is decoupled from any specific teacher and student model structures, and thus can be easily adapted to various GNN-based KD frameworks. We perform extensive experiments on multiple real-world datasets, which corroborates that RELIANT achieves less biased GNN knowledge distillation while maintaining high prediction utility.

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.

The development of social media user stance detection and bot detection methods rely heavily on large-scale and high-quality benchmarks. However, in addition to low annotation quality, existing benchmarks generally have incomplete user relationships, suppressing graph-based account detection research. To address these issues, we propose a Multi-Relational Graph-Based Twitter Account Detection Benchmark (MGTAB), the first standardized graph-based benchmark for account detection. To our knowledge, MGTAB was built based on the largest original data in the field, with over 1.55 million users and 130 million tweets. MGTAB contains 10,199 expert-annotated users and 7 types of relationships, ensuring high-quality annotation and diversified relations. In MGTAB, we extracted the 20 user property features with the greatest information gain and user tweet features as the user features. In addition, we performed a thorough evaluation of MGTAB and other public datasets. Our experiments found that graph-based approaches are generally more effective than feature-based approaches and perform better when introducing multiple relations. By analyzing experiment results, we identify effective approaches for account detection and provide potential future research directions in this field. Our benchmark and standardized evaluation procedures are freely available at: https://github.com/GraphDetec/MGTAB.