希望启用能够自动组装的机器人。对物体部件的结构理解在这项任务中起着至关重要的作用，但仍未探索。在本文中，我们专注于从一组零件几何形状组中设置家具组件的设置，这实质上是一个六型零件姿势估计问题。我们提出了一个基于多层变压器的框架，该框架涉及零件之间的几何和关系推理，以迭代地更新零件。我们仔细设计了一个独特的实例编码，以解决几何相似零件之间的歧义，以便可以区分所有零件。除了从头开始组装外，我们还将我们的框架扩展到一个名为“进程零件组件”的新任务。类似于家具维护，它要求机器人继续使用未完成的产品，并将其余部分组装成适当的位置。我们的方法在公共Partnet数据集上的多个指标中的最新指标比当前的最新指标取得了10％以上。广泛的实验和定量比较证明了所提出的框架的有效性。

我们研究在对抗性腐败下学习通用线性模型的问题。我们分析了一种经典的启发式，称为迭代修剪的最大似然估计量，该估计量已知在实践中有效地抵抗标签腐败。在标签腐败下，我们证明了这个简单的估计器在各种广泛的线性模型上实现了最小风险，包括高斯回归，泊松回归和二项式回归。最后，我们将估计器扩展到标签和协变量腐败的更具挑战性的设置，并在该环境中证明其稳健性和最佳性。

我们介绍了一个普遍的框架，用于表征差异隐私保证的统计估算问题的统计效率。我们的框架，我们呼叫高维建议 - 试验释放（HPTR），在三个重要组件上建立：指数机制，强大的统计和提议 - 试验释放机制。将所有这些粘在一起是恢复力的概念，这是强大的统计估计的核心。弹性指导算法的设计，灵敏度分析和试验步骤的成功概率分析。关键识别是，如果我们设计了一种仅通过一维鲁棒统计数据访问数据的指数机制，则可以大大减少所产生的本地灵敏度。使用弹性，我们可以提供紧密的本地敏感界限。这些紧张界限在几个案例中容易转化为近乎最佳的实用程序。我们给出了将HPTR应用于统计估计问题的给定实例的一般配方，并在平均估计，线性回归，协方差估计和主成分分析的规范问题上证明了它。我们介绍了一般的公用事业分析技术，证明了HPTR几乎在文献中研究的若干场景下实现了最佳的样本复杂性。

在共享数据的统计学习和分析中，在联合学习和元学习等平台上越来越广泛地采用，有两个主要问题：隐私和鲁棒性。每个参与的个人都应该能够贡献，而不会担心泄露一个人的敏感信息。与此同时，系统应该在恶意参与者的存在中插入损坏的数据。最近的算法在学习中，学习共享数据专注于这些威胁中的一个，使系统容易受到另一个威胁。我们弥合了这个差距，以获得估计意思的规范问题。样品。我们介绍了素数，这是第一算法，实现了各种分布的隐私和鲁棒性。我们通过新颖的指数时间算法进一步补充了这一结果，提高了素数的样本复杂性，实现了近最优保证并匹配（非鲁棒）私有平均估计的已知下限。这证明没有额外的统计成本同时保证隐私和稳健性。

Recent CLIP-guided 3D optimization methods, e.g., DreamFields and PureCLIPNeRF achieve great success in zero-shot text-guided 3D synthesis. However, due to the scratch training and random initialization without any prior knowledge, these methods usually fail to generate accurate and faithful 3D structures that conform to the corresponding text. In this paper, we make the first attempt to introduce the explicit 3D shape prior to CLIP-guided 3D optimization methods. Specifically, we first generate a high-quality 3D shape from input texts in the text-to-shape stage as the 3D shape prior. We then utilize it as the initialization of a neural radiance field and then optimize it with the full prompt. For the text-to-shape generation, we present a simple yet effective approach that directly bridges the text and image modalities with a powerful text-to-image diffusion model. To narrow the style domain gap between images synthesized by the text-to-image model and shape renderings used to train the image-to-shape generator, we further propose to jointly optimize a learnable text prompt and fine-tune the text-to-image diffusion model for rendering-style image generation. Our method, namely, Dream3D, is capable of generating imaginative 3D content with better visual quality and shape accuracy than state-of-the-art methods.

Consensus clustering aggregates partitions in order to find a better fit by reconciling clustering results from different sources/executions. In practice, there exist noise and outliers in clustering task, which, however, may significantly degrade the performance. To address this issue, we propose a novel algorithm -- robust consensus clustering that can find common ground truth among experts' opinions, which tends to be minimally affected by the bias caused by the outliers. In particular, we formalize the robust consensus clustering problem as a constraint optimization problem, and then derive an effective algorithm upon alternating direction method of multipliers (ADMM) with rigorous convergence guarantee. Our method outperforms the baselines on benchmarks. We apply the proposed method to the real-world advertising campaign segmentation and forecasting tasks using the proposed consensus clustering results based on the similarity computed via Kolmogorov-Smirnov Statistics. The accurate clustering result is helpful for building the advertiser profiles so as to perform the forecasting.

In computational advertising, a challenging problem is how to recommend the bid for advertisers to achieve the best return on investment (ROI) given budget constraint. This paper presents a bid recommendation scenario that discovers the concavity changes in click prediction curves. The recommended bid is derived based on the turning point from significant increase (i.e. concave downward) to slow increase (convex upward). Parametric learning based method is applied by solving the corresponding constraint optimization problem. Empirical studies on real-world advertising scenarios clearly demonstrate the performance gains for business metrics (including revenue increase, click increase and advertiser ROI increase).

In cost-per-click (CPC) or cost-per-impression (CPM) advertising campaigns, advertisers always run the risk of spending the budget without getting enough conversions. Moreover, the bidding on advertising inventory has few connections with propensity one that can reach to target cost-per-acquisition (tCPA) goals. To address this problem, this paper presents a bid optimization scenario to achieve the desired tCPA goals for advertisers. In particular, we build the optimization engine to make a decision by solving the rigorously formalized constrained optimization problem, which leverages the bid landscape model learned from rich historical auction data using non-parametric learning. The proposed model can naturally recommend the bid that meets the advertisers' expectations by making inference over advertisers' historical auction behaviors, which essentially deals with the data challenges commonly faced by bid landscape modeling: incomplete logs in auctions, and uncertainty due to the variation and fluctuations in advertising bidding behaviors. The bid optimization model outperforms the baseline methods on real-world campaigns, and has been applied into a wide range of scenarios for performance improvement and revenue liftup.

We propose a new neural network design paradigm Reversible Column Network (RevCol). The main body of RevCol is composed of multiple copies of subnetworks, named columns respectively, between which multi-level reversible connections are employed. Such architectural scheme attributes RevCol very different behavior from conventional networks: during forward propagation, features in RevCol are learned to be gradually disentangled when passing through each column, whose total information is maintained rather than compressed or discarded as other network does. Our experiments suggest that CNN-style RevCol models can achieve very competitive performances on multiple computer vision tasks such as image classification, object detection and semantic segmentation, especially with large parameter budget and large dataset. For example, after ImageNet-22K pre-training, RevCol-XL obtains 88.2% ImageNet-1K accuracy. Given more pre-training data, our largest model RevCol-H reaches 90.0% on ImageNet-1K, 63.8% APbox on COCO detection minival set, 61.0% mIoU on ADE20k segmentation. To our knowledge, it is the best COCO detection and ADE20k segmentation result among pure (static) CNN models. Moreover, as a general macro architecture fashion, RevCol can also be introduced into transformers or other neural networks, which is demonstrated to improve the performances in both computer vision and NLP tasks. We release code and models at https://github.com/megvii-research/RevCol

We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic models, which lays a foundation for generating dynamically feasible trajectory and achieving high-performance tracking control. We have found that a tail-sitter is differentially flat with accurate aerodynamic models within the entire flight envelope, by specifying coordinate flight condition and choosing the vehicle position as the flat output. This fundamental property allows us to fully exploit the high-fidelity aerodynamic models in the trajectory planning and tracking control to achieve accurate tail-sitter flights. Particularly, an optimization-based trajectory planner for tail-sitters is proposed to design high-quality, smooth trajectories with consideration of kinodynamic constraints, singularity-free constraints and actuator saturation. The planned trajectory of flat output is transformed to state trajectory in real-time with consideration of wind in environments. To track the state trajectory, a global, singularity-free, and minimally-parameterized on-manifold MPC is developed, which fully leverages the accurate aerodynamic model to achieve high-accuracy trajectory tracking within the whole flight envelope. The effectiveness of the proposed framework is demonstrated through extensive real-world experiments in both indoor and outdoor field tests, including agile SE(3) flight through consecutive narrow windows requiring specific attitude and with speed up to 10m/s, typical tail-sitter maneuvers (transition, level flight and loiter) with speed up to 20m/s, and extremely aggressive aerobatic maneuvers (Wingover, Loop, Vertical Eight and Cuban Eight) with acceleration up to 2.5g.