本文介绍了WiFi传感器 - 机器人（WSR）工具箱，一个开源C ++框架。它使团队中的机器人能够在彼此获得相对的轴承，即使在非思考（NLOS）设置中也是机器人中非常具有挑战性的问题。通过分析其传送的WiFi信号的阶段，因为机器人遍历环境来实现。基于我们的先前作品中开发的理论的这种能力是首次提供的作为OpenSource工具。它是由于缺乏使用机器人的本地资源（例如WiFi）来在NLOS中感测的易于部署的解决方案。这对多个机器人团队中的本地化，ad-hoc机器人网络和安全性有影响。工具箱专为使用商品硬件和车载传感器的机器人平台上分布式和在线部署而设计。我们还释放数据集，展示其在NLOS中的性能以及用于多机器人本地化USECASE的MOLICE中的表现。经验结果表明，我们的工具箱的轴承估计达到了5.10度的平均精度。在室内办公环境中的硬件部署中，这分别导致LOS和NLOS设置中的0.5米和0.9米的中值误差为0.5米和0.9米。

在本文中，我们推导了机器人来测量相对方向或到达角度（AOA）的新能力，以在非视线和未映射的环境中运行的其他机器人，而无需外部基础架构。我们通过捕获WiFi信号在从发送到接收机器人时遍历的所有路径来这样做，这是我们术语AOA简档。当机器人在3D空间中移动时，关键直觉是“在空中模拟空气中的天线阵列”，一种类似于合成孔径雷达（SAR）的方法。主要贡献包括i）一个框架，以适应任意3D轨迹的框架，以及所有机器人的持续移动性，而计算AOA配置文件和II）随附的分析，其提供了作为机器人轨迹的函数的AOA估计方差的较低限制基于Cramer Rao绑定的几何。这是一个关键的区别与先前的SAR的工作，限制机器人移动到规定的运动模式，不概括到3D空间，和/或在数据采集时段期间需要将机器人发送到静态。我们的方法导致更准确的AOA配置文件，从而更好地估计，并正式地将该观察表征为轨迹的信息性;我们推导出封闭形式的可计算量。所有理论发展都是通过广泛的模拟和硬件实验证实的。我们还表明，我们的配方可以与现成的轨迹估计传感器一起使用。最后，我们展示了我们系统对多机器人动态集合任务的表现。

我们在执行姿势图优化（PGO）的机器人团队中提供了一份新颖的合作框架，该团队解决了解决多机器人SLAM的两个重要挑战：i）通过在不使用地图的情况下通过活动的Rendezvous实现信息交换“按需”的两个重要挑战机器人的位置和ii）拒绝偏远的测量。我们的主要洞察力是利用机器人之间的通信信道中存在的相对位置数据来提高PGO的基地精度。我们开发一种用于将信道状态信息（CSI）与多机器人PGO集成的算法和实验框架;它是分布式的，适用于低灯或无特色环境，传统传感器经常失败。我们对实际机器人提供了广泛的实验结果，并观察了使用活跃的Rendezvous导致在地面真理姿势错误的64％减少中，使用CSI观察援助异常拒绝将地面真理造成错误减少32％。这些结果表明，将通信作为新颖的Slam传感器集成的可能性。

Considering the computation complexity, we propose a Guided Hybrid Quantization with One-to-one Self-Teaching (GHOST}) framework. More concretely, we first design a structure called guided quantization self-distillation (GQSD), which is an innovative idea for realizing lightweight through the synergy of quantization and distillation. The training process of the quantization model is guided by its full-precision model, which is time-saving and cost-saving without preparing a huge pre-trained model in advance. Second, we put forward a hybrid quantization (HQ) module to obtain the optimal bit width automatically under a constrained condition where a threshold for distribution distance between the center and samples is applied in the weight value search space. Third, in order to improve information transformation, we propose a one-to-one self-teaching (OST) module to give the student network a ability of self-judgment. A switch control machine (SCM) builds a bridge between the student network and teacher network in the same location to help the teacher to reduce wrong guidance and impart vital knowledge to the student. This distillation method allows a model to learn from itself and gain substantial improvement without any additional supervision. Extensive experiments on a multimodal dataset (VEDAI) and single-modality datasets (DOTA, NWPU, and DIOR) show that object detection based on GHOST outperforms the existing detectors. The tiny parameters (<9.7 MB) and Bit-Operations (BOPs) (<2158 G) compared with any remote sensing-based, lightweight or distillation-based algorithms demonstrate the superiority in the lightweight design domain. Our code and model will be released at https://github.com/icey-zhang/GHOST.

在本文中，我们为RSI（名为Superyolo）提出了一种准确而快速的小对象检测方法，该方法融合了多模式数据并通过利用辅助超级分辨率（SR）学习并考虑既有辅助的超级分辨率（SR）对象进行高分辨率（HR）对象检测检测准确性和计算成本。首先，我们通过删除焦点模块来保持人力资源特征并显着克服小物体缺失的误差来构建紧凑的基线。其次，我们利用像素级的多模式融合（MF）从各种数据中提取信息，以促进RSI中的小物体更合适和有效的功能。此外，我们设计了一个简单且灵活的SR分支来学习HR特征表示，可以区分具有低分辨率（LR）输入的庞大背景的小物体，从而进一步提高了检测准确性。此外，为避免引入其他计算，SR分支在推理阶段被丢弃，并且由于LR输入而减少了网络模型的计算。实验结果表明，在广泛使用的Vedai RS数据集上，Superyolo的精度为73.61％（在MAP50方面），比SOTA大型模型（例如Yolov5L，Yolov5X和RS设计的Yolors）高10％以上。同时，Superyolo的Gfolps和参数大小比Yolov5X少约18.1倍，4.2倍。我们提出的模型显示出与最新模型相比，具有良好的准确性速度权衡。该代码将在https://github.com/icey-zhang/superyolo上开放。

在大多数视频平台（如youtube和Tiktok）中，播放的视频通常经过多个视频编码，例如通过记录设备，视频编辑应用程序的软件编码，以及视频应用程序服务器的单个/多个视频转码。以前的压缩视频恢复工作通常假设压缩伪像是由一次性编码引起的。因此，衍生的解决方案通常在实践中通常不起作用。在本文中，我们提出了一种新的方法，时间空间辅助网络（TSAN），用于转码视频恢复。我们的方法考虑了视频编码和转码之间的独特特征，我们将初始浅编码视频视为中间标签，以帮助网络进行自我监督的注意培训。此外，我们采用相邻的多帧信息，并提出用于转码视频恢复的时间可变形对准和金字塔空间融合。实验结果表明，该方法的性能优于以前的技术。代码可在https://github.com/iceCherylxuli/tsan获得。

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.