The 1$^{\text{st}}$ Workshop on Maritime Computer Vision (MaCVi) 2023 focused on maritime computer vision for Unmanned Aerial Vehicles (UAV) and Unmanned Surface Vehicle (USV), and organized several subchallenges in this domain: (i) UAV-based Maritime Object Detection, (ii) UAV-based Maritime Object Tracking, (iii) USV-based Maritime Obstacle Segmentation and (iv) USV-based Maritime Obstacle Detection. The subchallenges were based on the SeaDronesSee and MODS benchmarks. This report summarizes the main findings of the individual subchallenges and introduces a new benchmark, called SeaDronesSee Object Detection v2, which extends the previous benchmark by including more classes and footage. We provide statistical and qualitative analyses, and assess trends in the best-performing methodologies of over 130 submissions. The methods are summarized in the appendix. The datasets, evaluation code and the leaderboard are publicly available at https://seadronessee.cs.uni-tuebingen.de/macvi.

Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of hybrid micro-small UAVs, coined as lifting-wing quadcopters. The airframe orientation of the lifting wing needs to tilt a specific angle often within $ 45$ degrees, neither nearly $ 90$ nor approximately $ 0$ degrees. Compared with some convertiplane and tail-sitter UAVs, the lifting-wing quadcopter has a highly reliable structure, robust wind resistance, low cruise speed and reliable transition flight, making it potential to work fully-autonomous outdoor or some confined airspace indoor. In the modeling part, forces and moments generated by both lifting wing and rotors are considered. Based on the established model, a unified controller for the full flight phase is designed. The controller has the capability of uniformly treating the hovering and forward flight, and enables a continuous transition between two modes, depending on the velocity command. What is more, by taking rotor thrust and aerodynamic force under consideration simultaneously, a control allocation based on optimization is utilized to realize cooperative control for energy saving. Finally, comprehensive Hardware-In-the-Loop (HIL) simulations are performed to verify the advantages of the designed aircraft and the proposed controller.

Graph Neural Networks (GNNs), originally proposed for node classification, have also motivated many recent works on edge prediction (a.k.a., link prediction). However, existing methods lack elaborate design regarding the distinctions between two tasks that have been frequently overlooked: (i) edges only constitute the topology in the node classification task but can be used as both the topology and the supervisions (i.e., labels) in the edge prediction task; (ii) the node classification makes prediction over each individual node, while the edge prediction is determinated by each pair of nodes. To this end, we propose a novel edge prediction paradigm named Edge-aware Message PassIng neuRal nEtworks (EMPIRE). Concretely, we first introduce an edge splitting technique to specify use of each edge where each edge is solely used as either the topology or the supervision (named as topology edge or supervision edge). We then develop a new message passing mechanism that generates the messages to source nodes (through topology edges) being aware of target nodes (through supervision edges). In order to emphasize the differences between pairs connected by supervision edges and pairs unconnected, we further weight the messages to highlight the relative ones that can reflect the differences. In addition, we design a novel negative node-pair sampling trick that efficiently samples 'hard' negative instances in the supervision instances, and can significantly improve the performance. Experimental results verify that the proposed method can significantly outperform existing state-of-the-art models regarding the edge prediction task on multiple homogeneous and heterogeneous graph datasets.

In this paper, we propose an effective unified control law for accurately tracking agile trajectories for lifting-wing quadcopters with different installation angles, which have the capability of vertical takeoff and landing (VTOL) as well as high-speed cruise flight. First, we derive a differential flatness transform for the lifting-wing dynamics with a nonlinear model under coordinated turn condition. To increase the tracking performance on agile trajectories, the proposed controller incorporates the state and input variables calculated from differential flatness as feedforward. In particular, the jerk, the 3-order derivative of the trajectory, is converted into angular velocity as a feedforward item, which significantly improves the system bandwidth. At the same time, feedback and feedforward outputs are combined to deal with external disturbances and model mismatch. The control algorithm has been thoroughly evaluated in the outdoor flight tests, which show that it can achieve accurate trajectory tracking.

For guiding the UAV swarm to pass through narrow openings, a trapezoid virtual tube is designed in our previous work. In this paper, we generalize its application range to the condition that there exist obstacles inside the trapezoid virtual tube and UAVs have strict speed constraints. First, a distributed vector field controller is proposed for the trapezoid virtual tube with no obstacle inside. The relationship between the trapezoid virtual tube and the speed constraints is also presented. Then, a switching logic for the obstacle avoidance is put forward. The key point is to divide the trapezoid virtual tube containing obstacles into several sub trapezoid virtual tubes with no obstacle inside. Formal analyses and proofs are made to show that all UAVs are able to pass through the trapezoid virtual tube safely. Besides, the effectiveness of the proposed method is validated by numerical simulations and real experiments.

Reinforcement learning-based (RL-based) energy management strategy (EMS) is considered a promising solution for the energy management of electric vehicles with multiple power sources. It has been shown to outperform conventional methods in energy management problems regarding energy-saving and real-time performance. However, previous studies have not systematically examined the essential elements of RL-based EMS. This paper presents an empirical analysis of RL-based EMS in a Plug-in Hybrid Electric Vehicle (PHEV) and Fuel Cell Electric Vehicle (FCEV). The empirical analysis is developed in four aspects: algorithm, perception and decision granularity, hyperparameters, and reward function. The results show that the Off-policy algorithm effectively develops a more fuel-efficient solution within the complete driving cycle compared with other algorithms. Improving the perception and decision granularity does not produce a more desirable energy-saving solution but better balances battery power and fuel consumption. The equivalent energy optimization objective based on the instantaneous state of charge (SOC) variation is parameter sensitive and can help RL-EMSs to achieve more efficient energy-cost strategies.

By transferring knowledge from large, diverse, task-agnostic datasets, modern machine learning models can solve specific downstream tasks either zero-shot or with small task-specific datasets to a high level of performance. While this capability has been demonstrated in other fields such as computer vision, natural language processing or speech recognition, it remains to be shown in robotics, where the generalization capabilities of the models are particularly critical due to the difficulty of collecting real-world robotic data. We argue that one of the keys to the success of such general robotic models lies with open-ended task-agnostic training, combined with high-capacity architectures that can absorb all of the diverse, robotic data. In this paper, we present a model class, dubbed Robotics Transformer, that exhibits promising scalable model properties. We verify our conclusions in a study of different model classes and their ability to generalize as a function of the data size, model size, and data diversity based on a large-scale data collection on real robots performing real-world tasks. The project's website and videos can be found at robotics-transformer.github.io

Temporal video segmentation and classification have been advanced greatly by public benchmarks in recent years. However, such research still mainly focuses on human actions, failing to describe videos in a holistic view. In addition, previous research tends to pay much attention to visual information yet ignores the multi-modal nature of videos. To fill this gap, we construct the Tencent `Ads Video Segmentation'~(TAVS) dataset in the ads domain to escalate multi-modal video analysis to a new level. TAVS describes videos from three independent perspectives as `presentation form', `place', and `style', and contains rich multi-modal information such as video, audio, and text. TAVS is organized hierarchically in semantic aspects for comprehensive temporal video segmentation with three levels of categories for multi-label classification, e.g., `place' - `working place' - `office'. Therefore, TAVS is distinguished from previous temporal segmentation datasets due to its multi-modal information, holistic view of categories, and hierarchical granularities. It includes 12,000 videos, 82 classes, 33,900 segments, 121,100 shots, and 168,500 labels. Accompanied with TAVS, we also present a strong multi-modal video segmentation baseline coupled with multi-label class prediction. Extensive experiments are conducted to evaluate our proposed method as well as existing representative methods to reveal key challenges of our dataset TAVS.

Zero-shot cross-lingual named entity recognition (NER) aims at transferring knowledge from annotated and rich-resource data in source languages to unlabeled and lean-resource data in target languages. Existing mainstream methods based on the teacher-student distillation framework ignore the rich and complementary information lying in the intermediate layers of pre-trained language models, and domain-invariant information is easily lost during transfer. In this study, a mixture of short-channel distillers (MSD) method is proposed to fully interact the rich hierarchical information in the teacher model and to transfer knowledge to the student model sufficiently and efficiently. Concretely, a multi-channel distillation framework is designed for sufficient information transfer by aggregating multiple distillers as a mixture. Besides, an unsupervised method adopting parallel domain adaptation is proposed to shorten the channels between the teacher and student models to preserve domain-invariant features. Experiments on four datasets across nine languages demonstrate that the proposed method achieves new state-of-the-art performance on zero-shot cross-lingual NER and shows great generalization and compatibility across languages and fields.

Solving the challenges of automatic machine translation of Building Automation System text metadata is a crucial first step in efficiently deploying smart building applications. The vocabulary used to describe building metadata appears small compared to general natural languages, but each term has multiple commonly used abbreviations. Conventional machine learning techniques are inefficient since they need to learn many different forms for the same word, and large amounts of data must be used to train these models. It is also difficult to apply standard techniques such as tokenisation since this commonly results in multiple output tags being associated with a single input token, something traditional sequence labelling models do not allow. Finite State Transducers can model sequence-to-sequence tasks where the input and output sequences are different lengths, and they can be combined with language models to ensure a valid output sequence is generated. We perform a preliminary analysis into the use of transducer-based language models to parse and normalise building point metadata.