Visual Place Recognition is an essential component of systems for camera localization and loop closure detection, and it has attracted widespread interest in multiple domains such as computer vision, robotics and AR/VR. In this work, we propose a faster, lighter and stronger approach that can generate models with fewer parameters and can spend less time in the inference stage. We designed RepVGG-lite as the backbone network in our architecture, it is more discriminative than other general networks in the Place Recognition task. RepVGG-lite has more speed advantages while achieving higher performance. We extract only one scale patch-level descriptors from global descriptors in the feature extraction stage. Then we design a trainable feature matcher to exploit both spatial relationships of the features and their visual appearance, which is based on the attention mechanism. Comprehensive experiments on challenging benchmark datasets demonstrate the proposed method outperforming recent other state-of-the-art learned approaches, and achieving even higher inference speed. Our system has 14 times less params than Patch-NetVLAD, 6.8 times lower theoretical FLOPs, and run faster 21 and 33 times in feature extraction and feature matching. Moreover, the performance of our approach is 0.5\% better than Patch-NetVLAD in Recall@1. We used subsets of Mapillary Street Level Sequences dataset to conduct experiments for all other challenging conditions.

We revisit a simple Learning-from-Scratch baseline for visuo-motor control that uses data augmentation and a shallow ConvNet. We find that this baseline has competitive performance with recent methods that leverage frozen visual representations trained on large-scale vision datasets.

This paper mainly describes the dma submission to the TempoWiC task, which achieves a macro-F1 score of 77.05% and attains the first place in this task. We first explore the impact of different pre-trained language models. Then we adopt data cleaning, data augmentation, and adversarial training strategies to enhance the model generalization and robustness. For further improvement, we integrate POS information and word semantic representation using a Mixture-of-Experts (MoE) approach. The experimental results show that MoE can overcome the feature overuse issue and combine the context, POS, and word semantic features well. Additionally, we use a model ensemble method for the final prediction, which has been proven effective by many research works.

Frozen pretrained models have become a viable alternative to the pretraining-then-finetuning paradigm for transfer learning. However, with frozen models there are relatively few parameters available for adapting to downstream tasks, which is problematic in computer vision where tasks vary significantly in input/output format and the type of information that is of value. In this paper, we present a study of frozen pretrained models when applied to diverse and representative computer vision tasks, including object detection, semantic segmentation and video action recognition. From this empirical analysis, our work answers the questions of what pretraining task fits best with this frozen setting, how to make the frozen setting more flexible to various downstream tasks, and the effect of larger model sizes. We additionally examine the upper bound of performance using a giant frozen pretrained model with 3 billion parameters (SwinV2-G) and find that it reaches competitive performance on a varied set of major benchmarks with only one shared frozen base network: 60.0 box mAP and 52.2 mask mAP on COCO object detection test-dev, 57.6 val mIoU on ADE20K semantic segmentation, and 81.7 top-1 accuracy on Kinetics-400 action recognition. With this work, we hope to bring greater attention to this promising path of freezing pretrained image models.

We present a unified hard-constraint framework for solving geometrically complex PDEs with neural networks, where the most commonly used Dirichlet, Neumann, and Robin boundary conditions (BCs) are considered. Specifically, we first introduce the "extra fields" from the mixed finite element method to reformulate the PDEs so as to equivalently transform the three types of BCs into linear forms. Based on the reformulation, we derive the general solutions of the BCs analytically, which are employed to construct an ansatz that automatically satisfies the BCs. With such a framework, we can train the neural networks without adding extra loss terms and thus efficiently handle geometrically complex PDEs, alleviating the unbalanced competition between the loss terms corresponding to the BCs and PDEs. We theoretically demonstrate that the "extra fields" can stabilize the training process. Experimental results on real-world geometrically complex PDEs showcase the effectiveness of our method compared with state-of-the-art baselines.

基于深度学习的方法，例如物理知识的神经网络（PINN）和DeepOnets已显示出解决PDE受约束优化（PDECO）问题的希望。但是，现有方法不足以处理对优化目标具有复杂或非线性依赖性的PDE约束。在本文中，我们提出了一个新颖的双层优化框架，以通过将目标和约束的优化解耦来解决挑战。对于内部循环优化，我们采用PINN仅解决PDE约束。对于外循环，我们通过基于隐式函数定理（IFT）使用Broyden的方法来设计一种新颖的方法，该方法对于近似高度级别而言是有效且准确的。我们进一步介绍了高度级计算的理论解释和误差分析。在多个大规模和非线性PDE约束优化问题上进行了广泛的实验表明，与强基础相比，我们的方法可实现最新的结果。

循环闭合是同时定位和映射（SLAM）系统的重要组成部分。大型视野（FOV）摄像机在SLAM领域受到了广泛的关注，因为它们可以利用全景图像上更多的周围功能。在大型VIO中，用于结合位于全景镜头负面平面上的信息提示，图像特征由具有单位长度的三维矢量表示。虽然全景FOV似乎对于循环封闭是有利的，但在大角度的差异下，这些好处不能轻易实现，在大型角度差异下，循环封闭帧几乎无法通过现有方法匹配。在这项工作中，为了完全释放超宽FOV的潜力，我们建议利用VIO系统的态度信息来指导环路闭合的特征点检测。随着宽圈全景数据上的循环封闭进一步带有许多离群值，因此传统的异常拒绝方法并非直接适用。为了解决此问题，我们提出了一个基于单位长度表示的新离群拒绝方法的循环封闭框架，以提高LF-VIO的准确性。在公共Palvio数据集上，进行了一组全面的实验，并提出的LF-Vio-loop优于最先进的视觉惯性化学方法。我们的代码将在https://github.com/flysoaryun/lf-vio-loop上开放。

尽管深入的强化学习（DRL）在包括机器人技术在内的许多学科中都很流行，但最先进的DRL算法仍然难以学习长途，多步骤和稀疏奖励任务，例如仅在只有一项任务的情况下堆叠几个块 - 集合奖励信号。为了提高此类任务的学习效率，本文提出了一种称为A^2的DRL探索技术，该技术集成了受人类经验启发的两个组成部分：抽象演示和适应性探索。 A^2首先将复杂的任务分解为子任务，然后提供正确的子任务订单以学习。在训练过程中，该代理商会自适应地探索环境，对良好的子任务的行为更确定性，并且更随机地对不良的子任务子任务。消融和比较实验是对几个网格世界任务和三个机器人操纵任务进行的。我们证明A^2可以帮助流行的DRL算法（DQN，DDPG和SAC）在这些环境中更有效，稳定地学习。

多对象跟踪（MOT）需要通过帧检测和关联对象。与通过检测到的边界框或将对象作为点跟踪不同，我们建议跟踪对象作为像素分布。我们将此想法实例化，以基于变压器的体系结构P3Aformer，并具有像素的传播，预测和关联。P3Aformer通过流量信息引导的Pixel-Pixel特征，以传递帧之间的消息。此外，P3Aformer采用元结构结构来生成多尺度对象特征图。在推断期间，提出了一个像素关联过程，以基于像素的预测来通过帧恢复对象连接。P3Aformer在MOT17基准上的MOTA中产生81.2 \％，这是所有变压器网络中第一个达到文献中80 \％MOTA。P3AFORMER在MOT20和Kitti基准测试上也优于最先进的。

目的：动脉自旋标记（ASL）灌注成像表示脑血流（CBF）的直接和绝对测量。动脉转运时间（ATT）是一个相关的生理参数，反映了标记的旋转到达感兴趣的大脑区域的持续时间。多个标签后延迟（PLD）可以提供CBF和ATT的强大度量，从而可以根据ATT优化区域CBF建模。延长的获取时间可以潜在地降低CBF和ATT估计的质量和准确性。我们提出了一个新型网络，以显着减少具有较高信噪比（SNR）的PLD数量。方法：对一个PLD和两个PLD SEPA-列表进行了CBF和ATT估计。对每个模型进行独立训练，以学习从灌注加权图像（PWI）到CBF和ATT图像的非线性转换。结果：One-PLD和两个PLD模型在CBF上的视觉上优于常规方法，而两PLD模型在ATT估计上显示出更准确的结构。所提出的方法将PLD的数量从ATT上的6个降低到2，甚至在CBF上的单个PLD中，而无需牺牲SNR。结论：使用高质量的深度学习生成CBF和ATT地图可行。