碰撞评估在各种应用中至关重要。但是，现有方法要么很麻烦地计算出实际值的差距。在本文中，我们提出了一个零范围的全身碰撞评估，该评估可以作为低维线性程序的配方。该评估可以在O（M）计算时间分析上解决，其中M是该线性程序中线性不平等的总数。此外，提出的方法有效地获得了其梯度，因此可以轻松地应用于基于优化的应用程序。

In this paper, we work on a sound recognition system that continually incorporates new sound classes. Our main goal is to develop a framework where the model can be updated without relying on labeled data. For this purpose, we propose adopting representation learning, where an encoder is trained using unlabeled data. This learning framework enables the study and implementation of a practically relevant use case where only a small amount of the labels is available in a continual learning context. We also make the empirical observation that a similarity-based representation learning method within this framework is robust to forgetting even if no explicit mechanism against forgetting is employed. We show that this approach obtains similar performance compared to several distillation-based continual learning methods when employed on self-supervised representation learning methods.

四型是敏捷平台。对于人类专家，他们可以在混乱的环境中进行极高的高速航班。但是，高速自主飞行仍然是一个重大挑战。在这项工作中，我们提出了一种基于走廊约束的最小控制工作轨迹优化（MINCO）框架的运动计划算法。具体而言，我们使用一系列重叠球来表示环境的自由空间，并提出了两种新型设计，使算法能够实时计划高速四轨轨迹。一种是一种基于采样的走廊生成方法，该方法在两个相邻球之间生成具有大型重叠区域（因此总走廊大小）的球体。第二个是一个后退的地平线走廊（RHC）策略，其中部分生成的走廊在每个补给中都重复使用。这两种设计一起，根据四极管的当前状态扩大走廊的空间，因此使四极管可以高速操纵。我们根据其他最先进的计划方法基准了我们的算法，以显示其在模拟中的优势。还进行了全面的消融研究，以显示这两种设计的必要性。最终在木材环境中对自动激光雷达四型二次无人机进行了评估，该方法的飞行速度超过13.7 m/s，而没有任何先前的环境或外部定位设施图。

Recently, discrete latent variable models have received a surge of interest in both Natural Language Processing (NLP) and Computer Vision (CV), attributed to their comparable performance to the continuous counterparts in representation learning, while being more interpretable in their predictions. In this paper, we develop a topic-informed discrete latent variable model for semantic textual similarity, which learns a shared latent space for sentence-pair representation via vector quantization. Compared with previous models limited to local semantic contexts, our model can explore richer semantic information via topic modeling. We further boost the performance of semantic similarity by injecting the quantized representation into a transformer-based language model with a well-designed semantic-driven attention mechanism. We demonstrate, through extensive experiments across various English language datasets, that our model is able to surpass several strong neural baselines in semantic textual similarity tasks.

学习（IL）是数据挖掘应用中广泛存在的重要问题。典型的IL方法利用直观的类努力重新采样或重新重量直接平衡训练集。然而，特定领域的一些最近的研究努力表明，在没有课堂上操纵的情况下可以实现类别不平衡的学习。这提示我们思考两种不同的IL战略之间的关系和班级不平衡的性质。从根本上说，它们对应于IL中存在的两个必要的不平衡：来自不同类别的示例之间的数量差异以及单个类中的易于和硬示例之间，即阶级和级别的帧内不平衡。现有工程未能明确地考虑不平衡，因此遭受次优绩效。鉴于此，我们呈现了双重平衡的集合，即杜博士，一个多功能的集合学习框架。与普遍方法不同，Dube直接执行级别的级别和级别的平衡，而无需依赖基于距离的距离的计算，这允许它在计算效率时实现竞争性能。我们还提出了关于基于杜博伊的不同间/内部平衡策略的优缺点的详细讨论和分析。广泛的实验验证了所提出的方法的有效性。代码和示例可在https://github.com/iCde20222sub/duplebalance获得。

Imbalanced-leasemble，缩写为IMBens，是一个开源Python工具箱，用于快速实现和部署类别 - 不平衡数据的集合学习算法。它提供对多个最先进的集合不平衡学习（EIL）方法，可视化器和公用事业功能的访问，以处理类别不平衡问题。这些集合方法包括基于重采样的，例如/过度采样，以及重量基于/过度采样，例如，敏感的学习。除了实现之外，我们还扩展了传统的二进制EIL算法，与多级支持和重采样调度程序等新功能，从而使它们能够处理更复杂的任务。该软件包是在简单的，良好的API设计中开发的，遵循Scikit-Gearn的易于使用。 IMBens在MIT开源许可证下发布，可以从Python包索引（PYPI）安装。 https://github.com/zhiningliu1998/imbalanced-ensemble可以使用源代码，二进制文件，详细文档和使用示例。

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.