在本文中，我们提出了一种基于排名的水下图像质量评估（UIQA）方法，该方法缩写为Uranker。乌兰克（Uranker）建立在高效的注意力图像变压器上。在水下图像方面，我们特别设计（1）直方图嵌入了水下图像作为直方图表的颜色分布以参加全局降解，以及（2）与模型局部降解的动态跨尺度对应关系。最终预测取决于不同量表的类代币，该标记是全面考虑多尺度依赖性的。随着保证金排名损失，我们的乌员可以根据其视觉质量通过不同的水下图像增强（UIE）算法来准确对同一场景的水下图像的顺序进行排名。为此，我们还贡献了一个数据集，即Urankerset，其中包含不同的UIE算法和相应的感知排名增强的足够结果，以训练我们的uranker。除了Uranker的良好表现外，我们发现一个简单的U-Shape UIE网络与我们的预训练的Uranker相结合时可以获得有希望的性能。此外，我们还提出了一个标准化尾巴，可以显着提高UIE网络的性能。广泛的实验证明了我们方法的最新性能。讨论了我们方法的关键设计。我们将发布我们的数据集和代码。

We propose a distributionally robust return-risk model for Markov decision processes (MDPs) under risk and reward ambiguity. The proposed model optimizes the weighted average of mean and percentile performances, and it covers the distributionally robust MDPs and the distributionally robust chance-constrained MDPs (both under reward ambiguity) as special cases. By considering that the unknown reward distribution lies in a Wasserstein ambiguity set, we derive the tractable reformulation for our model. In particular, we show that that the return-risk model can also account for risk from uncertain transition kernel when one only seeks deterministic policies, and that a distributionally robust MDP under the percentile criterion can be reformulated as its nominal counterpart at an adjusted risk level. A scalable first-order algorithm is designed to solve large-scale problems, and we demonstrate the advantages of our proposed model and algorithm through numerical experiments.

In the future, service robots are expected to be able to operate autonomously for long periods of time without human intervention. Many work striving for this goal have been emerging with the development of robotics, both hardware and software. Today we believe that an important underpinning of long-term robot autonomy is the ability of robots to learn on site and on-the-fly, especially when they are deployed in changing environments or need to traverse different environments. In this paper, we examine the problem of long-term autonomy from the perspective of robot learning, especially in an online way, and discuss in tandem its premise "data" and the subsequent "deployment".

Existing 3D-aware image synthesis approaches mainly focus on generating a single canonical object and show limited capacity in composing a complex scene containing a variety of objects. This work presents DisCoScene: a 3Daware generative model for high-quality and controllable scene synthesis. The key ingredient of our method is a very abstract object-level representation (i.e., 3D bounding boxes without semantic annotation) as the scene layout prior, which is simple to obtain, general to describe various scene contents, and yet informative to disentangle objects and background. Moreover, it serves as an intuitive user control for scene editing. Based on such a prior, the proposed model spatially disentangles the whole scene into object-centric generative radiance fields by learning on only 2D images with the global-local discrimination. Our model obtains the generation fidelity and editing flexibility of individual objects while being able to efficiently compose objects and the background into a complete scene. We demonstrate state-of-the-art performance on many scene datasets, including the challenging Waymo outdoor dataset. Project page: https://snap-research.github.io/discoscene/

Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction and planning. As sensors and hardware get improved, there is trending popularity to devise a system that can perform a wide diversity of tasks to fulfill higher-level intelligence. Contemporary approaches resort to either deploying standalone models for individual tasks, or designing a multi-task paradigm with separate heads. These might suffer from accumulative error or negative transfer effect. Instead, we argue that a favorable algorithm framework should be devised and optimized in pursuit of the ultimate goal, i.e. planning of the self-driving-car. Oriented at this goal, we revisit the key components within perception and prediction. We analyze each module and prioritize the tasks hierarchically, such that all these tasks contribute to planning (the goal). To this end, we introduce Unified Autonomous Driving (UniAD), the first comprehensive framework up-to-date that incorporates full-stack driving tasks in one network. It is exquisitely devised to leverage advantages of each module, and provide complementary feature abstractions for agent interaction from a global perspective. Tasks are communicated with unified query design to facilitate each other toward planning. We instantiate UniAD on the challenging nuScenes benchmark. With extensive ablations, the effectiveness of using such a philosophy is proven to surpass previous state-of-the-arts by a large margin in all aspects. The full suite of codebase and models would be available to facilitate future research in the community.

The number of international benchmarking competitions is steadily increasing in various fields of machine learning (ML) research and practice. So far, however, little is known about the common practice as well as bottlenecks faced by the community in tackling the research questions posed. To shed light on the status quo of algorithm development in the specific field of biomedical imaging analysis, we designed an international survey that was issued to all participants of challenges conducted in conjunction with the IEEE ISBI 2021 and MICCAI 2021 conferences (80 competitions in total). The survey covered participants' expertise and working environments, their chosen strategies, as well as algorithm characteristics. A median of 72% challenge participants took part in the survey. According to our results, knowledge exchange was the primary incentive (70%) for participation, while the reception of prize money played only a minor role (16%). While a median of 80 working hours was spent on method development, a large portion of participants stated that they did not have enough time for method development (32%). 25% perceived the infrastructure to be a bottleneck. Overall, 94% of all solutions were deep learning-based. Of these, 84% were based on standard architectures. 43% of the respondents reported that the data samples (e.g., images) were too large to be processed at once. This was most commonly addressed by patch-based training (69%), downsampling (37%), and solving 3D analysis tasks as a series of 2D tasks. K-fold cross-validation on the training set was performed by only 37% of the participants and only 50% of the participants performed ensembling based on multiple identical models (61%) or heterogeneous models (39%). 48% of the respondents applied postprocessing steps.

As a powerful representation of 3D scenes, the neural radiance field (NeRF) enables high-quality novel view synthesis from multi-view images. Stylizing NeRF, however, remains challenging, especially on simulating a text-guided style with both the appearance and the geometry altered simultaneously. In this paper, we present NeRF-Art, a text-guided NeRF stylization approach that manipulates the style of a pre-trained NeRF model with a simple text prompt. Unlike previous approaches that either lack sufficient geometry deformations and texture details or require meshes to guide the stylization, our method can shift a 3D scene to the target style characterized by desired geometry and appearance variations without any mesh guidance. This is achieved by introducing a novel global-local contrastive learning strategy, combined with the directional constraint to simultaneously control both the trajectory and the strength of the target style. Moreover, we adopt a weight regularization method to effectively suppress cloudy artifacts and geometry noises which arise easily when the density field is transformed during geometry stylization. Through extensive experiments on various styles, we demonstrate that our method is effective and robust regarding both single-view stylization quality and cross-view consistency. The code and more results can be found in our project page: https://cassiepython.github.io/nerfart/.

Software engineers working with the same programming language (PL) may speak different natural languages (NLs) and vice versa, erecting huge barriers to communication and working efficiency. Recent studies have demonstrated the effectiveness of generative pre-training in computer programs, yet they are always English-centric. In this work, we step towards bridging the gap between multilingual NLs and multilingual PLs for large language models (LLMs). We release ERNIE-Code, a unified pre-trained language model for 116 NLs and 6 PLs. We employ two methods for universal cross-lingual pre-training: span-corruption language modeling that learns patterns from monolingual NL or PL; and pivot-based translation language modeling that relies on parallel data of many NLs and PLs. Extensive results show that ERNIE-Code outperforms previous multilingual LLMs for PL or NL across a wide range of end tasks of code intelligence, including multilingual code-to-text, text-to-code, code-to-code, and text-to-text generation. We further show its advantage of zero-shot prompting on multilingual code summarization and text-to-text translation. We will make our code and pre-trained models publicly available.

Remaining Useful Life (RUL) estimation plays a critical role in Prognostics and Health Management (PHM). Traditional machine health maintenance systems are often costly, requiring sufficient prior expertise, and are difficult to fit into highly complex and changing industrial scenarios. With the widespread deployment of sensors on industrial equipment, building the Industrial Internet of Things (IIoT) to interconnect these devices has become an inexorable trend in the development of the digital factory. Using the device's real-time operational data collected by IIoT to get the estimated RUL through the RUL prediction algorithm, the PHM system can develop proactive maintenance measures for the device, thus, reducing maintenance costs and decreasing failure times during operation. This paper carries out research into the remaining useful life prediction model for multi-sensor devices in the IIoT scenario. We investigated the mainstream RUL prediction models and summarized the basic steps of RUL prediction modeling in this scenario. On this basis, a data-driven approach for RUL estimation is proposed in this paper. It employs a Multi-Head Attention Mechanism to fuse the multi-dimensional time-series data output from multiple sensors, in which the attention on features is used to capture the interactions between features and attention on sequences is used to learn the weights of time steps. Then, the Long Short-Term Memory Network is applied to learn the features of time series. We evaluate the proposed model on two benchmark datasets (C-MAPSS and PHM08), and the results demonstrate that it outperforms the state-of-art models. Moreover, through the interpretability of the multi-head attention mechanism, the proposed model can provide a preliminary explanation of engine degradation. Therefore, this approach is promising for predictive maintenance in IIoT scenarios.

Unmanned combat air vehicle (UCAV) combat is a challenging scenario with continuous action space. In this paper, we propose a general hierarchical framework to resolve the within-vision-range (WVR) air-to-air combat problem under 6 dimensions of degree (6-DOF) dynamics. The core idea is to divide the whole decision process into two loops and use reinforcement learning (RL) to solve them separately. The outer loop takes into account the current combat situation and decides the expected macro behavior of the aircraft according to a combat strategy. Then the inner loop tracks the macro behavior with a flight controller by calculating the actual input signals for the aircraft. We design the Markov decision process for both the outer loop strategy and inner loop controller, and train them by proximal policy optimization (PPO) algorithm. For the inner loop controller, we design an effective reward function to accurately track various macro behavior. For the outer loop strategy, we further adopt a fictitious self-play mechanism to improve the combat performance by constantly combating against the historical strategies. Experiment results show that the inner loop controller can achieve better tracking performance than fine-tuned PID controller, and the outer loop strategy can perform complex maneuvers to get higher and higher winning rate, with the generation evolves.