AGRNav: Efficient and Energy-Saving Autonomous Navigation for Air-Ground Robots in Occlusion-Prone Environments

The exceptional mobility and long endurance of air-ground robots are raising interest in their usage to navigate complex environments (e.g., forests and large buildings). However, such environments often contain occluded and unknown regions, and without accurate prediction of unobserved obstacles, the movement of the air-ground robot often suffers a suboptimal trajectory under existing mapping-based and learning-based navigation methods. In this work, we present AGRNav, a novel framework designed to search for safe and energy-saving air-ground hybrid paths. AGRNav contains a lightweight semantic scene completion network (SCONet) with self-attention to enable accurate obstacle predictions by capturing contextual information and occlusion area features. The framework subsequently employs a query-based method for low-latency updates of prediction results to the grid map. Finally, based on the updated map, the hierarchical path planner efficiently searches for energy-saving paths for navigation. We validate AGRNav's performance through benchmarks in both simulated and real-world environments, demonstrating its superiority over classical and state-of-the-art methods. The open-source code is available at https://github.com/jmwang0117/AGRNav.

Efficient Pruning of Large Language Model with Adaptive Estimation Fusion

Large language models (LLMs) have become crucial for many generative downstream tasks, leading to an inevitable trend and significant challenge to deploy them efficiently on resource-constrained devices. Structured pruning is a widely used method to address this challenge. However, when dealing with the complex structure of the multiple decoder layers, general methods often employ common estimation approaches for pruning. These approaches lead to a decline in accuracy for specific downstream tasks. In this paper, we introduce a simple yet efficient method that adaptively models the importance of each substructure. Meanwhile, it can adaptively fuse coarse-grained and finegrained estimations based on the results from complex and multilayer structures. All aspects of our design seamlessly integrate into the endto-end pruning framework. Our experimental results, compared with state-of-the-art methods on mainstream datasets, demonstrate average accuracy improvements of 1.1%, 1.02%, 2.0%, and 1.2% for LLaMa-7B,Vicuna-7B, Baichuan-7B, and Bloom-7b1, respectively.

EffiBench: Benchmarking the Efficiency of Automatically Generated Code

Code generation models have increasingly become integral to aiding software development, offering assistance in tasks such as code completion, debugging, and code translation. Although current research has thoroughly examined the correctness of code produced by code generation models, a vital aspect, i.e., the efficiency of the generated code, has often been neglected. This paper presents EffiBench, a benchmark with 1,000 efficiency-critical coding problems for assessing the efficiency of code generated by code generation models. EffiBench contains a diverse set of LeetCode coding problems. Each problem is paired with an executable human-written canonical solution. With EffiBench, we empirically examine the capability of 21 Large Language Models (13 open-sourced and 8 closed-sourced) in generating efficient code. The results demonstrate that GPT-4-turbo generates the most efficient code, significantly outperforming Palm-2-chat-bison, Claude-instant-1, Gemini-pro, GPT-4, and GPT-3.5. Nevertheless, its code efficiency is still worse than the efficiency of human-written canonical solutions. In particular, the average and worst execution time of GPT-4-turbo generated code is 1.69 and 45.49 times that of the canonical solutions.

Deep Clustering with Diffused Sampling and Hardness-aware Self-distillation

Deep clustering has gained significant attention due to its capability in learning clustering-friendly representations without labeled data. However, previous deep clustering methods tend to treat all samples equally, which neglect the variance in the latent distribution and the varying difficulty in classifying or clustering different samples. To address this, this paper proposes a novel end-to-end deep clustering method with diffused sampling and hardness-aware self-distillation (HaDis). Specifically, we first align one view of instances with another view via diffused sampling alignment (DSA), which helps improve the intra-cluster compactness. To alleviate the sampling bias, we present the hardness-aware self-distillation (HSD) mechanism to mine the hardest positive and negative samples and adaptively adjust their weights in a self-distillation fashion, which is able to deal with the potential imbalance in sample contributions during optimization. Further, the prototypical contrastive learning is incorporated to simultaneously enhance the inter-cluster separability and intra-cluster compactness. Experimental results on five challenging image datasets demonstrate the superior clustering performance of our HaDis method over the state-of-the-art. Source code is available at https://github.com/Regan-Zhang/HaDis.

Towards Efficient and Effective Deep Clustering with Dynamic Grouping and Prototype Aggregation

Previous contrastive deep clustering methods mostly focus on instance-level information while overlooking the member relationship within groups/clusters, which may significantly undermine their representation learning and clustering capability. Recently, some group-contrastive methods have been developed, which, however, typically rely on the samples of the entire dataset to obtain pseudo labels and lack the ability to efficiently update the group assignments in a batch-wise manner. To tackle these critical issues, we present a novel end-to-end deep clustering framework with dynamic grouping and prototype aggregation, termed as DigPro. Specifically, the proposed dynamic grouping extends contrastive learning from instance-level to group-level, which is effective and efficient for timely updating groups. Meanwhile, we perform contrastive learning on prototypes in a spherical feature space, termed as prototype aggregation, which aims to maximize the inter-cluster distance. Notably, with an expectation-maximization framework, DigPro simultaneously takes advantage of compact intra-cluster connections, well-separated clusters, and efficient group updating during the self-supervised training. Extensive experiments on six image benchmarks demonstrate the superior performance of our approach over the state-of-the-art. Code is available at https://github.com/Regan-Zhang/DigPro.

Learning Representations for Clustering via Partial Information Discrimination and Cross-Level Interaction

In this paper, we present a novel deep image clustering approach termed PICI, which enforces the partial information discrimination and the cross-level interaction in a joint learning framework. In particular, we leverage a Transformer encoder as the backbone, through which the masked image modeling with two paralleled augmented views is formulated. After deriving the class tokens from the masked images by the Transformer encoder, three partial information learning modules are further incorporated, including the PISD module for training the auto-encoder via masked image reconstruction, the PICD module for employing two levels of contrastive learning, and the CLI module for mutual interaction between the instance-level and cluster-level subspaces. Extensive experiments have been conducted on six real-world image datasets, which demononstrate the superior clustering performance of the proposed PICI approach over the state-of-the-art deep clustering approaches. The source code is available at https://github.com/Regan-Zhang/PICI.

AgentCoder: Multi-Agent-based Code Generation with Iterative Testing and Optimisation

The advancement of natural language processing (NLP) has been significantly boosted by the development of transformer-based large language models (LLMs). These models have revolutionized NLP tasks, particularly in code generation, aiding developers in creating software with enhanced efficiency. Despite their advancements, challenges in balancing code snippet generation with effective test case generation and execution persist. To address these issues, this paper introduces Multi-Agent Assistant Code Generation (AgentCoder), a novel solution comprising a multi-agent framework with specialized agents: the programmer agent, the test designer agent, and the test executor agent. During the coding procedure, the programmer agent will focus on the code generation and refinement based on the test executor agent's feedback. The test designer agent will generate test cases for the generated code, and the test executor agent will run the code with the test cases and write the feedback to the programmer. This collaborative system ensures robust code generation, surpassing the limitations of single-agent models and traditional methodologies. Our extensive experiments on 9 code generation models and 12 enhancement approaches showcase AgentCoder's superior performance over existing code generation models and prompt engineering techniques across various benchmarks. For example, AgentCoder achieves 77.4% and 89.1% pass@1 in HumanEval-ET and MBPP-ET with GPT-3.5, while SOTA baselines obtain only 69.5% and 63.0%.

MAC: ModAlity Calibration for Object Detection

The flourishing success of Deep Neural Networks(DNNs) on RGB-input perception tasks has opened unbounded possibilities for non-RGB-input perception tasks, such as object detection from wireless signals, lidar scans, and infrared images. Compared to the matured development pipeline of RGB-input (source modality) models, developing non-RGB-input (target-modality) models from scratch poses excessive challenges in the modality-specific network design/training tricks and labor in the target-modality annotation. In this paper, we propose ModAlity Calibration (MAC), an efficient pipeline for calibrating target-modality inputs to the DNN object detection models developed on the RGB (source) modality. We compose a target-modality-input model by adding a small calibrator module ahead of a source-modality model and introduce MAC training techniques to impose dense supervision on the calibrator. By leveraging (1) prior knowledge synthesized from the source-modality model and (2) paired {target, source} data with zero manual annotations, our target-modality models reach comparable or better metrics than baseline models that require 100% manual annotations. We demonstrate the effectiveness of MAC by composing the WiFi-input, Lidar-input, and Thermal-Infrared-input models upon the pre-trained RGB-input models respectively.

Coordinate Transformer: Achieving Single-stage Multi-person Mesh Recovery from Videos

Multi-person 3D mesh recovery from videos is a critical first step towards automatic perception of group behavior in virtual reality, physical therapy and beyond. However, existing approaches rely on multi-stage paradigms, where the person detection and tracking stages are performed in a multi-person setting, while temporal dynamics are only modeled for one person at a time. Consequently, their performance is severely limited by the lack of inter-person interactions in the spatial-temporal mesh recovery, as well as by detection and tracking defects. To address these challenges, we propose the Coordinate transFormer (CoordFormer) that directly models multi-person spatial-temporal relations and simultaneously performs multi-mesh recovery in an end-to-end manner. Instead of partitioning the feature map into coarse-scale patch-wise tokens, CoordFormer leverages a novel Coordinate-Aware Attention to preserve pixel-level spatial-temporal coordinate information. Additionally, we propose a simple, yet effective Body Center Attention mechanism to fuse position information. Extensive experiments on the 3DPW dataset demonstrate that CoordFormer significantly improves the state-of-the-art, outperforming the previously best results by 4.2%, 8.8% and 4.7% according to the MPJPE, PAMPJPE, and PVE metrics, respectively, while being 40% faster than recent video-based approaches. The released code can be found at https://github.com/Li-Hao-yuan/CoordFormer.