Online Time-Optimal Trajectory Generation for Two Quadrotors with Multi-Waypoints Constraints

The autonomous quadrotor's flying speed has kept increasing in the past 5 years, especially in the field of autonomous drone racing. However, the majority of the research mainly focuses on the aggressive flight of a single quadrotor. In this letter, we propose a novel method called Pairwise Model Predictive Control (PMPC) that can guide two quadrotors online to fly through the waypoints with minimum time without collisions. The flight task is first modeled as a nonlinear optimization problem and then an efficient two-step mass point velocity search method is used to provide initial values and references to improve the solving efficiency so that the method can run online with a frequency of 50 Hz and can handle dynamic waypoints. The simulation and real-world experiments validate the feasibility of the proposed method and in the real-world experiments, the two quadrotors can achieve a top speed of 8.1m/s in a 6-waypoint racing track in a compact flying arena of 6m*4m*2m.

Imitation Learning-Based Online Time-Optimal Control with Multiple-Waypoint Constraints for Quadrotors

Over the past decade, there has been a remarkable surge in utilizing quadrotors for various purposes due to their simple structure and aggressive maneuverability, such as search and rescue, delivery and autonomous drone racing, etc. One of the key challenges preventing quadrotors from being widely used in these scenarios is online waypoint-constrained time-optimal trajectory generation and control technique. This letter proposes an imitation learning-based online solution to efficiently navigate the quadrotor through multiple waypoints with time-optimal performance. The neural networks (WN&CNets) are trained to learn the control law from the dataset generated by the time-consuming CPC algorithm and then deployed to generate the optimal control commands online to guide the quadrotors. To address the challenge of limited training data and the hover maneuver at the final waypoint, we propose a transition phase strategy that utilizes polynomials to help the quadrotor 'jump over' the stop-and-go maneuver when switching waypoints. Our method is demonstrated in both simulation and real-world experiments, achieving a maximum speed of 7 m/s while navigating through 7 waypoints in a confined space of 6.0 m * 4.0 m * 2.0 m. The results show that with a slight loss in optimality, the WN&CNets significantly reduce the processing time and enable online optimal control for multiple-waypoint-constrained flight tasks.

MOMENT: A Family of Open Time-series Foundation Models

We introduce MOMENT, a family of open-source foundation models for general-purpose time-series analysis. Pre-training large models on time-series data is challenging due to (1) the absence of a large and cohesive public time-series repository, and (2) diverse time-series characteristics which make multi-dataset training onerous. Additionally, (3) experimental benchmarks to evaluate these models, especially in scenarios with limited resources, time, and supervision, are still in their nascent stages. To address these challenges, we compile a large and diverse collection of public time-series, called the Time-series Pile, and systematically tackle time-series-specific challenges to unlock large-scale multi-dataset pre-training. Finally, we build on recent work to design a benchmark to evaluate time-series foundation models on diverse tasks and datasets in limited supervision settings. Experiments on this benchmark demonstrate the effectiveness of our pre-trained models with minimal data and task-specific fine-tuning. Finally, we present several interesting empirical observations about large pre-trained time-series models. Our code is available anonymously at anonymous.4open.science/r/BETT-773F/.

MouSi: Poly-Visual-Expert Vision-Language Models

Current large vision-language models (VLMs) often encounter challenges such as insufficient capabilities of a single visual component and excessively long visual tokens. These issues can limit the model's effectiveness in accurately interpreting complex visual information and over-lengthy contextual information. Addressing these challenges is crucial for enhancing the performance and applicability of VLMs. This paper proposes the use of ensemble experts technique to synergizes the capabilities of individual visual encoders, including those skilled in image-text matching, OCR, image segmentation, etc. This technique introduces a fusion network to unify the processing of outputs from different visual experts, while bridging the gap between image encoders and pre-trained LLMs. In addition, we explore different positional encoding schemes to alleviate the waste of positional encoding caused by lengthy image feature sequences, effectively addressing the issue of position overflow and length limitations. For instance, in our implementation, this technique significantly reduces the positional occupancy in models like SAM, from a substantial 4096 to a more efficient and manageable 64 or even down to 1. Experimental results demonstrate that VLMs with multiple experts exhibit consistently superior performance over isolated visual encoders and mark a significant performance boost as more experts are integrated. We have open-sourced the training code used in this report. All of these resources can be found on our project website.

Colorectal Polyp Segmentation in the Deep Learning Era: A Comprehensive Survey

Colorectal polyp segmentation (CPS), an essential problem in medical image analysis, has garnered growing research attention. Recently, the deep learning-based model completely overwhelmed traditional methods in the field of CPS, and more and more deep CPS methods have emerged, bringing the CPS into the deep learning era. To help the researchers quickly grasp the main techniques, datasets, evaluation metrics, challenges, and trending of deep CPS, this paper presents a systematic and comprehensive review of deep-learning-based CPS methods from 2014 to 2023, a total of 115 technical papers. In particular, we first provide a comprehensive review of the current deep CPS with a novel taxonomy, including network architectures, level of supervision, and learning paradigm. More specifically, network architectures include eight subcategories, the level of supervision comprises six subcategories, and the learning paradigm encompasses 12 subcategories, totaling 26 subcategories. Then, we provided a comprehensive analysis the characteristics of each dataset, including the number of datasets, annotation types, image resolution, polyp size, contrast values, and polyp location. Following that, we summarized CPS's commonly used evaluation metrics and conducted a detailed analysis of 40 deep SOTA models, including out-of-distribution generalization and attribute-based performance analysis. Finally, we discussed deep learning-based CPS methods' main challenges and opportunities.

Motion-to-Matching: A Mixed Paradigm for 3D Single Object Tracking

3D single object tracking with LiDAR points is an important task in the computer vision field. Previous methods usually adopt the matching-based or motion-centric paradigms to estimate the current target status. However, the former is sensitive to the similar distractors and the sparseness of point cloud due to relying on appearance matching, while the latter usually focuses on short-term motion clues (eg. two frames) and ignores the long-term motion pattern of target. To address these issues, we propose a mixed paradigm with two stages, named MTM-Tracker, which combines motion modeling with feature matching into a single network. Specifically, in the first stage, we exploit the continuous historical boxes as motion prior and propose an encoder-decoder structure to locate target coarsely. Then, in the second stage, we introduce a feature interaction module to extract motion-aware features from consecutive point clouds and match them to refine target movement as well as regress other target states. Extensive experiments validate that our paradigm achieves competitive performance on large-scale datasets (70.9% in KITTI and 51.70% in NuScenes). The code will be open soon at https://github.com/LeoZhiheng/MTM-Tracker.git.

Knowledge Boosting: Rethinking Medical Contrastive Vision-Language Pre-Training

The foundation models based on pre-training technology have significantly advanced artificial intelligence from theoretical to practical applications. These models have facilitated the feasibility of computer-aided diagnosis for widespread use. Medical contrastive vision-language pre-training, which does not require human annotations, is an effective approach for guiding representation learning using description information in diagnostic reports. However, the effectiveness of pre-training is limited by the large-scale semantic overlap and shifting problems in medical field. To address these issues, we propose the Knowledge-Boosting Contrastive Vision-Language Pre-training framework (KoBo), which integrates clinical knowledge into the learning of vision-language semantic consistency. The framework uses an unbiased, open-set sample-wise knowledge representation to measure negative sample noise and supplement the correspondence between vision-language mutual information and clinical knowledge. Extensive experiments validate the effect of our framework on eight tasks including classification, segmentation, retrieval, and semantic relatedness, achieving comparable or better performance with the zero-shot or few-shot settings. Our code is open on https://github.com/ChenXiaoFei-CS/KoBo.

TRAC: Trustworthy Retrieval Augmented Chatbot

Although conversational AIs have demonstrated fantastic performance, they often generate incorrect information, or hallucinations. Retrieval augmented generation has emerged as a promising solution to reduce these hallucinations. However, these techniques still cannot guarantee correctness. Focusing on question answering, we propose a framework that can provide statistical guarantees for the retrieval augmented question answering system by combining conformal prediction and global testing. In addition, we use Bayesian optimization to choose hyperparameters of the global test to maximize the performance of the system. Our empirical results on the Natural Questions dataset demonstrate that our method can provide the desired coverage guarantee while minimizing the average prediction set size.

Self-Supervised Hyperspectral Inpainting with the Optimisation inspired Deep Neural Network Prior

Hyperspectral Image (HSI)s cover hundreds or thousands of narrow spectral bands, conveying a wealth of spatial and spectral information. However, due to the instrumental errors and the atmospheric changes, the HSI obtained in practice are often contaminated by noise and dead pixels(lines), resulting in missing information that may severely compromise the subsequent applications. We introduce here a novel HSI missing pixel prediction algorithm, called Low Rank and Sparsity Constraint Plug-and-Play (LRS-PnP). It is shown that LRS-PnP is able to predict missing pixels and bands even when all spectral bands of the image are missing. The proposed LRS-PnP algorithm is further extended to a self-supervised model by combining the LRS-PnP with the Deep Image Prior (DIP), called LRS-PnP-DIP. In a series of experiments with real data, It is shown that the LRS-PnP-DIP either achieves state-of-the-art inpainting performance compared to other learning-based methods, or outperforms them.

Self-supervised Deep Hyperspectral Inpainting with the Sparsity and Low-Rank Considerations

Hyperspectral images are typically composed of hundreds of narrow and contiguous spectral bands, each containing information about the material composition of the imaged scene. However, these images can be affected by various sources of noise, distortions, or data losses, which can significantly degrade their quality and usefulness. To address these problems, we introduce two novel self-supervised Hyperspectral Images (HSI) inpainting algorithms: Low Rank and Sparsity Constraint Plug-and-Play (LRS-PnP), and its extension LRS-PnP-DIP, which features the strong learning capability, but is still free of external training data. We conduct the stability analysis under some mild assumptions which guarantees the algorithm to converge. It is specifically very helpful for the practical applications. Extensive experiments demonstrate that the proposed solution is able to produce visually and qualitatively superior inpainting results, achieving state-of-the-art performance. The code for reproducing the results is available at \url{https://github.com/shuoli0708/LRS-PnP-DIP}.