SM$^3$: Self-Supervised Multi-task Modeling with Multi-view 2D Images for Articulated Objects

Reconstructing real-world objects and estimating their movable joint structures are pivotal technologies within the field of robotics. Previous research has predominantly focused on supervised approaches, relying on extensively annotated datasets to model articulated objects within limited categories. However, this approach falls short of effectively addressing the diversity present in the real world. To tackle this issue, we propose a self-supervised interaction perception method, referred to as SM$^3$, which leverages multi-view RGB images captured before and after interaction to model articulated objects, identify the movable parts, and infer the parameters of their rotating joints. By constructing 3D geometries and textures from the captured 2D images, SM$^3$ achieves integrated optimization of movable part and joint parameters during the reconstruction process, obviating the need for annotations. Furthermore, we introduce the MMArt dataset, an extension of PartNet-Mobility, encompassing multi-view and multi-modal data of articulated objects spanning diverse categories. Evaluations demonstrate that SM$^3$ surpasses existing benchmarks across various categories and objects, while its adaptability in real-world scenarios has been thoroughly validated.

ESimCSE Unsupervised Contrastive Learning Jointly with UDA Semi-Supervised Learning for Large Label System Text Classification Mode

The challenges faced by text classification with large tag systems in natural language processing tasks include multiple tag systems, uneven data distribution, and high noise. To address these problems, the ESimCSE unsupervised comparative learning and UDA semi-supervised comparative learning models are combined through the use of joint training techniques in the models.The ESimCSE model efficiently learns text vector representations using unlabeled data to achieve better classification results, while UDA is trained using unlabeled data through semi-supervised learning methods to improve the prediction performance of the models and stability, and further improve the generalization ability of the model. In addition, adversarial training techniques FGM and PGD are used in the model training process to improve the robustness and reliability of the model. The experimental results show that there is an 8% and 10% accuracy improvement relative to Baseline on the public dataset Ruesters as well as on the operational dataset, respectively, and a 15% improvement in manual validation accuracy can be achieved on the operational dataset, indicating that the method is effective.

A separation logic for sequences in pointer programs and its decidability

Separation logic and its variants can describe various properties on pointer programs. However, when it comes to properties on sequences, one may find it hard to formalize. To deal with properties on variable-length sequences and multilevel data structures, we propose sequence-heap separation logic which integrates sequences into logical reasoning on heap-manipulated programs. Quantifiers over sequence variables and singleton heap storing sequence (sequence singleton heap) are new members in our logic. Further, we study the satisfiability problem of two fragments. The propositional fragment of sequence-heap separation logic is decidable, and the fragment with 2 alternations on program variables and 1 alternation on sequence variables is undecidable. In addition, we explore boundaries between decidable and undecidable fragments of the logic with prenex normal form.

Deformation and Correspondence Aware Unsupervised Synthetic-to-Real Scene Flow Estimation for Point Clouds

Point cloud scene flow estimation is of practical importance for dynamic scene navigation in autonomous driving. Since scene flow labels are hard to obtain, current methods train their models on synthetic data and transfer them to real scenes. However, large disparities between existing synthetic datasets and real scenes lead to poor model transfer. We make two major contributions to address that. First, we develop a point cloud collector and scene flow annotator for GTA-V engine to automatically obtain diverse realistic training samples without human intervention. With that, we develop a large-scale synthetic scene flow dataset GTA-SF. Second, we propose a mean-teacher-based domain adaptation framework that leverages self-generated pseudo-labels of the target domain. It also explicitly incorporates shape deformation regularization and surface correspondence refinement to address distortions and misalignments in domain transfer. Through extensive experiments, we show that our GTA-SF dataset leads to a consistent boost in model generalization to three real datasets (i.e., Waymo, Lyft and KITTI) as compared to the most widely used FT3D dataset. Moreover, our framework achieves superior adaptation performance on six source-target dataset pairs, remarkably closing the average domain gap by 60%. Data and codes are available at https://github.com/leolyj/DCA-SRSFE

Masked Measurement Prediction: Learning to Jointly Predict Quantities and Units from Textual Context

Physical measurements constitute a large portion of numbers in academic papers, engineering reports, and web tables. Current benchmarks fall short of properly evaluating numeracy of pretrained language models on measurements, hindering research on developing new methods and applying them to numerical tasks. To that end, we introduce a novel task, Masked Measurement Prediction (MMP), where a model learns to reconstruct a number together with its associated unit given masked text. MMP is useful for both training new numerically informed models as well as evaluating numeracy of existing systems. In order to address this task, we introduce a new Generative Masked Measurement (GeMM) model that jointly learns to predict numbers along with their units. We perform fine-grained analyses comparing our model with various ablations and baselines. We use linear probing of traditional pretrained transformer models (RoBERTa) to show that they significantly underperform jointly trained number-unit models, highlighting the difficulty of this new task and the benefits of our proposed pretraining approach. We hope this framework accelerates the progress towards building more robust numerical reasoning systems in the future.

GISNet: Graph-Based Information Sharing Network For Vehicle Trajectory Prediction

The trajectory prediction is a critical and challenging problem in the design of an autonomous driving system. Many AI-oriented companies, such as Google Waymo, Uber and DiDi, are investigating more accurate vehicle trajectory prediction algorithms. However, the prediction performance is governed by lots of entangled factors, such as the stochastic behaviors of surrounding vehicles, historical information of self-trajectory, and relative positions of neighbors, etc. In this paper, we propose a novel graph-based information sharing network (GISNet) that allows the information sharing between the target vehicle and its surrounding vehicles. Meanwhile, the model encodes the historical trajectory information of all the vehicles in the scene. Experiments are carried out on the public NGSIM US-101 and I-80 Dataset and the prediction performance is measured by the Root Mean Square Error (RMSE). The quantitative and qualitative experimental results show that our model significantly improves the trajectory prediction accuracy, by up to 50.00%, compared to existing models.

Mission-Aware Spatio-Temporal Deep Learning Model for UAS Instantaneous Density Prediction

The number of daily sUAS operations in uncontrolled low altitude airspace is expected to reach into the millions in a few years. Therefore, UAS density prediction has become an emerging and challenging problem. In this paper, a deep learning-based UAS instantaneous density prediction model is presented. The model takes two types of data as input: 1) the historical density generated from the historical data, and 2) the future sUAS mission information. The architecture of our model contains four components: Historical Density Formulation module, UAS Mission Translation module, Mission Feature Extraction module, and Density Map Projection module. The training and testing data are generated by a python based simulator which is inspired by the multi-agent air traffic resource usage simulator (MATRUS) framework. The quality of prediction is measured by the correlation score and the Area Under the Receiver Operating Characteristics (AUROC) between the predicted value and simulated value. The experimental results demonstrate outstanding performance of the deep learning-based UAS density predictor. Compared to the baseline models, for simplified traffic scenario where no-fly zones and safe distance among sUASs are not considered, our model improves the prediction accuracy by more than 15.2% and its correlation score reaches 0.947. In a more realistic scenario, where the no-fly zone avoidance and the safe distance among sUASs are maintained using A* routing algorithm, our model can still achieve 0.823 correlation score. Meanwhile, the AUROC can reach 0.951 for the hot spot prediction.