Cyber Physical System Information Collection: Robot Location and Navigation Method Based on QR Code

In this paper, we propose a method to estimate the exact location of a camera in a cyber-physical system using the exact geographic coordinates of four feature points stored in QR codes(Quick response codes) and the pixel coordinates of four feature points analyzed from the QR code images taken by the camera. Firstly, the P4P(Perspective 4 Points) algorithm is designed to uniquely determine the initial pose estimation value of the QR coordinate system relative to the camera coordinate system by using the four feature points of the selected QR code. In the second step, the manifold gradient optimization algorithm is designed. The rotation matrix and displacement vector are taken as the initial values of iteration, and the iterative optimization is carried out to improve the positioning accuracy and obtain the rotation matrix and displacement vector with higher accuracy. The third step is to convert the pose of the QR coordinate system with respect to the camera coordinate system to the pose of the AGV(Automated Guided Vehicle) with respect to the world coordinate system. Finally, the performance of manifold gradient optimization algorithm and P4P analytical algorithm are simulated and compared under the same conditions.One can see that the performance of the manifold gradient optimization algorithm proposed in this paper is much better than that of the P4P analytic algorithm when the signal-to-noise ratio is small.With the increase of the signal-to-noise ratio,the performance of the P4P analytic algorithm approaches that of the manifold gradient optimization algorithm.when the noise is same,the performance of manifold gradient optimization algorithm is better when there are more feature points.

FLEEK: Factual Error Detection and Correction with Evidence Retrieved from External Knowledge

Detecting factual errors in textual information, whether generated by large language models (LLM) or curated by humans, is crucial for making informed decisions. LLMs' inability to attribute their claims to external knowledge and their tendency to hallucinate makes it difficult to rely on their responses. Humans, too, are prone to factual errors in their writing. Since manual detection and correction of factual errors is labor-intensive, developing an automatic approach can greatly reduce human effort. We present FLEEK, a prototype tool that automatically extracts factual claims from text, gathers evidence from external knowledge sources, evaluates the factuality of each claim, and suggests revisions for identified errors using the collected evidence. Initial empirical evaluation on fact error detection (77-85\% F1) shows the potential of FLEEK. A video demo of FLEEK can be found at https://youtu.be/NapJFUlkPdQ.

Bridging Phylogeny and Taxonomy with Protein-protein Interaction Networks

The protein-protein interaction (PPI) network provides an overview of the complex biological reactions vital to an organism's metabolism and survival. Even though in the past PPI network were compared across organisms in detail, there has not been large-scale research on how individual PPI networks reflect on the species relationships. In this study we aim to increase our understanding of the tree of life and taxonomy by gleaming information from the PPI networks. We successful created (1) a predictor of network statistics based on known traits of existing species in the phylogeny, and (2) a taxonomic classifier of organism using the known protein network statistics, whether experimentally determined or predicted de novo. With the knowledge of protein interactions at its core, our two models effectively connects two field with widely diverging methodologies - the phylogeny and taxonomy of species.

Contrast Everything: A Hierarchical Contrastive Framework for Medical Time-Series

Contrastive representation learning is crucial in medical time series analysis as it alleviates dependency on labor-intensive, domain-specific, and scarce expert annotations. However, existing contrastive learning methods primarily focus on one single data level, which fails to fully exploit the intricate nature of medical time series. To address this issue, we present COMET, an innovative hierarchical framework that leverages data consistencies at all inherent levels in medical time series. Our meticulously designed model systematically captures data consistency from four potential levels: observation, sample, trial, and patient levels. By developing contrastive loss at multiple levels, we can learn effective representations that preserve comprehensive data consistency, maximizing information utilization in a self-supervised manner. We conduct experiments in the challenging patient-independent setting. We compare COMET against six baselines using three diverse datasets, which include ECG signals for myocardial infarction and EEG signals for Alzheimer's and Parkinson's diseases. The results demonstrate that COMET consistently outperforms all baselines, particularly in setup with 10% and 1% labeled data fractions across all datasets. These results underscore the significant impact of our framework in advancing contrastive representation learning techniques for medical time series. The source code is available at https://github.com/DL4mHealth/COMET.

UniTime: A Language-Empowered Unified Model for Cross-Domain Time Series Forecasting

Multivariate time series forecasting plays a pivotal role in contemporary web technologies. In contrast to conventional methods that involve creating dedicated models for specific time series application domains, this research advocates for a unified model paradigm that transcends domain boundaries. However, learning an effective cross-domain model presents the following challenges. First, various domains exhibit disparities in data characteristics, e.g., the number of variables, posing hurdles for existing models that impose inflexible constraints on these factors. Second, the model may encounter difficulties in distinguishing data from various domains, leading to suboptimal performance in our assessments. Third, the diverse convergence rates of time series domains can also result in compromised empirical performance. To address these issues, we propose UniTime for effective cross-domain time series learning. Concretely, UniTime can flexibly adapt to data with varying characteristics. It also uses domain instructions and a Language-TS Transformer to offer identification information and align two modalities. In addition, UniTime employs masking to alleviate domain convergence speed imbalance issues. Our extensive experiments demonstrate the effectiveness of UniTime in advancing state-of-the-art forecasting performance and zero-shot transferability.

UniCat: Crafting a Stronger Fusion Baseline for Multimodal Re-Identification

Multimodal Re-Identification (ReID) is a popular retrieval task that aims to re-identify objects across diverse data streams, prompting many researchers to integrate multiple modalities into a unified representation. While such fusion promises a holistic view, our investigations shed light on potential pitfalls. We uncover that prevailing late-fusion techniques often produce suboptimal latent representations when compared to methods that train modalities in isolation. We argue that this effect is largely due to the inadvertent relaxation of the training objectives on individual modalities when using fusion, what others have termed modality laziness. We present a nuanced point-of-view that this relaxation can lead to certain modalities failing to fully harness available task-relevant information, and yet, offers a protective veil to noisy modalities, preventing them from overfitting to task-irrelevant data. Our findings also show that unimodal concatenation (UniCat) and other late-fusion ensembling of unimodal backbones, when paired with best-known training techniques, exceed the current state-of-the-art performance across several multimodal ReID benchmarks. By unveiling the double-edged sword of "modality laziness", we motivate future research in balancing local modality strengths with global representations.

CityRefer: Geography-aware 3D Visual Grounding Dataset on City-scale Point Cloud Data

City-scale 3D point cloud is a promising way to express detailed and complicated outdoor structures. It encompasses both the appearance and geometry features of segmented city components, including cars, streets, and buildings, that can be utilized for attractive applications such as user-interactive navigation of autonomous vehicles and drones. However, compared to the extensive text annotations available for images and indoor scenes, the scarcity of text annotations for outdoor scenes poses a significant challenge for achieving these applications. To tackle this problem, we introduce the CityRefer dataset for city-level visual grounding. The dataset consists of 35k natural language descriptions of 3D objects appearing in SensatUrban city scenes and 5k landmarks labels synchronizing with OpenStreetMap. To ensure the quality and accuracy of the dataset, all descriptions and labels in the CityRefer dataset are manually verified. We also have developed a baseline system that can learn encoded language descriptions, 3D object instances, and geographical information about the city's landmarks to perform visual grounding on the CityRefer dataset. To the best of our knowledge, the CityRefer dataset is the largest city-level visual grounding dataset for localizing specific 3D objects.

An Investigation of Darwiche and Pearl's Postulates for Iterated Belief Update

Belief revision and update, two significant types of belief change, both focus on how an agent modify her beliefs in presence of new information. The most striking difference between them is that the former studies the change of beliefs in a static world while the latter concentrates on a dynamically-changing world. The famous AGM and KM postulates were proposed to capture rational belief revision and update, respectively. However, both of them are too permissive to exclude some unreasonable changes in the iteration. In response to this weakness, the DP postulates and its extensions for iterated belief revision were presented. Furthermore, Rodrigues integrated these postulates in belief update. Unfortunately, his approach does not meet the basic requirement of iterated belief update. This paper is intended to solve this problem of Rodrigues's approach. Firstly, we present a modification of the original KM postulates based on belief states. Subsequently, we migrate several well-known postulates for iterated belief revision to iterated belief update. Moreover, we provide the exact semantic characterizations based on partial preorders for each of the proposed postulates. Finally, we analyze the compatibility between the above iterated postulates and the KM postulates for belief update.

ODM3D: Alleviating Foreground Sparsity for Enhanced Semi-Supervised Monocular 3D Object Detection

Monocular 3D object detection (M3OD) is a significant yet inherently challenging task in autonomous driving due to absence of implicit depth cues in a single RGB image. In this paper, we strive to boost currently underperforming monocular 3D object detectors by leveraging an abundance of unlabelled data via semi-supervised learning. Our proposed ODM3D framework entails cross-modal knowledge distillation at various levels to inject LiDAR-domain knowledge into a monocular detector during training. By identifying foreground sparsity as the main culprit behind existing methods' suboptimal training, we exploit the precise localisation information embedded in LiDAR points to enable more foreground-attentive and efficient distillation via the proposed BEV occupancy guidance mask, leading to notably improved knowledge transfer and M3OD performance. Besides, motivated by insights into why existing cross-modal GT-sampling techniques fail on our task at hand, we further design a novel cross-modal object-wise data augmentation strategy for effective RGB-LiDAR joint learning. Our method ranks 1st in both KITTI validation and test benchmarks, significantly surpassing all existing monocular methods, supervised or semi-supervised, on both BEV and 3D detection metrics.

TLM: Token-Level Masking for Transformers

Structured dropout approaches, such as attention dropout and DropHead, have been investigated to regularize the multi-head attention mechanism in Transformers. In this paper, we propose a new regularization scheme based on token-level rather than structure-level to reduce overfitting. Specifically, we devise a novel Token-Level Masking (TLM) training strategy for Transformers to regularize the connections of self-attention, which consists of two masking techniques that are effective and easy to implement. The underlying idea is to manipulate the connections between tokens in the multi-head attention via masking, where the networks are forced to exploit partial neighbors' information to produce a meaningful representation. The generality and effectiveness of TLM are thoroughly evaluated via extensive experiments on 4 diversified NLP tasks across 18 datasets, including natural language understanding benchmark GLUE, ChineseGLUE, Chinese Grammatical Error Correction, and data-to-text generation. The results indicate that TLM can consistently outperform attention dropout and DropHead, e.g., it increases by 0.5 points relative to DropHead with BERT-large on GLUE. Moreover, TLM can establish a new record on the data-to-text benchmark Rotowire (18.93 BLEU). Our code will be publicly available at https://github.com/Young1993/tlm.