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This paper proposes a local path planning method with a reachable set for Automated vertical Parking Systems (APS). First, given a parking lot layout with a goal position, we define an intermediate pose for the APS to accomplish reverse parking with a single maneuver, i.e., without changing the gear shift. Then, we introduce a reachable set which is a set of points consisting of the grid points of all possible intermediate poses. Once the APS approaches the goal position, it must select an intermediate pose in the reachable set. A minimization problem was formulated and solved to choose the intermediate pose. We performed various scenarios with different parking lot conditions. We used the Hybrid-A* algorithm for the global path planning to move the vehicle from the starting pose to the intermediate pose and utilized clothoid-based local path planning to move from the intermediate pose to the goal pose. Additionally, we designed a controller to follow the generated path and validated its tracking performance. It was confirmed that the tracking error in the mean root square for the lateral position was bounded within 0.06m and for orientation within 0.01rad.

In the present work, we propose a Self-supervised COordinate Projection nEtwork (SCOPE) to reconstruct the artifacts-free CT image from a single SV sinogram by solving the inverse tomography imaging problem. Compared with recent related works that solve similar problems using implicit neural representation network (INR), our essential contribution is an effective and simple re-projection strategy that pushes the tomography image reconstruction quality over supervised deep learning CT reconstruction works. The proposed strategy is inspired by the simple relationship between linear algebra and inverse problems. To solve the under-determined linear equation system, we first introduce INR to constrain the solution space via image continuity prior and achieve a rough solution. And secondly, we propose to generate a dense view sinogram that improves the rank of the linear equation system and produces a more stable CT image solution space. Our experiment results demonstrate that the re-projection strategy significantly improves the image reconstruction quality (+3 dB for PSNR at least). Besides, we integrate the recent hash encoding into our SCOPE model, which greatly accelerates the model training. Finally, we evaluate SCOPE in parallel and fan X-ray beam SVCT reconstruction tasks. Experimental results indicate that the proposed SCOPE model outperforms two latest INR-based methods and two well-popular supervised DL methods quantitatively and qualitatively.

The Bidirectional Encoder Representations from Transformers (BERT) were proposed in the natural language process (NLP) and shows promising results. Recently researchers applied the BERT to source-code representation learning and reported some good news on several downstream tasks. However, in this paper, we illustrated that current methods cannot effectively understand the logic of source codes. The representation of source code heavily relies on the programmer-defined variable and function names. We design and implement a set of experiments to demonstrate our conjecture and provide some insights for future works.

In this paper, we propose a novel ROM stabilization strategy for under-resolved convection-dominated flows, the approximate deconvolution Leray ROM (ADL-ROM). The new ADL-ROM introduces AD as a new means to increase the accuracy of the classical Leray ROM (L-ROM) without degrading its numerical stability. We also introduce two new AD ROM strategies: the Tikhonov and van Cittert methods. Our numerical investigation for convection-dominated systems shows that, when the filter radius is relatively large, the new ADL-ROM is more accurate than the standard L-ROM. Furthermore, the new ADL-ROM is less sensitive with respect to model parameters than L-ROM.

In this paper, we consider the full Lambek calculus enriched with subexponential modalities in a distributive setting. We show that the distributive Lambek calculus with subexponentials is complete with respect to its Kripke frames via canonical extensions. In this approach, we consider subexponentials as S4-like modalities and each modality is interpreted with a reflexive and transitive relation similarly to usual Kripke semantics.

In this paper, we propose a novel Feature Decomposition and Reconstruction Learning (FDRL) method for effective facial expression recognition. We view the expression information as the combination of the shared information (expression similarities) across different expressions and the unique information (expression-specific variations) for each expression. More specifically, FDRL mainly consists of two crucial networks: a Feature Decomposition Network (FDN) and a Feature Reconstruction Network (FRN). In particular, FDN first decomposes the basic features extracted from a backbone network into a set of facial action-aware latent features to model expression similarities. Then, FRN captures the intra-feature and inter-feature relationships for latent features to characterize expression-specific variations, and reconstructs the expression feature. To this end, two modules including an intra-feature relation modeling module and an inter-feature relation modeling module are developed in FRN. Experimental results on both the in-the-lab databases (including CK+, MMI, and Oulu-CASIA) and the in-the-wild databases (including RAF-DB and SFEW) show that the proposed FDRL method consistently achieves higher recognition accuracy than several state-of-the-art methods. This clearly highlights the benefit of feature decomposition and reconstruction for classifying expressions.

In this paper, we proposed to apply meta learning approach for low-resource automatic speech recognition (ASR). We formulated ASR for different languages as different tasks, and meta-learned the initialization parameters from many pretraining languages to achieve fast adaptation on unseen target language, via recently proposed model-agnostic meta learning algorithm (MAML). We evaluated the proposed approach using six languages as pretraining tasks and four languages as target tasks. Preliminary results showed that the proposed method, MetaASR, significantly outperforms the state-of-the-art multitask pretraining approach on all target languages with different combinations of pretraining languages. In addition, since MAML's model-agnostic property, this paper also opens new research direction of applying meta learning to more speech-related applications.

BERT, a pre-trained Transformer model, has achieved ground-breaking performance on multiple NLP tasks. In this paper, we describe BERTSUM, a simple variant of BERT, for extractive summarization. Our system is the state of the art on the CNN/Dailymail dataset, outperforming the previous best-performed system by 1.65 on ROUGE-L. The codes to reproduce our results are available at //github.com/nlpyang/BertSum

In this paper, we introduce the Reinforced Mnemonic Reader for machine reading comprehension tasks, which enhances previous attentive readers in two aspects. First, a reattention mechanism is proposed to refine current attentions by directly accessing to past attentions that are temporally memorized in a multi-round alignment architecture, so as to avoid the problems of attention redundancy and attention deficiency. Second, a new optimization approach, called dynamic-critical reinforcement learning, is introduced to extend the standard supervised method. It always encourages to predict a more acceptable answer so as to address the convergence suppression problem occurred in traditional reinforcement learning algorithms. Extensive experiments on the Stanford Question Answering Dataset (SQuAD) show that our model achieves state-of-the-art results. Meanwhile, our model outperforms previous systems by over 6% in terms of both Exact Match and F1 metrics on two adversarial SQuAD datasets.

We propose a novel single shot object detection network named Detection with Enriched Semantics (DES). Our motivation is to enrich the semantics of object detection features within a typical deep detector, by a semantic segmentation branch and a global activation module. The segmentation branch is supervised by weak segmentation ground-truth, i.e., no extra annotation is required. In conjunction with that, we employ a global activation module which learns relationship between channels and object classes in a self-supervised manner. Comprehensive experimental results on both PASCAL VOC and MS COCO detection datasets demonstrate the effectiveness of the proposed method. In particular, with a VGG16 based DES, we achieve an mAP of 81.7 on VOC2007 test and an mAP of 32.8 on COCO test-dev with an inference speed of 31.5 milliseconds per image on a Titan Xp GPU. With a lower resolution version, we achieve an mAP of 79.7 on VOC2007 with an inference speed of 13.0 milliseconds per image.