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Camera-based perception systems play a central role in modern autonomous vehicles. These camera based perception algorithms require an accurate calibration to map the real world distances to image pixels. In practice, calibration is a laborious procedure requiring specialised data collection and careful tuning. This process must be repeated whenever the parameters of the camera change, which can be a frequent occurrence in autonomous vehicles. Hence there is a need to calibrate at regular intervals to ensure the camera is accurate. Proposed is a deep learning framework to learn intrinsic and extrinsic calibration of the camera in real time. The framework is self-supervised and doesn't require any labelling or supervision to learn the calibration parameters. The framework learns calibration without the need for any physical targets or to drive the car on special planar surfaces.

Accurate pedestrian trajectory prediction is of great importance for downstream tasks such as autonomous driving and mobile robot navigation. Fully investigating the social interactions within the crowd is crucial for accurate pedestrian trajectory prediction. However, most existing methods do not capture group level interactions well, focusing only on pairwise interactions and neglecting group-wise interactions. In this work, we propose a hierarchical graph convolutional network, HGCN-GJS, for trajectory prediction which well leverages group level interactions within the crowd. Furthermore, we introduce a novel joint sampling scheme for modeling the joint distribution of multiple pedestrians in the future trajectories. Based on the group information, this scheme associates the trajectory of one person with the trajectory of other people in the group, but maintains the independence of the trajectories of outsiders. We demonstrate the performance of our network on several trajectory prediction datasets, achieving state-of-the-art results on all datasets considered.

Nowadays, deep learning based methods have demonstrated impressive performance on ideal super-resolution (SR) datasets, but most of these methods incur dramatically performance drops when directly applied in real-world SR reconstruction tasks with unpredictable blur kernels. To tackle this issue, blind SR methods are proposed to improve the visual results on random blur kernels, which causes unsatisfactory reconstruction effects on ideal low-resolution images similarly. In this paper, we propose a double-win framework for ideal and blind SR task, named S2R, including a light-weight transformer-based SR model (S2R transformer) and a novel coarse-to-fine training strategy, which can achieve excellent visual results on both ideal and random fuzzy conditions. On algorithm level, S2R transformer smartly combines some efficient and light-weight blocks to enhance the representation ability of extracted features with relatively low number of parameters. For training strategy, a coarse-level learning process is firstly performed to improve the generalization of the network with the help of a large-scale external dataset, and then, a fast fine-tune process is developed to transfer the pre-trained model to real-world SR tasks by mining the internal features of the image. Experimental results show that the proposed S2R outperforms other single-image SR models in ideal SR condition with only 578K parameters. Meanwhile, it can achieve better visual results than regular blind SR models in blind fuzzy conditions with only 10 gradient updates, which improve convergence speed by 300 times, significantly accelerating the transfer-learning process in real-world situations.

Existing studies for applying the mixup technique on graphs mainly focus on graph classification tasks, while the research in node classification is still under-explored. In this paper, we propose a novel mixup augmentation for node classification called Structural Mixup (S-Mixup). The core idea is to take into account the structural information while mixing nodes. Specifically, S-Mixup obtains pseudo-labels for unlabeled nodes in a graph along with their prediction confidence via a Graph Neural Network (GNN) classifier. These serve as the criteria for the composition of the mixup pool for both inter and intra-class mixups. Furthermore, we utilize the edge gradient obtained from the GNN training and propose a gradient-based edge selection strategy for selecting edges to be attached to the nodes generated by the mixup. Through extensive experiments on real-world benchmark datasets, we demonstrate the effectiveness of S-Mixup evaluated on the node classification task. We observe that S-Mixup enhances the robustness and generalization performance of GNNs, especially in heterophilous situations. The source code of S-Mixup can be found at \url{//github.com/SukwonYun/S-Mixup}

The evolution of mobile communication networks has always been accompanied by the advancement of ISI mitigation techniques, from equalization in 2G, spread spectrum and RAKE receiver in 3G, to OFDM in 4G and 5G. Looking forward towards 6G, by exploiting the high spatial resolution brought by large antenna arrays and the multi-path sparsity of mmWave and Terahertz channels, a novel ISI mitigation technique termed delay alignment modulation (DAM) was recently proposed. However, existing works only consider the single-carrier perfect DAM, which is feasible only when the number of BS antennas is no smaller than that of channel paths, so that all multi-path signal components arrive at the receiver simultaneously and constructively. This imposes stringent requirements on the number of BS antennas and multi-path sparsity. In this paper, we propose a generic DAM technique to manipulate the channel delay spread via spatial-delay processing, thus providing a flexible framework to combat channel time dispersion for efficient single- or multi-carrier transmissions. We first show that when the number of BS antennas is much larger than that of channel paths, perfect delay alignment can be achieved to transform the time-dispersive channel to time non-dispersive channel with the simple delay pre-compensation and path-based MRT beamforming. When perfect DAM is infeasible or undesirable, the proposed generic DAM technique can be applied to significantly reduce the channel delay spread. We further propose the novel DAM-OFDM technique, which is able to save the CP overhead or mitigate the PAPR issue suffered by conventional OFDM. We show that the proposed DAM-OFDM involves joint frequency- and time-domain beamforming optimization, for which a closed-form solution is derived. Simulation results show that the proposed DAM-OFDM outperforms the conventional OFDM in terms of spectral efficiency, BER and PAPR.

Jointly processing information from multiple sensors is crucial to achieving accurate and robust perception for reliable autonomous driving systems. However, current 3D perception research follows a modality-specific paradigm, leading to additional computation overheads and inefficient collaboration between different sensor data. In this paper, we present an efficient multi-modal backbone for outdoor 3D perception named UniTR, which processes a variety of modalities with unified modeling and shared parameters. Unlike previous works, UniTR introduces a modality-agnostic transformer encoder to handle these view-discrepant sensor data for parallel modal-wise representation learning and automatic cross-modal interaction without additional fusion steps. More importantly, to make full use of these complementary sensor types, we present a novel multi-modal integration strategy by both considering semantic-abundant 2D perspective and geometry-aware 3D sparse neighborhood relations. UniTR is also a fundamentally task-agnostic backbone that naturally supports different 3D perception tasks. It sets a new state-of-the-art performance on the nuScenes benchmark, achieving +1.1 NDS higher for 3D object detection and +12.0 higher mIoU for BEV map segmentation with lower inference latency. Code will be available at //github.com/Haiyang-W/UniTR .

In text-video retrieval, recent works have benefited from the powerful learning capabilities of pre-trained text-image foundation models (e.g., CLIP) by adapting them to the video domain. A critical problem for them is how to effectively capture the rich semantics inside the video using the image encoder of CLIP. To tackle this, state-of-the-art methods adopt complex cross-modal modeling techniques to fuse the text information into video frame representations, which, however, incurs severe efficiency issues in large-scale retrieval systems as the video representations must be recomputed online for every text query. In this paper, we discard this problematic cross-modal fusion process and aim to learn semantically-enhanced representations purely from the video, so that the video representations can be computed offline and reused for different texts. Concretely, we first introduce a spatial-temporal "Prompt Cube" into the CLIP image encoder and iteratively switch it within the encoder layers to efficiently incorporate the global video semantics into frame representations. We then propose to apply an auxiliary video captioning objective to train the frame representations, which facilitates the learning of detailed video semantics by providing fine-grained guidance in the semantic space. With a naive temporal fusion strategy (i.e., mean-pooling) on the enhanced frame representations, we obtain state-of-the-art performances on three benchmark datasets, i.e., MSR-VTT, MSVD, and LSMDC.

Piecewise-affine (PWA) systems are widely used for modeling and control of robotics problems including modeling contact dynamics. A common approach is to encode the control problem of the PWA system as a Mixed-Integer Convex Program (MICP), which can be solved by general-purpose off-the-shelf MICP solvers. To mitigate the scalability challenge of solving these MICP problems, existing work focuses on devising efficient and strong formulations of the problems, while less effort has been spent on exploiting their specific structure to develop specialized solvers. The latter is the theme of our work. We focus on efficiently handling one-hot constraints, which are particularly relevant when encoding PWA dynamics. We have implemented our techniques in a tool, Soy, which organically integrates logical reasoning, arithmetic reasoning, and stochastic local search. For a set of PWA control benchmarks, Soy solves more problems, faster, than two state-of-the-art MICP solvers.

Efficiently reviewing scholarly literature and synthesizing prior art are crucial for scientific progress. Yet, the growing scale of publications and the burden of knowledge make synthesis of research threads more challenging than ever. While significant research has been devoted to helping scholars interact with individual papers, building research threads scattered across multiple papers remains a challenge. Most top-down synthesis (and LLMs) make it difficult to personalize and iterate on the output, while bottom-up synthesis is costly in time and effort. Here, we explore a new design space of mixed-initiative workflows. In doing so we develop a novel computational pipeline, Synergi, that ties together user input of relevant seed threads with citation graphs and LLMs, to expand and structure them, respectively. Synergi allows scholars to start with an entire threads-and-subthreads structure generated from papers relevant to their interests, and to iterate and customize on it as they wish. In our evaluation, we find that Synergi helps scholars efficiently make sense of relevant threads, broaden their perspectives, and increases their curiosity. We discuss future design implications for thread-based, mixed-initiative scholarly synthesis support tools.

The cross-domain recommendation technique is an effective way of alleviating the data sparsity in recommender systems by leveraging the knowledge from relevant domains. Transfer learning is a class of algorithms underlying these techniques. In this paper, we propose a novel transfer learning approach for cross-domain recommendation by using neural networks as the base model. We assume that hidden layers in two base networks are connected by cross mappings, leading to the collaborative cross networks (CoNet). CoNet enables dual knowledge transfer across domains by introducing cross connections from one base network to another and vice versa. CoNet is achieved in multi-layer feedforward networks by adding dual connections and joint loss functions, which can be trained efficiently by back-propagation. The proposed model is evaluated on two real-world datasets and it outperforms baseline models by relative improvements of 3.56\% in MRR and 8.94\% in NDCG, respectively.