Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained attention due to their intrinsic robustness to such conditions. In this paper, we propose RaLF, a novel deep neural network-based approach for localizing radar scans in a LiDAR map of the environment, by jointly learning to address both place recognition and metric localization. RaLF is composed of radar and LiDAR feature encoders, a place recognition head that generates global descriptors, and a metric localization head that predicts the 3-DoF transformation between the radar scan and the map. We tackle the place recognition task by learning a shared embedding space between the two modalities via cross-modal metric learning. Additionally, we perform metric localization by predicting pixel-level flow vectors that align the query radar scan with the LiDAR map. We extensively evaluate our approach on multiple real-world driving datasets and show that RaLF achieves state-of-the-art performance for both place recognition and metric localization. Moreover, we demonstrate that our approach can effectively generalize to different cities and sensor setups than the ones used during training. We make the code and trained models publicly available at //ralf.cs.uni-freiburg.de.
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Quantitative requirements play an important role in the context of multi-agent systems, where there is often a trade-off between the tasks of individual agents and the constraints that the agents must jointly adhere to. We study multi-agent systems whose requirements are formally specified in the quantitative temporal logic LTL[$\mathcal{F}$] as a combination of local task specifications for the individual agents and a shared safety constraint, The intricate dependencies between the individual agents entailed by their local and shared objectives make the design of multi-agent systems error-prone, and their verification time-consuming. In this paper we address this problem by proposing a novel notion of quantitative assume-guarantee contracts, that enables the compositional design and verification of multi-agent systems with quantitative temporal specifications. The crux of these contracts lies in their ability to capture the coordination between the individual agents to achieve an optimal value of the overall specification under any possible behavior of the external environment. We show that the proposed framework improves the scalability and modularity of formal verification of multi-agent systems against quantitative temporal specifications.
As a typical and practical application of Large Language Models (LLMs), Retrieval-Augmented Generation (RAG) techniques have gained extensive attention, particularly in vertical domains where LLMs may lack domain-specific knowledge. In this paper, we introduce an omnidirectional and automatic RAG benchmark, OmniEval, in the financial domain. Our benchmark is characterized by its multi-dimensional evaluation framework, including (1) a matrix-based RAG scenario evaluation system that categorizes queries into five task classes and 16 financial topics, leading to a structured assessment of diverse query scenarios; (2) a multi-dimensional evaluation data generation approach, which combines GPT-4-based automatic generation and human annotation, achieving an 87.47\% acceptance ratio in human evaluations on generated instances; (3) a multi-stage evaluation system that evaluates both retrieval and generation performance, result in a comprehensive evaluation on the RAG pipeline; and (4) robust evaluation metrics derived from rule-based and LLM-based ones, enhancing the reliability of assessments through manual annotations and supervised fine-tuning of an LLM evaluator. Our experiments demonstrate the comprehensiveness of OmniEval, which includes extensive test datasets and highlights the performance variations of RAG systems across diverse topics and tasks, revealing significant opportunities for RAG models to improve their capabilities in vertical domains. We open source the code of our benchmark in \href{//github.com/RUC-NLPIR/OmniEval}{//github.com/RUC-NLPIR/OmniEval}.
Geometric priors are often used to enhance 3D reconstruction. With many smartphones featuring low-resolution depth sensors and the prevalence of off-the-shelf monocular geometry estimators, incorporating geometric priors as regularization signals has become common in 3D vision tasks. However, the accuracy of depth estimates from mobile devices is typically poor for highly detailed geometry, and monocular estimators often suffer from poor multi-view consistency and precision. In this work, we propose an approach for joint surface depth and normal refinement of Gaussian Splatting methods for accurate 3D reconstruction of indoor scenes. We develop supervision strategies that adaptively filters low-quality depth and normal estimates by comparing the consistency of the priors during optimization. We mitigate regularization in regions where prior estimates have high uncertainty or ambiguities. Our filtering strategy and optimization design demonstrate significant improvements in both mesh estimation and novel-view synthesis for both 3D and 2D Gaussian Splatting-based methods on challenging indoor room datasets. Furthermore, we explore the use of alternative meshing strategies for finer geometry extraction. We develop a scale-aware meshing strategy inspired by TSDF and octree-based isosurface extraction, which recovers finer details from Gaussian models compared to other commonly used open-source meshing tools. Our code is released in //xuqianren.github.io/ags_mesh_website/.
The advancement of autonomous driving systems hinges on the ability to achieve low-latency and high-accuracy perception. To address this critical need, this paper introduces Dynamic Routing Network (DyRoNet), a low-rank enhanced dynamic routing framework designed for streaming perception in autonomous driving systems. DyRoNet integrates a suite of pre-trained branch networks, each meticulously fine-tuned to function under distinct environmental conditions. At its core, the framework offers a speed router module, developed to assess and route input data to the most suitable branch for processing. This approach not only addresses the inherent limitations of conventional models in adapting to diverse driving conditions but also ensures the balance between performance and efficiency. Extensive experimental evaluations demonstrate the adaptability of DyRoNet to diverse branch selection strategies, resulting in significant performance enhancements across different scenarios. This work establishes a new benchmark for streaming perception and provides valuable engineering insights for future work.
Optimization is crucial for MEC networks to function efficiently and reliably, most of which are NP-hard and lack efficient approximation algorithms. This leads to a paucity of optimal solution, constraining the effectiveness of conventional deep learning approaches. Most existing learning-based methods necessitate extensive optimal data and fail to exploit the potential benefits of suboptimal data that can be obtained with greater efficiency and effectiveness. Taking the multi-server multi-user computation offloading (MSCO) problem, which is widely observed in systems like Internet-of-Vehicles (IoV) and Unmanned Aerial Vehicle (UAV) networks, as a concrete scenario, we present a Graph Diffusion-based Solution Generation (GDSG) method. This approach is designed to work with suboptimal datasets while converging to the optimal solution large probably. We transform the optimization issue into distribution-learning and offer a clear explanation of learning from suboptimal training datasets. We build GDSG as a multi-task diffusion model utilizing a Graph Neural Network (GNN) to acquire the distribution of high-quality solutions. We use a simple and efficient heuristic approach to obtain a sufficient amount of training data composed entirely of suboptimal solutions. In our implementation, we enhance the backbone GNN and achieve improved generalization. GDSG also reaches nearly 100\% task orthogonality, ensuring no interference between the discrete and continuous generation tasks. We further reveal that this orthogonality arises from the diffusion-related training loss, rather than the neural network architecture itself. The experiments demonstrate that GDSG surpasses other benchmark methods on both the optimal and suboptimal training datasets. The MSCO datasets has open-sourced at //ieee-dataport.org/13824, as well as the GDSG algorithm codes at //github.com/qiyu3816/GDSG.
Manipulating garments and fabrics has long been a critical endeavor in the development of home-assistant robots. However, due to complex dynamics and topological structures, garment manipulations pose significant challenges. Recent successes in reinforcement learning and vision-based methods offer promising avenues for learning garment manipulation. Nevertheless, these approaches are severely constrained by current benchmarks, which offer limited diversity of tasks and unrealistic simulation behavior. Therefore, we present GarmentLab, a content-rich benchmark and realistic simulation designed for deformable object and garment manipulation. Our benchmark encompasses a diverse range of garment types, robotic systems and manipulators. The abundant tasks in the benchmark further explores of the interactions between garments, deformable objects, rigid bodies, fluids, and human body. Moreover, by incorporating multiple simulation methods such as FEM and PBD, along with our proposed sim-to-real algorithms and real-world benchmark, we aim to significantly narrow the sim-to-real gap. We evaluate state-of-the-art vision methods, reinforcement learning, and imitation learning approaches on these tasks, highlighting the challenges faced by current algorithms, notably their limited generalization capabilities. Our proposed open-source environments and comprehensive analysis show promising boost to future research in garment manipulation by unlocking the full potential of these methods. We guarantee that we will open-source our code as soon as possible. You can watch the videos in supplementary files to learn more about the details of our work. Our project page is available at: //garmentlab.github.io/
Graphs face challenges when dealing with massive datasets. They are essential tools for modeling interconnected data and often become computationally expensive. Graph embedding techniques, on the other hand, provide an efficient approach. By projecting complex graphs into a lower-dimensional space, these techniques simplify the analysis and processing of large-scale graphs. By transforming graphs into vectors, it simplifies the analysis and processing of large-scale datasets. Several approaches, such as GraphSAGE, Node2Vec, and FastRP, offer efficient methods for generating graph embeddings. By storing embeddings as node properties, it is possible to compare different embedding techniques and evaluate their effectiveness for specific tasks. This flexibilityallows for dynamic updates to embeddings and facilitates experimentation with different approaches. By analyzing these embeddings, one can extract valuable insights into the relationships between nodes and their similarities within the embedding space
For high-level geo-spatial applications and intelligent robotics, accurate global pose information is of crucial importance. Map-aided localization is a universal approach to overcome the limitations of global navigation satellite system (GNSS) in challenging environments. However, current solutions face challenges in terms of mapping flexibility, storage burden and re-localization performance. In this work, we present SF-Loc, a lightweight visual mapping and map-aided localization system, whose core idea is the map representation based on sparse frames with dense but compact depth, termed as visual structure frames. In the mapping phase, multi-sensor dense bundle adjustment (MS-DBA) is applied to construct geo-referenced visual structure frames. The local co-visbility is checked to keep the map sparsity and achieve incremental mapping. In the localization phase, coarse-to-fine vision-based localization is performed, in which multi-frame information and the map distribution are fully integrated. To be specific, the concept of spatially smoothed similarity (SSS) is proposed to overcome the place ambiguity, and pairwise frame matching is applied for efficient and robust pose estimation. Experimental results on the cross-season dataset verify the effectiveness of the system. In complex urban road scenarios, the map size is down to 3 MB per kilometer and stable decimeter-level re-localization can be achieved. The code will be made open-source soon (//github.com/GREAT-WHU/SF-Loc).
Australia is a leading AI nation with strong allies and partnerships. Australia has prioritised robotics, AI, and autonomous systems to develop sovereign capability for the military. Australia commits to Article 36 reviews of all new means and methods of warfare to ensure weapons and weapons systems are operated within acceptable systems of control. Additionally, Australia has undergone significant reviews of the risks of AI to human rights and within intelligence organisations and has committed to producing ethics guidelines and frameworks in Security and Defence. Australia is committed to OECD's values-based principles for the responsible stewardship of trustworthy AI as well as adopting a set of National AI ethics principles. While Australia has not adopted an AI governance framework specifically for Defence; Defence Science has published 'A Method for Ethical AI in Defence' (MEAID) technical report which includes a framework and pragmatic tools for managing ethical and legal risks for military applications of AI.
Link prediction on knowledge graphs (KGs) is a key research topic. Previous work mainly focused on binary relations, paying less attention to higher-arity relations although they are ubiquitous in real-world KGs. This paper considers link prediction upon n-ary relational facts and proposes a graph-based approach to this task. The key to our approach is to represent the n-ary structure of a fact as a small heterogeneous graph, and model this graph with edge-biased fully-connected attention. The fully-connected attention captures universal inter-vertex interactions, while with edge-aware attentive biases to particularly encode the graph structure and its heterogeneity. In this fashion, our approach fully models global and local dependencies in each n-ary fact, and hence can more effectively capture associations therein. Extensive evaluation verifies the effectiveness and superiority of our approach. It performs substantially and consistently better than current state-of-the-art across a variety of n-ary relational benchmarks. Our code is publicly available.
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