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Robots responsible for tasks over long time scales must be able to localize consistently and scalably amid geometric, viewpoint, and appearance changes. Existing visual SLAM approaches rely on low-level feature descriptors that are not robust to such environmental changes and result in large map sizes that scale poorly over long-term deployments. In contrast, object detections are robust to environmental variations and lead to more compact representations, but most object-based SLAM systems target short-term indoor deployments with close objects. In this paper, we introduce ObVi-SLAM to overcome these challenges by leveraging the best of both approaches. ObVi-SLAM uses low-level visual features for high-quality short-term visual odometry; and to ensure global, long-term consistency, ObVi-SLAM builds an uncertainty-aware long-term map of persistent objects and updates it after every deployment. By evaluating ObVi-SLAM on data from 16 deployment sessions spanning different weather and lighting conditions, we empirically show that ObVi-SLAM generates accurate localization estimates consistent over long-time scales in spite of varying appearance conditions.

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即時定位(wei)與(yu)地圖(tu)構建(SLAM或Simultaneouslocalizationandmapping)是(shi)這(zhe)樣一種技術:使得機器人和自動駕駛汽(qi)車等設備能(neng)在未知環境(jing)(沒有先驗知識(shi)的前(qian)提下)建立地圖(tu),或者在已知環境(jing)(已給出(chu)該地圖(tu)的先驗知識(shi))中(zhong)能(neng)更新地圖(tu),并(bing)保(bao)證這(zhe)些設備能(neng)在同時追蹤它們(men)的當(dang)前(qian)位(wei)置。

Latent Consistency Models (LCMs) have achieved impressive performance in accelerating text-to-image generative tasks, producing high-quality images with minimal inference steps. LCMs are distilled from pre-trained latent diffusion models (LDMs), requiring only ~32 A100 GPU training hours. This report further extends LCMs' potential in two aspects: First, by applying LoRA distillation to Stable-Diffusion models including SD-V1.5, SSD-1B, and SDXL, we have expanded LCM's scope to larger models with significantly less memory consumption, achieving superior image generation quality. Second, we identify the LoRA parameters obtained through LCM distillation as a universal Stable-Diffusion acceleration module, named LCM-LoRA. LCM-LoRA can be directly plugged into various Stable-Diffusion fine-tuned models or LoRAs without training, thus representing a universally applicable accelerator for diverse image generation tasks. Compared with previous numerical PF-ODE solvers such as DDIM, DPM-Solver, LCM-LoRA can be viewed as a plug-in neural PF-ODE solver that possesses strong generalization abilities. Project page: //github.com/luosiallen/latent-consistency-model.

Existing neural networks are memory-consuming and computationally intensive, making deploying them challenging in resource-constrained environments. However, there are various methods to improve their efficiency. Two such methods are quantization, a well-known approach for network compression, and re-parametrization, an emerging technique designed to improve model performance. Although both techniques have been studied individually, there has been limited research on their simultaneous application. To address this gap, we propose a novel approach called RepQ, which applies quantization to re-parametrized networks. Our method is based on the insight that the test stage weights of an arbitrary re-parametrized layer can be presented as a differentiable function of trainable parameters. We enable quantization-aware training by applying quantization on top of this function. RepQ generalizes well to various re-parametrized models and outperforms the baseline method LSQ quantization scheme in all experiments.

Recently proposed long-form question answering (QA) systems, supported by large language models (LLMs), have shown promising capabilities. Yet, attributing and verifying their generated abstractive answers can be difficult, and automatically evaluating their accuracy remains an ongoing challenge. In this work, we introduce a new QA task for answering multi-answer questions by summarizing multiple diverse sources in a semi-extractive fashion. Specifically, Semi-extractive Multi-source QA (SEMQA) requires models to output a comprehensive answer, while mixing factual quoted spans -- copied verbatim from given input sources -- and non-factual free-text connectors that glue these spans together into a single cohesive passage. This setting bridges the gap between the outputs of well-grounded but constrained extractive QA systems and more fluent but harder to attribute fully abstractive answers. Particularly, it enables a new mode for language models that leverages their advanced language generation capabilities, while also producing fine in-line attributions by-design that are easy to verify, interpret, and evaluate. To study this task, we create the first dataset of this kind, QuoteSum, with human-written semi-extractive answers to natural and generated questions, and define text-based evaluation metrics. Experimenting with several LLMs in various settings, we find this task to be surprisingly challenging, demonstrating the importance of QuoteSum for developing and studying such consolidation capabilities.

Image-based virtual try-on aims to synthesize a naturally dressed person image with a clothing image, which revolutionizes online shopping and inspires related topics within image generation, showing both research significance and commercial potentials. However, there is a great gap between current research progress and commercial applications and an absence of comprehensive overview towards this field to accelerate the development. In this survey, we provide a comprehensive analysis of the state-of-the-art techniques and methodologies in aspects of pipeline architecture, person representation and key modules such as try-on indication, clothing warping and try-on stage. We propose a new semantic criteria with CLIP, and evaluate representative methods with uniformly implemented evaluation metrics on the same dataset. In addition to quantitative and qualitative evaluation of current open-source methods, we also utilize ControlNet to fine-tune a recent large image generation model (PBE) to show future potentials of large-scale models on image-based virtual try-on task. Finally, unresolved issues are revealed and future research directions are prospected to identify key trends and inspire further exploration. The uniformly implemented evaluation metrics, dataset and collected methods will be made public available at //github.com/little-misfit/Survey-Of-Virtual-Try-On.

Deep models, e.g., CNNs and Vision Transformers, have achieved impressive achievements in many vision tasks in the closed world. However, novel classes emerge from time to time in our ever-changing world, requiring a learning system to acquire new knowledge continually. For example, a robot needs to understand new instructions, and an opinion monitoring system should analyze emerging topics every day. Class-Incremental Learning (CIL) enables the learner to incorporate the knowledge of new classes incrementally and build a universal classifier among all seen classes. Correspondingly, when directly training the model with new class instances, a fatal problem occurs -- the model tends to catastrophically forget the characteristics of former ones, and its performance drastically degrades. There have been numerous efforts to tackle catastrophic forgetting in the machine learning community. In this paper, we survey comprehensively recent advances in deep class-incremental learning and summarize these methods from three aspects, i.e., data-centric, model-centric, and algorithm-centric. We also provide a rigorous and unified evaluation of 16 methods in benchmark image classification tasks to find out the characteristics of different algorithms empirically. Furthermore, we notice that the current comparison protocol ignores the influence of memory budget in model storage, which may result in unfair comparison and biased results. Hence, we advocate fair comparison by aligning the memory budget in evaluation, as well as several memory-agnostic performance measures. The source code to reproduce these evaluations is available at //github.com/zhoudw-zdw/CIL_Survey/

In many visual systems, visual tracking often bases on RGB image sequences, in which some targets are invalid in low-light conditions, and tracking performance is thus affected significantly. Introducing other modalities such as depth and infrared data is an effective way to handle imaging limitations of individual sources, but multi-modal imaging platforms usually require elaborate designs and cannot be applied in many real-world applications at present. Near-infrared (NIR) imaging becomes an essential part of many surveillance cameras, whose imaging is switchable between RGB and NIR based on the light intensity. These two modalities are heterogeneous with very different visual properties and thus bring big challenges for visual tracking. However, existing works have not studied this challenging problem. In this work, we address the cross-modal object tracking problem and contribute a new video dataset, including 654 cross-modal image sequences with over 481K frames in total, and the average video length is more than 735 frames. To promote the research and development of cross-modal object tracking, we propose a new algorithm, which learns the modality-aware target representation to mitigate the appearance gap between RGB and NIR modalities in the tracking process. It is plug-and-play and could thus be flexibly embedded into different tracking frameworks. Extensive experiments on the dataset are conducted, and we demonstrate the effectiveness of the proposed algorithm in two representative tracking frameworks against 17 state-of-the-art tracking methods. We will release the dataset for free academic usage, dataset download link and code will be released soon.

Deep long-tailed learning, one of the most challenging problems in visual recognition, aims to train well-performing deep models from a large number of images that follow a long-tailed class distribution. In the last decade, deep learning has emerged as a powerful recognition model for learning high-quality image representations and has led to remarkable breakthroughs in generic visual recognition. However, long-tailed class imbalance, a common problem in practical visual recognition tasks, often limits the practicality of deep network based recognition models in real-world applications, since they can be easily biased towards dominant classes and perform poorly on tail classes. To address this problem, a large number of studies have been conducted in recent years, making promising progress in the field of deep long-tailed learning. Considering the rapid evolution of this field, this paper aims to provide a comprehensive survey on recent advances in deep long-tailed learning. To be specific, we group existing deep long-tailed learning studies into three main categories (i.e., class re-balancing, information augmentation and module improvement), and review these methods following this taxonomy in detail. Afterward, we empirically analyze several state-of-the-art methods by evaluating to what extent they address the issue of class imbalance via a newly proposed evaluation metric, i.e., relative accuracy. We conclude the survey by highlighting important applications of deep long-tailed learning and identifying several promising directions for future research.

Generative commonsense reasoning which aims to empower machines to generate sentences with the capacity of reasoning over a set of concepts is a critical bottleneck for text generation. Even the state-of-the-art pre-trained language generation models struggle at this task and often produce implausible and anomalous sentences. One reason is that they rarely consider incorporating the knowledge graph which can provide rich relational information among the commonsense concepts. To promote the ability of commonsense reasoning for text generation, we propose a novel knowledge graph augmented pre-trained language generation model KG-BART, which encompasses the complex relations of concepts through the knowledge graph and produces more logical and natural sentences as output. Moreover, KG-BART can leverage the graph attention to aggregate the rich concept semantics that enhances the model generalization on unseen concept sets. Experiments on benchmark CommonGen dataset verify the effectiveness of our proposed approach by comparing with several strong pre-trained language generation models, particularly KG-BART outperforms BART by 5.80, 4.60, in terms of BLEU-3, 4. Moreover, we also show that the generated context by our model can work as background scenarios to benefit downstream commonsense QA tasks.

Joint image-text embedding is the bedrock for most Vision-and-Language (V+L) tasks, where multimodality inputs are jointly processed for visual and textual understanding. In this paper, we introduce UNITER, a UNiversal Image-TExt Representation, learned through large-scale pre-training over four image-text datasets (COCO, Visual Genome, Conceptual Captions, and SBU Captions), which can power heterogeneous downstream V+L tasks with joint multimodal embeddings. We design three pre-training tasks: Masked Language Modeling (MLM), Image-Text Matching (ITM), and Masked Region Modeling (MRM, with three variants). Different from concurrent work on multimodal pre-training that apply joint random masking to both modalities, we use conditioned masking on pre-training tasks (i.e., masked language/region modeling is conditioned on full observation of image/text). Comprehensive analysis shows that conditioned masking yields better performance than unconditioned masking. We also conduct a thorough ablation study to find an optimal setting for the combination of pre-training tasks. Extensive experiments show that UNITER achieves new state of the art across six V+L tasks (over nine datasets), including Visual Question Answering, Image-Text Retrieval, Referring Expression Comprehension, Visual Commonsense Reasoning, Visual Entailment, and NLVR2.

Recurrent neural nets (RNN) and convolutional neural nets (CNN) are widely used on NLP tasks to capture the long-term and local dependencies, respectively. Attention mechanisms have recently attracted enormous interest due to their highly parallelizable computation, significantly less training time, and flexibility in modeling dependencies. We propose a novel attention mechanism in which the attention between elements from input sequence(s) is directional and multi-dimensional (i.e., feature-wise). A light-weight neural net, "Directional Self-Attention Network (DiSAN)", is then proposed to learn sentence embedding, based solely on the proposed attention without any RNN/CNN structure. DiSAN is only composed of a directional self-attention with temporal order encoded, followed by a multi-dimensional attention that compresses the sequence into a vector representation. Despite its simple form, DiSAN outperforms complicated RNN models on both prediction quality and time efficiency. It achieves the best test accuracy among all sentence encoding methods and improves the most recent best result by 1.02% on the Stanford Natural Language Inference (SNLI) dataset, and shows state-of-the-art test accuracy on the Stanford Sentiment Treebank (SST), Multi-Genre natural language inference (MultiNLI), Sentences Involving Compositional Knowledge (SICK), Customer Review, MPQA, TREC question-type classification and Subjectivity (SUBJ) datasets.

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