Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on individual motor thrusts of the vehicle. Previous approaches have either relied on convex relaxations that do not guarantee dynamic feasibility, or have generated overly conservative time parametrizations. We propose TOPPQuad, a time-optimal path parameterization algorithm for quadrotors which explicitly incorporates quadrotor rigid body dynamics and constraints such as bounds on inputs (including motor speeds) and state of the vehicle (including the pose, linear and angular velocity and acceleration). We demonstrate the ability of the planner to generate faster trajectories that respect hardware constraints of the robot compared to several planners with relaxed notions of dynamic feasibility. We also demonstrate how TOPPQuad can be used to plan trajectories for quadrotors that utilize bidirectional motors. Overall, the proposed approach paves a way towards maximizing the efficacy of autonomous micro aerial vehicles while ensuring their safety.
相關內容
There is always demand for integrating data into microeconomic decision making. Participatory sensing deals with how real-world data may be extracted with stakeholder participation and resolves a problem of Big Data, which is concerned with monetizing data extracted from individuals without their participation. We present how Decentralized Physical Infrastructure Networks (DePINs) extend participatory sensing. We discuss the threat models of these networks and how DePIN cryptoeconomics can advance participatory sensing.
Recently, the integration of external tools with Large Language Models (LLMs) has emerged as a promising approach to overcome the inherent constraints of their pre-training data. However, realworld applications often involve a diverse range of tools, making it infeasible to incorporate all tools directly into LLMs due to constraints on input length and response time. Therefore, to fully exploit the potential of tool-augmented LLMs, it is crucial to develop an effective tool retrieval system. Existing tool retrieval methods techniques mainly rely on semantic matching between user queries and tool descriptions, which often results in the selection of redundant tools. As a result, these methods fail to provide a complete set of diverse tools necessary for addressing the multifaceted problems encountered by LLMs. In this paper, we propose a novel modelagnostic COllaborative Learning-based Tool Retrieval approach, COLT, which captures not only the semantic similarities between user queries and tool descriptions but also takes into account the collaborative information of tools. Specifically, we first fine-tune the PLM-based retrieval models to capture the semantic relationships between queries and tools in the semantic learning stage. Subsequently, we construct three bipartite graphs among queries, scenes, and tools and introduce a dual-view graph collaborative learning framework to capture the intricate collaborative relationships among tools during the collaborative learning stage. Extensive experiments on both the open benchmark and the newly introduced ToolLens dataset show that COLT achieves superior performance. Notably, the performance of BERT-mini (11M) with our proposed model framework outperforms BERT-large (340M), which has 30 times more parameters. Additionally, we plan to publicly release the ToolLens dataset to support further research in tool retrieval.
Many structured prediction and reasoning tasks can be framed as program synthesis problems, where the goal is to generate a program in a domain-specific language (DSL) that transforms input data into the desired output. Unfortunately, purely neural approaches, such as large language models (LLMs), often fail to produce fully correct programs in unfamiliar DSLs, while purely symbolic methods based on combinatorial search scale poorly to complex problems. Motivated by these limitations, we introduce a hybrid approach, where LLM completions for a given task are used to learn a task-specific, context-free surrogate model, which is then used to guide program synthesis. We evaluate this hybrid approach on three domains, and show that it outperforms both unguided search and direct sampling from LLMs, as well as existing program synthesizers.
Prompt tuning based on Context Optimization (CoOp) effectively adapts visual-language models (VLMs) to downstream tasks by inferring additional learnable prompt tokens. However, these tokens are less discriminative as they are independent of the pre-trained tokens and fail to capture input-specific knowledge, such as class-aware textual or instance-aware visual knowledge. Leveraging the discriminative and generalization capabilities inherent in pre-trained tokens, we introduce a novel approach named Self-Enhanced Prompt Tuning (SEP). The core principle of SEP involves adapting the learnable prompt tokens at each encoder layer from the corresponding self-pretrained tokens, thereby explicitly incorporating discriminative prior knowledge to enhance both textual-level and visual-level embeddings. Furthermore, SEP's self-enhanced tokens not only boost discrimination but also mitigate domain shifts in unseen domains, enhancing generalization. In practice, SEP selects several representative tokens from all pre-trained tokens for each input data at every layer of the text/visual encoders. Subsequently, a Token Fusion Module (TFM) is introduced to generate a self-enhanced token by merging these representative tokens with the learnable tokens using a cross-attention mechanism. This self-enhanced token is then concatenated with all pre-trained tokens, serving as input for subsequent encoder layers to produce the relevant embeddings. Comprehensive evaluations across various benchmarks and tasks confirm SEP's efficacy in prompt tuning. Code: \href{Code}{//github.com/htyao89/SEP}.
Point cloud analysis has seen substantial advancements due to deep learning, although previous Transformer-based methods excel at modeling long-range dependencies on this task, their computational demands are substantial. Conversely, the Mamba offers greater efficiency but shows limited potential compared with Transformer-based methods. In this study, we introduce PoinTramba, a pioneering hybrid framework that synergies the analytical power of Transformer with the remarkable computational efficiency of Mamba for enhanced point cloud analysis. Specifically, our approach first segments point clouds into groups, where the Transformer meticulously captures intricate intra-group dependencies and produces group embeddings, whose inter-group relationships will be simultaneously and adeptly captured by efficient Mamba architecture, ensuring comprehensive analysis. Unlike previous Mamba approaches, we introduce a bi-directional importance-aware ordering (BIO) strategy to tackle the challenges of random ordering effects. This innovative strategy intelligently reorders group embeddings based on their calculated importance scores, significantly enhancing Mamba's performance and optimizing the overall analytical process. Our framework achieves a superior balance between computational efficiency and analytical performance by seamlessly integrating these advanced techniques, marking a substantial leap forward in point cloud analysis. Extensive experiments on datasets such as ScanObjectNN, ModelNet40, and ShapeNetPart demonstrate the effectiveness of our approach, establishing a new state-of-the-art analysis benchmark on point cloud recognition. For the first time, this paradigm leverages the combined strengths of both Transformer and Mamba architectures, facilitating a new standard in the field. The code is available at //github.com/xiaoyao3302/PoinTramba.
To endow models with greater understanding of physics and motion, it is useful to enable them to perceive how solid surfaces move and deform in real scenes. This can be formalized as Tracking-Any-Point (TAP), which requires the algorithm to track any point on solid surfaces in a video, potentially densely in space and time. Large-scale groundtruth training data for TAP is only available in simulation, which currently has a limited variety of objects and motion. In this work, we demonstrate how large-scale, unlabeled, uncurated real-world data can improve a TAP model with minimal architectural changes, using a selfsupervised student-teacher setup. We demonstrate state-of-the-art performance on the TAP-Vid benchmark surpassing previous results by a wide margin: for example, TAP-Vid-DAVIS performance improves from 61.3% to 67.4%, and TAP-Vid-Kinetics from 57.2% to 62.5%. For visualizations, see our project webpage at //bootstap.github.io/
This paper presents a novel manipulation strategy that uses keypoint correspondences extracted from visuo-tactile sensor images to facilitate precise object manipulation. Our approach uses the visuo-tactile feedback to guide the robot's actions for accurate object grasping and placement, eliminating the need for post-grasp adjustments and extensive training. This method provides an improvement in deployment efficiency, addressing the challenges of manipulation tasks in environments where object locations are not predefined. We validate the effectiveness of our strategy through experiments demonstrating the extraction of keypoint correspondences and their application to real-world tasks such as block alignment and gear insertion, which require millimeter-level precision. The results show an average error margin significantly lower than that of traditional vision-based methods, which is sufficient to achieve the target tasks.
Log parsing, a vital task for interpreting the vast and complex data produced within software architectures faces significant challenges in the transition from academic benchmarks to the industrial domain. Existing log parsers, while highly effective on standardized public datasets, struggle to maintain performance and efficiency when confronted with the sheer scale and diversity of real-world industrial logs. These challenges are two-fold: 1) massive log templates: The performance and efficiency of most existing parsers will be significantly reduced when logs of growing quantities and different lengths; 2) Complex and changeable semantics: Traditional template-matching algorithms cannot accurately match the log templates of complicated industrial logs because they cannot utilize cross-language logs with similar semantics. To address these issues, we propose ECLIPSE, Enhanced Cross-Lingual Industrial log Parsing with Semantic Entropy-LCS, since cross-language logs can robustly parse industrial logs. On the one hand, it integrates two efficient data-driven template-matching algorithms and Faiss indexing. On the other hand, driven by the powerful semantic understanding ability of the Large Language Model (LLM), the semantics of log keywords were accurately extracted, and the retrieval space was effectively reduced. It is worth noting that we launched a Chinese and English cross-platform industrial log parsing benchmark ECLIPSE-Bench to evaluate the performance of mainstream parsers in industrial scenarios. Our experimental results, conducted across public benchmarks and the proprietary ECLIPSE-Bench dataset, underscore the superior performance and robustness of our proposed ECLIPSE. Notably, ECLIPSE delivers state-of-the-art performance when compared to strong baselines on diverse datasets and preserves a significant edge in processing efficiency.
Evasion techniques allow malicious code to never be observed. This impacts significantly the detection capabilities of tools that rely on either dynamic or static analysis, as they never get to process the malicious code. The dynamic nature of JavaScript, where code is often injected dynamically, makes evasions particularly effective. Yet, we lack tools that can detect evasive techniques in a challenging environment such as JavaScript. In this paper, we present FV8, a modified V8 JavaScript engine designed to identify evasion techniques in JavaScript code. FV8 selectively enforces code execution on APIs that conditionally inject dynamic code, thus enhancing code coverage and consequently improving visibility into malicious code. We integrate our tool in both the Node.js engine and the Chromium browser, compelling code execution in npm packages and Chrome browser extensions. Our tool increases code coverage by 11% compared to default V8 and detects 28 unique evasion categories, including five previously unreported techniques. In data confirmed as malicious from both ecosystems, our tool identifies 1,443 (14.6%) npm packages and 164 (82%) extensions containing at least one type of evasion. In previously unexamined extensions (39,592), our tool discovered 16,471 injected third-party scripts, and a total of 8,732,120 lines of code executed due to our forced execution instrumentation. Furthermore, it tagged a total of 423 extensions as both evasive and malicious and we manually verify 110 extensions (26%) to actually be malicious, impacting two million users. Our tool is open-source and serves both as an in-browser and standalone dynamic analysis tool, capable of detecting evasive code, bypassing obfuscation in certain cases, offering improved access to malicious code, and supporting recursive analysis of dynamic code injections
Distant supervision can effectively label data for relation extraction, but suffers from the noise labeling problem. Recent works mainly perform soft bag-level noise reduction strategies to find the relatively better samples in a sentence bag, which is suboptimal compared with making a hard decision of false positive samples in sentence level. In this paper, we introduce an adversarial learning framework, which we named DSGAN, to learn a sentence-level true-positive generator. Inspired by Generative Adversarial Networks, we regard the positive samples generated by the generator as the negative samples to train the discriminator. The optimal generator is obtained until the discrimination ability of the discriminator has the greatest decline. We adopt the generator to filter distant supervision training dataset and redistribute the false positive instances into the negative set, in which way to provide a cleaned dataset for relation classification. The experimental results show that the proposed strategy significantly improves the performance of distant supervision relation extraction comparing to state-of-the-art systems.
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191