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Deep reinforcement learning (DRL) has revolutionised quadruped robot locomotion, but existing control frameworks struggle to generalise beyond their training-induced observational scope, resulting in limited adaptability. In contrast, animals achieve exceptional adaptability through gait transition strategies, diverse gait utilisation, and seamless adjustment to immediate environmental demands. Inspired by these capabilities, we present a novel DRL framework that incorporates key attributes of animal locomotion: gait transition strategies, pseudo gait procedural memory, and adaptive motion adjustments. This approach enables our framework to achieve unparalleled adaptability, demonstrated through blind zero-shot deployment on complex terrains and recovery from critically unstable states. Our findings offer valuable insights into the biomechanics of animal locomotion, paving the way for robust, adaptable robotic systems.

We introduce the Coarse Payoff-Assessment Learning (CPAL) model, which captures reinforcement learning by boundedly rational decision-makers who focus on the aggregate outcomes of choosing among exogenously defined clusters of alternatives (similarity classes), rather than evaluating each alternative individually. Analyzing a smooth approximation of the model, we show that the learning dynamics exhibit steady-states corresponding to smooth Valuation Equilibria (Jehiel and Samet, 2007). We demonstrate the existence of multiple equilibria in decision trees with generic payoffs and establish the local asymptotic stability of pure equilibria when they occur. Conversely, when trivial choices featuring alternatives within the same similarity class yield sufficiently high payoffs, a unique mixed equilibrium emerges, characterized by indifferences between similarity classes, even under acute sensitivity to payoff differences. Finally, we prove that this unique mixed equilibrium is globally asymptotically stable under the CPAL dynamics.

As one of the most successful generative models, diffusion models have demonstrated remarkable efficacy in synthesizing high-quality images. These models learn the underlying high-dimensional data distribution in an unsupervised manner. Despite their success, diffusion models are highly data-driven and prone to inheriting the imbalances and biases present in real-world data. Some studies have attempted to address these issues by designing text prompts for known biases or using bias labels to construct unbiased data. While these methods have shown improved results, real-world scenarios often contain various unknown biases, and obtaining bias labels is particularly challenging. In this paper, we emphasize the necessity of mitigating bias in pre-trained diffusion models without relying on auxiliary bias annotations. To tackle this problem, we propose a framework, InvDiff, which aims to learn invariant semantic information for diffusion guidance. Specifically, we propose identifying underlying biases in the training data and designing a novel debiasing training objective. Then, we employ a lightweight trainable module that automatically preserves invariant semantic information and uses it to guide the diffusion model's sampling process toward unbiased outcomes simultaneously. Notably, we only need to learn a small number of parameters in the lightweight learnable module without altering the pre-trained diffusion model. Furthermore, we provide a theoretical guarantee that the implementation of InvDiff is equivalent to reducing the error upper bound of generalization. Extensive experimental results on three publicly available benchmarks demonstrate that InvDiff effectively reduces biases while maintaining the quality of image generation. Our code is available at //github.com/Hundredl/InvDiff.

Abstract representations of 3D scenes play a crucial role in computer vision, enabling a wide range of applications such as mapping, localization, surface reconstruction, and even advanced tasks like SLAM and rendering. Among these representations, line segments are widely used because of their ability to succinctly capture the structural features of a scene. However, existing 3D reconstruction methods often face significant challenges. Methods relying on 2D projections suffer from instability caused by errors in multi-view matching and occlusions, while direct 3D approaches are hampered by noise and sparsity in 3D point cloud data. This paper introduces LineGS, a novel method that combines geometry-guided 3D line reconstruction with a 3D Gaussian splatting model to address these challenges and improve representation ability. The method leverages the high-density Gaussian point distributions along the edge of the scene to refine and optimize initial line segments generated from traditional geometric approaches. By aligning these segments with the underlying geometric features of the scene, LineGS achieves a more precise and reliable representation of 3D structures. The results show significant improvements in both geometric accuracy and model compactness compared to baseline methods.

Agglomerative models have recently emerged as a powerful approach to training vision foundation models, leveraging multi-teacher distillation from existing models such as CLIP, DINO, and SAM. This strategy enables the efficient creation of robust models, combining the strengths of individual teachers while significantly reducing computational and resource demands. In this paper, we thoroughly analyze state-of-the-art agglomerative models, identifying critical challenges including resolution mode shifts, teacher imbalance, idiosyncratic teacher artifacts, and an excessive number of output tokens. To address these issues, we propose several novel solutions: multi-resolution training, mosaic augmentation, and improved balancing of teacher loss functions. Specifically, in the context of Vision Language Models, we introduce a token compression technique to maintain high-resolution information within a fixed token count. We release our top-performing models, available in multiple scales (-B, -L, -H, and -g), alongside inference code and pretrained weights.

In the post-deep learning era, the Transformer architecture has demonstrated its powerful performance across pre-trained big models and various downstream tasks. However, the enormous computational demands of this architecture have deterred many researchers. To further reduce the complexity of attention models, numerous efforts have been made to design more efficient methods. Among them, the State Space Model (SSM), as a possible replacement for the self-attention based Transformer model, has drawn more and more attention in recent years. In this paper, we give the first comprehensive review of these works and also provide experimental comparisons and analysis to better demonstrate the features and advantages of SSM. Specifically, we first give a detailed description of principles to help the readers quickly capture the key ideas of SSM. After that, we dive into the reviews of existing SSMs and their various applications, including natural language processing, computer vision, graph, multi-modal and multi-media, point cloud/event stream, time series data, and other domains. In addition, we give statistical comparisons and analysis of these models and hope it helps the readers to understand the effectiveness of different structures on various tasks. Then, we propose possible research points in this direction to better promote the development of the theoretical model and application of SSM. More related works will be continuously updated on the following GitHub: //github.com/Event-AHU/Mamba_State_Space_Model_Paper_List.

Foundation models pretrained on diverse data at scale have demonstrated extraordinary capabilities in a wide range of vision and language tasks. When such models are deployed in real world environments, they inevitably interface with other entities and agents. For example, language models are often used to interact with human beings through dialogue, and visual perception models are used to autonomously navigate neighborhood streets. In response to these developments, new paradigms are emerging for training foundation models to interact with other agents and perform long-term reasoning. These paradigms leverage the existence of ever-larger datasets curated for multimodal, multitask, and generalist interaction. Research at the intersection of foundation models and decision making holds tremendous promise for creating powerful new systems that can interact effectively across a diverse range of applications such as dialogue, autonomous driving, healthcare, education, and robotics. In this manuscript, we examine the scope of foundation models for decision making, and provide conceptual tools and technical background for understanding the problem space and exploring new research directions. We review recent approaches that ground foundation models in practical decision making applications through a variety of methods such as prompting, conditional generative modeling, planning, optimal control, and reinforcement learning, and discuss common challenges and open problems in the field.

Visual recognition is currently one of the most important and active research areas in computer vision, pattern recognition, and even the general field of artificial intelligence. It has great fundamental importance and strong industrial needs. Deep neural networks (DNNs) have largely boosted their performances on many concrete tasks, with the help of large amounts of training data and new powerful computation resources. Though recognition accuracy is usually the first concern for new progresses, efficiency is actually rather important and sometimes critical for both academic research and industrial applications. Moreover, insightful views on the opportunities and challenges of efficiency are also highly required for the entire community. While general surveys on the efficiency issue of DNNs have been done from various perspectives, as far as we are aware, scarcely any of them focused on visual recognition systematically, and thus it is unclear which progresses are applicable to it and what else should be concerned. In this paper, we present the review of the recent advances with our suggestions on the new possible directions towards improving the efficiency of DNN-related visual recognition approaches. We investigate not only from the model but also the data point of view (which is not the case in existing surveys), and focus on three most studied data types (images, videos and points). This paper attempts to provide a systematic summary via a comprehensive survey which can serve as a valuable reference and inspire both researchers and practitioners who work on visual recognition problems.

Deep neural models in recent years have been successful in almost every field, including extremely complex problem statements. However, these models are huge in size, with millions (and even billions) of parameters, thus demanding more heavy computation power and failing to be deployed on edge devices. Besides, the performance boost is highly dependent on redundant labeled data. To achieve faster speeds and to handle the problems caused by the lack of data, knowledge distillation (KD) has been proposed to transfer information learned from one model to another. KD is often characterized by the so-called `Student-Teacher' (S-T) learning framework and has been broadly applied in model compression and knowledge transfer. This paper is about KD and S-T learning, which are being actively studied in recent years. First, we aim to provide explanations of what KD is and how/why it works. Then, we provide a comprehensive survey on the recent progress of KD methods together with S-T frameworks typically for vision tasks. In general, we consider some fundamental questions that have been driving this research area and thoroughly generalize the research progress and technical details. Additionally, we systematically analyze the research status of KD in vision applications. Finally, we discuss the potentials and open challenges of existing methods and prospect the future directions of KD and S-T learning.

We propose a novel attention gate (AG) model for medical imaging that automatically learns to focus on target structures of varying shapes and sizes. Models trained with AGs implicitly learn to suppress irrelevant regions in an input image while highlighting salient features useful for a specific task. This enables us to eliminate the necessity of using explicit external tissue/organ localisation modules of cascaded convolutional neural networks (CNNs). AGs can be easily integrated into standard CNN architectures such as the U-Net model with minimal computational overhead while increasing the model sensitivity and prediction accuracy. The proposed Attention U-Net architecture is evaluated on two large CT abdominal datasets for multi-class image segmentation. Experimental results show that AGs consistently improve the prediction performance of U-Net across different datasets and training sizes while preserving computational efficiency. The code for the proposed architecture is publicly available.