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Medical image segmentation is a critical step in computer-aided diagnosis, and convolutional neural networks are popular segmentation networks nowadays. However, the inherent local operation characteristics make it difficult to focus on the global contextual information of lesions with different positions, shapes, and sizes. Semi-supervised learning can be used to learn from both labeled and unlabeled samples, alleviating the burden of manual labeling. However, obtaining a large number of unlabeled images in medical scenarios remains challenging. To address these issues, we propose a Multi-level Global Context Cross-consistency (MGCC) framework that uses images generated by a Latent Diffusion Model (LDM) as unlabeled images for semi-supervised learning. The framework involves of two stages. In the first stage, a LDM is used to generate synthetic medical images, which reduces the workload of data annotation and addresses privacy concerns associated with collecting medical data. In the second stage, varying levels of global context noise perturbation are added to the input of the auxiliary decoder, and output consistency is maintained between decoders to improve the representation ability. Experiments conducted on open-source breast ultrasound and private thyroid ultrasound datasets demonstrate the effectiveness of our framework in bridging the probability distribution and the semantic representation of the medical image. Our approach enables the effective transfer of probability distribution knowledge to the segmentation network, resulting in improved segmentation accuracy. The code is available at //github.com/FengheTan9/Multi-Level Global-Context-Cross-Consistency.

We present quantitative logics with two-step semantics based on the framework of quantitative logics introduced by Arenas et al. (2020) and the two-step semantics defined in the context of weighted logics by Gastin & Monmege (2018). We show that some of the fragments of our logics augmented with a least fixed point operator capture interesting classes of counting problems. Specifically, we answer an open question in the area of descriptive complexity of counting problems by providing logical characterizations of two subclasses of #P, namely SpanL and TotP, that play a significant role in the study of approximable counting problems. Moreover, we define logics that capture FPSPACE and SpanPSPACE, which are counting versions of PSPACE.

In passage retrieval system, the initial passage retrieval results may be unsatisfactory, which can be refined by a reranking scheme. Existing solutions to passage reranking focus on enriching the interaction between query and each passage separately, neglecting the context among the top-ranked passages in the initial retrieval list. To tackle this problem, we propose a Hybrid and Collaborative Passage Reranking (HybRank) method, which leverages the substantial similarity measurements of upstream retrievers for passage collaboration and incorporates the lexical and semantic properties of sparse and dense retrievers for reranking. Besides, built on off-the-shelf retriever features, HybRank is a plug-in reranker capable of enhancing arbitrary passage lists including previously reranked ones. Extensive experiments demonstrate the stable improvements of performance over prevalent retrieval and reranking methods, and verify the effectiveness of the core components of HybRank.

Effective use of camera-based vision systems is essential for robust performance in autonomous off-road driving, particularly in the high-speed regime. Despite success in structured, on-road settings, current end-to-end approaches for scene prediction have yet to be successfully adapted for complex outdoor terrain. To this end, we present TerrainNet, a vision-based terrain perception system for semantic and geometric terrain prediction for aggressive, off-road navigation. The approach relies on several key insights and practical considerations for achieving reliable terrain modeling. The network includes a multi-headed output representation to capture fine- and coarse-grained terrain features necessary for estimating traversability. Accurate depth estimation is achieved using self-supervised depth completion with multi-view RGB and stereo inputs. Requirements for real-time performance and fast inference speeds are met using efficient, learned image feature projections. Furthermore, the model is trained on a large-scale, real-world off-road dataset collected across a variety of diverse outdoor environments. We show how TerrainNet can also be used for costmap prediction and provide a detailed framework for integration into a planning module. We demonstrate the performance of TerrainNet through extensive comparison to current state-of-the-art baselines for camera-only scene prediction. Finally, we showcase the effectiveness of integrating TerrainNet within a complete autonomous-driving stack by conducting a real-world vehicle test in a challenging off-road scenario.

A temporal knowledge graph (TKG) stores the events derived from the data involving time. Predicting events is extremely challenging due to the time-sensitive property of events. Besides, the previous TKG completion (TKGC) approaches cannot represent both the timeliness and the causality properties of events, simultaneously. To address these challenges, we propose a Logic and Commonsense-Guided Embedding model (LCGE) to jointly learn the time-sensitive representation involving timeliness and causality of events, together with the time-independent representation of events from the perspective of commonsense. Specifically, we design a temporal rule learning algorithm to construct a rule-guided predicate embedding regularization strategy for learning the causality among events. Furthermore, we could accurately evaluate the plausibility of events via auxiliary commonsense knowledge. The experimental results of TKGC task illustrate the significant performance improvements of our model compared with the existing approaches. More interestingly, our model is able to provide the explainability of the predicted results in the view of causal inference. The source code and datasets of this paper are available at //github.com/ngl567/LCGE.

We propose an end-to-end deep-learning approach for automatic rigging and retargeting of 3D models of human faces in the wild. Our approach, called Neural Face Rigging (NFR), holds three key properties: (i) NFR's expression space maintains human-interpretable editing parameters for artistic controls; (ii) NFR is readily applicable to arbitrary facial meshes with different connectivity and expressions; (iii) NFR can encode and produce fine-grained details of complex expressions performed by arbitrary subjects. To the best of our knowledge, NFR is the first approach to provide realistic and controllable deformations of in-the-wild facial meshes, without the manual creation of blendshapes or correspondence. We design a deformation autoencoder and train it through a multi-dataset training scheme, which benefits from the unique advantages of two data sources: a linear 3DMM with interpretable control parameters as in FACS, and 4D captures of real faces with fine-grained details. Through various experiments, we show NFR's ability to automatically produce realistic and accurate facial deformations across a wide range of existing datasets as well as noisy facial scans in-the-wild, while providing artist-controlled, editable parameters.

This paper proposes a novel method for estimating the set of plausible poses of a rigid object from a set of points with volumetric information, such as whether each point is in free space or on the surface of the object. In particular, we study how pose can be estimated from force and tactile data arising from contact. Using data derived from contact is challenging because it is inherently less information-dense than visual data, and thus the pose estimation problem is severely under-constrained when there are few contacts. Rather than attempting to estimate the true pose of the object, which is not tractable without a large number of contacts, we seek to estimate a plausible set of poses which obey the constraints imposed by the sensor data. Existing methods struggle to estimate this set because they are either designed for single pose estimates or require informative priors to be effective. Our approach to this problem, Constrained pose Hypothesis Set Elimination (CHSEL), has three key attributes: 1) It considers volumetric information, which allows us to account for known free space; 2) It uses a novel differentiable volumetric cost function to take advantage of powerful gradient-based optimization tools; and 3) It uses methods from the Quality Diversity (QD) optimization literature to produce a diverse set of high-quality poses. To our knowledge, QD methods have not been used previously for pose registration. We also show how to update our plausible pose estimates online as more data is gathered by the robot. Our experiments suggest that CHSEL shows large performance improvements over several baseline methods for both simulated and real-world data.

Existing question answering methods often assume that the input content (e.g., documents or videos) is always accessible to solve the task. Alternatively, memory networks were introduced to mimic the human process of incremental comprehension and compression of the information in a fixed-capacity memory. However, these models only learn how to maintain memory by backpropagating errors in the answers through the entire network. Instead, it has been suggested that humans have effective mechanisms to boost their memorization capacities, such as rehearsal and anticipation. Drawing inspiration from these, we propose a memory model that performs rehearsal and anticipation while processing inputs to memorize important information for solving question answering tasks from streaming data. The proposed mechanisms are applied self-supervised during training through masked modeling tasks focused on coreference information. We validate our model on a short-sequence (bAbI) dataset as well as large-sequence textual (NarrativeQA) and video (ActivityNet-QA) question answering datasets, where it achieves substantial improvements over previous memory network approaches. Furthermore, our ablation study confirms the proposed mechanisms' importance for memory models.

Understanding causality helps to structure interventions to achieve specific goals and enables predictions under interventions. With the growing importance of learning causal relationships, causal discovery tasks have transitioned from using traditional methods to infer potential causal structures from observational data to the field of pattern recognition involved in deep learning. The rapid accumulation of massive data promotes the emergence of causal search methods with brilliant scalability. Existing summaries of causal discovery methods mainly focus on traditional methods based on constraints, scores and FCMs, there is a lack of perfect sorting and elaboration for deep learning-based methods, also lacking some considers and exploration of causal discovery methods from the perspective of variable paradigms. Therefore, we divide the possible causal discovery tasks into three types according to the variable paradigm and give the definitions of the three tasks respectively, define and instantiate the relevant datasets for each task and the final causal model constructed at the same time, then reviews the main existing causal discovery methods for different tasks. Finally, we propose some roadmaps from different perspectives for the current research gaps in the field of causal discovery and point out future research directions.

Object tracking is the cornerstone of many visual analytics systems. While considerable progress has been made in this area in recent years, robust, efficient, and accurate tracking in real-world video remains a challenge. In this paper, we present a hybrid tracker that leverages motion information from the compressed video stream and a general-purpose semantic object detector acting on decoded frames to construct a fast and efficient tracking engine suitable for a number of visual analytics applications. The proposed approach is compared with several well-known recent trackers on the OTB tracking dataset. The results indicate advantages of the proposed method in terms of speed and/or accuracy. Another advantage of the proposed method over most existing trackers is its simplicity and deployment efficiency, which stems from the fact that it reuses and re-purposes the resources and information that may already exist in the system for other reasons.