亚洲男人的天堂2018av,欧美草比,久久久久久免费视频精选,国色天香在线看免费,久久久久亚洲av成人片仓井空

The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to dynamic and challenging situations, such as poor lighting conditions and motion blur. To tackle this issue, we propose a tightly-coupled LiDAR-visual SLAM based on geometric features, which includes two sub-systems (LiDAR and monocular visual SLAM) and a fusion framework. The fusion framework associates the depth and semantics of the multi-modal geometric features to complement the visual line landmarks and to add direction optimization in Bundle Adjustment (BA). This further constrains visual odometry. On the other hand, the entire line segment detected by the visual subsystem overcomes the limitation of the LiDAR subsystem, which can only perform the local calculation for geometric features. It adjusts the direction of linear feature points and filters out outliers, leading to a higher accurate odometry system. Finally, we employ a module to detect the subsystem's operation, providing the LiDAR subsystem's output as a complementary trajectory to our system while visual subsystem tracking fails. The evaluation results on the public dataset M2DGR, gathered from ground robots across various indoor and outdoor scenarios, show that our system achieves more accurate and robust pose estimation compared to current state-of-the-art multi-modal methods.

Recently, Graph Transformer (GT) models have been widely used in the task of Molecular Property Prediction (MPP) due to their high reliability in characterizing the latent relationship among graph nodes (i.e., the atoms in a molecule). However, most existing GT-based methods usually explore the basic interactions between pairwise atoms, and thus they fail to consider the important interactions among critical motifs (e.g., functional groups consisted of several atoms) of molecules. As motifs in a molecule are significant patterns that are of great importance for determining molecular properties (e.g., toxicity and solubility), overlooking motif interactions inevitably hinders the effectiveness of MPP. To address this issue, we propose a novel Atom-Motif Contrastive Transformer (AMCT), which not only explores the atom-level interactions but also considers the motif-level interactions. Since the representations of atoms and motifs for a given molecule are actually two different views of the same instance, they are naturally aligned to generate the self-supervisory signals for model training. Meanwhile, the same motif can exist in different molecules, and hence we also employ the contrastive loss to maximize the representation agreement of identical motifs across different molecules. Finally, in order to clearly identify the motifs that are critical in deciding the properties of each molecule, we further construct a property-aware attention mechanism into our learning framework. Our proposed AMCT is extensively evaluated on seven popular benchmark datasets, and both quantitative and qualitative results firmly demonstrate its effectiveness when compared with the state-of-the-art methods.

We give a characterization of those sets of graphs that are both definable in Counting Monadic Second Order Logic (CMS) and context-free, i.e., least solutions of Hyperedge-Replacement (HR)-grammars introduced by Courcelle and Engelfriet. We give the following equivalent characterizations: (a) a set of graphs is recognizable (in the algebra that consists of all graphs and HR-operations) and has bounded tree-width; further, we refine this condition and show equivalence with recognizability in a finite-sort subalgebra of the graph algebra; (b) the set is parsable, i.e., there is an MS-definable transduction from graphs to a set of derivation trees labelled by HR-operations, such that the set of graphs is the image of this set of trees under the evaluation of the HR-operations; (c) the set of graphs is the image of unranked recognizable set of trees under an MS-definable transduction whose inverse is also MS-definable. The main goal of this paper is to present the above characterization, of which several directions are already known, in an accessible and unified way. We rely on a novel connection between two seminal results, a logical characterization of context-free graph languages in terms of tree to graph MS-definable transductions, by Courcelle and Engelfriet~, and a proof that an optimal-width tree decomposition of a graph can be built by an MS-definable transduction, by Bojanczyk and Pilipczuk.

In this work, we present a constant-round algorithm for the $2$-ruling set problem in the Congested Clique model. As a direct consequence, we obtain a constant round algorithm in the MPC model with linear space-per-machine and optimal total space. Our results improve on the $O(\log \log \log n)$-round algorithm by [HPS, DISC'14] and the $O(\log \log \Delta)$-round algorithm by [GGKMR, PODC'18]. Our techniques can also be applied to the semi-streaming model to obtain an $O(1)$-pass algorithm. Our main technical contribution is a novel sampling procedure that returns a small subgraph such that almost all nodes in the input graph are adjacent to the sampled subgraph. An MIS on the sampled subgraph provides a $2$-ruling set for a large fraction of the input graph. As a technical challenge, we must handle the remaining part of the graph, which might still be relatively large. We overcome this challenge by showing useful structural properties of the remaining graph and show that running our process twice yields a $2$-ruling set of the original input graph with high probability.

Text Classification is the most essential and fundamental problem in Natural Language Processing. While numerous recent text classification models applied the sequential deep learning technique, graph neural network-based models can directly deal with complex structured text data and exploit global information. Many real text classification applications can be naturally cast into a graph, which captures words, documents, and corpus global features. In this survey, we bring the coverage of methods up to 2023, including corpus-level and document-level graph neural networks. We discuss each of these methods in detail, dealing with the graph construction mechanisms and the graph-based learning process. As well as the technological survey, we look at issues behind and future directions addressed in text classification using graph neural networks. We also cover datasets, evaluation metrics, and experiment design and present a summary of published performance on the publicly available benchmarks. Note that we present a comprehensive comparison between different techniques and identify the pros and cons of various evaluation metrics in this survey.

Link prediction is a very fundamental task on graphs. Inspired by traditional path-based methods, in this paper we propose a general and flexible representation learning framework based on paths for link prediction. Specifically, we define the representation of a pair of nodes as the generalized sum of all path representations, with each path representation as the generalized product of the edge representations in the path. Motivated by the Bellman-Ford algorithm for solving the shortest path problem, we show that the proposed path formulation can be efficiently solved by the generalized Bellman-Ford algorithm. To further improve the capacity of the path formulation, we propose the Neural Bellman-Ford Network (NBFNet), a general graph neural network framework that solves the path formulation with learned operators in the generalized Bellman-Ford algorithm. The NBFNet parameterizes the generalized Bellman-Ford algorithm with 3 neural components, namely INDICATOR, MESSAGE and AGGREGATE functions, which corresponds to the boundary condition, multiplication operator, and summation operator respectively. The NBFNet is very general, covers many traditional path-based methods, and can be applied to both homogeneous graphs and multi-relational graphs (e.g., knowledge graphs) in both transductive and inductive settings. Experiments on both homogeneous graphs and knowledge graphs show that the proposed NBFNet outperforms existing methods by a large margin in both transductive and inductive settings, achieving new state-of-the-art results.

Deep learning has become the dominant approach in coping with various tasks in Natural LanguageProcessing (NLP). Although text inputs are typically represented as a sequence of tokens, there isa rich variety of NLP problems that can be best expressed with a graph structure. As a result, thereis a surge of interests in developing new deep learning techniques on graphs for a large numberof NLP tasks. In this survey, we present a comprehensive overview onGraph Neural Networks(GNNs) for Natural Language Processing. We propose a new taxonomy of GNNs for NLP, whichsystematically organizes existing research of GNNs for NLP along three axes: graph construction,graph representation learning, and graph based encoder-decoder models. We further introducea large number of NLP applications that are exploiting the power of GNNs and summarize thecorresponding benchmark datasets, evaluation metrics, and open-source codes. Finally, we discussvarious outstanding challenges for making the full use of GNNs for NLP as well as future researchdirections. To the best of our knowledge, this is the first comprehensive overview of Graph NeuralNetworks for Natural Language Processing.

We present a large-scale study on unsupervised spatiotemporal representation learning from videos. With a unified perspective on four recent image-based frameworks, we study a simple objective that can easily generalize all these methods to space-time. Our objective encourages temporally-persistent features in the same video, and in spite of its simplicity, it works surprisingly well across: (i) different unsupervised frameworks, (ii) pre-training datasets, (iii) downstream datasets, and (iv) backbone architectures. We draw a series of intriguing observations from this study, e.g., we discover that encouraging long-spanned persistency can be effective even if the timespan is 60 seconds. In addition to state-of-the-art results in multiple benchmarks, we report a few promising cases in which unsupervised pre-training can outperform its supervised counterpart. Code is made available at //github.com/facebookresearch/SlowFast

Answering questions that require reading texts in an image is challenging for current models. One key difficulty of this task is that rare, polysemous, and ambiguous words frequently appear in images, e.g., names of places, products, and sports teams. To overcome this difficulty, only resorting to pre-trained word embedding models is far from enough. A desired model should utilize the rich information in multiple modalities of the image to help understand the meaning of scene texts, e.g., the prominent text on a bottle is most likely to be the brand. Following this idea, we propose a novel VQA approach, Multi-Modal Graph Neural Network (MM-GNN). It first represents an image as a graph consisting of three sub-graphs, depicting visual, semantic, and numeric modalities respectively. Then, we introduce three aggregators which guide the message passing from one graph to another to utilize the contexts in various modalities, so as to refine the features of nodes. The updated nodes have better features for the downstream question answering module. Experimental evaluations show that our MM-GNN represents the scene texts better and obviously facilitates the performances on two VQA tasks that require reading scene texts.

The problem of Multiple Object Tracking (MOT) consists in following the trajectory of different objects in a sequence, usually a video. In recent years, with the rise of Deep Learning, the algorithms that provide a solution to this problem have benefited from the representational power of deep models. This paper provides a comprehensive survey on works that employ Deep Learning models to solve the task of MOT on single-camera videos. Four main steps in MOT algorithms are identified, and an in-depth review of how Deep Learning was employed in each one of these stages is presented. A complete experimental comparison of the presented works on the three MOTChallenge datasets is also provided, identifying a number of similarities among the top-performing methods and presenting some possible future research directions.