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Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged, vision-based navigation has been a promising and feasible alternative to GNSS-based navigation. However, existing vision-based techniques are inadequate in addressing flight deviation caused by environmental disturbances and inaccurate position predictions in practical settings. In this paper, we present a novel angle robustness navigation paradigm to deal with flight deviation in point-to-point navigation tasks. Additionally, we propose a model that includes the Adaptive Feature Enhance Module, Cross-knowledge Attention-guided Module and Robust Task-oriented Head Module to accurately predict direction angles for high-precision navigation. To evaluate the vision-based navigation methods, we collect a new dataset termed as UAV_AR368. Furthermore, we design the Simulation Flight Testing Instrument (SFTI) using Google Earth to simulate different flight environments, thereby reducing the expenses associated with real flight testing. Experiment results demonstrate that the proposed model outperforms the state-of-the-art by achieving improvements of 26.0% and 45.6% in the success rate of arrival under ideal and disturbed circumstances, respectively.

Skeleton-based action recognition has attracted much attention, benefiting from its succinctness and robustness. However, the minimal inter-class variation in similar action sequences often leads to confusion. The inherent spatiotemporal coupling characteristics make it challenging to mine the subtle differences in joint motion trajectories, which is critical for distinguishing confusing fine-grained actions. To alleviate this problem, we propose a Wavelet-Attention Decoupling (WAD) module that utilizes discrete wavelet transform to effectively disentangle salient and subtle motion features in the time-frequency domain. Then, the decoupling attention adaptively recalibrates their temporal responses. To further amplify the discrepancies in these subtle motion features, we propose a Fine-grained Contrastive Enhancement (FCE) module to enhance attention towards trajectory features by contrastive learning. Extensive experiments are conducted on the coarse-grained dataset NTU RGB+D and the fine-grained dataset FineGYM. Our methods perform competitively compared to state-of-the-art methods and can discriminate confusing fine-grained actions well.

Exploration in decentralized cooperative multi-agent reinforcement learning faces two challenges. One is that the novelty of global states is unavailable, while the novelty of local observations is biased. The other is how agents can explore in a coordinated way. To address these challenges, we propose MACE, a simple yet effective multi-agent coordinated exploration method. By communicating only local novelty, agents can take into account other agents' local novelty to approximate the global novelty. Further, we newly introduce weighted mutual information to measure the influence of one agent's action on other agents' accumulated novelty. We convert it as an intrinsic reward in hindsight to encourage agents to exert more influence on other agents' exploration and boost coordinated exploration. Empirically, we show that MACE achieves superior performance in three multi-agent environments with sparse rewards.

Enhancing accurate molecular property prediction relies on effective and proficient representation learning. It is crucial to incorporate diverse molecular relationships characterized by multi-similarity (self-similarity and relative similarities) between molecules. However, current molecular representation learning methods fall short in exploring multi-similarity and often underestimate the complexity of relationships between molecules. Additionally, previous multi-similarity approaches require the specification of positive and negative pairs to attribute distinct predefined weights to different relative similarities, which can introduce potential bias. In this work, we introduce Graph Multi-Similarity Learning for Molecular Property Prediction (GraphMSL) framework, along with a novel approach to formulate a generalized multi-similarity metric without the need to define positive and negative pairs. In each of the chemical modality spaces (e.g.,molecular depiction image, fingerprint, NMR, and SMILES) under consideration, we first define a self-similarity metric (i.e., similarity between an anchor molecule and another molecule), and then transform it into a generalized multi-similarity metric for the anchor through a pair weighting function. GraphMSL validates the efficacy of the multi-similarity metric across MoleculeNet datasets. Furthermore, these metrics of all modalities are integrated into a multimodal multi-similarity metric, which showcases the potential to improve the performance. Moreover, the focus of the model can be redirected or customized by altering the fusion function. Last but not least, GraphMSL proves effective in drug discovery evaluations through post-hoc analyses of the learnt representations.

Logical relations constitute a key method for reasoning about contextual equivalence of programs in higher-order languages. They are usually developed on a per-case basis, with a new theory required for each variation of the language or of the desired notion of equivalence. In the present paper we introduce a general construction of (step-indexed) logical relations at the level of Higher-Order Mathematical Operational Semantics, a highly parametric categorical framework for modeling the operational semantics of higher-order languages. Our main result asserts that for languages whose weak operational model forms a lax bialgebra, the logical relation is automatically sound for contextual equivalence. Our abstract theory is shown to instantiate to combinatory logics and $\lambda$-calculi with recursive types, and to different flavours of contextual equivalence.

Many tasks in natural language processing can be viewed as multi-label classification problems. However, most of the existing models are trained with the standard cross-entropy loss function and use a fixed prediction policy (e.g., a threshold of 0.5) for all the labels, which completely ignores the complexity and dependencies among different labels. In this paper, we propose a meta-learning method to capture these complex label dependencies. More specifically, our method utilizes a meta-learner to jointly learn the training policies and prediction policies for different labels. The training policies are then used to train the classifier with the cross-entropy loss function, and the prediction policies are further implemented for prediction. Experimental results on fine-grained entity typing and text classification demonstrate that our proposed method can obtain more accurate multi-label classification results.

Aspect level sentiment classification aims to identify the sentiment expressed towards an aspect given a context sentence. Previous neural network based methods largely ignore the syntax structure in one sentence. In this paper, we propose a novel target-dependent graph attention network (TD-GAT) for aspect level sentiment classification, which explicitly utilizes the dependency relationship among words. Using the dependency graph, it propagates sentiment features directly from the syntactic context of an aspect target. In our experiments, we show our method outperforms multiple baselines with GloVe embeddings. We also demonstrate that using BERT representations further substantially boosts the performance.

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.

We consider the problem of referring image segmentation. Given an input image and a natural language expression, the goal is to segment the object referred by the language expression in the image. Existing works in this area treat the language expression and the input image separately in their representations. They do not sufficiently capture long-range correlations between these two modalities. In this paper, we propose a cross-modal self-attention (CMSA) module that effectively captures the long-range dependencies between linguistic and visual features. Our model can adaptively focus on informative words in the referring expression and important regions in the input image. In addition, we propose a gated multi-level fusion module to selectively integrate self-attentive cross-modal features corresponding to different levels in the image. This module controls the information flow of features at different levels. We validate the proposed approach on four evaluation datasets. Our proposed approach consistently outperforms existing state-of-the-art methods.

Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis, thereby allowing manual manipulation in predicting the final answer.