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Neural networks are increasingly evolving towards training large models with big data, a method that has demonstrated superior performance across many tasks. However, this approach introduces an urgent problem: current deep learning models are predominantly serial, meaning that as the number of network layers increases, so do the training and inference times. This is unacceptable if deep learning is to continue advancing. Therefore, this paper proposes a deep learning parallelization strategy based on the Universal Approximation Theorem (UAT). From this foundation, we designed a parallel network called Para-Former to test our theory. Unlike traditional serial models, the inference time of Para-Former does not increase with the number of layers, significantly accelerating the inference speed of multi-layer networks. Experimental results validate the effectiveness of this network.

Hand avatars play a pivotal role in a wide array of digital interfaces, enhancing user immersion and facilitating natural interaction within virtual environments. While previous studies have focused on photo-realistic hand rendering, little attention has been paid to reconstruct the hand geometry with fine details, which is essential to rendering quality. In the realms of extended reality and gaming, on-the-fly rendering becomes imperative. To this end, we introduce an expressive hand avatar, named XHand, that is designed to comprehensively generate hand shape, appearance, and deformations in real-time. To obtain fine-grained hand meshes, we make use of three feature embedding modules to predict hand deformation displacements, albedo, and linear blending skinning weights, respectively. To achieve photo-realistic hand rendering on fine-grained meshes, our method employs a mesh-based neural renderer by leveraging mesh topological consistency and latent codes from embedding modules. During training, a part-aware Laplace smoothing strategy is proposed by incorporating the distinct levels of regularization to effectively maintain the necessary details and eliminate the undesired artifacts. The experimental evaluations on InterHand2.6M and DeepHandMesh datasets demonstrate the efficacy of XHand, which is able to recover high-fidelity geometry and texture for hand animations across diverse poses in real-time. To reproduce our results, we will make the full implementation publicly available at //github.com/agnJason/XHand.

Vision transformers have significantly advanced the field of computer vision, offering robust modeling capabilities and global receptive field. However, their high computational demands limit their applicability in processing long sequences. To tackle this issue, State Space Models (SSMs) have gained prominence in vision tasks as they offer linear computational complexity. Recently, State Space Duality (SSD), an improved variant of SSMs, was introduced in Mamba2 to enhance model performance and efficiency. However, the inherent causal nature of SSD/SSMs restricts their applications in non-causal vision tasks. To address this limitation, we introduce Visual State Space Duality (VSSD) model, which has a non-causal format of SSD. Specifically, we propose to discard the magnitude of interactions between the hidden state and tokens while preserving their relative weights, which relieves the dependencies of token contribution on previous tokens. Together with the involvement of multi-scan strategies, we show that the scanning results can be integrated to achieve non-causality, which not only improves the performance of SSD in vision tasks but also enhances its efficiency. We conduct extensive experiments on various benchmarks including image classification, detection, and segmentation, where VSSD surpasses existing state-of-the-art SSM-based models. Code and weights are available at \url{//github.com/YuHengsss/VSSD}.

Question answering over RDF data like knowledge graphs has been greatly advanced, with a number of good systems providing crisp answers for natural language questions or telegraphic queries. Some of these systems incorporate textual sources as additional evidence for the answering process, but cannot compute answers that are present in text alone. Conversely, the IR and NLP communities have addressed QA over text, but such systems barely utilize semantic data and knowledge. This paper presents a method for complex questions that can seamlessly operate over a mixture of RDF datasets and text corpora, or individual sources, in a unified framework. Our method, called UNIQORN, builds a context graph on-the-fly, by retrieving question-relevant evidences from the RDF data and/or a text corpus, using fine-tuned BERT models. The resulting graph typically contains all question-relevant evidences but also a lot of noise. UNIQORN copes with this input by a graph algorithm for Group Steiner Trees, that identifies the best answer candidates in the context graph. Experimental results on several benchmarks of complex questions with multiple entities and relations, show that UNIQORN significantly outperforms state-of-the-art methods for heterogeneous QA -- in a full training mode, as well as in zero-shot settings. The graph-based methodology provides user-interpretable evidence for the complete answering process.

The advancement of deep learning in object detection has predominantly focused on megapixel images, leaving a critical gap in the efficient processing of gigapixel images. These super high-resolution images present unique challenges due to their immense size and computational demands. To address this, we introduce 'SaccadeDet', an innovative architecture for gigapixel-level object detection, inspired by the human eye saccadic movement. The cornerstone of SaccadeDet is its ability to strategically select and process image regions, dramatically reducing computational load. This is achieved through a two-stage process: the 'saccade' stage, which identifies regions of probable interest, and the 'gaze' stage, which refines detection in these targeted areas. Our approach, evaluated on the PANDA dataset, not only achieves an 8x speed increase over the state-of-the-art methods but also demonstrates significant potential in gigapixel-level pathology analysis through its application to Whole Slide Imaging.

The application of vision-language models (VLMs) has achieved impressive success in various robotics tasks, but there are few explorations for foundation models used in quadruped robot navigation. We introduce Cross Anything System (CAS), an innovative system composed of a high-level reasoning module and a low-level control policy, enabling the robot to navigate across complex 3D terrains and reach the goal position. For high-level reasoning and motion planning, we propose a novel algorithmic system taking advantage of a VLM, with a design of task decomposition and a closed-loop sub-task execution mechanism. For low-level locomotion control, we utilize the Probability Annealing Selection (PAS) method to train a control policy by reinforcement learning. Numerous experiments show that our whole system can accurately and robustly navigate across complex 3D terrains, and its strong generalization ability ensures the applications in diverse indoor and outdoor scenarios and terrains. Project page: //cross-anything.github.io/

Place recognition is a challenging task in computer vision, crucial for enabling autonomous vehicles and robots to navigate previously visited environments. While significant progress has been made in learnable multimodal methods that combine onboard camera images and LiDAR point clouds, the full potential of these methods remains largely unexplored in localization applications. In this paper, we study the impact of leveraging a multi-camera setup and integrating diverse data sources for multimodal place recognition, incorporating explicit visual semantics and text descriptions. Our proposed method named MSSPlace utilizes images from multiple cameras, LiDAR point clouds, semantic segmentation masks, and text annotations to generate comprehensive place descriptors. We employ a late fusion approach to integrate these modalities, providing a unified representation. Through extensive experiments on the Oxford RobotCar and NCLT datasets, we systematically analyze the impact of each data source on the overall quality of place descriptors. Our experiments demonstrate that combining data from multiple sensors significantly improves place recognition model performance compared to single modality approaches and leads to state-of-the-art quality. We also show that separate usage of visual or textual semantics (which are more compact representations of sensory data) can achieve promising results in place recognition. The code for our method is publicly available: //github.com/alexmelekhin/MSSPlace

With the development of VR-related techniques, viewers can enjoy a realistic and immersive experience through a head-mounted display, while omnidirectional video with a low frame rate can lead to user dizziness. However, the prevailing plane frame interpolation methodologies are unsuitable for Omnidirectional Video Interpolation, chiefly due to the lack of models tailored to such videos with strong distortion, compounded by the scarcity of valuable datasets for Omnidirectional Video Frame Interpolation. In this paper, we introduce the benchmark dataset, 360VFI, for Omnidirectional Video Frame Interpolation. We present a practical implementation that introduces a distortion prior from omnidirectional video into the network to modulate distortions. We especially propose a pyramid distortion-sensitive feature extractor that uses the unique characteristics of equirectangular projection (ERP) format as prior information. Moreover, we devise a decoder that uses an affine transformation to facilitate the synthesis of intermediate frames further. 360VFI is the first dataset and benchmark that explores the challenge of Omnidirectional Video Frame Interpolation. Through our benchmark analysis, we presented four different distortion conditions scenes in the proposed 360VFI dataset to evaluate the challenge triggered by distortion during interpolation. Besides, experimental results demonstrate that Omnidirectional Video Interpolation can be effectively improved by modeling for omnidirectional distortion.

Computer vision methods that explicitly detect object parts and reason on them are a step towards inherently interpretable models. Existing approaches that perform part discovery driven by a fine-grained classification task make very restrictive assumptions on the geometric properties of the discovered parts; they should be small and compact. Although this prior is useful in some cases, in this paper we show that pre-trained transformer-based vision models, such as self-supervised DINOv2 ViT, enable the relaxation of these constraints. In particular, we find that a total variation (TV) prior, which allows for multiple connected components of any size, substantially outperforms previous work. We test our approach on three fine-grained classification benchmarks: CUB, PartImageNet and Oxford Flowers, and compare our results to previously published methods as well as a re-implementation of the state-of-the-art method PDiscoNet with a transformer-based backbone. We consistently obtain substantial improvements across the board, both on part discovery metrics and the downstream classification task, showing that the strong inductive biases in self-supervised ViT models require to rethink the geometric priors that can be used for unsupervised part discovery.

The burgeoning demand for collaborative robotic systems to execute complex tasks collectively has intensified the research community's focus on advancing simultaneous localization and mapping (SLAM) in a cooperative context. Despite this interest, the scalability and diversity of existing datasets for collaborative trajectories remain limited, especially in scenarios with constrained perspectives where the generalization capabilities of Collaborative SLAM (C-SLAM) are critical for the feasibility of multi-agent missions. Addressing this gap, we introduce S3E, an expansive multimodal dataset. Captured by a fleet of unmanned ground vehicles traversing four distinct collaborative trajectory paradigms, S3E encompasses 13 outdoor and 5 indoor sequences. These sequences feature meticulously synchronized and spatially calibrated data streams, including 360-degree LiDAR point cloud, high-resolution stereo imagery, high-frequency inertial measurement units (IMU), and Ultra-wideband (UWB) relative observations. Our dataset not only surpasses previous efforts in scale, scene diversity, and data intricacy but also provides a thorough analysis and benchmarks for both collaborative and individual SLAM methodologies. For access to the dataset and the latest information, please visit our repository at //pengyu-team.github.io/S3E.