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

In this paper, we tackle the problem of grasping transparent and specular objects. This issue holds importance, yet it remains unsolved within the field of robotics due to failure of recover their accurate geometry by depth cameras. For the first time, we propose ASGrasp, a 6-DoF grasp detection network that uses an RGB-D active stereo camera. ASGrasp utilizes a two-layer learning-based stereo network for the purpose of transparent object reconstruction, enabling material-agnostic object grasping in cluttered environments. In contrast to existing RGB-D based grasp detection methods, which heavily depend on depth restoration networks and the quality of depth maps generated by depth cameras, our system distinguishes itself by its ability to directly utilize raw IR and RGB images for transparent object geometry reconstruction. We create an extensive synthetic dataset through domain randomization, which is based on GraspNet-1Billion. Our experiments demonstrate that ASGrasp can achieve over 90% success rate for generalizable transparent object grasping in both simulation and the real via seamless sim-to-real transfer. Our method significantly outperforms SOTA networks and even surpasses the performance upper bound set by perfect visible point cloud inputs.Project page: //pku-epic.github.io/ASGrasp

In this paper, we examine the computational complexity of sampling from a Bayesian posterior (or pseudo-posterior) using the Metropolis-adjusted Langevin algorithm (MALA). MALA first employs a discrete-time Langevin SDE to propose a new state, and then adjusts the proposed state using Metropolis-Hastings rejection. Most existing theoretical analyses of MALA rely on the smoothness and strong log-concavity properties of the target distribution, which are often lacking in practical Bayesian problems. Our analysis hinges on statistical large sample theory, which constrains the deviation of the Bayesian posterior from being smooth and log-concave in a very specific way. In particular, we introduce a new technique for bounding the mixing time of a Markov chain with a continuous state space via the $s$-conductance profile, offering improvements over existing techniques in several aspects. By employing this new technique, we establish the optimal parameter dimension dependence of $d^{1/3}$ and condition number dependence of $\kappa$ in the non-asymptotic mixing time upper bound for MALA after the burn-in period, under a standard Bayesian setting where the target posterior distribution is close to a $d$-dimensional Gaussian distribution with a covariance matrix having a condition number $\kappa$. We also prove a matching mixing time lower bound for sampling from a multivariate Gaussian via MALA to complement the upper bound.

In this paper, we introduce the Volumetric Relightable Morphable Model (VRMM), a novel volumetric and parametric facial prior for 3D face modeling. While recent volumetric prior models offer improvements over traditional methods like 3D Morphable Models (3DMMs), they face challenges in model learning and personalized reconstructions. Our VRMM overcomes these by employing a novel training framework that efficiently disentangles and encodes latent spaces of identity, expression, and lighting into low-dimensional representations. This framework, designed with self-supervised learning, significantly reduces the constraints for training data, making it more feasible in practice. The learned VRMM offers relighting capabilities and encompasses a comprehensive range of expressions. We demonstrate the versatility and effectiveness of VRMM through various applications like avatar generation, facial reconstruction, and animation. Additionally, we address the common issue of overfitting in generative volumetric models with a novel prior-preserving personalization framework based on VRMM. Such an approach enables high-quality 3D face reconstruction from even a single portrait input. Our experiments showcase the potential of VRMM to significantly enhance the field of 3D face modeling.

In this paper, we give list coloring variants of simple iterative defective coloring algorithms. Formally, in a list defective coloring instance, each node $v$ of a graph is given a list $L_v$ of colors and a list of allowed defects $d_v(x)$ for the colors. Each node $v$ needs to be colored with a color $x\in L_v$ such that at most $d_v(x)$ neighbors of $v$ also pick the same color $x$. For a defect parameter $d$, it is known that by making two sweeps in opposite order over the nodes of an edge-oriented graph with maximum outdegree $\beta$, one can compute a coloring with $O(\beta^2/d^2)$ colors such that every node has at most $d$ outneighbors of the same color. We generalize this and show that if all nodes have lists of size $p^2$ and $\forall v:\sum_{x\in L_v}(d_v(x)+1)>p\cdot\beta$, we can make two sweeps of the nodes such that at the end, each node $v$ has chosen a color $x\in L_v$ for which at most $d_v(x)$ outneighbors of $v$ are colored with color $x$. Our algorithm is simpler and computationally significantly more efficient than existing algorithms for similar list defective coloring problems. We show that the above result can in particular be used to obtain an alternative $\tilde{O}(\sqrt{\Delta})+O(\log^* n)$-round algorithm for the $(\Delta+1)$-coloring problem in the CONGEST model. The neighborhood independence $\theta$ of a graph is the maximum number of pairwise non-adjacent neighbors of some node of the graph. It is known that by doing a single sweep over the nodes of a graph of neighborhood independence $\theta$, one can compute a $d$-defective coloring with $O(\theta\cdot \Delta/d)$ colors. We extend this approach to the list defective coloring setting and use it to obtain an efficient recursive coloring algorithm for graphs of neighborhood independence $\theta$. In particular, if $\theta=O(1)$, we get an $(\log\Delta)^{O(\log\log\Delta)}+O(\log^* n)$-round algorithm.

Cross-lingual transfer has become an effective way of transferring knowledge between languages. In this paper, we explore an often overlooked aspect in this domain: the influence of the source language of a language model on language transfer performance. We consider a case where the target language and its script are not part of the pre-trained model. We conduct a series of experiments on monolingual and multilingual models that are pre-trained on different tokenization methods to determine factors that affect cross-lingual transfer to a new language with a unique script. Our findings reveal the importance of the tokenizer as a stronger factor than the shared script, language similarity, and model size.

In this paper, we investigate an open research task of cross-modal retrieval between 3D shapes and textual descriptions. Previous approaches mainly rely on point cloud encoders for feature extraction, which may ignore key inherent features of 3D shapes, including depth, spatial hierarchy, geometric continuity, etc. To address this issue, we propose COM3D, making the first attempt to exploit the cross-view correspondence and cross-modal mining to enhance the retrieval performance. Notably, we augment the 3D features through a scene representation transformer, to generate cross-view correspondence features of 3D shapes, which enrich the inherent features and enhance their compatibility with text matching. Furthermore, we propose to optimize the cross-modal matching process based on the semi-hard negative example mining method, in an attempt to improve the learning efficiency. Extensive quantitative and qualitative experiments demonstrate the superiority of our proposed COM3D, achieving state-of-the-art results on the Text2Shape dataset.

In this paper, we demonstrate how Large Language Models (LLMs) can effectively learn to use an off-the-shelf information retrieval (IR) system specifically when additional context is required to answer a given question. Given the performance of IR systems, the optimal strategy for question answering does not always entail external information retrieval; rather, it often involves leveraging the parametric memory of the LLM itself. Prior research has identified this phenomenon in the PopQA dataset, wherein the most popular questions are effectively addressed using the LLM's parametric memory, while less popular ones require IR system usage. Following this, we propose a tailored training approach for LLMs, leveraging existing open-domain question answering datasets. Here, LLMs are trained to generate a special token, <RET>, when they do not know the answer to a question. Our evaluation of the Adaptive Retrieval LLM (Adapt-LLM) on the PopQA dataset showcases improvements over the same LLM under three configurations: (i) retrieving information for all the questions, (ii) using always the parametric memory of the LLM, and (iii) using a popularity threshold to decide when to use a retriever. Through our analysis, we demonstrate that Adapt-LLM is able to generate the <RET> token when it determines that it does not know how to answer a question, indicating the need for IR, while it achieves notably high accuracy levels when it chooses to rely only on its parametric memory.

In this paper, we introduce a two-level attention schema, Poolingformer, for long document modeling. Its first level uses a smaller sliding window pattern to aggregate information from neighbors. Its second level employs a larger window to increase receptive fields with pooling attention to reduce both computational cost and memory consumption. We first evaluate Poolingformer on two long sequence QA tasks: the monolingual NQ and the multilingual TyDi QA. Experimental results show that Poolingformer sits atop three official leaderboards measured by F1, outperforming previous state-of-the-art models by 1.9 points (79.8 vs. 77.9) on NQ long answer, 1.9 points (79.5 vs. 77.6) on TyDi QA passage answer, and 1.6 points (67.6 vs. 66.0) on TyDi QA minimal answer. We further evaluate Poolingformer on a long sequence summarization task. Experimental results on the arXiv benchmark continue to demonstrate its superior performance.

In this paper, we proposed to apply meta learning approach for low-resource automatic speech recognition (ASR). We formulated ASR for different languages as different tasks, and meta-learned the initialization parameters from many pretraining languages to achieve fast adaptation on unseen target language, via recently proposed model-agnostic meta learning algorithm (MAML). We evaluated the proposed approach using six languages as pretraining tasks and four languages as target tasks. Preliminary results showed that the proposed method, MetaASR, significantly outperforms the state-of-the-art multitask pretraining approach on all target languages with different combinations of pretraining languages. In addition, since MAML's model-agnostic property, this paper also opens new research direction of applying meta learning to more speech-related applications.

In this paper we address issues with image retrieval benchmarking on standard and popular Oxford 5k and Paris 6k datasets. In particular, annotation errors, the size of the dataset, and the level of challenge are addressed: new annotation for both datasets is created with an extra attention to the reliability of the ground truth. Three new protocols of varying difficulty are introduced. The protocols allow fair comparison between different methods, including those using a dataset pre-processing stage. For each dataset, 15 new challenging queries are introduced. Finally, a new set of 1M hard, semi-automatically cleaned distractors is selected. An extensive comparison of the state-of-the-art methods is performed on the new benchmark. Different types of methods are evaluated, ranging from local-feature-based to modern CNN based methods. The best results are achieved by taking the best of the two worlds. Most importantly, image retrieval appears far from being solved.