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Taxonomies play a crucial role in various applications by providing a structural representation of knowledge. The task of taxonomy expansion involves integrating emerging concepts into existing taxonomies by identifying appropriate parent concepts for these new query concepts. Previous approaches typically relied on self-supervised methods that generate annotation data from existing taxonomies. However, these methods are less effective when the existing taxonomy is small (fewer than 100 entities). In this work, we introduce \textsc{CodeTaxo}, a novel approach that leverages large language models through code language prompts to capture the taxonomic structure. Extensive experiments on five real-world benchmarks from different domains demonstrate that \textsc{CodeTaxo} consistently achieves superior performance across all evaluation metrics, significantly outperforming previous state-of-the-art methods. The code and data are available at \url{https://github.com/QingkaiZeng/CodeTaxo-Pub}.

In recent years, LiDAR-based localization and mapping methods have achieved significant progress thanks to their reliable and real-time localization capability. Considering single LiDAR odometry often faces hardware failures and degradation in practical scenarios, Multi-LiDAR Odometry (MLO), as an emerging technology, is studied to enhance the performance of LiDAR-based localization and mapping systems. However, MLO can suffer from high computational complexity introduced by dense point clouds that are fused from multiple LiDARs, and the continuous-time measurement characteristic is constantly neglected by existing LiDAR odometry. This motivates us to develop a Continuous-Time and Efficient MLO, namely CTE-MLO, which can achieve accurate and real-time state estimation using multi-LiDAR measurements through a continuous-time perspective. In this paper, the Gaussian process estimation is naturally combined with the Kalman filter, which enables each LiDAR point in a point stream to query the corresponding continuous-time trajectory within its time instants. A decentralized multi-LiDAR synchronization scheme also be devised to combine points from separate LiDARs into a single point cloud without the requirement for primary LiDAR assignment. Moreover, with the aim of improving the real-time performance of MLO without sacrificing robustness, a point cloud sampling strategy is designed with the consideration of localizability. The effectiveness of the proposed method is demonstrated through various scenarios, including public datasets and real-world autonomous driving experiments. The results demonstrate that the proposed CTE-MLO can achieve high-accuracy continuous-time state estimations in real-time and is demonstratively competitive compared to other state-of-the-art methods.

Enabling embodied agents to complete complex human instructions from natural language is crucial to autonomous systems in household services. Conventional methods can only accomplish human instructions in the known environment where all interactive objects are provided to the embodied agent, and directly deploying the existing approaches for the unknown environment usually generates infeasible plans that manipulate non-existing objects. On the contrary, we propose an embodied instruction following (EIF) method for complex tasks in the unknown environment, where the agent efficiently explores the unknown environment to generate feasible plans with existing objects to accomplish abstract instructions. Specifically, we build a hierarchical embodied instruction following framework including the high-level task planner and the low-level exploration controller with multimodal large language models. We then construct a semantic representation map of the scene with dynamic region attention to demonstrate the known visual clues, where the goal of task planning and scene exploration is aligned for human instruction. For the task planner, we generate the feasible step-by-step plans for human goal accomplishment according to the task completion process and the known visual clues. For the exploration controller, the optimal navigation or object interaction policy is predicted based on the generated step-wise plans and the known visual clues. The experimental results demonstrate that our method can achieve 45.09% success rate in 204 complex human instructions such as making breakfast and tidying rooms in large house-level scenes., Comment: Project Page: https://gary3410.github.io/eif_unknown/

Intrinsic self-correct was a method that instructed large language models (LLMs) to verify and correct their responses without external feedback. Unfortunately, the study concluded that the LLMs could not self-correct reasoning yet. We find that a simple yet effective verification method can unleash inherent capabilities of the LLMs. That is to mask a key condition in the question, add the current response to construct a verification question, and predict the condition to verify the response. The condition can be an entity in an open-domain question or a numeric value in a math question, which requires minimal effort (via prompting) to identify. We propose an iterative verify-then-correct framework to progressively identify and correct (probably) false responses, named ProCo. We conduct experiments on three reasoning tasks. On average, ProCo, with GPT-3.5-Turbo as the backend LLM, yields $+6.8$ exact match on four open-domain question answering datasets, $+14.1$ accuracy on three arithmetic reasoning datasets, and $+9.6$ accuracy on a commonsense reasoning dataset, compared to Self-Correct., Comment: Work in Progress

Math word problem (MWP) solving requires generating a reasoning path based on a given problem description that often contains irrelevant conditions. Existing chain-of-thought (CoT) prompting methods elicited multi-step reasoning abilities of large language models (LLMs) to solve MWPs. However, they were seriously confused by the irrelevant conditions, resulting in low accuracy. In this paper, we propose a novel approach named I$^3$C that instructs LLMs to identify and ignore irrelevant conditions. It identifies a set of irrelevant condition candidates that have a weak semantic relevance with the question. Then it prompts LLMs to verify the irrelevant conditions. Lastly it instructs the LLMs with the verification on relevant and irrelevant conditions to avoid confusion and improve reasoning paths. Moreover, we propose to select (problem, reasoning paths) pairs as demonstrations to enhance I$^3$C with few-shot reasoning. We develop I$^3$C-Select that selects the most confusing problems based on the semantic relevance measurement. We conduct extensive experiments on eight MWP datasets. I$^3$C can be combined with any CoT prompting methods to improve the performance of solving MWPs. Notably, with GPT-3.5-Turbo and I$^3$C-Select, we achieve an accuracy of 96.0 and 94.1 on GSM-IC2-1K and GSM-ICM-1K, respectively, significantly outperforming the state-of-the-art few-shot prompting method Complex-CoT by +11.7 and +11.1. Our implementation is made publicly available at https://wzy6642.github.io/I3C.github.io/., Comment: NAACL 2024 - Camera Ready

Federated learning is designed to enhance data security and privacy, but faces challenges when dealing with heterogeneous data in long-tailed and non-IID distributions. This paper explores an overlooked scenario where tail classes are sparsely distributed over a few clients, causing the models trained with these classes to have a lower probability of being selected during client aggregation, leading to slower convergence rates and poorer model performance. To address this issue, we propose a two-stage Decoupled Federated learning framework using Feature Statistics (DFL-FS). In the first stage, the server estimates the client's class coverage distributions through masked local feature statistics clustering to select models for aggregation to accelerate convergence and enhance feature learning without privacy leakage. In the second stage, DFL-FS employs federated feature regeneration based on global feature statistics and utilizes resampling and weighted covariance to calibrate the global classifier to enhance the model's adaptability to long-tailed data distributions. We conducted experiments on CIFAR10-LT and CIFAR100-LT datasets with various long-tailed rates. The results demonstrate that our method outperforms state-of-the-art methods in both accuracy and convergence rate.

Class-incremental learning (CIL) aims to train classifiers that learn new classes without forgetting old ones. Most CIL methods focus on balanced data distribution for each task, overlooking real-world long-tailed distributions. Therefore, Long-Tailed Class-Incremental Learning (LT-CIL) has been introduced, which trains on data where head classes have more samples than tail classes. Existing methods mainly focus on preserving representative samples from previous classes to combat catastrophic forgetting. Recently, dynamic network algorithms frozen old network structures and expanded new ones, achieving significant performance. However, with the introduction of the long-tail problem, merely extending task-specific parameters can lead to miscalibrated predictions, while expanding the entire model results in an explosion of memory size. To address these issues, we introduce a novel Task-aware Expandable (TaE) framework, dynamically allocating and updating task-specific trainable parameters to learn diverse representations from each incremental task, while resisting forgetting through the majority of frozen model parameters. To further encourage the class-specific feature representation, we develop a Centroid-Enhanced (CEd) method to guide the update of these task-aware parameters. This approach is designed to adaptively minimize the distances between intra-class features while simultaneously maximizing the distances between inter-class features across all seen classes. The utility of this centroid-enhanced method extends to all "training from scratch" CIL algorithms. Extensive experiments were conducted on CIFAR-100 and ImageNet100 under different settings, which demonstrates that TaE achieves state-of-the-art performance.

Colorectal polyp segmentation (CPS), an essential problem in medical image analysis, has garnered growing research attention. Recently, the deep learning-based model completely overwhelmed traditional methods in the field of CPS, and more and more deep CPS methods have emerged, bringing the CPS into the deep learning era. To help the researchers quickly grasp the main techniques, datasets, evaluation metrics, challenges, and trending of deep CPS, this paper presents a systematic and comprehensive review of deep-learning-based CPS methods from 2014 to 2023, a total of 115 technical papers. In particular, we first provide a comprehensive review of the current deep CPS with a novel taxonomy, including network architectures, level of supervision, and learning paradigm. More specifically, network architectures include eight subcategories, the level of supervision comprises six subcategories, and the learning paradigm encompasses 12 subcategories, totaling 26 subcategories. Then, we provided a comprehensive analysis the characteristics of each dataset, including the number of datasets, annotation types, image resolution, polyp size, contrast values, and polyp location. Following that, we summarized CPS's commonly used evaluation metrics and conducted a detailed analysis of 40 deep SOTA models, including out-of-distribution generalization and attribute-based performance analysis. Finally, we discussed deep learning-based CPS methods' main challenges and opportunities., Comment: 21 pages, 8 figures

Chain-of-Thought (CoT) prompting methods have enabled large language models (LLMs) to generate reasoning paths and solve math word problems (MWPs). However, they are sensitive to mistakes in the paths, as any mistake can result in an incorrect answer. We propose a novel method named Progressive Rectification Prompting (PRP) to improve average accuracy on eight MWP datasets from 77.3 to 90.5. Given an initial answer from CoT, PRP iterates a verify-then-rectify process to progressively identify incorrect answers and rectify the reasoning paths. With the most likely correct answer, the LLM predicts a masked numerical value in the question; if the prediction does not match the masked value, the answer is likely incorrect. Then the LLM is prompted to re-generate the reasoning path hinted with a set of incorrect answers to prevent itself from repeating previous mistakes. PRP achieves the best performance compared against the CoT methods. Our implementation is made publicly available at https://wzy6642.github.io/prp.github.io/., Comment: AAAI 2024 - Camera Ready

In this paper, we propose a novel network framework for indoor 3D object detection to handle variable input frame numbers in practical scenarios. Existing methods only consider fixed frames of input data for a single detector, such as monocular RGB-D images or point clouds reconstructed from dense multi-view RGB-D images. While in practical application scenes such as robot navigation and manipulation, the raw input to the 3D detectors is the RGB-D images with variable frame numbers instead of the reconstructed scene point cloud. However, the previous approaches can only handle fixed frame input data and have poor performance with variable frame input. In order to facilitate 3D object detection methods suitable for practical tasks, we present a novel 3D detection framework named AnyView for our practical applications, which generalizes well across different numbers of input frames with a single model. To be specific, we propose a geometric learner to mine the local geometric features of each input RGB-D image frame and implement local-global feature interaction through a designed spatial mixture module. Meanwhile, we further utilize a dynamic token strategy to adaptively adjust the number of extracted features for each frame, which ensures consistent global feature density and further enhances the generalization after fusion. Extensive experiments on the ScanNet dataset show our method achieves both great generalizability and high detection accuracy with a simple and clean architecture containing a similar amount of parameters with the baselines., Comment: 11 pages, 7 figures

Deep learning models have a risk of utilizing spurious clues to make predictions, such as recognizing actions based on the background scene. This issue can severely degrade the open-set action recognition performance when the testing samples have different scene distributions from the training samples. To mitigate this problem, we propose a novel method, called Scene-debiasing Open-set Action Recognition (SOAR), which features an adversarial scene reconstruction module and an adaptive adversarial scene classification module. The former prevents the decoder from reconstructing the video background given video features, and thus helps reduce the background information in feature learning. The latter aims to confuse scene type classification given video features, with a specific emphasis on the action foreground, and helps to learn scene-invariant information. In addition, we design an experiment to quantify the scene bias. The results indicate that the current open-set action recognizers are biased toward the scene, and our proposed SOAR method better mitigates such bias. Furthermore, our extensive experiments demonstrate that our method outperforms state-of-the-art methods, and the ablation studies confirm the effectiveness of our proposed modules., Comment: Accepted to ICCV 2023, code:https://github.com/yhZhai/SOAR

Simultaneous Localization and Mapping (SLAM) is moving towards a robust perception age. However, LiDAR- and visual- SLAM may easily fail in adverse conditions (rain, snow, smoke and fog, etc.). In comparison, SLAM based on 4D Radar, thermal camera and IMU can work robustly. But only a few literature can be found. A major reason is the lack of related datasets, which seriously hinders the research. Even though some datasets are proposed based on 4D radar in past four years, they are mainly designed for object detection, rather than SLAM. Furthermore, they normally do not include thermal camera. Therefore, in this paper, NTU4DRadLM is presented to meet this requirement. The main characteristics are: 1) It is the only dataset that simultaneously includes all 6 sensors: 4D radar, thermal camera, IMU, 3D LiDAR, visual camera and RTK GPS. 2) Specifically designed for SLAM tasks, which provides fine-tuned ground truth odometry and intentionally formulated loop closures. 3) Considered both low-speed robot platform and fast-speed unmanned vehicle platform. 4) Covered structured, unstructured and semi-structured environments. 5) Considered both middle- and large- scale outdoor environments, i.e., the 6 trajectories range from 246m to 6.95km. 6) Comprehensively evaluated three types of SLAM algorithms. Totally, the dataset is around 17.6km, 85mins, 50GB and it will be accessible from this link: https://github.com/junzhang2016/NTU4DRadLM, Comment: 2023 IEEE International Intelligent Transportation Systems Conference (ITSC 2023)

Unsupervised Domain Adaptation (UDA) approaches address the covariate shift problem by minimizing the distribution discrepancy between the source and target domains, assuming that the label distribution is invariant across domains. However, in the imbalanced domain adaptation (IDA) scenario, covariate and long-tailed label shifts both exist across domains. To tackle the IDA problem, some current research focus on minimizing the distribution discrepancies of each corresponding class between source and target domains. Such methods rely much on the reliable pseudo labels' selection and the feature distributions estimation for target domain, and the minority classes with limited numbers makes the estimations more uncertainty, which influences the model's performance. In this paper, we propose a cross-domain class discrepancy minimization method based on accumulative class-centroids for IDA (centroIDA). Firstly, class-based re-sampling strategy is used to obtain an unbiased classifier on source domain. Secondly, the accumulative class-centroids alignment loss is proposed for iterative class-centroids alignment across domains. Finally, class-wise feature alignment loss is used to optimize the feature representation for a robust classification boundary. A series of experiments have proved that our method outperforms other SOTA methods on IDA problem, especially with the increasing degree of label shift.

The calibration for deep neural networks is currently receiving widespread attention and research. Miscalibration usually leads to overconfidence of the model. While, under the condition of long-tailed distribution of data, the problem of miscalibration is more prominent due to the different confidence levels of samples in minority and majority categories, and it will result in more serious overconfidence. To address this problem, some current research have designed diverse temperature coefficients for different categories based on temperature scaling (TS) method. However, in the case of rare samples in minority classes, the temperature coefficient is not generalizable, and there is a large difference between the temperature coefficients of the training set and the validation set. To solve this challenge, this paper proposes a dual-branch temperature scaling calibration model (Dual-TS), which considers the diversities in temperature parameters of different categories and the non-generalizability of temperature parameters for rare samples in minority classes simultaneously. Moreover, we noticed that the traditional calibration evaluation metric, Excepted Calibration Error (ECE), gives a higher weight to low-confidence samples in the minority classes, which leads to inaccurate evaluation of model calibration. Therefore, we also propose Equal Sample Bin Excepted Calibration Error (Esbin-ECE) as a new calibration evaluation metric. Through experiments, we demonstrate that our model yields state-of-the-art in both traditional ECE and Esbin-ECE metrics.

Equipping embodied agents with commonsense is important for robots to successfully complete complex human instructions in general environments. Recent large language models (LLM) can embed rich semantic knowledge for agents in plan generation of complex tasks, while they lack the information about the realistic world and usually yield infeasible action sequences. In this paper, we propose a TAsk Planing Agent (TaPA) in embodied tasks for grounded planning with physical scene constraint, where the agent generates executable plans according to the existed objects in the scene by aligning LLMs with the visual perception models. Specifically, we first construct a multimodal dataset containing triplets of indoor scenes, instructions and action plans, where we provide the designed prompts and the list of existing objects in the scene for GPT-3.5 to generate a large number of instructions and corresponding planned actions. The generated data is leveraged for grounded plan tuning of pre-trained LLMs. During inference, we discover the objects in the scene by extending open-vocabulary object detectors to multi-view RGB images collected in different achievable locations. Experimental results show that the generated plan from our TaPA framework can achieve higher success rate than LLaVA and GPT-3.5 by a sizable margin, which indicates the practicality of embodied task planning in general and complex environments., Comment: Project Page: https://gary3410.github.io/TaPA

We present the astrometric calibration of the Beijing-Arizona Sky Survey (BASS). The BASS astrometry was tied to the International Celestial Reference Frame via the \emph{Gaia} Data Release 2 reference catalog. For effects that were stable throughout the BASS observations, including differential chromatic refraction and the low charge transfer efficiency of the CCD, we corrected for these effects at the raw image coordinates. Fourth-order polynomial intermediate longitudinal and latitudinal corrections were used to remove optical distortions. The comparison with the \emph{Gaia} catalog shows that the systematic errors, depending on color or magnitude, are less than 2 milliarcseconds (mas). The position systematic error is estimated to be about $-0.01\pm0.7$ mas in the region between 30 and 60 degrees of declination and up to $-0.07 \pm 0.9$ mas in the region north of declination 60 degrees., Comment: The article has been published on AJ, 11 pages, 12 figures

In this article, we will research the Recommender System's implementation about how it works and the algorithms used. We will explain the Recommender System's algorithms based on mathematical principles, and find feasible methods for improvements. The algorithms based on probability have its significance in Recommender System, we will describe how they help to increase the accuracy and speed of the algorithms. Both the weakness and the strength of two different mathematical distance used to describe the similarity will be detailed illustrated in this article.

Negatively charged nitrogen-vacancy (NV) centers in diamond have been extensively studied as a promising high sensitivity solid-state magnetic field sensor at room temperature. However, their use for current sensing applications is limited due to the challenge of integration and miniaturization of the diamond NV sensor. Here, we demonstrate an integrated NV sensor fabricated with standard microfabrication process. The sensor device incorporated with a toroidal magnetic yoke enables a high-precision wide range direct current sensing with galvanic isolation. The performance of the diamond NV current sensor in an open loop configuration has been investigated. A current measuring range of 0 A ~ 1000 A with an uncertainty of 46 ppm are achieved. Taking advantage of dual spin resonance modulation, temperature drift is suppressed to 10 ppm/K. This configuration opens new possibilities as a robust and scalable platform for current quantum sensing technologies., Comment: 16pages, 6figures

In recent years, In-context Learning (ICL) has gained increasing attention and emerged as the new paradigm for large language model (LLM) evaluation. Unlike traditional fine-tuning methods, ICL instead adapts the pre-trained models to unseen tasks without any parameter updates. However, the implementation of ICL is sophisticated due to the diverse retrieval and inference methods involved, as well as the varying pre-processing requirements for different models, datasets, and tasks. A unified and flexible framework for ICL is urgently needed to ease the implementation of the aforementioned components. To facilitate ICL research, we introduce OpenICL, an open-source toolkit for ICL and LLM evaluation. OpenICL is research-friendly with a highly flexible architecture that users can easily combine different components to suit their needs. It also provides various state-of-the-art retrieval and inference methods to streamline the process of adapting ICL to cutting-edge research. The effectiveness of OpenICL has been validated on a wide range of NLP tasks, including classification, QA, machine translation, and semantic parsing. As a side-product, we found OpenICL to be an efficient yet robust tool for LLMs evaluation. OpenICL is released at https://github.com/Shark-NLP/OpenICL

Accurately estimating the shape of objects in dense clutters makes important contribution to robotic packing, because the optimal object arrangement requires the robot planner to acquire shape information of all existed objects. However, the objects for packing are usually piled in dense clutters with severe occlusion, and the object shape varies significantly across different instances for the same category. They respectively cause large object segmentation errors and inaccurate shape recovery on unseen instances, which both degrade the performance of shape estimation during deployment. In this paper, we propose a category-level shape estimation method for densely cluttered objects. Our framework partitions each object in the clutter via the multi-view visual information fusion to achieve high segmentation accuracy, and the instance shape is recovered by deforming the category templates with diverse geometric transformations to obtain strengthened generalization ability. Specifically, we first collect the multi-view RGB-D images of the object clutters for point cloud reconstruction. Then we fuse the feature maps representing the visual information of multi-view RGB images and the pixel affinity learned from the clutter point cloud, where the acquired instance segmentation masks of multi-view RGB images are projected to partition the clutter point cloud. Finally, the instance geometry information is obtained from the partially observed instance point cloud and the corresponding category template, and the deformation parameters regarding the template are predicted for shape estimation. Experiments in the simulated environment and real world show that our method achieves high shape estimation accuracy for densely cluttered everyday objects with various shapes., Comment: 7 pages, 7 figures, ICRA 2023

Although weakly-supervised techniques can reduce the labeling effort, it is unclear whether a saliency model trained with weakly-supervised data (e.g., point annotation) can achieve the equivalent performance of its fully-supervised version. This paper attempts to answer this unexplored question by proving a hypothesis: there is a point-labeled dataset where saliency models trained on it can achieve equivalent performance when trained on the densely annotated dataset. To prove this conjecture, we proposed a novel yet effective adversarial trajectory-ensemble active learning (ATAL). Our contributions are three-fold: 1) Our proposed adversarial attack triggering uncertainty can conquer the overconfidence of existing active learning methods and accurately locate these uncertain pixels. {2)} Our proposed trajectory-ensemble uncertainty estimation method maintains the advantages of the ensemble networks while significantly reducing the computational cost. {3)} Our proposed relationship-aware diversity sampling algorithm can conquer oversampling while boosting performance. Experimental results show that our ATAL can find such a point-labeled dataset, where a saliency model trained on it obtained $97\%$ -- $99\%$ performance of its fully-supervised version with only ten annotated points per image., Comment: 9 pages, 8 figures

Although deep salient object detection (SOD) has achieved remarkable progress, deep SOD models are extremely data-hungry, requiring large-scale pixel-wise annotations to deliver such promising results. In this paper, we propose a novel yet effective method for SOD, coined SODGAN, which can generate infinite high-quality image-mask pairs requiring only a few labeled data, and these synthesized pairs can replace the human-labeled DUTS-TR to train any off-the-shelf SOD model. Its contribution is three-fold. 1) Our proposed diffusion embedding network can address the manifold mismatch and is tractable for the latent code generation, better matching with the ImageNet latent space. 2) For the first time, our proposed few-shot saliency mask generator can synthesize infinite accurate image synchronized saliency masks with a few labeled data. 3) Our proposed quality-aware discriminator can select highquality synthesized image-mask pairs from noisy synthetic data pool, improving the quality of synthetic data. For the first time, our SODGAN tackles SOD with synthetic data directly generated from the generative model, which opens up a new research paradigm for SOD. Extensive experimental results show that the saliency model trained on synthetic data can achieve $98.4\%$ F-measure of the saliency model trained on the DUTS-TR. Moreover, our approach achieves a new SOTA performance in semi/weakly-supervised methods, and even outperforms several fully-supervised SOTA methods. Code is available at https://github.com/wuzhenyubuaa/SODGAN, Comment: 9 pages, 8 figures

Recent research advances in salient object detection (SOD) could largely be attributed to ever-stronger multi-scale feature representation empowered by the deep learning technologies. The existing SOD deep models extract multi-scale features via the off-the-shelf encoders and combine them smartly via various delicate decoders. However, the kernel sizes in this commonly-used thread are usually "fixed". In our new experiments, we have observed that kernels of small size are preferable in scenarios containing tiny salient objects. In contrast, large kernel sizes could perform better for images with large salient objects. Inspired by this observation, we advocate the "dynamic" scale routing (as a brand-new idea) in this paper. It will result in a generic plug-in that could directly fit the existing feature backbone. This paper's key technical innovations are two-fold. First, instead of using the vanilla convolution with fixed kernel sizes for the encoder design, we propose the dynamic pyramid convolution (DPConv), which dynamically selects the best-suited kernel sizes w.r.t. the given input. Second, we provide a self-adaptive bidirectional decoder design to accommodate the DPConv-based encoder best. The most significant highlight is its capability of routing between feature scales and their dynamic collection, making the inference process scale-aware. As a result, this paper continues to enhance the current SOTA performance. Both the code and dataset are publicly available at https://github.com/wuzhenyubuaa/DPNet., Comment: 15 pages, 15 figures

We present a new magnetometry method integrating an ensemble of nitrogen-vacancy (NV) centers in a single-crystal diamond with an extended dynamic range for monitoring the fast changing magnetic-field. The NV-center spin resonance frequency is tracked using a closed-loop frequency locked technique with fast frequency hopping to achieve a 10 kHz measurement bandwidth, thus, allowing for the detection of fast changing magnetic signals up to 0.723 T/s.This technique exhibits an extended dynamic range subjected to the working bandwidth of the microwave source. This extended dynamic range can reach up to 4.3 mT, which is 86 times broader than the intrinsic dynamic range. The essential components for NV spin control and signal processing such as signal generation, microwave frequency control, data processing and readout are integrated in a board-level system. With this platform, we demonstrate broadband magnetometry with an optimized sensitivity of 4.2 nT-Hz-1/2. This magnetometry method has the potential to be implemented in a multichannel frequency locked vector magnetometer suitable for a wide range of practical applications such as magnetocardiography and high-precision current sensors., Comment: 18 pages, 9 figures

Recognizing objects in dense clutter accurately plays an important role to a wide variety of robotic manipulation tasks including grasping, packing, rearranging and many others. However, conventional visual recognition models usually miss objects because of the significant occlusion among instances and causes incorrect prediction due to the visual ambiguity with the high object crowdedness. In this paper, we propose an interactive exploration framework called Smart Explorer for recognizing all objects in dense clutters. Our Smart Explorer physically interacts with the clutter to maximize the recognition performance while minimize the number of motions, where the false positives and negatives can be alleviated effectively with the optimal accuracy-efficiency trade-offs. Specifically, we first collect the multi-view RGB-D images of the clutter and reconstruct the corresponding point cloud. By aggregating the instance segmentation of RGB images across views, we acquire the instance-wise point cloud partition of the clutter through which the existed classes and the number of objects for each class are predicted. The pushing actions for effective physical interaction are generated to sizably reduce the recognition uncertainty that consists of the instance segmentation entropy and multi-view object disagreement. Therefore, the optimal accuracy-efficiency trade-off of object recognition in dense clutter is achieved via iterative instance prediction and physical interaction. Extensive experiments demonstrate that our Smart Explorer acquires promising recognition accuracy with only a few actions, which also outperforms the random pushing by a large margin., Comment: 8 pages, 10 figures, IROS 2022

We investigate how GWs pass through the spacetime of a Schwarzschild black hole using time-domain numerical simulations. Our work is based on the perturbed 3+1 Einstein's equations up to the linear order. We show explicitly that our perturbation equations are covariant under infinitesimal coordinate transformations. Then we solve a symmetric second-order hyperbolic wave equation with a spatially varying wave speed. As the wave speed in our wave equation vanishes at the horizon, our formalism can naturally avoid boundary conditions at the horizon. Our formalism also does not contain coordinate singularities and, therefore, does not need regularity conditions. Then, based on our code, we simulate both finite and continuous initially plane-fronted wave trains passing through the Schwarzschild black hole. We find that for the finite wave train, the wave zone of GWs is wildly twisted by the black hole. While for the continuous wave train, unlike geometric optics, GWs can not be sheltered by the back hole. A strong beam and an interference pattern appear behind the black hole along the optical axis. Moreover, we find that the back-scattering due to the interaction between GWs and the background curvature is strongly dependent on the direction of the propagation of the trailing wavefront relative to the black hole. Finally, for a realistic input waveform generated by binary black holes, we find that the lensed waveform in the merger and ringdown phases is much longer than that of the input waveform due to the effect of back-scattering., Comment: 26 pages, 11 figures, revised version, new discussions on realistic input waveforms are added, accepted for publication in PRD

Imagery collected from outdoor visual environments is often degraded due to the presence of dense smoke or haze. A key challenge for research in scene understanding in these degraded visual environments (DVE) is the lack of representative benchmark datasets. These datasets are required to evaluate state-of-the-art vision algorithms (e.g., detection and tracking) in degraded settings. In this paper, we address some of these limitations by introducing the first realistic hazy image benchmark, from both aerial and ground view, with paired haze-free images, and in-situ haze density measurements. This dataset was produced in a controlled environment with professional smoke generating machines that covered the entire scene, and consists of images captured from the perspective of both an unmanned aerial vehicle (UAV) and an unmanned ground vehicle (UGV). We also evaluate a set of representative state-of-the-art dehazing approaches as well as object detectors on the dataset. The full dataset presented in this paper, including the ground truth object classification bounding boxes and haze density measurements, is provided for the community to evaluate their algorithms at: https://a2i2-archangel.vision. A subset of this dataset has been used for the ``Object Detection in Haze'' Track of CVPR UG2 2022 challenge at http://cvpr2022.ug2challenge.org/track1.html., Comment: This paper has been ACCEPTED for publication as a REGULAR paper in the IEEE Transactions on Image Processing (TIP)

Unmanned Aerial Vehicles (UAVs) based video text spotting has been extensively used in civil and military domains. UAV's limited battery capacity motivates us to develop an energy-efficient video text spotting solution. In this paper, we first revisit RCNN's crop & resize training strategy and empirically find that it outperforms aligned RoI sampling on a real-world video text dataset captured by UAV. To reduce energy consumption, we further propose a multi-stage image processor that takes videos' redundancy, continuity, and mixed degradation into account. Lastly, the model is pruned and quantized before deployed on Raspberry Pi. Our proposed energy-efficient video text spotting solution, dubbed as E^2VTS, outperforms all previous methods by achieving a competitive tradeoff between energy efficiency and performance. All our codes and pre-trained models are available at https://github.com/wuzhenyusjtu/LPCVC20-VideoTextSpotting.

Whiting 1 is a faint and young globular cluster in the halo of the Milky Way, and was suggested to have originated in the Sagittarius spherical dwarf galaxy (Sgr dSph). In this paper, we use the deep DESI Legacy Imaging Surveys to explore tentative spatial connection between Whiting 1 and the Sgr dSph. We redetermine the fundamental parameters of Whiting 1 and use the best-fitting isochrone (age $\tau$=6.5 Gyr, metalicity Z=0.005 and $\rm d_{\odot}$=26.9 kpc) to construct a theoretical matched filter for the extra-tidal features searching. Without any smooth technique to the matched filter density map, we detect a round-shape feature with possible leading and trailing tails on either side of the cluster. This raw image is not totally new compared to old discoveries, but confirms that no more large-scale features can be detected under a depth of r<=22.5 mag. In our results, the whole feature stretches 0.1-0.2 degree along the orbit of Whiting 1, which gives a much larger area than the cluster core. The tails on both sides of the cluster align along the orbital direction of the Sgr dSph as well as the cluster itself, which implies that these debris are probably stripped remnants of Whiting 1 by the Milky Way., Comment: 10 pages, 9 figures, accepted for the publication of ApJ

Video action detection (spatio-temporal action localization) is usually the starting point for human-centric intelligent analysis of videos nowadays. It has high practical impacts for many applications across robotics, security, healthcare, etc. The two-stage paradigm of Faster R-CNN inspires a standard paradigm of video action detection in object detection, i.e., firstly generating person proposals and then classifying their actions. However, none of the existing solutions could provide fine-grained action detection to the "who-when-where-what" level. This paper presents a tracking-based solution to accurately and efficiently localize predefined key actions spatially (by predicting the associated target IDs and locations) and temporally (by predicting the time in exact frame indices). This solution won first place in the UAV-Video Track of 2021 Low-Power Computer Vision Challenge (LPCVC).

Many astrophysical systems can only be accurately modelled when the behaviour of their baryonic gas components is well understood. The residual distribution (RD) family of partial differential equation (PDE) solvers produce approximate solutions to the corresponding fluid equations. We present a new implementation of the RD method. The solver efficiently calculates the evolution of the fluid, with up to second order accuracy in both time and space, across an unstructured triangulation, in both 2D and 3D. We implement a novel variable time stepping routine, which applies a drifting mechanism to greatly improve the computational efficiency of the method. We conduct extensive testing of the new implementation, demonstrating its innate ability to resolve complex fluid structures, even at very low resolution. We can resolve complex structures with as few as 3-5 resolution elements, demonstrated by Kelvin-Helmholtz and Sedov blast tests. We also note that we find cold cloud destruction time scales consistent with those predicted by a typical PPE solver, albeit the exact evolution shows small differences. The code includes three residual calculation modes, the LDA, N and blended schemes, tailored for scenarios from smooth flows (LDA), to extreme shocks (N), and both (blended). We compare our RD solver results to state-of-the-art solvers used in other astrophysical codes, demonstrating the competitiveness of the new approach, particularly at low resolution. This is of particular interest in large scale astrophysical simulations, where important structures, such as star forming gas clouds, are often resolved by small numbers of fluid elements., Comment: 21 pages, 20 figures