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Incorporating inductive bias by embedding geometric entities (such as rays) as input has proven successful in multi-view learning. However, the methods adopting this technique typically lack equivariance, which is crucial for effective 3D learning. Equivariance serves as a valuable inductive prior, aiding in the generation of robust multi-view features for 3D scene understanding. In this paper, we explore the application of equivariant multi-view learning to depth estimation, not only recognizing its significance for computer vision and robotics but also addressing the limitations of previous research. Most prior studies have either overlooked equivariance in this setting or achieved only approximate equivariance through data augmentation, which often leads to inconsistencies across different reference frames. To address this issue, we propose to embed $SE(3)$ equivariance into the Perceiver IO architecture. We employ Spherical Harmonics for positional encoding to ensure 3D rotation equivariance, and develop a specialized equivariant encoder and decoder within the Perceiver IO architecture. To validate our model, we applied it to the task of stereo depth estimation, achieving state of the art results on real-world datasets without explicit geometric constraints or extensive data augmentation., Comment: Accepted at NeurIPS 2024

We study from the theoretical point of view the $\Lambda_c^+\to \pi^+ \eta \Lambda$ reaction, recently measured by the Belle and BESIII Collaborations, where clear signals are observed for $a_0(980)$, $\Lambda(1670)$, and $\Sigma(1385)$ excitation. By considering the $a_0(980)$ and $\Lambda(1670)$ as dynamically generated resonances from the meson meson and meson baryon interaction, respectively, we are able to determine their relative production strength in the reaction, which is also tied to the strength of the $\pi^+ \eta \Lambda$ tree level contribution. We observe that this latter strength is very big and there are large destructive interferences between the tree level and the rescattering terms where the $a_0(980)$ and $\Lambda(1670)$ are generated. The $\Sigma(1385)$ contribution is included by means of a free parameter, the only one of the theory, up to a global normalization, when one considers only external emission, and we observe that the spin flip part of this term, usually ignored in theoretical and experimental works, plays an important role determining the shape of the mass distributions. Internal emission is also considered and it is found to play a minor role.

Large-scale data is crucial for learning realistic and capable driving policies. However, it can be impractical to rely on scaling datasets with real data alone. The majority of driving data is uninteresting, and deliberately collecting new long-tail scenarios is expensive and unsafe. We propose asymmetric self-play to scale beyond real data with additional challenging, solvable, and realistic synthetic scenarios. Our approach pairs a teacher that learns to generate scenarios it can solve but the student cannot, with a student that learns to solve them. When applied to traffic simulation, we learn realistic policies with significantly fewer collisions in both nominal and long-tail scenarios. Our policies further zero-shot transfer to generate training data for end-to-end autonomy, significantly outperforming state-of-the-art adversarial approaches, or using real data alone. For more information, visit https://waabi.ai/selfplay ., Comment: ECCV 2024

Recently, the LHCb Collaboration has measured two decay processes $B^0\to\bar{D}^0D_s^+\pi^-$ and $B^+\to D^-D_s^+\pi^+$ related to isospin symmetry, where two new open-flavor tetraquark states $T_{c\bar{s}}(2900)^0$ and $T_{c\bar{s}}(2900)^{++}$ that belong to an isospin triplet were observed in the $D_s^+\pi^-$ and $D_s^+\pi^+$ invariant mass distributions. In this work, we have investigated the validity of the process $\bar{B}_s^0\to K^0D^0\pi^0$ as the promising process to confirm the existence of $T_{c\bar{s}}(2900)^0$ resonance. Taking into account the tetraquark state $T_{c\bar{s}}(2900)$, as well as intermediate resonances $K^*(892)$, $K_0^*(1430)$, and $K_2^*(1430)$, it has been shown that a clear peak of the open-flavor tetraquark $T_{c\bar{s}}(2900)$ appears in the $K^0D^0$ invariant mass distribution of the process $\bar{B}_s^0\to K^0D^0\pi^0$, which could be tested by future experiments., Comment: 10 pages, 10 figures, comments are welcome!

In the present work, we propose to explore the productions of the bottom and bottom-strange mesons in the high-energy pion and kaon-induced reactions on a proton target. The cross sections are evaluated with an effective Lagrangian constructed by the heavy-quark limit and chiral symmetry. Our estimations show that at $P_\pi=80$ GeV, the cross sections for $B(5279)$, $B^\ast (5325)$, $B_0^\ast (5738)$, $B_1^\prime (5757)$, $B_1(5721)$ and $B_2^\ast (5747)$ production processes are estimated to be $3.19 \sim 86.26$, $1.86\sim 51.29$, $0.87 \sim 24.25$, $0.84 \sim 23.14$, $162.35 \sim 4477.66$, and $57.16 \sim 1604.43$ nb, respectively, where uncertainties arise from the model parameter. In addition, the cross sections for the corresponding bottom-strange mesons production processes are very similar. Moreover, our estimations indicate that the ratios of these cross sections are almost independent on the model parameters. In particular, the cross-section ratios related to the states in the same doublets are of order one, which is consistent with the expectation of heavy-quark limit. The cross sections related to the states in the $T$ doublets are about two orders larger than those related to the states in the $S$ doublets.

In this work, we investigate the hidden charm decays properties of $Y(4626)$, where $Y(4626)$ is assigned as a $S-$wave $D_{s}^{*+}D_{s1}(2536)^{-}$ molecular state with $J^{PC}=1^{--}$. The partial widths of the processes $Y(4626)\to J/\psi\eta$, $J/\psi\eta^{\prime}$, $\eta_{c}\phi$, and $ \chi_{cJ}\phi,\ (J=\{0,1,2\})$ are estimated by employing the effective Lagrangian approach. The present estimations indicate that the partial widths of the $J/\psi\eta$ and $J/\psi \eta^\prime$ channels are of the order of 1 MeV, while the one of $\chi_{c1}\phi$ is of the order of 0.1 MeV. Thus, we propose to further examine the molecular interpretation of $Y(4626)$ by searching it in the cross sections for the $e^{+}e^{-}\to J/\psi\eta^{(\prime)}$ processes, which should be accessible by the BES III and Belle II., Comment: 8 pages, 5 figures

In the present work, we investigate the production of $X(4630)$ and $Y(4626)$ in $B^+$ and $B_s^0$ decays, where $X(4630)$ and $Y(4626)$ are considered as the $C-$ parity pigeon pair in the $D_{s}^{\ast+} D_{s1}(2536)^-$ molecular frame. The branching fractions of $B^+ \to K^+ X(4630)/Y(4626)$ and $B_s^0 \to \eta X(4630)/Y(4626)$ have been evaluated using an effective Lagrangian approach, which are of the order of $10^{-5}$ and the ratios of these branching fractions are almost independent on the model parameter. Based on the present estimations, we propose to search $Y(4626)$ in the process $B^+ \to K^+ J/\psi \eta^{(\prime)}$, which should be accessible by the LHCb and Belle II Collaborations.

In present work, we perform a coupled-channel analysis of $B^{(*)}_{(s)}\bar{B}^{(*)}_{(s)}$ systems with the one-boson-exchange potentials. We first study the $I(J^{PC})=1(1^{+-})$ $B\bar{B}^{*}/B^{*}\bar{B}^{*}$ system to describe the $Z_{b}(10610)$ and $Z_{b}(10650)$ particles as molecular states and determine the reasonable range of cutoff parameter $\Lambda$. Then, other $B^{(*)}_{(s)}\bar{B}^{(*)}_{(s)}$ combinations with different quantum numbers are systematically investigated. Some bound states and resonances appear in the isoscalar systems, while only several shallow bound states exist for isovector systems. Far away from the excited conventional $P-$wave bottomium, these predicted states can be easily identified as exotic particles both theoretically and experimentally. Moreover, the $\eta_b(nS)/\Upsilon(nS)$ plus light mesons are the excellent final states to search for the bound states, while the $B\bar B^*+h.c.$ and $B^* \bar B^*$ channels are suitable for the resonances. We highly recommend that the LHCb and Belle II Collaborations can hunt for these bottomonium-like states in future., Comment: 11 pages, 4 figures. Some modifications, accepted version

In the present work, we investigate the production of the newly observed $P^\Lambda_{\psi s}(4338)$ state in $\Xi_b^-$ decay, where the $P^\Lambda_{\psi s}(4338)$ is assigned as a $\Xi_c \bar{D}$ molecular state. By using an effective Lagrangian approach, we evaluate the branching fractions of $\Xi_b^-\rightarrow P^\Lambda_{\psi s}(4338)K^-$ via the triangle loop mechanism. The branching fractions of $\Xi_b^-\rightarrow P^\Lambda_{\psi s}(4338)K^-$ are in the order of $10^{-4}$; the result is compared with our previous work of $\Xi_b^-\rightarrow P^\Lambda_{\psi s}(4459)K^-$. We also predict the ratio of $P^\Lambda_{\psi s}(4459)$ and $P^\Lambda_{\psi s}(4338)$ productions in the decay $\Xi_b^- \to P^\Lambda_{\psi s} K^- \to J/\psi \Lambda K^-$. The predicted branching fractions and their ratios could be tested experimentally, which may be helpful for understanding the molecular picture of $P^\Lambda_{\psi s}(4338)$ as well as other hidden-charm pentaquark states with strangeness. Moreover, the experimental potential of observing $P^\Lambda_{\psi s}(4338)$ in the $\Xi^-_b\to K^- J/\psi \Lambda$ is discussed., Comment: 7 pages, 5 figures

Stimulated by the observation of a new structure, named $\Lambda_{c}(2910)$, in the $\Sigma_{c}(2455)^{0,++}\pi^{+,-}$ decay channel from B meson decay process by the Belle Collaboration, and the similarity of the $\Lambda_{c}(2910)/\Lambda_{c}(2940)$ and $P_{c}$ states, we investigate the decay behavior of the $\Lambda_{c}(2910)$ and $\Lambda_{c}(2940)$ in the $N D^{*}$ molecular frame with the possible $J^{P}$ quantum numbers to be $1/2^{-}$ and $3/2^{-}$. We employ an effective Lagrangian approach to evaluate the partial widths of $ND$, $\Sigma_{c}\pi$ and $\Sigma_{c}^{*}\pi$ channels. The estimations in the present work indicate that the $J^P$ quantum numbers of $\Lambda_{c}(2910)$ and $\Lambda_{c}(2940)$ are preferred to be $1/2^{-}$ and $3/2^{-}$, respectively. From the present estimations, we also find the branching ratio of $\Lambda_c(3/2) \to \Sigma_c^\ast \pi$ is much larger than that of $\Lambda_c(1/2) \to \Sigma_c^\ast \pi$, thus $\Sigma_{c}^{*}\pi$ could be a good channel to distinguish the $J^{P}$ quantum numbers of $\Lambda_{c}(2910)$ and $\Lambda_{c}(2940)$. Therefore, we suggest to searching for the structure in $\Sigma_{c}^{*}\pi$ invariant mass distribution in Belle $\amalg$., Comment: 12 pages, 13 figures, 3 tables, accepted for publication in PRD

We propose a novel energy-aware federated learning (FL)-based system, namely SusFL, for sustainable smart farming to address the challenge of inconsistent health monitoring due to fluctuating energy levels of solar sensors. This system equips animals, such as cattle, with solar sensors with computational capabilities, including Raspberry Pis, to train a local deep-learning model on health data. These sensors periodically update Long Range (LoRa) gateways, forming a wireless sensor network (WSN) to detect diseases like mastitis. Our proposed SusFL system incorporates mechanism design, a game theory concept, for intelligent client selection to optimize monitoring quality while minimizing energy use. This strategy ensures the system's sustainability and resilience against adversarial attacks, including data poisoning and privacy threats, that could disrupt FL operations. Through extensive comparative analysis using real-time datasets, we demonstrate that our FL-based monitoring system significantly outperforms existing methods in prediction accuracy, operational efficiency, system reliability (i.e., mean time between failures or MTBF), and social welfare maximization by the mechanism designer. Our findings validate the superiority of our system for effective and sustainable animal health monitoring in smart farms. The experimental results show that SusFL significantly improves system performance, including a $10\%$ reduction in energy consumption, a $15\%$ increase in social welfare, and a $34\%$ rise in Mean Time Between Failures (MTBF), alongside a marginal increase in the global model's prediction accuracy.

We introduce pix2gestalt, a framework for zero-shot amodal segmentation, which learns to estimate the shape and appearance of whole objects that are only partially visible behind occlusions. By capitalizing on large-scale diffusion models and transferring their representations to this task, we learn a conditional diffusion model for reconstructing whole objects in challenging zero-shot cases, including examples that break natural and physical priors, such as art. As training data, we use a synthetically curated dataset containing occluded objects paired with their whole counterparts. Experiments show that our approach outperforms supervised baselines on established benchmarks. Our model can furthermore be used to significantly improve the performance of existing object recognition and 3D reconstruction methods in the presence of occlusions., Comment: Website: https://gestalt.cs.columbia.edu/

In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the category level and eliminating the need for CAD models during inference. While existing self-supervised methods have made strides in this field, they often suffer from inefficiencies arising from non-end-to-end processing, reliance on separate models for different object categories, and slow surface extraction during the training of implicit reconstruction models; thus hindering both the speed and real-world applicability of the 3D recognition process. Our proposed method leverages a multi-stage training pipeline, designed to efficiently transfer synthetic performance to the real-world domain. This approach is achieved through a combination of 2D and 3D supervised losses during the synthetic domain training, followed by the incorporation of 2D supervised and 3D self-supervised losses on real-world data in two additional learning stages. By adopting this comprehensive strategy, our method successfully overcomes the aforementioned limitations and outperforms existing self-supervised 6D pose and size estimation baselines on the NOCS test-set with a 16.4% absolute improvement in mAP for 6D pose estimation while running in near real-time at 5 Hz., Comment: Project page: https://fsd6d.github.io

In the present work, we investigate $X_0(2900)$ and its spin partners productions in the $B^+$ decay processes, where $X_0(2900)$ is regarded as a $\bar{D}^\ast K^\ast$ molecular state. We infer that the initial $B^+$ meson and the final $D^+ X_0(2900)$ are connected through $D_{s1}^+(2460) \bar{D}^{\ast 0} $ mesons by exchanging a $K^{\ast 0}$ meson. The contributions from such a meson loop to the process $B^+ \to D^+ X_0(2900)$ are evaluated and our estimations indicate that the measured branching fraction of $B^+\to D^+ X_0(2900)$ could be well reproduced in a reasonable model parameter range, which indicates that $X_0(2900)$ could be interpreted as a $\bar{D}^\ast K^\ast $ molecular state. In addition, the production processes $B^+ \to D^+ \tilde{X}_{1,2}$, $B^+ \to D^{\ast +} X_0(2900)$, and $B^+ \to D^{\ast +}\tilde{X}_{1,2}$ are investigated, and we find that the fit fraction of $\tilde{X}_1$ in the process $B^+ \to D^{\ast +} D^{\ast -} K^+$ is aobut $6\%$, which should be accessible experimentally.

Recently, the LHCb Collaboration has measured the processes $B^0\to\bar{D}^0D_s^+\pi^-$ and $B^+\to\bar{D}^0D_s^+\pi^+$, where the $D_s^+\pi^-$ and $D_s^+\pi^+$ invariant mass distributions show the significant signals of two new open-flavor tetraquark states $T_{c\bar{s}}(2900)^0$ and $T_{c\bar{s}}(2900)^{++}$, as the two of the isospin triplet. In this work, we have investigated the process $\Lambda_b\to K^0D^0\Lambda$ by taking into account the intermediate nucleon resonance $N^*(1535)$ and the tetraquark state $T_{c\bar{s}}(2900)^0$, which could be dynamically generated by the interactions of the $D^*K^*/D^*_s\rho$ and the pseoduscalar mesons-octet baryons, respectively. Our results show that a clear peak of the open-flavor tetraquark $T_{c\bar{s}}(2900)$ may appear in the $K^0D^0$ invariant mass distribution of the process $\Lambda_b\to K^0D^0\Lambda$, which could be tested by future experiments., Comment: 9 pages, 11 figures, 1 table

Reliable forecasting of the future behavior of road agents is a critical component to safe planning in autonomous vehicles. Here, we represent continuous trajectories as sequences of discrete motion tokens and cast multi-agent motion prediction as a language modeling task over this domain. Our model, MotionLM, provides several advantages: First, it does not require anchors or explicit latent variable optimization to learn multimodal distributions. Instead, we leverage a single standard language modeling objective, maximizing the average log probability over sequence tokens. Second, our approach bypasses post-hoc interaction heuristics where individual agent trajectory generation is conducted prior to interactive scoring. Instead, MotionLM produces joint distributions over interactive agent futures in a single autoregressive decoding process. In addition, the model's sequential factorization enables temporally causal conditional rollouts. The proposed approach establishes new state-of-the-art performance for multi-agent motion prediction on the Waymo Open Motion Dataset, ranking 1st on the interactive challenge leaderboard., Comment: To appear at the International Conference on Computer Vision (ICCV) 2023

In this work, we evaluated the widths of the pionic and radiative transitions from the $T_{c\bar{s}0}^{+}(2900)$ to the $D_{s1}^{+}(2460)$ in the $D_{s1}^{+}(2460)$ molecular frame and the $D_{s1}^{+}(2460)$ charmed-strange meson frame. Our estimations demonstrate that the transition widths in the $D_{s1}^{+}(2460)$ molecular frame are much larger than those in the the $D_{s1}^{+}(2460)$ charmed-strange meson frame. Specifically, the ratio of the widths of $\Gamma(T_{c\bar{s}0}^{+}(2900)\to D_{s1}^{+} \pi^{0})$ and $\Gamma(T_{c\bar{s}0}^{+}(2900)\to D^{+(0)}K^{0(+)})$ is estimated to be around 0.1 in the $D_{s1}^{+}(2460)$ charmed-strange meson frame, whereas the lower limit of this ratio is 0.67 in the $D_{s1}^{+}(2460)$ molecular frame. Thus, the aforementioned ratio could be employed as a tool for testing the nature of the $D_{s1}^{+}(2460)$., Comment: 8 pages, 7 figures

Motivated by the large branching fractions of $J/\psi \to f_0 (1710) \omega/f_0(1710) \phi$ and the light exotic candidates, we find that there may exist molecular states composed of $f_0(1710) \omega$ and $f_0 (1710) \phi$, which correspond to $X(2440)$ and $X(2680)$ observed in a few decades before. The branching fraction of $X(2440)$ and $X(2680)$ to various $PV$ channels and $KK\omega(\phi)$ channels are estimated in the molecular scenario. In addition, the large branching fractions of $J/\psi \to f_0 (1710) \omega/f_0(1710) \phi$ indicate the sizable molecular components in the $J/\psi$ state. Thus, we consider the $J/\psi$ as the supperposition of $c\bar{c}(1S)$, $f_0(1710) \omega$ and $f_0 (1710) \phi$ molecular states, and these molecular components have significant impact on the light hadron decays of $J/\psi$, which may shield light on the long standing $\rho-\pi$ puzzle., Comment: 8 pges, 2 figures

Motivated by the recent observation of $T_{c\bar{s}0}(2900)^0$ and $T_{c\bar{s}0}(2900)^{++}$ in the $D_s \pi$ invariant mass distributions, we investigate $D^{\ast}K^{\ast}$ interactions in a coupled-channel approach. We show that the relativistic corrections could be significant for the energy far away from the threshold. Within the hidden local symmetry formalism, a sizable attraction interaction is found in the $J=0$ isospin triplet sector that can form a bound or a virtual state, which is consistent with the experimentally observed $T_{c\bar{s}0}(2900)$. By reproducing a $D_s^*\rho$-$D^*K^*$ bound/virtual state with the pole mass equal to that of the $T_{c\bar{s}0}(2900)$ measured by LHCb in the sector $(I,J)=(1,0)$, we determine the unknown parameter in the loop function, and then search for possible poles in the sectors of $I=1$, $J=1,$ 2 and $I=0$, $J=0$, 1, 2. The predicted resonances provide a useful reference for the future experimental studies of the $(C,S)=(1,1)$ systems and can be also helpful to unravel the nature of the $T_{c\bar{s}0}(2900)$.10, Comment: 10 pages, 6 figures, 3 tables

Monocular depth estimation is scale-ambiguous, and thus requires scale supervision to produce metric predictions. Even so, the resulting models will be geometry-specific, with learned scales that cannot be directly transferred across domains. Because of that, recent works focus instead on relative depth, eschewing scale in favor of improved up-to-scale zero-shot transfer. In this work we introduce ZeroDepth, a novel monocular depth estimation framework capable of predicting metric scale for arbitrary test images from different domains and camera parameters. This is achieved by (i) the use of input-level geometric embeddings that enable the network to learn a scale prior over objects; and (ii) decoupling the encoder and decoder stages, via a variational latent representation that is conditioned on single frame information. We evaluated ZeroDepth targeting both outdoor (KITTI, DDAD, nuScenes) and indoor (NYUv2) benchmarks, and achieved a new state-of-the-art in both settings using the same pre-trained model, outperforming methods that train on in-domain data and require test-time scaling to produce metric estimates., Comment: Project page: https://sites.google.com/view/tri-zerodepth

Motivated by the recent LHCb observations of $T_{c\bar{s}0}(2900)^0$ and $T_{c\bar{s}0}(2900)^{++}$ in the processes $B^0\to\bar{D}^0D_s^+\pi^-$ and $B^+\to D^-D_s^+\pi^+$, we have investigated the decay $B^-\to D_s^+K^-\pi^-$ by taking into account the contributions from the $S$-wave vector-vector interactions, and the $S$-wave $D^+_s K^-$ interactions. Our results show that the $D_s^+K^-$ invariant mass distribution has an enhancement structure near the threshold, associated with the $D^*_0(2300)$, which is in good agreement with the Belle measurements. We have also predicted the $D^+_s\pi^-$ invariant mass distribution and the Dalitz plot, which show the significant signal of the $T_{c\bar{s}0}(2900)$. With the same formalism, the $D^-_sK^0_s$ invariant mass distribution of the process $B^0 \to D^-_sK^0_s\pi^+$ measured by Belle could be well reproduced, and the peak of $T_{c\bar{s}0}(2900)$ is expected to be observed around 2900~MeV in the $D^-_s\pi^+$ invariant mass distribution. Our results could be tested by the Belle II and LHCb experiments in the future., Comment: 11 pages, 13 figures

Inspired by recent observations of $T_{c\bar{s}0}(2900)^0$ in the $D_s^+ \pi^-$ invariant mass distribution of $B^0 \to \bar{D}^0 D_s^+ \pi^-$ decay and $T_{c\bar{s}0}(2900)^{++}$ in the $D_s^+ \pi^+$ invariant mass distribution of $B^+ \to D^- D_s^+ \pi^+$ decay, we investigate the $T_{c\bar{s}0}(2900)^{++}$ contribution to the $B^+ \to K^+ D^+ D^-$ decay in a molecular scenario, where we consider $T_{c\bar{s}0}(2900)r^{++}$ as a $D^{\ast +} K^{\ast+}$ molecular state. Our estimations indicate that the fit fraction of $T_{c\bar{s}0}(2900)^{++}$ in the $B^+ \to K^+ D^+ D^-$ is about $12.5\%$, and its signal is visible in the $D^+ K^+$ invariant mass distribution. With the involvement of $T_{c\bar{s}0}(2900)^{++}$, the fit fractions of $\chi_{c0}(3915)$ and $\chi_{c2}(3930)$ may be much different with the ones obtained by the present amplitude analysis [Phys. Rev. D \textbf{102}, 112003 (2020)], which may shed light on the long standing puzzle of $\chi_{c0}(3915)$ as the conventional charmonium., Comment: 7 pages, 3 figures. Comments are welcome

3D object detection from visual sensors is a cornerstone capability of robotic systems. State-of-the-art methods focus on reasoning and decoding object bounding boxes from multi-view camera input. In this work we gain intuition from the integral role of multi-view consistency in 3D scene understanding and geometric learning. To this end, we introduce VEDet, a novel 3D object detection framework that exploits 3D multi-view geometry to improve localization through viewpoint awareness and equivariance. VEDet leverages a query-based transformer architecture and encodes the 3D scene by augmenting image features with positional encodings from their 3D perspective geometry. We design view-conditioned queries at the output level, which enables the generation of multiple virtual frames during training to learn viewpoint equivariance by enforcing multi-view consistency. The multi-view geometry injected at the input level as positional encodings and regularized at the loss level provides rich geometric cues for 3D object detection, leading to state-of-the-art performance on the nuScenes benchmark. The code and model are made available at https://github.com/TRI-ML/VEDet., Comment: 11 pages, 4 figures; accepted to CVPR 2023

In the present work, we investigate the charmed meson loops contributions to the pionic transitions from $Z_c(4020)^+$ to the $D$ wave triplets charmonia by using an effective Lagrangian approach. Our estimations indicate that the predicted branching fraction of $Z_c(4020)^+ \to \pi^+ \psi(1^3D_J) , \ J=(1,2,3)$ are much smaller than the one of $Z_c(4020)^+ \to \pi^+ h_c $. Thus, searching $Z_c(4020)^\pm$ in the $\pi^\pm \psi(1^3D_J) $ invariant mass distributions is impossible. Thus, the observed peak structures at 4.04 and 4.13 GeV in the $\pi^\pm \psi(3770)$ invariant mass distributions should not come from the contributions of $Z_c(4020)^\pm$, and further precise experimental measurements of the $e^+ e^- \to \pi^+ \pi^- \psi(3770)$ process are needed to decode the nature of these two peak structures., Comment: 9 pages, 5 figures, accepted for publication in EPJC

This work proposes an end-to-end multi-camera 3D multi-object tracking (MOT) framework. It emphasizes spatio-temporal continuity and integrates both past and future reasoning for tracked objects. Thus, we name it "Past-and-Future reasoning for Tracking" (PF-Track). Specifically, our method adapts the "tracking by attention" framework and represents tracked instances coherently over time with object queries. To explicitly use historical cues, our "Past Reasoning" module learns to refine the tracks and enhance the object features by cross-attending to queries from previous frames and other objects. The "Future Reasoning" module digests historical information and predicts robust future trajectories. In the case of long-term occlusions, our method maintains the object positions and enables re-association by integrating motion predictions. On the nuScenes dataset, our method improves AMOTA by a large margin and remarkably reduces ID-Switches by 90% compared to prior approaches, which is an order of magnitude less. The code and models are made available at https://github.com/TRI-ML/PF-Track., Comment: CVPR 2023 Camera Ready, 15 pages, 8 figures

In the present work, we investigate the productions of the molecular states composed of $D^{(*)}_s \bar{D}^{(*)}$ and $D^{(*)}_s \bar{D}^{(*)}_s$ in the $B$ and $B_s$ decays by using an effective Lagrangian approach. The branching ratios in terms of the model parameter $\alpha$ and the binding energy $\Delta E$ are estimated. Our estimations indicate that the branching fractions are of the order of $10^{-4}$ and the relative ratios are very weakly dependent on the model parameter $\alpha$ and the binding energy $\Delta E$. The predicted ratios are helpful for searching the hidden-charm molecular states with strange quark in the future experiments at Belle II and LHCb., Comment: 12 pages, 4 figures and 6 tables, accepted by Phys. Rev. D

In the present work, we perform systematic estimations for the radiative decays of the charmed mesons in a modified relativistic quark model. Our estimations indicate that the branching ratios of the process of $D_2^0(1^3P_2) \to D^{\ast 0}(1^3S_1) \gamma$, $D_3^0(1D_3) \to D_2^0(1^3P_2) \gamma$, $D_2^0(2D_2^\prime) \to D_1^{0}(2P_1) \gamma$, $D_3^0(2^3D_3) \to D_2^0(2^3P_2) \gamma$, and $D^{\ast 0}(1^3S_1) \to D^0(1^1S_0) \gamma$ are of the order of $10^{-2}$, which are sizable to be detected experimentally. Moreover, the branching ratios of some channels, for example, $D_1^0(1P_1) \to D(1^1S_0)^0 \gamma$, $D^0(3^1S_0) \to D_1^{\prime 0}(2P^\prime_{1}) \gamma$ and $D^0(3^3S_1) \to D_2^0(2^3P_2) \gamma$ are estimated to be of the order of $10^{-3}$, which may be accessible with the accumulation of data in future experiments., Comment: 10 pages, 5 figures

Inspired by the recent observations of $T_{c\bar{s}0}^{0/++}$ in the the processes $B^0\to\bar{D}^0 D_s^+ \pi^-$ and $B^+\to D^- D_s^+ \pi^+$ by LHCb Collaboration, we investigate the decay properties of the $T_{c\bar{s}0}^{0}$ in a $D^{*}K^{*}$ molecule scenario, and the widths of $T_{c\bar{s}0}^{0}\to D^{0}K^{0}$, $D_{s}^{+}\pi^{-}$, $D_{s}^{*+}\rho^{-}$, $D_{s1}^{(\prime)+}\pi^{-}$, and $D^{*0}(D\pi)^{0}$ are estimated. Our estimations indicate that the width of $T_{c\bar{s}0}^{0} \to D_s^+ \pi^-$ is sizable to be observed and the dominant decay mode of $T_{c\bar{s}0}^{0}$ is $D^0K^0$. Considering the isospin symmetry, we proposed to search $T_{c\bar{s}0}(2900)^{++}$ in the $D^+ K^+$ invariant mass distributions of the process $B^+ \to D^+ D^- K^+$, where some preliminary experimental hints have been observed by LHCb Collaboration., Comment: 8 pages, 6 figures and 1 table

We adopt the quark pair creation model to investigate the light meson emissions of several charmonium-like states. The quark pair creation model is applied to the four-body systems, and we calculate the pion/kaon emissions of the $X(4700)$, $Z_c(4430)$, $Y(4230)$, $Y(4360)$, $Y(4390)$ and $Y(4660)$ within the compact tetraquark assumptions. It is found that the pion/kaon decay widths for the $X(4700)$ and $Z_c(4430)$ are relatively small, while the partial decay widths for the resonances $Y(4230)$, $Y(4360)$, $Y(4390)$ and $Y(4660)$ are significant. We expect that our exploration of these decay behaviors can provide useful information for future experimental searches and theoretical interpretations., Comment: 10 pages, 4 figures, to be published in Chinese Physics C

Focusing on recent measurement of $B^+ \to D_s^+D_s^-K^+$ process given by the LHCb Collaboration, we propose that this newly observed near the $D_s^+D_s^-$ threshold enhancement can be due to the contribution of the $\chi_{c0}(2P)$, which is a $P$-wave charmonium below the $D_s^+D_s^-$ threshold. By performing a combined fit to the measured $D_s^+D_s^-$, $D_s^+K^+$, and $D_s^-K^+$ invariant mass spectra, introducing the $\chi_{c0}(2P)$ can well reproduce the near threshold enhancement in the $D_s^+D_s^-$ invariant mass spectrum. When depicting the whole $D_s^+D_s^-$ invariant mass spectrum, the contributions from higher charmonium $\psi(4230)$ and charmoniumlike state $X_0(4140)$ are obvious. In addition, a charmed meson $D^*(3^3S_1)$ with mass around 3015 MeV is found to be important to depict the $D_s^-K^+$ invariant mass spectrum well. Especially, the importance of node effect of the spatial wave function of the $\chi_{c0}(2P)$ is revealed, by which the anomaly of the ratio $\Gamma(X\to D^+D^-)/\Gamma(X\to D_s^+D_s^-)$ indicated by LHCb can be explained well. Finally, our scenario of the newly observed enhancement structure resulted from the $\chi_{c0}(2P)$ is enforced., Comment: 8 pages, 5 figures and 2 tables

In this work, we propose to investigate the $d_{N\Omega}$ dibaryon production in the process $K^- p \rightarrow d_{N\Omega} \bar{\Xi}^0$ by utilizing the kaon beam with the typical momentum to be around 10 GeV, which may be available at COMPASS, OKA@U-70 and SPS@CERN. The cross sections for $K^- p \rightarrow d_{N\Omega} \bar{\Xi}^0$ are estimated and in particular, the magnitude of the cross sections are evaluated to be several hundreds nanobarn at $P_K=20$ GeV. Considering that $d_{N\Omega}$ dibaryon dominantly decay into $\Xi \Lambda$ and $\Xi \Sigma$, we also estimate the cross sections for $K^- p \to \Xi^0 \Lambda \bar{\Xi}^0$ and $K^- p \to \Xi^- \Sigma^+ \bar{\Xi}^0$, where the $d_{N\Omega}$ dibaryon can be observed in the invariant mass distributions of $\Xi^0 \Lambda$ and $\Xi^- \Sigma^+ $, respectively., Comment: 7 pages, 4 figures

A key contributor to recent progress in 3D detection from single images is monocular depth estimation. Existing methods focus on how to leverage depth explicitly, by generating pseudo-pointclouds or providing attention cues for image features. More recent works leverage depth prediction as a pretraining task and fine-tune the depth representation while training it for 3D detection. However, the adaptation is insufficient and is limited in scale by manual labels. In this work, we propose to further align depth representation with the target domain in unsupervised fashions. Our methods leverage commonly available LiDAR or RGB videos during training time to fine-tune the depth representation, which leads to improved 3D detectors. Especially when using RGB videos, we show that our two-stage training by first generating pseudo-depth labels is critical because of the inconsistency in loss distribution between the two tasks. With either type of reference data, our multi-task learning approach improves over the state of the art on both KITTI and NuScenes, while matching the test-time complexity of its single task sub-network.

Inspired by the recent observation of a new structure, $X(4014)$, in the process $\gamma\gamma\to \gamma\psi(2S)$, we evaluate the possibility of assigning $X(4014)$ as a $D^\ast \bar{D}^\ast$ molecular state with $I(J^{PC})=0(0^{++})$ by investigating the hidden charm decays of $X(4014)$. The partial widths of $J/\psi\omega$, $ \eta_{c}\eta$ and $\eta_{c}\eta^{\prime}$ channels are evaluated to be about $(0.41\sim 5.00)$, $(2.05\sim7.49)$ and $(0.11\sim0.51)\ \mathrm{MeV}$, respectively. Considering the experimental observation and the present estimations, we proposed to search $X(4014)$ in the $\gamma \gamma \to J/\psi \omega$ process in Belle II., Comment: 7 pages, 5 figures, accepted for publication in Phys. Rev. D

In this work, we systematically investigate the mass spectra of fully-heavy hexaquarks within a constituent quark model by including the color Coulomb potential, linear confining potential, and spin-spin interactions. Our results show that all of the fully-heavy hexaquarks lie above the corresponding baryon-baryon thresholds, and thus no stable compact one exists. These states may subsist as resonances and decay into two fully-heavy baryons easily through the fall-apart mechanism, which can be searched in future experiments., Comment: 8 pages, 2 figures, comments and suggestions are welcome

Within the framework of the local hidden gauge approach, we have studied the near-threshold interaction of the $D^* \bar{D}^*$ channel with quantum numbers $I(J^{PC}) = 0(0^{++})$, $0(2^{++})$, $1(0^{++})$, and $1(2^{++})$, respectively. The contact interaction is taken into account alone, since it is expected to give the dominant contribution near the threshold. One pole, which is found in the case of the quantum numbers $I(J^{PC}) = 0(0^{++})$, could be associated to the $X(4014)$ recently observed by the Belle Collaboration. Thus, we suggest that the $X(4014)$ may be an $D^* \bar{D}^*$ molecular state with $I(J^{PC}) = 0(0^{++})$, and more precise information about $X(4014)$, such as resonance parameters and decay properties, could be useful to shed light on its structure., Comment: 6 pages, 5 figures

Optical sensors and learning algorithms for autonomous vehicles have dramatically advanced in the past few years. Nonetheless, the reliability of today's autonomous vehicles is hindered by the limited line-of-sight sensing capability and the brittleness of data-driven methods in handling extreme situations. With recent developments of telecommunication technologies, cooperative perception with vehicle-to-vehicle communications has become a promising paradigm to enhance autonomous driving in dangerous or emergency situations. We introduce COOPERNAUT, an end-to-end learning model that uses cross-vehicle perception for vision-based cooperative driving. Our model encodes LiDAR information into compact point-based representations that can be transmitted as messages between vehicles via realistic wireless channels. To evaluate our model, we develop AutoCastSim, a network-augmented driving simulation framework with example accident-prone scenarios. Our experiments on AutoCastSim suggest that our cooperative perception driving models lead to a 40% improvement in average success rate over egocentric driving models in these challenging driving situations and a 5 times smaller bandwidth requirement than prior work V2VNet. COOPERNAUT and AUTOCASTSIM are available at https://ut-austin-rpl.github.io/Coopernaut/.

Test-time adaptation is a special setting of unsupervised domain adaptation where a trained model on the source domain has to adapt to the target domain without accessing source data. We propose a novel way to leverage self-supervised contrastive learning to facilitate target feature learning, along with an online pseudo labeling scheme with refinement that significantly denoises pseudo labels. The contrastive learning task is applied jointly with pseudo labeling, contrasting positive and negative pairs constructed similarly as MoCo but with source-initialized encoder, and excluding same-class negative pairs indicated by pseudo labels. Meanwhile, we produce pseudo labels online and refine them via soft voting among their nearest neighbors in the target feature space, enabled by maintaining a memory queue. Our method, AdaContrast, achieves state-of-the-art performance on major benchmarks while having several desirable properties compared to existing works, including memory efficiency, insensitivity to hyper-parameters, and better model calibration. Project page: sites.google.com/view/adacontrast., Comment: CVPR 2022 camera-ready version

Multi-frame depth estimation improves over single-frame approaches by also leveraging geometric relationships between images via feature matching, in addition to learning appearance-based features. In this paper we revisit feature matching for self-supervised monocular depth estimation, and propose a novel transformer architecture for cost volume generation. We use depth-discretized epipolar sampling to select matching candidates, and refine predictions through a series of self- and cross-attention layers. These layers sharpen the matching probability between pixel features, improving over standard similarity metrics prone to ambiguities and local minima. The refined cost volume is decoded into depth estimates, and the whole pipeline is trained end-to-end from videos using only a photometric objective. Experiments on the KITTI and DDAD datasets show that our DepthFormer architecture establishes a new state of the art in self-supervised monocular depth estimation, and is even competitive with highly specialized supervised single-frame architectures. We also show that our learned cross-attention network yields representations transferable across datasets, increasing the effectiveness of pre-training strategies. Project page: https://sites.google.com/tri.global/depthformer, Comment: Accepted to CVPR 2022 (correct project page)

In this paper, we present a system to train driving policies from experiences collected not just from the ego-vehicle, but all vehicles that it observes. This system uses the behaviors of other agents to create more diverse driving scenarios without collecting additional data. The main difficulty in learning from other vehicles is that there is no sensor information. We use a set of supervisory tasks to learn an intermediate representation that is invariant to the viewpoint of the controlling vehicle. This not only provides a richer signal at training time but also allows more complex reasoning during inference. Learning how all vehicles drive helps predict their behavior at test time and can avoid collisions. We evaluate this system in closed-loop driving simulations. Our system outperforms all prior methods on the public CARLA Leaderboard by a wide margin, improving driving score by 25 and route completion rate by 24 points. Our method won the 2021 CARLA Autonomous Driving challenge. Code and data are available at https://github.com/dotchen/LAV., Comment: Paper accepted to CVPR 2022; Code and data available at https://github.com/dotchen/LAV