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Over the past few years, the YOLO series of models has emerged as one of the dominant methodologies in the realm of object detection. Many studies have advanced these baseline models by modifying their architectures, enhancing data quality, and developing new loss functions. However, current models still exhibit deficiencies in processing feature maps, such as overlooking the fusion of cross-scale features and a static fusion approach that lacks the capability for dynamic feature adjustment. To address these issues, this paper introduces an efficient Fine-grained Multi-scale Dynamic Selection Module (FMDS Module), which applies a more effective dynamic feature selection and fusion method on fine-grained multi-scale feature maps, significantly enhancing the detection accuracy of small, medium, and large-sized targets in complex environments. Furthermore, this paper proposes an Adaptive Gated Multi-branch Focus Fusion Module (AGMF Module), which utilizes multiple parallel branches to perform complementary fusion of various features captured by the gated unit branch, FMDS Module branch, and TripletAttention branch. This approach further enhances the comprehensiveness, diversity, and integrity of feature fusion. This paper has integrated the FMDS Module, AGMF Module, into Yolov9 to develop a novel object detection model named FA-YOLO. Extensive experimental results show that under identical experimental conditions, FA-YOLO achieves an outstanding 66.1% mean Average Precision (mAP) on the PASCAL VOC 2007 dataset, representing 1.0% improvement over YOLOv9's 65.1%. Additionally, the detection accuracies of FA-YOLO for small, medium, and large targets are 44.1%, 54.6%, and 70.8%, respectively, showing improvements of 2.0%, 3.1%, and 0.9% compared to YOLOv9's 42.1%, 51.5%, and 69.9%., Comment: 11 pages and 4 figures

To complete a complex task where a robot navigates to a goal object and fetches it, the robot needs to have a good understanding of the instructions and the surrounding environment. Large pre-trained models have shown capabilities to interpret tasks defined via language descriptions. However, previous methods attempting to integrate large pre-trained models with daily tasks are not competent in many robotic goal navigation tasks due to poor understanding of the environment. In this work, we present a visual scene representation built with large-scale visual language models to form a feature representation of the environment capable of handling natural language queries. Combined with large language models, this method can parse language instructions into action sequences for a robot to follow, and accomplish goal navigation with querying the scene representation. Experiments demonstrate that our method enables the robot to follow a wide range of instructions and complete complex goal navigation tasks.

Pest and disease classification is a challenging issue in agriculture. The performance of deep learning models is intricately linked to training data diversity and quantity, posing issues for plant pest and disease datasets that remain underdeveloped. This study addresses these challenges by constructing a comprehensive dataset and proposing an advanced network architecture that combines Contrastive Learning and Masked Image Modeling (MIM). The dataset comprises diverse plant species and pest categories, making it one of the largest and most varied in the field. The proposed network architecture demonstrates effectiveness in addressing plant pest and disease recognition tasks, achieving notable detection accuracy. This approach offers a viable solution for rapid, efficient, and cost-effective plant pest and disease detection, thereby reducing agricultural production costs. Our code and dataset will be publicly available to advance research in plant pest and disease recognition the GitHub repository at https://github.com/WASSER2545/GPID-22, Comment: 14 pages, 5 figures, 4 tables, 3 formulas

A Relational Database Management System (RDBMS) is one of the fundamental software that supports a wide range of applications, making it critical to identify bugs within these systems. There has been active research on testing RDBMS, most of which employ crash or use metamorphic relations as the oracle. Although existing approaches can detect bugs in RDBMS, they are far from comprehensively evaluating the RDBMS's correctness (i.e., with respect to the semantics of SQL). In this work, we propose a method to test the semantic conformance of RDBMS i.e., whether its behavior respects the intended semantics of SQL. Specifically, we have formally defined the semantics of SQL and implemented them in Prolog. Then, the Prolog implementation serves as the reference RDBMS, enabling differential testing on existing RDBMS. We applied our approach to four widely-used and thoroughly tested RDBMSs, i.e., MySQL, TiDB, SQLite, and DuckDB. In total, our approach uncovered 19 bugs and 11 inconsistencies, which are all related to violating the SQL specification or missing/unclear specification, thereby demonstrating the effectiveness and applicability of our approach.

The rise of Large Language Models (LLMs) has significantly advanced many applications on software engineering tasks, particularly in code generation. Despite the promising performance, LLMs are prone to generate hallucinations, which means LLMs might produce outputs that deviate from users' intent, exhibit internal inconsistencies, or misalign with the factual knowledge, making the deployment of LLMs potentially risky in a wide range of applications. Existing work mainly focuses on investing the hallucination in the domain of natural language generation (NLG), leaving a gap in understanding the types and extent of hallucinations in the context of code generation. To bridge the gap, we conducted a thematic analysis of the LLM-generated code to summarize and categorize the hallucinations present in it. Our study established a comprehensive taxonomy of hallucinations in LLM-generated code, encompassing 5 primary categories of hallucinations depending on the conflicting objectives and varying degrees of deviation observed in code generation. Furthermore, we systematically analyzed the distribution of hallucinations, exploring variations among different LLMs and their correlation with code correctness. Based on the results, we proposed HalluCode, a benchmark for evaluating the performance of code LLMs in recognizing hallucinations. Hallucination recognition and mitigation experiments with HalluCode and HumanEval show existing LLMs face great challenges in recognizing hallucinations, particularly in identifying their types, and are hardly able to mitigate hallucinations. We believe our findings will shed light on future research about hallucination evaluation, detection, and mitigation, ultimately paving the way for building more effective and reliable code LLMs in the future.

In recent years, Neural Radiance Fields (NeRF) has made remarkable progress in the field of computer vision and graphics, providing strong technical support for solving key tasks including 3D scene understanding, new perspective synthesis, human body reconstruction, robotics, and so on, the attention of academics to this research result is growing. As a revolutionary neural implicit field representation, NeRF has caused a continuous research boom in the academic community. Therefore, the purpose of this review is to provide an in-depth analysis of the research literature on NeRF within the past two years, to provide a comprehensive academic perspective for budding researchers. In this paper, the core architecture of NeRF is first elaborated in detail, followed by a discussion of various improvement strategies for NeRF, and case studies of NeRF in diverse application scenarios, demonstrating its practical utility in different domains. In terms of datasets and evaluation metrics, This paper details the key resources needed for NeRF model training. Finally, this paper provides a prospective discussion on the future development trends and potential challenges of NeRF, aiming to provide research inspiration for researchers in the field and to promote the further development of related technologies., Comment: 35 pages, 22 figures, 14 tables, 18 formulas

The microscopic understanding of high-temperature superconductivity in cuprates has been hindered by the apparent complexity of crystal structures in these materials. We used scanning tunneling microscopy and spectroscopy to study an electron-doped copper oxide compound Sr$_{1-x}$Nd$_x$CuO$_2$ that has only bare cations separating the CuO$_2$ planes and thus the simplest infinite-layer structure among all cuprate superconductors. Tunneling conductance spectra of the major CuO$_2$ planes in the superconducting state revealed direct evidence for a nodeless pairing gap, regardless of variation of its magnitude with the local doping of trivalent neodymium. Furthermore, three distinct bosonic modes are observed as multiple peak-dip-hump features outside the superconducting gaps and their respective energies depend little on the spatially varying gaps. Along with the bosonic modes with energies identical to those of the external, bending and stretching phonons of copper oxides, our findings indicate their origin from lattice vibrations rather than spin excitations., Comment: 16 Pages, 4 figures, 5 supplemental figures

Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made fingers, novel robotic grippers are typically made of novel structures and materials, using a novel manufacturing process. In this paper, a novel robotic gripper with external frame and internal thermoplastic elastomer belt-made net is proposed. The gripper grasps objects using the friction between the net and objects. It has the ability of adaptive gripping through flexible contact surface. Stress simulation has been used to explore the regularity between the normal stress on the net and the deformation of the net. Experiments are conducted on a variety of objects to measure the force needed to reliably grip and hold the object. Test results show that the gripper can successfully grip objects with varying shape, dimensions, and textures. It is promising that the gripper can be used for grasping fragile objects in the industry or out in the field, and also grasping the marine organisms without hurting them., Comment: Accepted by 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

The cuprate superconductors exhibit ubiquitous instabilities toward charge-ordered states. These unusual electronic states break the spatial symmetries of the host crystal, and have been widely appreciated as essential ingredients for constructing a theory for high-temperature superconductivity in cuprates. Here we report real-space imaging of the doping-dependent charge orders in the epitaxial thin films of a canonical cuprate compound La2-xSrxCuO4 using scanning tunneling microscopy. As the films are moderately doped, we observe a crossover from incommensurate to commensurate (4a0, where a0 is the Cu-O-Cu distance) stripes. Furthermore, at lower and higher doping levels, the charge orders occur in the form of distorted Wigner crystal and grid phase of crossed vertical and horizontal stripes. We discuss how the charge orders are stabilized, and their interplay with superconductivity., Comment: 15 pages, 4 figures plus supplementary materials

Identifying the essence of doped Mott insulators is one of the major outstanding problems in condensed matter physics and the key to understanding the high-temperature superconductivity in cuprates. We report real space visualization of Mott transition in Sr1-xLaxCuO2+y cuprate films that cover the entire electron- and hole-doped regimes. Tunneling conductance measurements directly on the cooper-oxide (CuO2) planes reveal a systematic shift in the Fermi level, while the fundamental Mott-Hubbard band structure remains unchanged. This is further demonstrated by exploring atomic-scale electronic response of CuO2 to substitutional dopants and intrinsic defects in a sister compound Sr0.92Nd0.08CuO2. The results could be better explained in the framework of self-modulation doping, similar to that in semiconductor heterostructures, and form a basis for developing any microscopic theories for cuprate superconductivity., Comment: 5 pages, 4 figures, See Supplemental Material at https://journals.aps.org/prl/supplemental/10.1103/PhysRevLett.125.077002