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Existing conditional Denoising Diffusion Probabilistic Models (DDPMs) with a Noise-Conditional Framework (NCF) remain challenging for 3D scene understanding tasks, as the complex geometric details in scenes increase the difficulty of fitting the gradients of the data distribution (the scores) from semantic labels. This also results in longer training and inference time for DDPMs compared to non-DDPMs. From a different perspective, we delve deeply into the model paradigm dominated by the Conditional Network. In this paper, we propose an end-to-end robust semantic \textbf{Seg}mentation \textbf{Net}work based on a \textbf{C}onditional-Noise Framework (CNF) of D\textbf{D}PMs, named \textbf{CDSegNet}. Specifically, CDSegNet models the Noise Network (NN) as a learnable noise-feature generator. This enables the Conditional Network (CN) to understand 3D scene semantics under multi-level feature perturbations, enhancing the generalization in unseen scenes. Meanwhile, benefiting from the noise system of DDPMs, CDSegNet exhibits strong noise and sparsity robustness in experiments. Moreover, thanks to CNF, CDSegNet can generate the semantic labels in a single-step inference like non-DDPMs, due to avoiding directly fitting the scores from semantic labels in the dominant network of CDSegNet. On public indoor and outdoor benchmarks, CDSegNet significantly outperforms existing methods, achieving state-of-the-art performance.

In the study of cosmology and galaxy evolution, the peculiar velocity and density field of dark matter (DM) play a crucial role in studying many issues. Here, we propose a UNet-based deep learning to reconstruct the real-space DM velocity field from the spatial distribution of a sparse sample of DM halos in redshift space. By comparing and testing various properties, we demonstrate that the reconstructed velocity field is in good agreement with the actual situation. At $k<0.3~h/{\rm Mpc}$, the reconstruction of various velocity field components, including velocity magnitude and divergence, outperforms traditional linear perturbation theory. Additionally, the effects of redshift space distortions (RSD) are well corrected using the UNet model. Compared to the true real-space power spectra, the UNet reconstruction provides an unbiased estimate of the density, velocity, and momentum fields, remaining consistent within $2\sigma$ level. We also demonstrate that the UNet model remains effective even with limited information about halo masses. Thus, our proposed UNet model has a wide range of applications in various aspects of cosmology, such as RSD, cosmic web analysis, the kinetic Sunyaev-Zel'dovich effect, BAO reconstruction, and so on., Comment: 17 pages,14 figures

Iodinated contrast agents are widely utilized in numerous interventional procedures, yet posing substantial health risks to patients. This paper presents CAS-GAN, a novel GAN framework that serves as a ``virtual contrast agent" to synthesize X-ray angiographies via disentanglement representation learning and vessel semantic guidance, thereby reducing the reliance on iodinated agents during interventional procedures. Specifically, our approach disentangles X-ray angiographies into background and vessel components, leveraging medical prior knowledge. A specialized predictor then learns to map the interrelationships between these components. Additionally, a vessel semantic-guided generator and a corresponding loss function are introduced to enhance the visual fidelity of generated images. Experimental results on the XCAD dataset demonstrate the state-of-the-art performance of our CAS-GAN, achieving a FID of 5.94 and a MMD of 0.017. These promising results highlight CAS-GAN's potential for clinical applications., Comment: 8 pages, 4 figures

Research on autonomous driving in unstructured outdoor environments is less advanced than in structured urban settings due to challenges like environmental diversities and scene complexity. These environments-such as rural areas and rugged terrains-pose unique obstacles that are not common in structured urban areas. Despite these difficulties, autonomous driving in unstructured outdoor environments is crucial for applications in agriculture, mining, and military operations. Our survey reviews over 250 papers for autonomous driving in unstructured outdoor environments, covering offline mapping, pose estimation, environmental perception, path planning, end-to-end autonomous driving, datasets, and relevant challenges. We also discuss emerging trends and future research directions. This review aims to consolidate knowledge and encourage further research for autonomous driving in unstructured environments. To support ongoing work, we maintain an active repository with up-to-date literature and open-source projects at: https://github.com/chaytonmin/Survey-Autonomous-Driving-in-Unstructured-Environments., Comment: Survey paper; 38 pages

A global threshold (e.g., 0.5) is often applied to determine which bounding boxes should be included in the final results for an object detection task. A higher threshold reduces false positives but may result in missing a significant portion of true positives. A lower threshold can increase detection recall but may also result in more false positives. Because of this, using a preset global threshold (e.g., 0.5) applied to all the bounding box candidates may lead to suboptimal solutions. In this paper, we propose a Test-time Self-guided Bounding-box Propagation (TSBP) method, leveraging Earth Mover's Distance (EMD) to enhance object detection in histology images. TSBP utilizes bounding boxes with high confidence to influence those with low confidence, leveraging visual similarities between them. This propagation mechanism enables bounding boxes to be selected in a controllable, explainable, and robust manner, which surpasses the effectiveness of using simple thresholds and uncertainty calibration methods. Importantly, TSBP does not necessitate additional labeled samples for model training or parameter estimation, unlike calibration methods. We conduct experiments on gland detection and cell detection tasks in histology images. The results show that our proposed TSBP significantly improves detection outcomes when working in conjunction with state-of-the-art deep learning-based detection networks. Compared to other methods such as uncertainty calibration, TSBP yields more robust and accurate object detection predictions while using no additional labeled samples. The code is available at https://github.com/jwhgdeu/TSBP., Comment: MICCAI 2024

Prompt learning represents a promising method for adapting pre-trained vision-language models (VLMs) to various downstream tasks by learning a set of text embeddings. One challenge inherent to these methods is the poor generalization performance due to the invalidity of the learned text embeddings for unseen tasks. A straightforward approach to bridge this gap is to freeze the text embeddings in prompts, which results in a lack of capacity to adapt VLMs for downstream tasks. To address this dilemma, we propose a paradigm called EnPrompt with a novel External Layer (EnLa). Specifically, we propose a textual external layer and learnable visual embeddings for adapting VLMs to downstream tasks. The learnable external layer is built upon valid embeddings of pre-trained CLIP. This design considers the balance of learning capabilities between the two branches. To align the textual and visual features, we propose a novel two-pronged approach: i) we introduce the optimal transport as the discrepancy metric to align the vision and text modalities, and ii) we introduce a novel strengthening feature to enhance the interaction between these two modalities. Four representative experiments (i.e., base-to-novel generalization, few-shot learning, cross-dataset generalization, domain shifts generalization) across 15 datasets demonstrate that our method outperforms the existing prompt learning method.

Automatic vessel segmentation is paramount for developing next-generation interventional navigation systems. However, current approaches suffer from suboptimal segmentation performances due to significant challenges in intraoperative images (i.e., low signal-to-noise ratio, small or slender vessels, and strong interference). In this paper, a novel spatial-frequency learning and topological channel interaction network (SPIRONet) is proposed to address the above issues. Specifically, dual encoders are utilized to comprehensively capture local spatial and global frequency vessel features. Then, a cross-attention fusion module is introduced to effectively fuse spatial and frequency features, thereby enhancing feature discriminability. Furthermore, a topological channel interaction module is designed to filter out task-irrelevant responses based on graph neural networks. Extensive experimental results on several challenging datasets (CADSA, CAXF, DCA1, and XCAD) demonstrate state-of-the-art performances of our method. Moreover, the inference speed of SPIRONet is 21 FPS with a 512x512 input size, surpassing clinical real-time requirements (6~12FPS). These promising outcomes indicate SPIRONet's potential for integration into vascular interventional navigation systems. Code is available at https://github.com/Dxhuang-CASIA/SPIRONet.

In this article, we study the Iwasawa theory for cuspidal automorphic representations of $\mathrm{GL}(n)\times\mathrm{GL}(n+1)$ over CM fields along anticyclotomic directions, in the framework of the Gan-Gross-Prasad conjecture for unitary groups. We prove one-side divisibility of the corresponding Iwasawa main conjecture: when the global root number is $1$, the $p$-adic $L$-function belongs to the characteristic ideal of the Iwasawa Bloch-Kato Selmer group; when the global root number is $-1$, the square of the characteristic ideal of a certain Iwasawa module is contained in the characteristic ideal of the torsion part of the Iwasawa Bloch-Kato Selmer group (analogous to Perrin-Riou's Heegner point main conjecture)., Comment: 105 pages; main theorems improved; comments welcome. arXiv admin note: text overlap with arXiv:2211.06673 by other authors

Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pre-training is essential for extracting a universal representation. However, current vision-centric pre-training typically relies on either 2D or 3D pre-text tasks, overlooking the temporal characteristics of autonomous driving as a 4D scene understanding task. In this paper, we address this challenge by introducing a world model-based autonomous driving 4D representation learning framework, dubbed \emph{DriveWorld}, which is capable of pre-training from multi-camera driving videos in a spatio-temporal fashion. Specifically, we propose a Memory State-Space Model for spatio-temporal modelling, which consists of a Dynamic Memory Bank module for learning temporal-aware latent dynamics to predict future changes and a Static Scene Propagation module for learning spatial-aware latent statics to offer comprehensive scene contexts. We additionally introduce a Task Prompt to decouple task-aware features for various downstream tasks. The experiments demonstrate that DriveWorld delivers promising results on various autonomous driving tasks. When pre-trained with the OpenScene dataset, DriveWorld achieves a 7.5% increase in mAP for 3D object detection, a 3.0% increase in IoU for online mapping, a 5.0% increase in AMOTA for multi-object tracking, a 0.1m decrease in minADE for motion forecasting, a 3.0% increase in IoU for occupancy prediction, and a 0.34m reduction in average L2 error for planning., Comment: Accepted by CVPR2024

General world models represent a crucial pathway toward achieving Artificial General Intelligence (AGI), serving as the cornerstone for various applications ranging from virtual environments to decision-making systems. Recently, the emergence of the Sora model has attained significant attention due to its remarkable simulation capabilities, which exhibits an incipient comprehension of physical laws. In this survey, we embark on a comprehensive exploration of the latest advancements in world models. Our analysis navigates through the forefront of generative methodologies in video generation, where world models stand as pivotal constructs facilitating the synthesis of highly realistic visual content. Additionally, we scrutinize the burgeoning field of autonomous-driving world models, meticulously delineating their indispensable role in reshaping transportation and urban mobility. Furthermore, we delve into the intricacies inherent in world models deployed within autonomous agents, shedding light on their profound significance in enabling intelligent interactions within dynamic environmental contexts. At last, we examine challenges and limitations of world models, and discuss their potential future directions. We hope this survey can serve as a foundational reference for the research community and inspire continued innovation. This survey will be regularly updated at: https://github.com/GigaAI-research/General-World-Models-Survey., Comment: This survey will be regularly updated at: https://github.com/GigaAI-research/General-World-Models-Survey

Stance detection seeks to identify the viewpoints of individuals either in favor or against a given target or a controversial topic. Current advanced neural models for stance detection typically employ fully parametric softmax classifiers. However, these methods suffer from several limitations, including lack of explainability, insensitivity to the latent data structure, and unimodality, which greatly restrict their performance and applications. To address these challenges, we present a novel collaborative stance detection framework called (CoSD) which leverages contrastive heterogeneous topic graph learning to learn topic-aware semantics and collaborative signals among texts, topics, and stance labels for enhancing stance detection. During training, we construct a heterogeneous graph to structurally organize texts and stances through implicit topics via employing latent Dirichlet allocation. We then perform contrastive graph learning to learn heterogeneous node representations, aggregating informative multi-hop collaborative signals via an elaborate Collaboration Propagation Aggregation (CPA) module. During inference, we introduce a hybrid similarity scoring module to enable the comprehensive incorporation of topic-aware semantics and collaborative signals for stance detection. Extensive experiments on two benchmark datasets demonstrate the state-of-the-art detection performance of CoSD, verifying the effectiveness and explainability of our collaborative framework., Comment: 13 pages

We propose a lightweight deep convolutional neural network (lCNN) to estimate cosmological parameters from simulated three-dimensional dark matter (DM) halo distributions and associated statistics. The training dataset comprises 2000 realizations of a cubic box with a side length of 1000 $h^{-1}{\rm Mpc}$, and interpolated over a cubic grid of $300^3$ voxels, with each simulation produced using $512^3$ DM particles and $512^3$ neutrinos. Under the flat $\Lambda$CDM model, simulations vary standard six cosmological parameters including $\Omega_m$, $\Omega_b$, $h$, $n_s$, $\sigma_8$, $w$, along with the neutrino mass sum, $M_\nu$. We find that: 1) within the framework of lCNN, extracting large-scale structure information is more efficient from the halo density field compared to relying on the statistical quantities including the power spectrum, the two-point correlation function, and the coefficients from wavelet scattering transform; 2) combining the halo density field with its Fourier transformed counterpart enhances predictions, while augmenting the training dataset with measured statistics further improves performance; 3) achieving high accuracy in inferring $\Omega_m$, $h$, and $\sigma_8$ by the neural network model, while being inefficient in predicting $\Omega_b$, { $n_s$}, $M_\nu$ and $w$; 4) { compared to the simple fully connected network trained with three statistical quantities, our CNN yields statistically reduced errors, showing improvements of approximately 23\% for $\Omega_m$, 11\% for $h$, 8\% for $n_s$, and 21\% for $\sigma_8$. Additionally, in comparison with the likelihood-based analysis on $P(k)$ data, our CNN provides much tighter constraints on parameters, especially on $\Omega_m$ and $\sigma_8$.} Our study emphasizes this lCNN-based novel approach in extracting large-scale structure information and estimating cosmological parameters., Comment: v2: matches the version published in PRD,17 pages,12 figures

The $\beta$-skeleton approach can be conveniently utilized to construct the cosmic web based on the spatial geometry distribution of galaxies, particularly in sparse samples. This method plays a key role in establishing the three-dimensional structure of the Universe and serves as a tool for quantitatively characterizing the nature of the cosmic web. This study is the first application of $\beta$-skeleton information as weights in mark weighted correlation functions (MCFs), presenting a novel statistical measure. We have applied the $\beta$-skeleton approach to the CMASS NGC galaxy samples from SDSS BOSS DR12 in the redshift interval $0.45 \leq z \leq 0.55$. Additionally, we applied this approach to three COLA cosmological simulations with different settings ($\Omega_m=0.25, \Omega_m=0.31, \Omega_m=0.4$) for comparison. We measured three MCFs, each weighted by i) the number of neighboring galaxies around each galaxy, ii) the average distance of each galaxy from its surrounding neighbors, and iii) the reciprocal of the average distance of each galaxy from its surrounding neighbors. By comparing measurements and calculating corresponding $\chi^2$ statistics, we observe high sensitivity to the cosmological parameter $\Omega_m$ through a joint analysis of the two-point correlation and three MCFs., Comment: 16 pages,12 figues

There are two main barriers to using large language models (LLMs) in clinical reasoning. Firstly, while LLMs exhibit significant promise in Natural Language Processing (NLP) tasks, their performance in complex reasoning and planning falls short of expectations. Secondly, LLMs use uninterpretable methods to make clinical decisions that are fundamentally different from the clinician's cognitive processes. This leads to user distrust. In this paper, we present a multi-agent framework called ArgMed-Agents, which aims to enable LLM-based agents to make explainable clinical decision reasoning through interaction. ArgMed-Agents performs self-argumentation iterations via Argumentation Scheme for Clinical Discussion (a reasoning mechanism for modeling cognitive processes in clinical reasoning), and then constructs the argumentation process as a directed graph representing conflicting relationships. Ultimately, use symbolic solver to identify a series of rational and coherent arguments to support decision. We construct a formal model of ArgMed-Agents and present conjectures for theoretical guarantees. ArgMed-Agents enables LLMs to mimic the process of clinical argumentative reasoning by generating explanations of reasoning in a self-directed manner. The setup experiments show that ArgMed-Agents not only improves accuracy in complex clinical decision reasoning problems compared to other prompt methods, but more importantly, it provides users with decision explanations that increase their confidence.

We investigate forward signal propagation and gradient back propagation in deep, randomly initialized transformers, yielding simple necessary and sufficient conditions on initialization hyperparameters that ensure trainability of deep transformers. Our approach treats the evolution of the representations of $n$ tokens as they propagate through the transformer layers in terms of a discrete time dynamical system of $n$ interacting particles. We derive simple update equations for the evolving geometry of this particle system, starting from a permutation symmetric simplex. Our update equations show that without MLP layers, this system will collapse to a line, consistent with prior work on rank collapse in transformers. However, unlike prior work, our evolution equations can quantitatively track particle geometry in the additional presence of nonlinear MLP layers, and it reveals an order-chaos phase transition as a function of initialization hyperparameters, like the strength of attentional and MLP residual connections and weight variances. In the ordered phase the particles are attractive and collapse to a line, while in the chaotic phase the particles are repulsive and converge to a regular $n$-simplex. We analytically derive two Lyapunov exponents: an angle exponent that governs departures from the edge of chaos in this particle system, and a gradient exponent that governs the rate of exponential growth or decay of backpropagated gradients. We show through experiments that, remarkably, the final test loss at the end of training is well predicted just by these two exponents at the beginning of training, and that the simultaneous vanishing of these two exponents yields a simple necessary and sufficient condition to achieve minimal test loss.

The proliferation of social media platforms has fueled the rapid dissemination of fake news, posing threats to our real-life society. Existing methods use multimodal data or contextual information to enhance the detection of fake news by analyzing news content and/or its social context. However, these methods often overlook essential textual news content (articles) and heavily rely on sequential modeling and global attention to extract semantic information. These existing methods fail to handle the complex, subtle twists in news articles, such as syntax-semantics mismatches and prior biases, leading to lower performance and potential failure when modalities or social context are missing. To bridge these significant gaps, we propose a novel multi-hop syntax aware fake news detection (MSynFD) method, which incorporates complementary syntax information to deal with subtle twists in fake news. Specifically, we introduce a syntactical dependency graph and design a multi-hop subgraph aggregation mechanism to capture multi-hop syntax. It extends the effect of word perception, leading to effective noise filtering and adjacent relation enhancement. Subsequently, a sequential relative position-aware Transformer is designed to capture the sequential information, together with an elaborate keyword debiasing module to mitigate the prior bias. Extensive experimental results on two public benchmark datasets verify the effectiveness and superior performance of our proposed MSynFD over state-of-the-art detection models., Comment: 10 pages

Medical image segmentation takes an important position in various clinical applications. Deep learning has emerged as the predominant solution for automated segmentation of volumetric medical images. 2.5D-based segmentation models bridge computational efficiency of 2D-based models and spatial perception capabilities of 3D-based models. However, prevailing 2.5D-based models often treat each slice equally, failing to effectively learn and exploit inter-slice information, resulting in suboptimal segmentation performances. In this paper, a novel Momentum encoder-based inter-slice fusion transformer (MOSformer) is proposed to overcome this issue by leveraging inter-slice information at multi-scale feature maps extracted by different encoders. Specifically, dual encoders are employed to enhance feature distinguishability among different slices. One of the encoders is moving-averaged to maintain the consistency of slice representations. Moreover, an IF-Swin transformer module is developed to fuse inter-slice multi-scale features. The MOSformer is evaluated on three benchmark datasets (Synapse, ACDC, and AMOS), establishing a new state-of-the-art with 85.63%, 92.19%, and 85.43% of DSC, respectively. These promising results indicate its competitiveness in medical image segmentation. Codes and models of MOSformer will be made publicly available upon acceptance., Comment: Under Review

The mutual information characterizes correlations between spatially separated regions of a system. Yet, in experiments we often measure dynamical correlations, which involve probing operators that are also separated in time. Here, we introduce a space-time generalization of mutual information which, by construction, satisfies several natural properties of the mutual information and at the same time characterizes correlations across subsystems that are separated in time. In particular, this quantity, that we call the \emph{space-time mutual information}, bounds all dynamical correlations. We construct this quantity based on the idea of the quantum hypothesis testing. As a by-product, our definition provides a transparent interpretation in terms of an experimentally accessible setup. We draw connections with other notions in quantum information theory, such as quantum channel discrimination. Finally, we study the behavior of the space-time mutual information in several settings and contrast its long-time behavior in many-body localizing and thermalizing systems., Comment: 33 pages, 12 figures

Point cloud upsampling (PCU) enriches the representation of raw point clouds, significantly improving the performance in downstream tasks such as classification and reconstruction. Most of the existing point cloud upsampling methods focus on sparse point cloud feature extraction and upsampling module design. In a different way, we dive deeper into directly modelling the gradient of data distribution from dense point clouds. In this paper, we proposed a conditional denoising diffusion probability model (DDPM) for point cloud upsampling, called PUDM. Specifically, PUDM treats the sparse point cloud as a condition, and iteratively learns the transformation relationship between the dense point cloud and the noise. Simultaneously, PUDM aligns with a dual mapping paradigm to further improve the discernment of point features. In this context, PUDM enables learning complex geometry details in the ground truth through the dominant features, while avoiding an additional upsampling module design. Furthermore, to generate high-quality arbitrary-scale point clouds during inference, PUDM exploits the prior knowledge of the scale between sparse point clouds and dense point clouds during training by parameterizing a rate factor. Moreover, PUDM exhibits strong noise robustness in experimental results. In the quantitative and qualitative evaluations on PU1K and PUGAN, PUDM significantly outperformed existing methods in terms of Chamfer Distance (CD) and Hausdorff Distance (HD), achieving state of the art (SOTA) performance.

Fusion-based hyperspectral image (HSI) super-resolution aims to produce a high-spatial-resolution HSI by fusing a low-spatial-resolution HSI and a high-spatial-resolution multispectral image. Such a HSI super-resolution process can be modeled as an inverse problem, where the prior knowledge is essential for obtaining the desired solution. Motivated by the success of diffusion models, we propose a novel spectral diffusion prior for fusion-based HSI super-resolution. Specifically, we first investigate the spectrum generation problem and design a spectral diffusion model to model the spectral data distribution. Then, in the framework of maximum a posteriori, we keep the transition information between every two neighboring states during the reverse generative process, and thereby embed the knowledge of trained spectral diffusion model into the fusion problem in the form of a regularization term. At last, we treat each generation step of the final optimization problem as its subproblem, and employ the Adam to solve these subproblems in a reverse sequence. Experimental results conducted on both synthetic and real datasets demonstrate the effectiveness of the proposed approach. The code of the proposed approach will be available on https://github.com/liuofficial/SDP.

Offline reinforcement learning (RL) aims to optimize policy using collected data without online interactions. Model-based approaches are particularly appealing for addressing offline RL challenges due to their capability to mitigate the limitations of offline data through data generation using models. Prior research has demonstrated that introducing conservatism into the model or Q-function during policy optimization can effectively alleviate the prevalent distribution drift problem in offline RL. However, the investigation into the impacts of conservatism in reward estimation is still lacking. This paper proposes a novel model-based offline RL algorithm, Conservative Reward for model-based Offline Policy optimization (CROP), which conservatively estimates the reward in model training. To achieve a conservative reward estimation, CROP simultaneously minimizes the estimation error and the reward of random actions. Theoretical analysis shows that this conservative reward mechanism leads to a conservative policy evaluation and helps mitigate distribution drift. Experiments on D4RL benchmarks showcase that the performance of CROP is comparable to the state-of-the-art baselines. Notably, CROP establishes an innovative connection between offline and online RL, highlighting that offline RL problems can be tackled by adopting online RL techniques to the empirical Markov decision process trained with a conservative reward. The source code is available with https://github.com/G0K0URURI/CROP.git.