We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic models, which lays a foundation for generating dynamically feasible trajectory and achieving high-performance tracking control. We have found that a tail-sitter is differentially flat with accurate aerodynamic models within the entire flight envelope, by specifying coordinate flight condition and choosing the vehicle position as the flat output. This fundamental property allows us to fully exploit the high-fidelity aerodynamic models in the trajectory planning and tracking control to achieve accurate tail-sitter flights. Particularly, an optimization-based trajectory planner for tail-sitters is proposed to design high-quality, smooth trajectories with consideration of kinodynamic constraints, singularity-free constraints and actuator saturation. The planned trajectory of flat output is transformed to state trajectory in real-time with consideration of wind in environments. To track the state trajectory, a global, singularity-free, and minimally-parameterized on-manifold MPC is developed, which fully leverages the accurate aerodynamic model to achieve high-accuracy trajectory tracking within the whole flight envelope. The effectiveness of the proposed framework is demonstrated through extensive real-world experiments in both indoor and outdoor field tests, including agile SE(3) flight through consecutive narrow windows requiring specific attitude and with speed up to 10m/s, typical tail-sitter maneuvers (transition, level flight and loiter) with speed up to 20m/s, and extremely aggressive aerobatic maneuvers (Wingover, Loop, Vertical Eight and Cuban Eight) with acceleration up to 2.5g.

The emergence of low-cost, small form factor and light-weight solid-state LiDAR sensors have brought new opportunities for autonomous unmanned aerial vehicles (UAVs) by advancing navigation safety and computation efficiency. Yet the successful developments of LiDAR-based UAVs must rely on extensive simulations. Existing simulators can hardly perform simulations of real-world environments due to the requirements of dense mesh maps that are difficult to obtain. In this paper, we develop a point-realistic simulator of real-world scenes for LiDAR-based UAVs. The key idea is the underlying point rendering method, where we construct a depth image directly from the point cloud map and interpolate it to obtain realistic LiDAR point measurements. Our developed simulator is able to run on a light-weight computing platform and supports the simulation of LiDARs with different resolution and scanning patterns, dynamic obstacles, and multi-UAV systems. Developed in the ROS framework, the simulator can easily communicate with other key modules of an autonomous robot, such as perception, state estimation, planning, and control. Finally, the simulator provides 10 high-resolution point cloud maps of various real-world environments, including forests of different densities, historic building, office, parking garage, and various complex indoor environments. These realistic maps provide diverse testing scenarios for an autonomous UAV. Evaluation results show that the developed simulator achieves superior performance in terms of time and memory consumption against Gazebo and that the simulated UAV flights highly match the actual one in real-world environments. We believe such a point-realistic and light-weight simulator is crucial to bridge the gap between UAV simulation and experiments and will significantly facilitate the research of LiDAR-based autonomous UAVs in the future.

重建准确且一致的大规模激光点云图对机器人应用至关重要。现有的解决方案姿势图优化虽然是及时的，但并未直接优化映射一致性。最近提出了LIDAR捆绑调整（BA）来解决此问题；但是，它在大规模地图上太耗时了。为了减轻此问题，本文介绍了适合大规模地图的全球一致和有效的映射方法。我们提出的工作包括自下而上的分层BA和自上而下的姿势图优化，结合了这两种方法的优势。通过层次设计，我们解决了比原始BA小得多的Hessian矩阵大小的多个BA问题。借助姿势图优化，我们可以平稳有效地更新LiDAR姿势。我们提出的方法的有效性和鲁棒性已在多个空间和及时的大规模公共旋转雷达数据集上得到验证，即Kitti，Mulran和Newer College，以及在结构化和非结构化场景下进行自我收集的固态LIDAR数据集。通过适当的设置，我们证明我们的工作可以生成全球一致的地图，约有序列时间的12％。

准确的自我和相对状态估计是完成群体任务的关键前提，例如协作自主探索，目标跟踪，搜索和救援。本文提出了一种全面分散的状态估计方法，用于空中群体系统，其中每个无人机执行精确的自我状态估计，通过无线通信交换自我状态和相互观察信息，并估算相对状态（W.R.T.）（W.R.T.）无人机，全部实时，仅基于激光惯性测量。提出了一种基于3D激光雷达的新型无人机检测，识别和跟踪方法，以获得队友无人机的观察。然后，将相互观察测量与IMU和LIDAR测量紧密耦合，以实时和准确地估计自我状态和相对状态。广泛的现实世界实验显示了对复杂场景的广泛适应性，包括被GPS贬低的场景，摄影机的退化场景（漆黑的夜晚）或激光雷达（面对单个墙）。与运动捕获系统提供的地面真相相比，结果显示了厘米级的定位精度，该精度优于单个无人机系统的其他最先进的激光惯性射测。

Consensus clustering aggregates partitions in order to find a better fit by reconciling clustering results from different sources/executions. In practice, there exist noise and outliers in clustering task, which, however, may significantly degrade the performance. To address this issue, we propose a novel algorithm -- robust consensus clustering that can find common ground truth among experts' opinions, which tends to be minimally affected by the bias caused by the outliers. In particular, we formalize the robust consensus clustering problem as a constraint optimization problem, and then derive an effective algorithm upon alternating direction method of multipliers (ADMM) with rigorous convergence guarantee. Our method outperforms the baselines on benchmarks. We apply the proposed method to the real-world advertising campaign segmentation and forecasting tasks using the proposed consensus clustering results based on the similarity computed via Kolmogorov-Smirnov Statistics. The accurate clustering result is helpful for building the advertiser profiles so as to perform the forecasting.

In computational advertising, a challenging problem is how to recommend the bid for advertisers to achieve the best return on investment (ROI) given budget constraint. This paper presents a bid recommendation scenario that discovers the concavity changes in click prediction curves. The recommended bid is derived based on the turning point from significant increase (i.e. concave downward) to slow increase (convex upward). Parametric learning based method is applied by solving the corresponding constraint optimization problem. Empirical studies on real-world advertising scenarios clearly demonstrate the performance gains for business metrics (including revenue increase, click increase and advertiser ROI increase).

In cost-per-click (CPC) or cost-per-impression (CPM) advertising campaigns, advertisers always run the risk of spending the budget without getting enough conversions. Moreover, the bidding on advertising inventory has few connections with propensity one that can reach to target cost-per-acquisition (tCPA) goals. To address this problem, this paper presents a bid optimization scenario to achieve the desired tCPA goals for advertisers. In particular, we build the optimization engine to make a decision by solving the rigorously formalized constrained optimization problem, which leverages the bid landscape model learned from rich historical auction data using non-parametric learning. The proposed model can naturally recommend the bid that meets the advertisers' expectations by making inference over advertisers' historical auction behaviors, which essentially deals with the data challenges commonly faced by bid landscape modeling: incomplete logs in auctions, and uncertainty due to the variation and fluctuations in advertising bidding behaviors. The bid optimization model outperforms the baseline methods on real-world campaigns, and has been applied into a wide range of scenarios for performance improvement and revenue liftup.

We propose a new neural network design paradigm Reversible Column Network (RevCol). The main body of RevCol is composed of multiple copies of subnetworks, named columns respectively, between which multi-level reversible connections are employed. Such architectural scheme attributes RevCol very different behavior from conventional networks: during forward propagation, features in RevCol are learned to be gradually disentangled when passing through each column, whose total information is maintained rather than compressed or discarded as other network does. Our experiments suggest that CNN-style RevCol models can achieve very competitive performances on multiple computer vision tasks such as image classification, object detection and semantic segmentation, especially with large parameter budget and large dataset. For example, after ImageNet-22K pre-training, RevCol-XL obtains 88.2% ImageNet-1K accuracy. Given more pre-training data, our largest model RevCol-H reaches 90.0% on ImageNet-1K, 63.8% APbox on COCO detection minival set, 61.0% mIoU on ADE20k segmentation. To our knowledge, it is the best COCO detection and ADE20k segmentation result among pure (static) CNN models. Moreover, as a general macro architecture fashion, RevCol can also be introduced into transformers or other neural networks, which is demonstrated to improve the performances in both computer vision and NLP tasks. We release code and models at https://github.com/megvii-research/RevCol

Traditional multilingual neural machine translation (MNMT) uses a single model to translate all directions. However, with the increasing scale of language pairs, simply using a single model for massive MNMT brings new challenges: parameter tension and large computations. In this paper, we revisit multi-way structures by assigning an individual branch for each language (group). Despite being a simple architecture, it is challenging to train de-centralized models due to the lack of constraints to align representations from all languages. We propose a localized training recipe to map different branches into a unified space, resulting in an efficient detachable model, Lego-MT. For a fair comparison, we collect data from OPUS and build the first large-scale open-source translation benchmark covering 7 language-centric data, each containing 445 language pairs. Experiments show that Lego-MT (1.2B) brings gains of more than 4 BLEU while outperforming M2M-100 (12B) (We will public all training data, models, and checkpoints)

Despite the surprising few-shot performance of in-context learning (ICL), it is still a common practice to randomly sample examples to serve as context. This paper advocates a new principle for ICL: self-adaptive in-context learning. The self-adaption mechanism is introduced to help each sample find an in-context example permutation (i.e., selection and ordering) that can derive the correct prediction, thus maximizing performance. To validate the effectiveness of self-adaptive ICL, we propose a general select-then-rank framework and instantiate it with new selection and ranking algorithms. Upon extensive evaluation on eight different NLP datasets, our self-adaptive ICL method achieves a 40% relative improvement over the common practice setting. Further analysis reveals the enormous potential of self-adaptive ICL that it might be able to close the gap between ICL and finetuning given more advanced algorithms. Our code is released to facilitate future research in this area: https://github.com/Shark-NLP/self-adaptive-ICL