Predicting the future motion of dynamic agents is of paramount importance to ensure safety or assess risks in motion planning for autonomous robots. In this paper, we propose a two-stage motion prediction method, referred to as R-Pred, that effectively utilizes both the scene and interaction context using a cascade of the initial trajectory proposal network and the trajectory refinement network. The initial trajectory proposal network produces M trajectory proposals corresponding to M modes of a future trajectory distribution. The trajectory refinement network enhances each of M proposals using 1) the tube-query scene attention (TQSA) and 2) the proposal-level interaction attention (PIA). TQSA uses tube-queries to aggregate the local scene context features pooled from proximity around the trajectory proposals of interest. PIA further enhances the trajectory proposals by modeling inter-agent interactions using a group of trajectory proposals selected based on their distances from neighboring agents. Our experiments conducted on the Argoverse and nuScenes datasets demonstrate that the proposed refinement network provides significant performance improvements compared to the single-stage baseline and that R-Pred achieves state-of-the-art performance in some categories of the benchmark.

我们提出了一个新的变压器模型，用于无监督学习骨架运动序列的任务。用于基于无监督骨骼的动作学习的现有变压器模型被了解到每个关节从相邻帧的瞬时速度没有全球运动信息。因此，该模型在学习全身运动和暂时遥远的关节方面的关注方面存在困难。此外，模型中尚未考虑人与人之间的互动。为了解决全身运动，远程时间动态和人与人之间的互动的学习，我们设计了一种全球和本地的注意机制，在其中，全球身体动作和本地关节运动相互关注。此外，我们提出了一种新颖的预处理策略，即多间隔姿势位移预测，以在不同的时间范围内学习全球和本地关注。提出的模型成功地学习了关节的局部动力学，并从运动序列中捕获了全局上下文。我们的模型优于代表性基准中明显边缘的最先进模型。代码可在https://github.com/boeun-kim/gl-transformer上找到。

Skeleton-based action recognition has attracted considerable attention due to its compact skeletal structure of the human body. Many recent methods have achieved remarkable performance using graph convolutional networks (GCNs) and convolutional neural networks (CNNs), which extract spatial and temporal features, respectively. Although spatial and temporal dependencies in the human skeleton have been explored, spatio-temporal dependency is rarely considered. In this paper, we propose the Inter-Frame Curve Network (IFC-Net) to effectively leverage the spatio-temporal dependency of the human skeleton. Our proposed network consists of two novel elements: 1) The Inter-Frame Curve (IFC) module; and 2) Dilated Graph Convolution (D-GC). The IFC module increases the spatio-temporal receptive field by identifying meaningful node connections between every adjacent frame and generating spatio-temporal curves based on the identified node connections. The D-GC allows the network to have a large spatial receptive field, which specifically focuses on the spatial domain. The kernels of D-GC are computed from the given adjacency matrices of the graph and reflect large receptive field in a way similar to the dilated CNNs. Our IFC-Net combines these two modules and achieves state-of-the-art performance on three skeleton-based action recognition benchmarks: NTU-RGB+D 60, NTU-RGB+D 120, and Northwestern-UCLA.

图形卷积网络（GCN）是基于骨架的动作识别的最常用方法，并取得了出色的性能。生成具有语义上有意义的边缘的邻接矩阵对于此任务尤其重要，但是提取此类边缘是具有挑战性的问题。为了解决这个问题，我们提出了一个具有新颖的分层分解图（HD-GRAPH）的分层分解图卷积网络（HD-GCN）结构。拟议的HD-GCN有效地将每个关节节点分解为几组，以提取相邻和远处的主要边缘，并使用它们构造了在人类骨架的同一语义空间中包含这些边缘的HD-GRAPH。此外，我们引入了一个注意引导的层次结构聚合（A-HA）模块，以突出HD图的主要分层边缘集。此外，我们采用了一种新的两链三图集合方法，该方法仅使用没有任何运动流的关节和骨流。评估了所提出的模型，并在三个大型流行数据集上获得最先进的性能：NTU-RGB+D 60，NTU-RGB+D 120和Northwestern-UCLA。最后，我们通过各种比较实验证明了模型的有效性。

The 3D-aware image synthesis focuses on conserving spatial consistency besides generating high-resolution images with fine details. Recently, Neural Radiance Field (NeRF) has been introduced for synthesizing novel views with low computational cost and superior performance. While several works investigate a generative NeRF and show remarkable achievement, they cannot handle conditional and continuous feature manipulation in the generation procedure. In this work, we introduce a novel model, called Class-Continuous Conditional Generative NeRF ($\text{C}^{3}$G-NeRF), which can synthesize conditionally manipulated photorealistic 3D-consistent images by projecting conditional features to the generator and the discriminator. The proposed $\text{C}^{3}$G-NeRF is evaluated with three image datasets, AFHQ, CelebA, and Cars. As a result, our model shows strong 3D-consistency with fine details and smooth interpolation in conditional feature manipulation. For instance, $\text{C}^{3}$G-NeRF exhibits a Fr\'echet Inception Distance (FID) of 7.64 in 3D-aware face image synthesis with a $\text{128}^{2}$ resolution. Additionally, we provide FIDs of generated 3D-aware images of each class of the datasets as it is possible to synthesize class-conditional images with $\text{C}^{3}$G-NeRF.

In both terrestrial and marine ecology, physical tagging is a frequently used method to study population dynamics and behavior. However, such tagging techniques are increasingly being replaced by individual re-identification using image analysis. This paper introduces a contrastive learning-based model for identifying individuals. The model uses the first parts of the Inception v3 network, supported by a projection head, and we use contrastive learning to find similar or dissimilar image pairs from a collection of uniform photographs. We apply this technique for corkwing wrasse, Symphodus melops, an ecologically and commercially important fish species. Photos are taken during repeated catches of the same individuals from a wild population, where the intervals between individual sightings might range from a few days to several years. Our model achieves a one-shot accuracy of 0.35, a 5-shot accuracy of 0.56, and a 100-shot accuracy of 0.88, on our dataset.

Feature selection helps reduce data acquisition costs in ML, but the standard approach is to train models with static feature subsets. Here, we consider the dynamic feature selection (DFS) problem where a model sequentially queries features based on the presently available information. DFS is often addressed with reinforcement learning (RL), but we explore a simpler approach of greedily selecting features based on their conditional mutual information. This method is theoretically appealing but requires oracle access to the data distribution, so we develop a learning approach based on amortized optimization. The proposed method is shown to recover the greedy policy when trained to optimality and outperforms numerous existing feature selection methods in our experiments, thus validating it as a simple but powerful approach for this problem.

The purpose of this work was to tackle practical issues which arise when using a tendon-driven robotic manipulator with a long, passive, flexible proximal section in medical applications. A separable robot which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. A control input which resolves the redundancy in the kinematics and a physical interpretation of this redundancy are provided. The effect of a static change in the proximal section angle on bending angle error was explored under four testing conditions for a sinusoidal input. Bending angle error increased for increasing proximal section angle for all testing conditions with an average error reduction of 41.48% for retension, 4.28% for hysteresis, and 52.35% for re-tension + hysteresis compensation relative to the baseline case. Two major sources of error in tracking the bending angle were identified: time delay from hysteresis and DC offset from the proximal section angle. Examination of these error sources revealed that the simple hysteresis compensation was most effective for removing time delay and re-tension compensation for removing DC offset, which was the primary source of increasing error. The re-tension compensation was also tested for dynamic changes in the proximal section and reduced error in the final configuration of the tip by 89.14% relative to the baseline case.

According to the rapid development of drone technologies, drones are widely used in many applications including military domains. In this paper, a novel situation-aware DRL- based autonomous nonlinear drone mobility control algorithm in cyber-physical loitering munition applications. On the battlefield, the design of DRL-based autonomous control algorithm is not straightforward because real-world data gathering is generally not available. Therefore, the approach in this paper is that cyber-physical virtual environment is constructed with Unity environment. Based on the virtual cyber-physical battlefield scenarios, a DRL-based automated nonlinear drone mobility control algorithm can be designed, evaluated, and visualized. Moreover, many obstacles exist which is harmful for linear trajectory control in real-world battlefield scenarios. Thus, our proposed autonomous nonlinear drone mobility control algorithm utilizes situation-aware components those are implemented with a Raycast function in Unity virtual scenarios. Based on the gathered situation-aware information, the drone can autonomously and nonlinearly adjust its trajectory during flight. Therefore, this approach is obviously beneficial for avoiding obstacles in obstacle-deployed battlefields. Our visualization-based performance evaluation shows that the proposed algorithm is superior from the other linear mobility control algorithms.

In robotics and computer vision communities, extensive studies have been widely conducted regarding surveillance tasks, including human detection, tracking, and motion recognition with a camera. Additionally, deep learning algorithms are widely utilized in the aforementioned tasks as in other computer vision tasks. Existing public datasets are insufficient to develop learning-based methods that handle various surveillance for outdoor and extreme situations such as harsh weather and low illuminance conditions. Therefore, we introduce a new large-scale outdoor surveillance dataset named eXtremely large-scale Multi-modAl Sensor dataset (X-MAS) containing more than 500,000 image pairs and the first-person view data annotated by well-trained annotators. Moreover, a single pair contains multi-modal data (e.g. an IR image, an RGB image, a thermal image, a depth image, and a LiDAR scan). This is the first large-scale first-person view outdoor multi-modal dataset focusing on surveillance tasks to the best of our knowledge. We present an overview of the proposed dataset with statistics and present methods of exploiting our dataset with deep learning-based algorithms. The latest information on the dataset and our study are available at https://github.com/lge-robot-navi, and the dataset will be available for download through a server.