In this paper, we present a novel visual SLAM and long-term localization benchmark for autonomous driving in challenging conditions based on the large-scale 4Seasons dataset. The proposed benchmark provides drastic appearance variations caused by seasonal changes and diverse weather and illumination conditions. While significant progress has been made in advancing visual SLAM on small-scale datasets with similar conditions, there is still a lack of unified benchmarks representative of real-world scenarios for autonomous driving. We introduce a new unified benchmark for jointly evaluating visual odometry, global place recognition, and map-based visual localization performance which is crucial to successfully enable autonomous driving in any condition. The data has been collected for more than one year, resulting in more than 300 km of recordings in nine different environments ranging from a multi-level parking garage to urban (including tunnels) to countryside and highway. We provide globally consistent reference poses with up to centimeter-level accuracy obtained from the fusion of direct stereo-inertial odometry with RTK GNSS. We evaluate the performance of several state-of-the-art visual odometry and visual localization baseline approaches on the benchmark and analyze their properties. The experimental results provide new insights into current approaches and show promising potential for future research. Our benchmark and evaluation protocols will be available at https://www.4seasons-dataset.com/.

Open vocabulary object detection has been greatly advanced by the recent development of vision-language pretrained model, which helps recognize novel objects with only semantic categories. The prior works mainly focus on knowledge transferring to the object proposal classification and employ class-agnostic box and mask prediction. In this work, we propose CondHead, a principled dynamic network design to better generalize the box regression and mask segmentation for open vocabulary setting. The core idea is to conditionally parameterize the network heads on semantic embedding and thus the model is guided with class-specific knowledge to better detect novel categories. Specifically, CondHead is composed of two streams of network heads, the dynamically aggregated head and the dynamically generated head. The former is instantiated with a set of static heads that are conditionally aggregated, these heads are optimized as experts and are expected to learn sophisticated prediction. The latter is instantiated with dynamically generated parameters and encodes general class-specific information. With such a conditional design, the detection model is bridged by the semantic embedding to offer strongly generalizable class-wise box and mask prediction. Our method brings significant improvement to the state-of-the-art open vocabulary object detection methods with very minor overhead, e.g., it surpasses a RegionClip model by 3.0 detection AP on novel categories, with only 1.1% more computation.

Fine-grained capturing of 3D HOI boosts human activity understanding and facilitates downstream visual tasks, including action recognition, holistic scene reconstruction, and human motion synthesis. Despite its significance, existing works mostly assume that humans interact with rigid objects using only a few body parts, limiting their scope. In this paper, we address the challenging problem of f-AHOI, wherein the whole human bodies interact with articulated objects, whose parts are connected by movable joints. We present CHAIRS, a large-scale motion-captured f-AHOI dataset, consisting of 16.2 hours of versatile interactions between 46 participants and 81 articulated and rigid sittable objects. CHAIRS provides 3D meshes of both humans and articulated objects during the entire interactive process, as well as realistic and physically plausible full-body interactions. We show the value of CHAIRS with object pose estimation. By learning the geometrical relationships in HOI, we devise the very first model that leverage human pose estimation to tackle the estimation of articulated object poses and shapes during whole-body interactions. Given an image and an estimated human pose, our model first reconstructs the pose and shape of the object, then optimizes the reconstruction according to a learned interaction prior. Under both evaluation settings (e.g., with or without the knowledge of objects' geometries/structures), our model significantly outperforms baselines. We hope CHAIRS will promote the community towards finer-grained interaction understanding. We will make the data/code publicly available.

This paper presents E5, a family of state-of-the-art text embeddings that transfer well to a wide range of tasks. The model is trained in a contrastive manner with weak supervision signals from our curated large-scale text pair dataset (called CCPairs). E5 can be readily used as a general-purpose embedding model for any tasks requiring a single-vector representation of texts such as retrieval, clustering, and classification, achieving strong performance in both zero-shot and fine-tuned settings. We conduct extensive evaluations on 56 datasets from the BEIR and MTEB benchmarks. For zero-shot settings, E5 is the first model that outperforms the strong BM25 baseline on the BEIR retrieval benchmark without using any labeled data. When fine-tuned, E5 obtains the best results on the MTEB benchmark, beating existing embedding models with 40x more parameters.

Most Deep Learning (DL) based Compressed Sensing (DCS) algorithms adopt a single neural network for signal reconstruction, and fail to jointly consider the influences of the sampling operation for reconstruction. In this paper, we propose unified framework, which jointly considers the sampling and reconstruction process for image compressive sensing based on well-designed cascade neural networks. Two sub-networks, which are the sampling sub-network and the reconstruction sub-network, are included in the proposed framework. In the sampling sub-network, an adaptive full connected layer instead of the traditional random matrix is used to mimic the sampling operator. In the reconstruction sub-network, a cascade network combining stacked denoising autoencoder (SDA) and convolutional neural network (CNN) is designed to reconstruct signals. The SDA is used to solve the signal mapping problem and the signals are initially reconstructed. Furthermore, CNN is used to fully recover the structure and texture features of the image to obtain better reconstruction performance. Extensive experiments show that this framework outperforms many other state-of-the-art methods, especially at low sampling rates.

This paper presents ReasonFormer, a unified reasoning framework for mirroring the modular and compositional reasoning process of humans in complex decision-making. Inspired by dual-process theory in cognitive science, the representation module (automatic thinking) and reasoning modules (controlled thinking) are decoupled to capture different levels of cognition. Upon the top of the representation module, the pre-trained reasoning modules are modular and professional in specific and fundamental reasoning skills (e.g., logic, simple QA, etc). To mimic the controlled compositional thinking process, different reasoning modules are dynamically activated and composed in both parallel and cascaded manners to control what reasoning skills are activated and how deep the reasoning process will be reached to solve the current problems. The unified reasoning framework solves multiple tasks with a single model, and is trained and inferred in an end-to-end manner. Evaluated on 11 datasets requiring different reasoning skills and complexity, ReasonFormer demonstrates substantial performance boosts, revealing the compositional reasoning ability. Few-shot experiments exhibit better generalization ability by learning to compose pre-trained skills for new tasks with limited data, and decoupling the representation module and the reasoning modules. Further analysis shows the modularity of reasoning modules as different tasks activate distinct reasoning skills at different reasoning depths.

在各个领域（例如政治，健康和娱乐）中的真实和虚假新闻每天都通过在线社交媒体传播，需要对多个领域进行虚假新闻检测。其中，在政治和健康等特定领域中的虚假新闻对现实世界产生了更严重的潜在负面影响（例如，由Covid-19的错误信息引导的流行病）。先前的研究着重于多域假新闻检测，同样采矿和建模域之间的相关性。但是，这些多域方法遇到了SEESAW问题：某些域的性能通常会以损害其他域的性能而改善，这可能导致在特定领域的表现不满意。为了解决这个问题，我们建议一个用于假新闻检测（DITFEND）的域和实例级传输框架，这可以改善特定目标域的性能。为了传递粗粒域级知识，我们从元学习的角度训练了所有域数据的通用模型。为了传输细粒度的实例级知识并将一般模型调整到目标域，我们在目标域上训练语言模型，以评估每个数据实例在源域中的可传递性，并重新赢得每个实例的贡献。两个数据集上的离线实验证明了Ditfend的有效性。在线实验表明，在现实世界中，Ditfend对基本模型带来了更多改进。

有效的缩放和灵活的任务接口使大型语言模型能够在许多任务中表现出色。帕利（Pali）根据视觉和文本输入生成文本，并使用该界面以许多语言执行许多视觉，语言和多模式任务。为了训练帕利，我们利用了大型的编码器语言模型和视觉变压器（VITS）。这使我们能够利用其现有能力，并利用培训它们的大量成本。我们发现，视觉和语言组成部分的联合缩放很重要。由于现有的语言变压器比其视觉对应物要大得多，因此我们训练迄今为止最大的VIT（VIT-E），以量化甚至大容量视觉模型的好处。为了训练Pali，我们基于一个新的图像文本训练集，其中包含10B图像和文本，以100多种语言来创建大型的多语言组合。帕利（Pali）在多个视觉和语言任务（例如字幕，视觉问题，索方式，场景文本理解）中实现了最新的，同时保留了简单，模块化和可扩展的设计。

近三年来，异质图神经网络（HGNN）吸引了研究的兴趣。大多数现有的HGNN分为两类。一个类是基于元路径的HGNN，要么需要域知识才能手工制作元路径，要么花费大量时间和内存来自动构建元路径。另一个类不依赖元路径结构。它将均匀的卷积图神经网络（Conv-GNN）作为骨架，并通过引入节点型和边缘型依赖性参数将其扩展到异质图。不管元路径依赖性如何，大多数现有的HGNN都采用浅层探测器（例如GCN和GAT）来汇总邻里信息，并且可能有限地捕获高阶邻里信息的能力。在这项工作中，我们提出了两个异构图树网络模型：异质图树卷积网络（HETGTCN）和异质图树注意网络（HETGTAN），它们不依赖元路径来在两个节点特征和图形结构中编码异质性。在三个现实世界的异质图数据上进行了广泛的实验表明，所提出的HETGTCN和HETGTAN具有有效的效率，并且一致地超过了所有最先进的HGNN基准在半监视的节点分类任务上，并且可以深入不受损害的性能。

捕获不规则点云的局部和全局特征对于3D对象检测（3OD）至关重要。但是，主流3D探测器，例如，投票机及其变体，要么放弃池操作过程中的大量本地功能，要么忽略整个场景中的许多全球功能。本文探讨了新的模块，以同时学习积极服务3OD的场景点云的局部全球特征。为此，我们通过同时局部全球特征学习（称为3DLG-detector）提出了一个有效的3OD网络。 3DLG检测器有两个关键贡献。首先，它会开发一个动态点交互（DPI）模块，该模块可在合并过程中保留有效的本地特征。此外，DPI是可拆卸的，可以将其合并到现有的3OD网络中以提高其性能。其次，它开发了一个全局上下文聚合模块，以汇总编码器不同层的多尺度特征，以实现场景上下文意识。我们的方法在SUN RGB-D和扫描仪数据集的检测准确性和鲁棒性方面显示了13个竞争对手的进步。源代码将在出版物时提供。