Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of hybrid micro-small UAVs, coined as lifting-wing quadcopters. The airframe orientation of the lifting wing needs to tilt a specific angle often within $ 45$ degrees, neither nearly $ 90$ nor approximately $ 0$ degrees. Compared with some convertiplane and tail-sitter UAVs, the lifting-wing quadcopter has a highly reliable structure, robust wind resistance, low cruise speed and reliable transition flight, making it potential to work fully-autonomous outdoor or some confined airspace indoor. In the modeling part, forces and moments generated by both lifting wing and rotors are considered. Based on the established model, a unified controller for the full flight phase is designed. The controller has the capability of uniformly treating the hovering and forward flight, and enables a continuous transition between two modes, depending on the velocity command. What is more, by taking rotor thrust and aerodynamic force under consideration simultaneously, a control allocation based on optimization is utilized to realize cooperative control for energy saving. Finally, comprehensive Hardware-In-the-Loop (HIL) simulations are performed to verify the advantages of the designed aircraft and the proposed controller.

Graph Neural Networks (GNNs), originally proposed for node classification, have also motivated many recent works on edge prediction (a.k.a., link prediction). However, existing methods lack elaborate design regarding the distinctions between two tasks that have been frequently overlooked: (i) edges only constitute the topology in the node classification task but can be used as both the topology and the supervisions (i.e., labels) in the edge prediction task; (ii) the node classification makes prediction over each individual node, while the edge prediction is determinated by each pair of nodes. To this end, we propose a novel edge prediction paradigm named Edge-aware Message PassIng neuRal nEtworks (EMPIRE). Concretely, we first introduce an edge splitting technique to specify use of each edge where each edge is solely used as either the topology or the supervision (named as topology edge or supervision edge). We then develop a new message passing mechanism that generates the messages to source nodes (through topology edges) being aware of target nodes (through supervision edges). In order to emphasize the differences between pairs connected by supervision edges and pairs unconnected, we further weight the messages to highlight the relative ones that can reflect the differences. In addition, we design a novel negative node-pair sampling trick that efficiently samples 'hard' negative instances in the supervision instances, and can significantly improve the performance. Experimental results verify that the proposed method can significantly outperform existing state-of-the-art models regarding the edge prediction task on multiple homogeneous and heterogeneous graph datasets.

In this paper, we propose an effective unified control law for accurately tracking agile trajectories for lifting-wing quadcopters with different installation angles, which have the capability of vertical takeoff and landing (VTOL) as well as high-speed cruise flight. First, we derive a differential flatness transform for the lifting-wing dynamics with a nonlinear model under coordinated turn condition. To increase the tracking performance on agile trajectories, the proposed controller incorporates the state and input variables calculated from differential flatness as feedforward. In particular, the jerk, the 3-order derivative of the trajectory, is converted into angular velocity as a feedforward item, which significantly improves the system bandwidth. At the same time, feedback and feedforward outputs are combined to deal with external disturbances and model mismatch. The control algorithm has been thoroughly evaluated in the outdoor flight tests, which show that it can achieve accurate trajectory tracking.

Predicting personality traits based on online posts has emerged as an important task in many fields such as social network analysis. One of the challenges of this task is assembling information from various posts into an overall profile for each user. While many previous solutions simply concatenate the posts into a long document and then encode the document by sequential or hierarchical models, they introduce unwarranted orders for the posts, which may mislead the models. In this paper, we propose a dynamic deep graph convolutional network (D-DGCN) to overcome the above limitation. Specifically, we design a learn-to-connect approach that adopts a dynamic multi-hop structure instead of a deterministic structure, and combine it with a DGCN module to automatically learn the connections between posts. The modules of post encoder, learn-to-connect, and DGCN are jointly trained in an end-to-end manner. Experimental results on the Kaggle and Pandora datasets show the superior performance of D-DGCN to state-of-the-art baselines. Our code is available at https://github.com/djz233/D-DGCN.

We launch EVA, a vision-centric foundation model to explore the limits of visual representation at scale using only publicly accessible data. EVA is a vanilla ViT pre-trained to reconstruct the masked out image-text aligned vision features conditioned on visible image patches. Via this pretext task, we can efficiently scale up EVA to one billion parameters, and sets new records on a broad range of representative vision downstream tasks, such as image recognition, video action recognition, object detection, instance segmentation and semantic segmentation without heavy supervised training. Moreover, we observe quantitative changes in scaling EVA result in qualitative changes in transfer learning performance that are not present in other models. For instance, EVA takes a great leap in the challenging large vocabulary instance segmentation task: our model achieves almost the same state-of-the-art performance on LVISv1.0 dataset with over a thousand categories and COCO dataset with only eighty categories. Beyond a pure vision encoder, EVA can also serve as a vision-centric, multi-modal pivot to connect images and text. We find initializing the vision tower of a giant CLIP from EVA can greatly stabilize the training and outperform the training from scratch counterpart with much fewer samples and less compute, providing a new direction for scaling up and accelerating the costly training of multi-modal foundation models. To facilitate future research, we release all the code and models at https://github.com/baaivision/EVA.

In this work we propose a novel token-based training strategy that improves Transformer-Transducer (T-T) based speaker change detection (SCD) performance. The conventional T-T based SCD model loss optimizes all output tokens equally. Due to the sparsity of the speaker changes in the training data, the conventional T-T based SCD model loss leads to sub-optimal detection accuracy. To mitigate this issue, we use a customized edit-distance algorithm to estimate the token-level SCD false accept (FA) and false reject (FR) rates during training and optimize model parameters to minimize a weighted combination of the FA and FR, focusing the model on accurately predicting speaker changes. We also propose a set of evaluation metrics that align better with commercial use cases. Experiments on a group of challenging real-world datasets show that the proposed training method can significantly improve the overall performance of the SCD model with the same number of parameters.

While recent research advances in speaker diarization mostly focus on improving the quality of diarization results, there is also an increasing interest in improving the efficiency of diarization systems. In this paper, we propose a multi-stage clustering strategy, that uses different clustering algorithms for input of different lengths. Specifically, a fallback clusterer is used to handle short-form inputs; a main clusterer is used to handle medium-length inputs; and a pre-clusterer is used to compress long-form inputs before they are processed by the main clusterer. Both the main clusterer and the pre-clusterer can be configured with an upper bound of the computational complexity to adapt to devices with different constraints. This multi-stage clustering strategy is critical for streaming on-device speaker diarization systems, where the budgets of CPU, memory and battery are tight.

Recent 3D-based manipulation methods either directly predict the grasp pose using 3D neural networks, or solve the grasp pose using similar objects retrieved from shape databases. However, the former faces generalizability challenges when testing with new robot arms or unseen objects; and the latter assumes that similar objects exist in the databases. We hypothesize that recent 3D modeling methods provides a path towards building digital replica of the evaluation scene that affords physical simulation and supports robust manipulation algorithm learning. We propose to reconstruct high-quality meshes from real-world point clouds using state-of-the-art neural surface reconstruction method (the Real2Sim step). Because most simulators take meshes for fast simulation, the reconstructed meshes enable grasp pose labels generation without human efforts. The generated labels can train grasp network that performs robustly in the real evaluation scene (the Sim2Real step). In synthetic and real experiments, we show that the Real2Sim2Real pipeline performs better than baseline grasp networks trained with a large dataset and a grasp sampling method with retrieval-based reconstruction. The benefit of the Real2Sim2Real pipeline comes from 1) decoupling scene modeling and grasp sampling into sub-problems, and 2) both sub-problems can be solved with sufficiently high quality using recent 3D learning algorithms and mesh-based physical simulation techniques.

最近，基于云的图形卷积网络（GCN）在许多对隐私敏感的应用程序（例如个人医疗保健和金融系统）中表现出了巨大的成功和潜力。尽管在云上具有很高的推理准确性和性能，但在GCN推理中保持数据隐私，这对于这些实际应用至关重要，但仍未得到探索。在本文中，我们对此进行了初步尝试，并开发了$ \ textit {cryptogcn} $ - 基于GCN推理框架的同型加密（HE）。我们方法成功的关键是减少HE操作的巨大计算开销，这可能比明文空间中的同行高的数量级。为此，我们开发了一种方法，可以有效利用GCN推断中基质操作的稀疏性，从而大大减少计算开销。具体而言，我们提出了一种新型的AMA数据格式方法和相关的空间卷积方法，该方法可以利用复杂的图结构并在HE计算中执行有效的矩阵矩阵乘法，从而大大减少HE操作。我们还开发了一个合作式框架，该框架可以通过明智的修剪和GCN中激活模块的多项式近似来探索准确性，安全级别和计算开销之间的交易折扣。基于NTU-Xview骨架关节数据集，即，据我们所知，最大的数据集对同型的评估，我们的实验结果表明，$ \ textit {cryptogcn} $均优胜于最先进的解决方案。同构操作的延迟和数量，即在延迟上达到3.10 $ \ times $加速，并将总代态操作数量减少77.4 \％，而准确度的较小精度损失为1-1.5 $ \％$。

面向任务的对话框（TOD）系统通常需要与外部知识库的互动，以检索必要的实体（例如餐厅）信息以支持响应生成。大多数当前的端到端TOD系统要么明确检索KB信息，要么将其嵌入模型参数中以进行隐式访问。后一种方法显示出更高的灵活性和效率。在这两种方法中，系统都可以通过冲突的实体信息产生响应。为了解决此问题，我们建议先生成实体自动加压，并利用它来指导端到端系统中的响应生成。为了确保实体的一致性，我们对实体生成强加了三位一体的约束。我们还引入了logit串联策略，以促进梯度反向传播进行端到端培训。 Multiwoz 2.1单一和CAMREST的实验表明，我们的系统可以产生更多的高质量和实体一致的响应。