Contrastive Learning has recently achieved state-of-the-art performance in a wide range of tasks. Many contrastive learning approaches use mined hard negatives to make batches more informative during training but these approaches are inefficient as they increase epoch length proportional to the number of mined negatives and require frequent updates of nearest neighbor indices or mining from recent batches. In this work, we provide an alternative to hard negative mining in supervised contrastive learning, Tail Batch Sampling (TBS), an efficient approximation to the batch assignment problem that upper bounds the gap between the global and training losses, $\mathcal{L}^{Global} - \mathcal{L}^{Train}$. TBS \textbf{improves state-of-the-art performance} in sentence embedding (+0.37 Spearman) and code-search tasks (+2.2\% MRR), is easy to implement - requiring only a few additional lines of code, does not maintain external data structures such as nearest neighbor indices, is more computationally efficient when compared to the most minimal hard negative mining approaches, and makes no changes to the model being trained.

本文提出了一个统一的神经网络结构，用于联合3D对象检测和点云分段。我们利用检测和分割标签的丰富监督，而不是使用其中一个。另外，基于广泛应用于3D场景和对象理解的隐式功能，提出了基于单级对象检测器的扩展。扩展分支从对象检测模块作为输入采用最终特征映射，并产生隐式功能，为其对应的体素中心产生每个点的语义分布。我们展示了我们在NUSCENES-LIDARSEG上的结构的表现，这是一个大型户外数据集。我们的解决方案在与对象检测解决方案相比，在3D对象检测和点云分割中实现了针对现有的方法的竞争结果。通过实验验证了所提出的方法的有效弱监管语义分割的能力。

视觉室内导航（VIN）任务已从数据驱动的机器学习社区中引起了人们的关注，尤其是在最近报告的基于学习方法的成功中。由于这项任务的先天复杂性，研究人员尝试从各种不同角度解决问题，其全部范围尚未在总体报告中捕获。这项调查首先总结了VIN任务的基于学习的方法的代表性工作，然后确定并讨论了阻碍VIN绩效的问题，并激发了值得探索社区的这些关键领域的未来研究。