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Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged, vision-based navigation has been a promising and feasible alternative to GNSS-based navigation. However, existing vision-based techniques are inadequate in addressing flight deviation caused by environmental disturbances and inaccurate position predictions in practical settings. In this paper, we present a novel angle robustness navigation paradigm to deal with flight deviation in point-to-point navigation tasks. Additionally, we propose a model that includes the Adaptive Feature Enhance Module, Cross-knowledge Attention-guided Module and Robust Task-oriented Head Module to accurately predict direction angles for high-precision navigation. To evaluate the vision-based navigation methods, we collect a new dataset termed as UAV\_AR368. Furthermore, we design the Simulation Flight Testing Instrument (SFTI) using Google Earth to simulate different flight environments, thereby reducing the expenses associated with real flight testing. Experiment results demonstrate that the proposed model outperforms the state-of-the-art by achieving improvements of 26.0\% and 45.6\% in the success rate of arrival under ideal and disturbed circumstances, respectively.

AAAI 2024

Angle Robustness Unmanned Aerial Vehicle Navigation in GNSS-Denied Scenarios

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We are pleased to announce the Thirty-Eighth AAAI Conference on Artificial Intelligence (AAAI-24), which will be held in Vancouver, British Columbia at the Vancouver Convention Centre – West Building from 20-27 February, 2024.

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-24 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.

We expect for AAAI-24 to be an in-person conference – one author of all accepted papers will be expected to present work in person unless there are exceptional circumstances that prevent this.<br><br><br><br>

In order to access the AAAI-24 event page you need to register [here](https://aaai.org/aaai-conference/registration/)

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. 

Contrastive-learning-based methods have dominated sentence representation learning. These methods regularize the representation space by pulling similar sentence representations closer and pushing away the dissimilar ones and have been proven effective in various NLP tasks, e.g., semantic textual similarity (STS) tasks. However, it is challenging for these methods to learn fine-grained semantics as they only learn from the inter-sentence perspective, i.e., their supervision signal comes from the relationship between data samples. In this work, we propose a novel denoising objective that inherits from another perspective, i.e., the intra-sentence perspective. By introducing both discrete and continuous noise, we generate noisy sentences and then train our model to restore them to their original form. Our empirical evaluations demonstrate that this approach delivers competitive results on both semantic textual similarity (STS) and a wide range of transfer tasks, standing up well in comparison to contrastive-learning-based methods. Notably, the proposed intra-sentence denoising objective complements existing inter-sentence contrastive methodologies and can be integrated with them to further enhance performance.  Our code is available at https://github.com/xinghaow99/DenoSent.

DenoSent: A Denoising Objective for Self-Supervised Sentence Representation Learning

In recent years, vision language pre-training frameworks have made significant progress in natural language processing and computer vision, achieving remarkable performance improvement on various downstream tasks. However, when extended to point cloud data, existing works mainly focus on building task-specific models, and fail to extract universal 3D vision-language embedding that generalize well. We carefully investigate three common tasks in semantic 3D scene understanding, and derive key insights into the development of a pre-training model. Motivated by these observations, we propose a vision-language pre-training framework 3DVLP (3D vision-language pre-training with object contrastive learning), which transfers flexibly on 3D vision-language downstream tasks. 3DVLP takes visual grounding as the proxy task and introduces Object-level IoU-guided Detection (OID) loss to obtain high-quality proposals in the scene. Moreover, we design Object-level Cross-Contrastive alignment (OCC) task and Object-level Self-Contrastive learning (OSC) task to align the objects with descriptions and distinguish different objects in the scene, respectively. Extensive experiments verify the excellent performance of 3DVLP on three 3D vision-language tasks, reflecting its superiority in semantic 3D scene understanding.

Vision-Language Pre-training with Object Contrastive Learning for 3D Scene Understanding

Blind Image Quality Assessment (BIQA) aims to simulate human assessment of image quality. It has a great demand for labeled data, which is often insufficient in practice. Some researchers employ unsupervised methods to address this issue, which is challenging to emulate the human subjective system. To this end, we introduce a unified framework that combines semi-supervised and incremental learning to address the mentioned issue. Specifically, when training data is limited, semi-supervised learning is necessary to infer extensive unlabeled data. To facilitate semi-supervised learning, we use knowledge distillation to assign pseudo-labels to unlabeled data, preserving analytical capability. To gradually improve the quality of pseudo labels, we introduce incremental learning. However, incremental learning can lead to catastrophic forgetting. We employ Experience Replay by selecting representative samples during multiple rounds of semi-supervised learning, to alleviate forgetting and ensure model stability. Experimental results show that the proposed approach achieves state-of-the-art performance across various benchmark datasets. After being trained on the LIVE dataset, our method can be directly transferred to the CSIQ dataset. Compared with other methods, it significantly outperforms unsupervised methods on the CSIQ dataset with a marginal performance drop (-0.002) on the LIVE dataset. In conclusion, our proposed method demonstrates its potential to tackle the challenges in real-world production processes.

Semi-supervised Blind Image Quality Assessment through Knowledge Distillation and Incremental Learning

Spatiotemporal social behavior analysis is a technique that studies the social behavior patterns of objects and estimates their risks based on their trajectories. In social public scenarios such as train stations, hidden following behavior has become one of the most challenging issues due to its probability of evolving into violent events, which is more than 25\%. In recent years, research on hidden following detection (HFD) has focused on differences in time series between hidden followers and normal pedestrians under two temporal characteristics: gaze and spatial distance. However, the time-domain representation for time series is irreversible and usually causes the loss of critical information. In this paper, we deeply study the expression efficiency of time/frequency domain features of time series, by exploring the recovery mechanism of features to source time series, we establish a fidelity estimation method for feature expression and a selection model for frequency-domain features based on the signal-to-distortion ratio (SDR). Experimental results demonstrate the feature fidelity of time series and HFD performance are positively correlated, and the fidelity of frequency-domain features and HFD performance are significantly better than the time-domain features. On both real and simulated datasets, the $F_1$ score of the proposed method is increased by 3\%, and the gaze-only module is improved by 10\%. Related research has explored new methods for optimal feature selection based on fidelity, new patterns for efficient feature expression of hidden following behavior, and explored the mechanism of multimodal collaborative identification.

Hidden Follower Detection: How Is the Gaze-Spacing Pattern Embodied in Frequency Domain?

Few-shot object detection (FSOD) aims at extending a generic detector for novel object detection with only a few training examples. It attracts great concerns recently due to the practical meanings. Meta-learning has been demonstrated to be an effective paradigm for this task. In general, methods based on meta-learning employ an additional support branch to encode novel examples (a.k.a. support images) into class prototypes, which are then fused with query branch to facilitate the model prediction. However, the class-level prototypes are difficult to precisely generate, and they also lack detailed information, leading to instability in performance. New methods are required to capture the distinctive local context for more robust novel object detection. To this end, we propose to distill the most representative support features into fine-grained prototypes. These prototypes are then assigned into query feature maps based on the matching results, modeling the detailed feature relations between two branches. This process is realized by our Fine-Grained Feature Aggregation (FFA) module. Moreover, in terms of high-level feature fusion, we propose Balanced Class-Agnostic Sampling (B-CAS) strategy and Non-Linear Fusion (NLF) module from differenct perspectives. They are complementary to each other and depict the high-level feature relations more effectively. Extensive experiments on PASCAL VOC and MS COCO benchmarks show that our method sets a new state-of-the-art performance in most settings. Our code is available at https://github.com/wangchen1801/FPD.

Fine-Grained Prototypes Distillation for Few-Shot Object Detection

Learning from noisy data has attracted much attention, where most methods focus on closed-set label noise. However, a more common scenario in the real world is the presence of both open-set and closed-set noise. Existing methods typically identify and handle these two types of label noise separately by designing a specific strategy for each type. However, in many real-world scenarios, it would be challenging to identify open-set examples, especially when the dataset has been severely corrupted. Unlike the previous works, we explore how models behave when faced with open-set examples, and find that a part of open-set examples gradually get integrated into certain known classes, which is beneficial for the separation among known classes. Motivated by the phenomenon, we propose a novel two-step contrastive learning method CECL (Class Expansion Contrastive Learning) which aims to deal with both types of label noise by exploiting the useful information of open-set examples. Specifically, we incorporate some open-set examples into closed-set classes to enhance performance while treating others as delimiters to improve representative ability. Extensive experiments on synthetic and real-world datasets with diverse label noise demonstrate the effectiveness of CECL.

Unlocking the Power of Open Set: A New Perspective for Open-Set Noisy Label Learning

Diffusion models have achieved remarkable progress in low-light image enhancement. However, there remain two practical limitations: (1) existing methods mainly focus on the spatial domain for the diffusion process, while neglecting the essential features in the frequency domain; (2) conventional patch-based sampling strategy inevitably leads to severe checkerboard artifacts due to the uneven overlapping. To address these limitations in one go, we propose a Multi-Domain Multi-Scale (MDMS) diffusion model for low-light image enhancement. In particular, we introduce a spatial-frequency fusion module to seamlessly integrates spatial and frequency information. By leveraging the Multi-Domain Learning (MDL) paradigm, our proposed model is endowed with the capability to adaptively facilitate noise distribution learning, thereby enhancing the quality of the generated images. Meanwhile, we propose a Multi-Scale Sampling (MSS) strategy that follows a divide-ensemble manner by merging the restored patches under different resolutions. Such a multi-scale learning paradigm explicitly derives patch information from different granularities, thus leading to smoother boundaries. Furthermore, we empirically adopt the Bright Channel Prior (BCP) which indicates natural statistical regularity as an additional restoration guidance. Experimental results on LOL and LOLv2 datasets demonstrate that our method achieves state-of-the-art performance for the low-light image enhancement task. Codes are available at https://github.com/Oliiveralien/MDMS.

Multi-Domain Multi-Scale Diffusion Model for Low-Light Image Enhancement | VIDEO

To enhance the interaction between intelligent systems and the environment, locating the affordance regions of objects is crucial. These regions correspond to specific areas that provide distinct functionalities. Humans often acquire the ability to identify these regions through action demonstrations and verbal instructions. In this paper, we present a novel multimodal framework that extracts affordance knowledge from exocentric images, which depict human-object interactions, as well as from accompanying textual descriptions that describe the performed actions. The extracted knowledge is then transferred to egocentric images.
To achieve this goal, we propose the HOI-Transfer Module, which utilizes local perception to disentangle individual actions within exocentric images. This module effectively captures localized features and correlations between actions, leading to valuable affordance knowledge. Additionally, we introduce the Pixel-Text Fusion Module, which fuses affordance knowledge by identifying regions in egocentric images that bear resemblances to the textual features defining affordances.
We employ a Weakly Supervised Multimodal Affordance (WSMA) learning approach, utilizing image-level labels for training. Through extensive experiments, we demonstrate the superiority of our proposed method in terms of evaluation metrics and visual results when compared to existing affordance grounding models. Furthermore, ablation experiments confirm the effectiveness of our approach. Code:https://github.com/xulingjing88/WSMA.

Weakly Supervised Multimodal Affordance Grounding for Egocentric Images | VIDEO

Multimodal Entity Linking (MEL) aims at linking ambiguous mentions with multimodal information to entity in Knowledge Graph (KG) such as Wikipedia, which plays a key role in many applications. However, existing methods suffer from shortcomings, including modality impurity such as noise in raw image and ambiguous textual entity representation, which puts obstacles to MEL. We formulate multimodal entity linking as a neural text matching problem where each multimodal information (text and image) is treated as a query, and the model learns the mapping from each query to the relevant entity from candidate entities. This paper introduces a dual-way enhanced (DWE) framework for MEL: (1) our model refines queries with multimodal data and addresses semantic gaps using cross-modal enhancers between text and image information. Besides, DWE innovatively leverages fine-grained image attributes, including facial characteristic and scene feature, to enhance and refine visual features. (2)By using Wikipedia descriptions, DWE enriches entity semantics and obtains more comprehensive textual representation, which reduces between textual representation and the entities in KG. Extensive experiments on three public benchmarks demonstrate that our method achieves state-of-the-art (SOTA) performance, indicating the superiority of our model. The code will be made public available.

A Dual-Way Enhanced Framework from Text Matching Point of View for Multimodal Entity Linking

Passive object detectors, trained on large-scale static datasets, often overlook the feedback from object detection to image acquisition. Embodied vision and active detection mitigate this issue by interacting with the environment. Nevertheless, the materialization of activeness hinges on resource-intensive data collection and annotation. To tackle these challenges, we propose a collaborative student-teacher framework. Technically, a replay buffer is built based on the trajectory data to encapsulate the relationship of state, action, and reward. In addition, the student network diverges from reinforcement learning by redefining sequential decision pathways using a GPT structure enriched with causal self-attention. Moreover, the teacher network establishes a subtle state-reward mapping based on adjacent benefit differences, providing reliable rewards for student adaptively self-tuning with the vast unlabeled replay buffer data. Additionally, an innovative yet straightforward benefit reference value is proposed within the teacher network, adding to its effectiveness and simplicity. Leveraging a flexible replay buffer and embodied collaboration between teacher and student, the framework learns to see before detection with shallower features and shorter inference steps. Experiments highlight significant advantages of our algorithm over state-of-the-art detectors.

Angle Robustness Unmanned Aerial Vehicle Navigation in GNSS-Denied Scenarios

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DenoSent: A Denoising Objective for Self-Supervised Sentence Representation Learning

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Angle Robustness Unmanned Aerial Vehicle Navigation in GNSS-Denied Scenarios

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DenoSent: A Denoising Objective for Self-Supervised Sentence Representation Learning

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