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IEEE International Conference on Robotics and Automation (ICRA)

作者： Huanfeng Zhao Meibao Yao Xueming Xiao Bo Zheng Intelligent Robotics Lab (IRL) School of Artificial Intelligence Jilin University Changchun China Engineering Research Center of Knowledge-Driven Human-Machine Intelligence Ministry of Education China CVIR Lab Changchun University of Science and Technology Changchun China Key Lab of Opto-Electronic Measurement and Optical Information Transmission Technology Shanghai Aerospace Control Technology Institute Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Dynamic objects diversify the distribution of point cloud in the map, degrading the performance of the robotic downstream tasks. To address this problem, we present a novel real-time dynamic instance-aware static mapping framework called DynaInsRemover, which exploits the geometric discrepancies between instances to efficiently remove dynamic objects and preserve more details of static map. It contains the Instance Occupancy Check module for initial dynamic instance proposal and the Instance Belief Update module for reverting false positives. We quantitatively evaluate our approach performance on the SemanticKITTI dataset and validate it in a real-world environment. Experimental evaluations show that our method achieves very promising results in dynamic environments. The implementation of our method is available as open source at: https://***/Zhaohuanfeng/***.

关键词： Point cloud compression Three-dimensional displays Laser radar Real-time systems Windows Proposals Object recognition

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LPL-SLAM: LiDAR SLAM with Plane and Line Optimization for Structural Environment

LPL-SLAM: LiDAR SLAM with Plane and Line Optimization for St...

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On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Huanfeng Zhao Meibao Yao Xueming Xiao Bo Zheng Tao Cao Tao Hu Intelligent Robotics Lab (IRL) School of Artificial Intelligence Jilin University Changchun China Engineering Research Center of Knowledge-Driven Human-Machine Intelligence Ministry of Education China CVIR Lab Changchun University of Science and Technology Changchun China Key Lab of Opto-Electronic Measurement and Optical Information Transmission Technology Shanghai Aerospace Control Technology Institute Shanghai China

In LiDAR SLAM, data association of sparse LiDAR scan and high computational complexity of point-to-model metrics limit real-time applications of joint optimization module like Bundle Adjustment in Visual SLAM, which leads to cumulative errors deteriorating performance. To address this drawback, in this paper, we propose LPL-SLAM with plane and line optimization for the structural environment. Since plane and line primitives are ubiquitous in man-made environments, we treat the primitives as landmarks to process scans. We introduce line and plane factors relying on line-to-line and plane-to-plane metrics to optimize keyframe poses, planes and lines. With the line and plane factors, our system avoids a large-scale optimization problem and yields accurate and consistent tracking poses. Experimental results demonstrate that LPL-SLAM outperforms the state-of-the-art algorithms and achieves real-time performance.

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Violence Detection In Videos via Motion-Guided Global and Local Views

Violence Detection In Videos via Motion-Guided Global and Lo...

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IEEE International Conference on data Science in Cyberspace (DSC)

作者： Ning Su Lijuan Sun Yutong Gao Jingchen Wu Xu Wu Key Laboratory of Trustworthy Distributed Computing and Service Ministry of Education School of Cyberspace Security BUPT School of Economics and Management Beijing University of Posts and Telecommunications Beijing China Beijing Key Lab of Traffic Data Analysis and Mining Beijing Jiaotong University Beijing China School of Computer Science (National Pilot Software Engineering School) BUPT

Video violence detection aims to locate the time window in which violent behavior occurs. Most methods focus on utilizing RGB features directly or only fusing RGB and audio features, ignoring the effective exploitation of motion information carried in optical flow. This lack of emphasis on motion information may impact the overall accuracy of violence detection. Moreover, we observe that videos contain strong local correlations, so it is insufficient to analyze only from a holistic perspective without capturing finer details. Therefore, in this paper, we design a novel Global-and-Local Cross-Modal Network (GL-CMN) for violence detection, which effectively integrates motion information and multi-granularity features from target videos. Specifically, we first propose a Motion-Guided Attention Module (MGAM) to obtain enhanced visual features by calibrating RGB features through optical flow features. Secondly, The enhanced features are simultaneously fed into two parallel branches of the network. The global branch fuses the visual and audio features into holistic representations. The local branch extracts multi-scale temporal dependencies through dilated convolutions. Experiments demonstrate that our method exhibits significant improvement compared to previous state-of-the-art methods on the XD-Violence dataset.

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M3TTS: Multi-Modal Text-to-Speech of Multi-Scale Style Control for Dubbing

SSRN

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SSRN 2023年

作者： Liu, Yan Wei, Li-Fang Qian, Xinyuan Zhang, Tian-Hao Chen, Song-Lu Yin, Xu-Cheng School of Computer and Communication Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education Beijing100083 China USTB-EEasyTech Joint Lab of Artificial Intelligence University of Science and Technology Beijing Beijing100083 China University of Science and Technology Beijing China

Dubbing refers to the procedure of recording characters by professional voice actors in films and games. It is more expressive and immersive than conventional text-to-speech (TTS) technologies and requires synchronization and style consistency of audio and video. Previous dubbing methods use video to provide either a global style vector or a local prosody embedding, limiting the expressiveness of the predicted waveform. To generate more expressive audio with precise visual temporal alignment, we propose a multi-modal multi-scale expressive speech synthesis method, namely multi-modal multi-scale TTS (M3TTS), which introduces an auxiliary video input to provide style embedding. Specifically, M3TTS adopts a memory network to bridge heterogeneous modalities and further solves the training-inference style mismatch in conventional multi-modal TTS. To enhance the expressiveness of synthesized audio, a multi-scale style modeling scheme is used for recovering style characteristics at different scales. In addition, M3TTS can convert the style of speech by choosing different reference videos. We conduct extensive experiments on the public GRID corpus, where our proposed M3TTS can generate high-quality video-aligned speech. It also shows superior performance over the other comparable methods, both subjectively and objectively. © 2023, The Authors. All rights reserved.

关键词： Embeddings

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Disentangled Noisy Correspondence Learning

arXiv

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arXiv 2024年

作者： Dang, Zhuohang Luo, Minnan Wang, Jihong Jia, Chengyou Han, Haochen Wan, Herun Dai, Guang Chang, Xiaojun Wang, Jingdong The School of Computer Science and Technology The Ministry of Education Key Laboratory of Intelligent Networks and Network Security The Shaanxi Province Key Laboratory of Big Data Knowledge Engineering Xi'an Jiaotong University Shaanxi Xi'An710049 China SGIT AI Lab State Grid Shaanxi Electric Power Company Limited State Grid Corporation of China Shaanxi China The School of Information Science and Technology University of Science and Technology China United Arab Emirates The Baidu Inc China

Cross-modal retrieval is crucial in understanding latent correspondences across modalities. However, existing methods implicitly assume well-matched training data, which is impractical as real-world data inevitably involves imperfect alignments, i.e., noisy correspondences. Although some works explore similarity-based strategies to address such noise, they suffer from sub-optimal similarity predictions influenced by modality-exclusive information (MEI), e.g., background noise in images and abstract definitions in texts. This issue arises as MEI is not shared across modalities, thus aligning it in training can markedly mislead similarity predictions. Moreover, although intuitive, directly applying previous cross-modal disentanglement methods suffers from limited noise tolerance and disentanglement efficacy. Inspired by the robustness of information bottlenecks against noise, we introduce DisNCL, a novel information-theoretic framework for feature Disentanglement in Noisy Correspondence Learning, to adaptively balance the extraction of MII and MEI with certifiable optimal cross-modal disentanglement efficacy. DisNCL then enhances similarity predictions in modality-invariant subspace, thereby greatly boosting similarity-based alleviation strategy for noisy correspondences. Furthermore, DisNCL introduces soft matching targets to model noisy many-to-many relationships inherent in multi-modal input for noise-robust and accurate cross-modal alignment. Extensive experiments confirm DisNCL's efficacy by 2% average recall improvement. Mutual information estimation and visualization results show that DisNCL learns meaningful MII/MEI subspaces, validating our theoretical analyses. Copyright © 2024, The Authors. All rights reserved.

关键词： Contrastive Learning

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A Low-rank Matching Attention based Cross-modal Feature Fusion Method for Conversational Emotion Recognition

arXiv

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arXiv 2023年

作者： Shou, Yuntao Liu, Huan Cao, Xiangyong Meng, Deyu Dong, Bo School of Computer Science and Technology The Ministry of Education Key Laboratory for Intelligent Networks and Network Security The Shaanxi Province Key Laboratory of Big Data Knowledge Engineering Xi’an Jiaotong Shaanxi Xi’an710049 China School of Computer Science and Technology Xi’an Jiaotong Shaanxi Xi’an710049 China The BigKE Joint Innovation Center SHMEEA Shanghai China School of Mathematics and Statistics Xi’an Jiaotong University Xi’an China

Conversational emotion recognition (CER) is an important research topic in human-computer interactions. Although recent advancements in transformer-based cross-modal fusion methods have shown promise in CER tasks, they tend to overlook the crucial intra-modal and inter-modal emotional interaction or suffer from high computational complexity. To address this, we introduce a novel and lightweight cross-modal feature fusion method called Low-Rank Matching Attention Method (LMAM). LMAM effectively captures contextual emotional semantic information in conversations while mitigating the quadratic complexity issue caused by the self-attention mechanism. Specifically, by setting a matching weight and calculating inter-modal features attention scores row by row, LMAM requires only one-third of the parameters of self-attention methods. We also employ the low-rank decomposition method on the weights to further reduce the number of parameters in LMAM. As a result, LMAM offers a lightweight model while avoiding overfitting problems caused by a large number of parameters. Moreover, LMAM is able to fully exploit the intra-modal emotional contextual information within each modality and integrates complementary emotional semantic information across modalities by computing and fusing similarities of intra-modal and inter-modal features simultaneously. Experimental results verify the superiority of LMAM compared with other popular cross-modal fusion methods on the premise of being more lightweight. Also, LMAM can be embedded into any existing state-of-the-art CER methods in a plug-and-play manner, and can be applied to other multi-modal recognition tasks, e.g., session recommendation and humour detection, demonstrating its remarkable generalization ability. Copyright © 2023, The Authors. All rights reserved.

关键词： Semantics

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Generative AI for Deep Reinforcement Learning: Framework, Analysis, and Use Cases

arXiv

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arXiv 2024年

作者： Sun, Geng Xie, Wenwen Niyato, Dusit Mei, Fang Kang, Jiawen Du, Hongyang Mao, Shiwen College of Computer Science and Technology Jilin University Changchun130012 China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China College of Computing and Data Science Nanyang Technological University Singapore639798 Singapore School of Automation Guangdong University of Technology Guangzhou510006 China Department of Electrical and Electronic Engineering The University of Hong Kong 999077 Hong Kong Department of Electrical and Computer Engineering Auburn University Auburn36830 United States

As a form of artificial intelligence (AI) technology based on interactive learning, deep reinforcement learning (DRL) has been widely applied across various fields and has achieved remarkable accomplishments. However, DRL faces certain limitations, including low sample efficiency and poor generalization. Therefore, we present how to leverage generative AI (GAI) to address these issues above and enhance the performance of DRL algorithms in this paper. We first introduce several classic GAI and DRL algorithms and demonstrate the applications of GAI-enhanced DRL algorithms. Then, we discuss how to use GAI to improve DRL algorithms from the data and policy perspectives. Subsequently, we introduce a framework that demonstrates an actual and novel integration of GAI with DRL, i.e., GAI-enhanced DRL. Additionally, we provide a case study of the framework on UAV-assisted integrated near-field/far-field communication to validate the performance of the proposed framework. Moreover, we present several future directions. Finally, the related code is available at: https://***/GAI-enhanced-DRL. Copyright © 2024, The Authors. All rights reserved.

关键词： Deep reinforcement learning

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ZSTAD: Zero-Shot Temporal Activity Detection

ZSTAD: Zero-Shot Temporal Activity Detection

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Lingling Zhang Xiaojun Chang Jun Liu Minnan Luo Sen Wang Zongyuan Ge Alexander Hauptmann School of Computer Science and Technology Xi'an Jiaotong University Xian China Ministry of Education Key Lab For Intelligent Networks and Network Security Xian China Faculty of Information Technology Monash University Australia National Engineering Lab for Big Data Analytics Xi'an Jiaotong University Xian China School of Information Technology and Electrical Engineering The University of Queensland Australia School of Computer Science Carnegie Mellon University USA

ISBN: (数字)9781728171685

ISBN: (纸本)9781728171692

An integral part of video analysis and surveillance is temporal activity detection, which means to simultaneously recognize and localize activities in long untrimmed videos. Currently, the most effective methods of temporal activity detection are based on deep learning, and they typically perform very well with large scale annotated videos for training. However, these methods are limited in real applications due to the unavailable videos about certain activity classes and the time-consuming data annotation. To solve this challenging problem, we propose a novel task setting called zero-shot temporal activity detection (ZSTAD), where activities that have never been seen in training can still be detected. We design an end-to-end deep network based on R-C3D as the architecture for this solution. The proposed network is optimized with an innovative loss function that considers the embeddings of activity labels and their super-classes while learning the common semantics of seen and unseen activities. Experiments on both the THUMOS'14 and the Charades datasets show promising performance in terms of detecting unseen activities.

关键词： Semantics Proposals Training Task analysis Feature extraction Microsoft Windows Three-dimensional displays

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CPED: A Large-Scale Chinese Personalized and Emotional Dialogue dataset for Conversational AI

TechRxiv

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TechRxiv 2022年

作者： Chen, Yirong Fan, Weiquan Xing, Xiaofen Pang, Jianxin Huang, Minlie Han, Wenjing Tie, Qianfeng Xu, Xiangmin The UBTECH-SCUT Joint Research Lab Engineering Research Center Ministry of Education on Human Body Data Perception School of Electronic and Information Engineering South China University of Technology Guangzhou510641 China UBTECH Robotics Corp Shenzhen518000 China CoAI Group State Key Lab of Intelligent Technology and Systems Beijing National Research Center for Information Science and Technology Tsinghua University Beijing100084 China

Human language expression is based on the subjective construal of the situation instead of the objective truth conditions, which means that speakers’ personalities and emotions after cognitive processing have an important influence on conversation. However, most existing datasets for conversational AI ignore human personalities and emotions, or only consider part of them. It’s difficult for dialogue systems to understand speakers’ personalities and emotions although large-scale pre-training language models have been widely used. In order to consider both personalities and emotions in the process of conversation generation, we propose CPED, a large-scale Chinese personalized and emotional dialogue dataset, which consists of multi-source knowledge related to empathy and personal characteristic. These knowledge covers gender, Big Five personality traits, 13 emotions, 19 dialogue acts and 10 scenes. CPED contains more than 12K dialogues of 392 speakers from 40 TV shows. We release the textual dataset with audio features and video features according to the copyright claims, privacy issues, terms of service of video platforms. We provide detailed description of the CPED construction process and introduce three tasks for conversational AI, including personality recognition, emotion recognition in conversations as well as personalized and emotional conversation generation. Finally, we provide baseline systems for these tasks and consider the function of speakers’ personalities and emotions on conversation. Our motivation is to propose a dataset to be widely adopted by the NLP community as a new open benchmark for conversational AI research. The full dataset is available1 © 2022, CC BY-NC-SA.

关键词： Emotion Recognition

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Triplet Deep Subspace Clustering via Self-Supervised data Augmentation

Triplet Deep Subspace Clustering via Self-Supervised Data Au...

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IEEE International Conference on data Mining (ICDM)

作者： Zhao Zhang Xianzhen Li Haijun Zhang Yi Yang Shuicheng Yan Meng Wang School of Computer Science and Information Engineering Hefei University of Technology Hefei China Key Laboratory of Knowledge Engineering with Big Data (Ministry of Education) & Intelligent Interconnected Systems Laboratory of Anhui Province Hefei University of Technology Hefei China School of Computer Science and Technology Soochow University Suzhou China Harbin Institute of Technology (Shenzhen) Shenzhen China Centre for Artificial Intelligence University of Technology Sydney Sydney NSW Australia Sea AI Lab (SAIL) & National University of Singapore Singapore

ISBN: (纸本)9781665423991

Deep subspace clustering (DSC) with the auto-encoder and self-expression layer is of great concern due to encouraging performance. However, existing methods usually adopt a “single-task” strategy based on a single dataset, without considering other related tasks or data. As such, they cannot discover other useful information to improve the clustering task. Besides, the local structure preservation of the latent codes in mapping is usually ignored. In this paper, we therefore present an effective “multi-task” strategy via the self-supervised data augmentation, and propose a new end-to-end trainable Triplet Deep Subspace Clustering Network (TDSC-net). Specifically, TDSC-net firstly generates triplet data (i.e., anchor, positive and negative data) from input data by a spectral clustering module and a self-supervised data augmentation module. This can enable it to inherit the merits of self-supervised learning and multitask learning implicitly. After that, TDSC-net builds a triplet deep autoencoder network with a self-expression layer, which takes the triplet data as input, where they share the common network layers (i.e., autoencoder and self-expression layers) over the triple tasks for complementary learning and mutual supervision. A triplet loss is also included to retain the local information of deep latent codes, which will also benefit the self-expression. Furthermore, TDSC-net separates the self-expression layer from decoding process to improve the efficiency of reconstruction. Extensive results on several public datasets demonstrate the effectiveness of our triplet-task DSC strategy.

关键词： Codes Conferences Multitasking Decoding data mining Task analysis

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