Discuss Before Moving: Visual Language Navigation via Multi-expert Discussions

Visual language navigation (VLN) is an embodied task demanding a wide range of skills encompassing understanding, perception, and planning. For such a multifaceted challenge, previous VLN methods totally rely on one model's own thinking to make predictions within one round. However, existing models, even the most advanced large language model GPT4, still struggle with dealing with multiple tasks by single-round self-thinking. In this work, drawing inspiration from the expert consultation meeting, we introduce a novel zero-shot VLN framework. Within this framework, large models possessing distinct abilities are served as domain experts. Our proposed navigation agent, namely DiscussNav, can actively discuss with these experts to collect essential information before moving at every step. These discussions cover critical navigation subtasks like instruction understanding, environment perception, and completion estimation. Through comprehensive experiments, we demonstrate that discussions with domain experts can effectively facilitate navigation by perceiving instruction-relevant information, correcting inadvertent errors, and sifting through in-consistent movement decisions. The performances on the representative VLN task R2R show that our method surpasses the leading zero-shot VLN model by a large margin on all metrics. Additionally, real-robot experiments display the obvious advantages of our method over single-round self-thinking.Comment: Submitted to ICRA 202

GeoTransformer: Fast and Robust Point Cloud Registration with Geometric Transformer

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods have shown great potential through bypassing the detection of repeatable keypoints which is difficult to do especially in low-overlap scenarios. They seek correspondences over downsampled superpoints, which are then propagated to dense points. Superpoints are matched based on whether their neighboring patches overlap. Such sparse and loose matching requires contextual features capturing the geometric structure of the point clouds. We propose Geometric Transformer, or GeoTransformer for short, to learn geometric feature for robust superpoint matching. It encodes pair-wise distances and triplet-wise angles, making it invariant to rigid transformation and robust in low-overlap cases. The simplistic design attains surprisingly high matching accuracy such that no RANSAC is required in the estimation of alignment transformation, leading to $100$ times acceleration. Extensive experiments on rich benchmarks encompassing indoor, outdoor, synthetic, multiway and non-rigid demonstrate the efficacy of GeoTransformer. Notably, our method improves the inlier ratio by $18{\sim}31$ percentage points and the registration recall by over $7$ points on the challenging 3DLoMatch benchmark. Our code and models are available at \url{https://github.com/qinzheng93/GeoTransformer}.Comment: Accepted by TPAMI. Extended version of our CVPR 2022 paper [arXiv:2202.06688

Harmonization of multi-site functional MRI data with dual-projection based ICA model

Modern neuroimaging studies frequently merge magnetic resonance imaging (MRI) data from multiple sites. A larger and more diverse group of participants can increase the statistical power, enhance the reliability and reproducibility of neuroimaging research, and obtain findings more representative of the general population. However, measurement biases caused by site differences in scanners represent a barrier when pooling data collected from different sites. The existence of site effects can mask biological effects and lead to spurious findings. We recently proposed a powerful denoising strategy that implements dual-projection (DP) theory based on ICA to remove site-related effects from pooled data, demonstrating the method for simulated and in vivo structural MRI data. This study investigates the use of our DP-based ICA denoising method for harmonizing functional MRI (fMRI) data collected from the Autism Brain Imaging Data Exchange II. After frequency-domain and regional homogeneity analyses, two modalities, including amplitude of low frequency fluctuation (ALFF) and regional homogeneity (ReHo), were used to validate our method. The results indicate that DP-based ICA denoising method removes unwanted site effects for both two fMRI modalities, with increases in the significance of the associations between non-imaging variables (age, sex, etc.) and fMRI measures. In conclusion, our DP method can be applied to fMRI data in multi-site studies, enabling more accurate and reliable neuroimaging research findings

Research on Electric-Vehicle Switching Scheduling and Charging Strategy of Charging Stations

In order to effectively alleviate the congestion of power exchange stations, the game theory was used to discuss the spatial characteristics of electric vehicle power exchange demand, analyze the decision making and game process of electric vehicle users specifically. Moreover, on the basis of the research, the specific way of setting the price of the exchange station was proposed and the game mathematical model was constructed

Simultaneous Optimization of Structure and Operation for Coking Wastewater Biological Treatment Process

In this paper, the simultaneous optimization of process structure and operation conditions for the coking wastewater biological treatment process is carried out based on a superstructure-based model. The superstructure proposed covers current widely used biological treatment processes in a coking wastewater treatment plant. The activated sludge model no. 3 calibrated for coking wastewater and thickening factors is chosen to describe the biological processes and the secondary clarifier, respectively. The optimization problem is formulated as a mixed integer nonlinear programming model (MINLP), which is implemented and solved using the general algebraic modeling system (GAMS). For given influent coking wastewater flow rate and composition as input, the O/A/O process and A/O/O process are selected for the influent with COD concentration of 2000 and 3000 g/m(3) respectively. The results provide the valuable information for the development and operation of activated sludge processes for coking wastewater biological treatment and useful insights for policy makers as well

A Numerical Measurement Method for Dynamic Granular Materials Based on Computer Vision

Granular materials are widespread in nature and human production, and their macro-mechanical behavior is significantly affected by granule movement. The development of computer vision has brought some new ideas for measuring the numerical information (including the amount of translation, the rotation angle, velocity, acceleration, etc.) of dynamic granular materials. In this paper, we propose a numerical measurement method for dynamic granular materials based on computer vision. Firstly, an improved video instance segmentation (VIS) network is introduced to perform end-to-end multi-task learning, and its temporal feature fusion module and tracking head with long-sequence external memory can improve the problems of poor video data quality and high similarity in appearance of granular materials, respectively. Secondly, the numerical information can be extracted through a series of post-processing steps. Finally, the effectiveness of the measurement method is verified by comparing the numerical measurement results with the real values. The experimental results indicate that our improved VIS obtains an average precision (AP) of 76.6, the relative errors and standard deviations are maintained at a low level, and this method can effectively be used to measure the numerical information of dynamic granular materials. This study provides an intelligent proposal for the task of measuring numerical information of dynamic granular materials, which is of great significance for studying the spatial distribution, motion mode and macro-mechanical behavior of granular materials