Zexi Chen

Zexi Chen, Yiyi Liao, Haozhe Du et al.

Pose registration is critical in vision and robotics. This paper focuses on the challenging task of initialization-free pose registration up to 7DoF for homogeneous and heterogeneous measurements. While recent learning-based methods show promise using differentiable solvers, they either rely on heuristically defined correspondences or are prone to local minima. We present a differentiable phase correlation (DPC) solver that is globally convergent and correspondence-free. When combined with simple feature extraction networks, our general framework DPCN++ allows for versatile pose registration with arbitrary initialization. Specifically, the feature extraction networks first learn dense feature grids from a pair of homogeneous/heterogeneous measurements. These feature grids are then transformed into a translation and scale invariant spectrum representation based on Fourier transform and spherical radial aggregation, decoupling translation and scale from rotation. Next, the rotation, scale, and translation are independently and efficiently estimated in the spectrum step-by-step using the DPC solver. The entire pipeline is differentiable and trained end-to-end. We evaluate DCPN++ on a wide range of registration tasks taking different input modalities, including 2D bird's-eye view images, 3D object and scene measurements, and medical images. Experimental results demonstrate that DCPN++ outperforms both classical and learning-based baselines, especially on partially observed and heterogeneous measurements.

Xianze Fang, Yunkai Wang, Zexi Chen et al.

The depth completion task aims to complete a per-pixel dense depth map from a sparse depth map. In this paper, we propose an efficient least square based depth-independent method to complete the sparse depth map utilizing the RGB image and the sparse depth map in two independent stages. In this way can we decouple the neural network and the sparse depth input, so that when some features of the sparse depth map change, such as the sparsity, our method can still produce a promising result. Moreover, due to the positional encoding and linear procession in our pipeline, we can easily produce a super-resolution dense depth map of high quality. We also test the generalization of our method on different datasets compared to some state-of-the-art algorithms. Experiments on the benchmark show that our method produces competitive performance.

Yuwei Zhang, Junming Huang, Sitong Liu et al.

This paper advances a novel architectural schema anchored upon the Transformer paradigm and innovatively amalgamates the K-means categorization algorithm to augment the contextual apprehension capabilities of the schema. The transformer model performs well in machine translation tasks due to its parallel computing power and multi-head attention mechanism. However, it may encounter contextual ambiguity or ignore local features when dealing with highly complex language structures. To circumvent this constraint, this exposition incorporates the K-Means algorithm, which is used to stratify the lexis and idioms of the input textual matter, thereby facilitating superior identification and preservation of the local structure and contextual intelligence of the language. The advantage of this combination is that K-Means can automatically discover the topic or concept regions in the text, which may be directly related to translation quality. Consequently, the schema contrived herein enlists K-Means as a preparatory phase antecedent to the Transformer and recalibrates the multi-head attention weights to assist in the discrimination of lexis and idioms bearing analogous semantics or functionalities. This ensures the schema accords heightened regard to the contextual intelligence embodied by these clusters during the training phase, rather than merely focusing on locational intelligence.

Zexi Chen, Jiaxin Guo, Xuecheng Xu et al.

Utilizing the trained model under different conditions without data annotation is attractive for robot applications. Towards this goal, one class of methods is to translate the image style from another environment to the one on which models are trained. In this paper, we propose a weakly-paired setting for the style translation, where the content in the two images is aligned with errors in poses. These images could be acquired by different sensors in different conditions that share an overlapping region, e.g. with LiDAR or stereo cameras, from sunny days or foggy nights. We consider this setting to be more practical with: (i) easier labeling than the paired data; (ii) better interpretability and detail retrieval than the unpaired data. To translate across such images, we propose PREGAN to train a style translator by intentionally transforming the two images with a random pose, and to estimate the given random pose by differentiable non-trainable pose estimator given that the more aligned in style, the better the estimated result is. Such adversarial training enforces the network to learn the style translation, avoiding being entangled with other variations. Finally, PREGAN is validated on both simulated and real-world collected data to show the effectiveness. Results on down-stream tasks, classification, road segmentation, object detection, and feature matching show its potential for real applications. https://github.com/wrld/PRoGAN

Zexi Chen, Xuecheng Xu, Yue Wang et al.

The crucial step for localization is to match the current observation to the map. When the two sensor modalities are significantly different, matching becomes challenging. In this paper, we present an end-to-end deep phase correlation network (DPCN) to match heterogeneous sensor measurements. In DPCN, the primary component is a differentiable correlation-based estimator that back-propagates the pose error to learnable feature extractors, which addresses the problem that there are no direct common features for supervision. Also, it eliminates the exhaustive evaluation in some previous methods, improving efficiency. With the interpretable modeling, the network is light-weighted and promising for better generalization. We evaluate the system on both the simulation data and Aero-Ground Dataset which consists of heterogeneous sensor images and aerial images acquired by satellites or aerial robots. The results show that our method is able to match the heterogeneous sensor measurements, outperforming the comparative traditional phase correlation and other learning-based methods. Code is available at https://github.com/jessychen1016/DPCN .

Lingxi Xiao, Muqing Li, Yinqiu Feng et al.

The research explores the utilization of a deep learning model employing an attention mechanism in medical text mining. It targets the challenge of analyzing unstructured text information within medical data. This research seeks to enhance the model's capability to identify essential medical information by incorporating deep learning and attention mechanisms. This paper reviews the basic principles and typical model architecture of attention mechanisms and shows the effectiveness of their application in the tasks of disease prediction, drug side effect monitoring, and entity relationship extraction. Aiming at the particularity of medical texts, an adaptive attention model integrating domain knowledge is proposed, and its ability to understand medical terms and process complex contexts is optimized. The experiment verifies the model's effectiveness in improving task accuracy and robustness, especially when dealing with long text. The future research path of enhancing model interpretation, realizing cross-domain knowledge transfer, and adapting to low-resource scenarios is discussed in the research outlook, which provides a new perspective and method support for intelligent medical information processing and clinical decision assistance. Finally, cross-domain knowledge transfer and adaptation strategies for low-resource scenarios, providing theoretical basis and technical reference for promoting the development of intelligent medical information processing and clinical decision support systems.

Zengqi Zhao, Weidi Xia, Peter Wei et al.

We present DOCFORGE-BENCH, the first unified zero-shot benchmark for document forgery detection, evaluating 14 methods across eight datasets spanning text tampering, receipt forgery, and identity document manipulation. Unlike fine-tuning-oriented evaluations such as ForensicHub [Du et al., 2025], DOCFORGE-BENCH applies all methods with their published pretrained weights and no domain adaptation -- a deliberate design choice that reflects the realistic deployment scenario where practitioners lack labeled document training data. Our central finding is a pervasive calibration failure invisible under single-threshold protocols: methods achieve moderate Pixel-AUC (>=0.76) yet near-zero Pixel-F1. This AUC-F1 gap is not a discrimination failure but a score-distribution shift: tampered regions occupy only 0.27-4.17% of pixels in document images -- an order of magnitude less than in natural image benchmarks -- making the standard tau=0.5 threshold catastrophically miscalibrated. Oracle-F1 is 2-10x higher than fixed-threshold Pixel-F1, confirming that calibration, not representation, is the bottleneck. A controlled calibration experiment validates this: adapting a single threshold on N=10 domain images recovers 39-55% of the Oracle-F1 gap, demonstrating that threshold adaptation -- not retraining -- is the key missing step for practical deployment. Overall, no evaluated method works reliably out-of-the-box on diverse document types, underscoring that document forgery detection remains an unsolved problem. We further note that all eight datasets predate the era of generative AI editing; benchmarks covering diffusion- and LLM-based document forgeries represent a critical open gap on the modern attack surface.

Yinqiu Feng, Bo Zhang, Lingxi Xiao et al.

In this research, we introduce an innovative method for synthesizing medical images using generative adversarial networks (GANs). Our proposed GANs method demonstrates the capability to produce realistic synthetic images even when trained on a limited quantity of real medical image data, showcasing commendable generalization prowess. To achieve this, we devised a generator and discriminator network architecture founded on deep convolutional neural networks (CNNs), leveraging the adversarial training paradigm for model optimization. Through extensive experimentation across diverse medical image datasets, our method exhibits robust performance, consistently generating synthetic images that closely emulate the structural and textural attributes of authentic medical images.

Zisheng Liang, Kidus Zewde, Rudra Pratap Singh et al.

Document fraud poses a significant threat to industries reliant on secure and verifiable documentation, necessitating robust detection mechanisms. This study investigates the efficacy of state-of-the-art multi-modal large language models (LLMs)-including OpenAI O1, OpenAI 4o, Gemini Flash (thinking), Deepseek Janus, Grok, Llama 3.2 and 4, Qwen 2 and 2.5 VL, Mistral Pixtral, and Claude 3.5 and 3.7 Sonnet-in detecting fraudulent documents. We benchmark these models against each other and prior work on document fraud detection techniques using a standard dataset with real transactional documents. Through prompt optimization and detailed analysis of the models' reasoning processes, we evaluate their ability to identify subtle indicators of fraud, such as tampered text, misaligned formatting, and inconsistent transactional sums. Our results reveal that top-performing multi-modal LLMs demonstrate superior zero-shot generalization, outperforming conventional methods on out-of-distribution datasets, while several vision LLMs exhibit inconsistent or subpar performance. Notably, model size and advanced reasoning capabilities show limited correlation with detection accuracy, suggesting task-specific fine-tuning is critical. This study underscores the potential of multi-modal LLMs in enhancing document fraud detection systems and provides a foundation for future research into interpretable and scalable fraud mitigation strategies.

Yang Lin, Muqing Li, Ziyi Zhu et al.

The prediction of disease risk factors can screen vulnerable groups for effective prevention and treatment, so as to reduce their morbidity and mortality. Machine learning has a great demand for high-quality labeling information, and labeling noise in medical big data poses a great challenge to efficient disease risk warning methods. Therefore, this project intends to study the robust learning algorithm and apply it to the early warning of infectious disease risk. A dynamic truncated loss model is proposed, which combines the traditional mutual entropy implicit weight feature with the mean variation feature. It is robust to label noise. A lower bound on training loss is constructed, and a method based on sampling rate is proposed to reduce the gradient of suspected samples to reduce the influence of noise on training results. The effectiveness of this method under different types of noise was verified by using a stroke screening data set as an example. This method enables robust learning of data containing label noise.

Lingxi Xiao, Jinxin Hu, Yutian Yang et al.

Most of the existing wavelet image processing techniques are carried out in the form of single-scale reconstruction and multiple iterations. However, processing high-quality fMRI data presents problems such as mixed noise and excessive computation time. This project proposes the use of matrix operations by combining mixed noise elimination methods with wavelet analysis to replace traditional iterative algorithms. Functional magnetic resonance imaging (fMRI) of the auditory cortex of a single subject is analyzed and compared to the wavelet domain signal processing technology based on repeated times and the world's most influential SPM8. Experiments show that this algorithm is the fastest in computing time, and its detection effect is comparable to the traditional iterative algorithm. However, this has a higher practical value for the processing of FMRI data. In addition, the wavelet analysis method proposed signal processing to speed up the calculation rate.

Luke Friedman, Sameer Ahuja, David Allen et al.

A Conversational Recommender System (CRS) offers increased transparency and control to users by enabling them to engage with the system through a real-time multi-turn dialogue. Recently, Large Language Models (LLMs) have exhibited an unprecedented ability to converse naturally and incorporate world knowledge and common-sense reasoning into language understanding, unlocking the potential of this paradigm. However, effectively leveraging LLMs within a CRS introduces new technical challenges, including properly understanding and controlling a complex conversation and retrieving from external sources of information. These issues are exacerbated by a large, evolving item corpus and a lack of conversational data for training. In this paper, we provide a roadmap for building an end-to-end large-scale CRS using LLMs. In particular, we propose new implementations for user preference understanding, flexible dialogue management and explainable recommendations as part of an integrated architecture powered by LLMs. For improved personalization, we describe how an LLM can consume interpretable natural language user profiles and use them to modulate session-level context. To overcome conversational data limitations in the absence of an existing production CRS, we propose techniques for building a controllable LLM-based user simulator to generate synthetic conversations. As a proof of concept we introduce RecLLM, a large-scale CRS for YouTube videos built on LaMDA, and demonstrate its fluency and diverse functionality through some illustrative example conversations.

Zexi Chen, Haozhe Du, Xuecheng Xu et al.

Monocular visual-inertial odometry (VIO) is a critical problem in robotics and autonomous driving. Traditional methods solve this problem based on filtering or optimization. While being fully interpretable, they rely on manual interference and empirical parameter tuning. On the other hand, learning-based approaches allow for end-to-end training but require a large number of training data to learn millions of parameters. However, the non-interpretable and heavy models hinder the generalization ability. In this paper, we propose a fully differentiable, and interpretable, bird-eye-view (BEV) based VIO model for robots with local planar motion that can be trained without deep neural networks. Specifically, we first adopt Unscented Kalman Filter as a differentiable layer to predict the pitch and roll, where the covariance matrices of noise are learned to filter out the noise of the IMU raw data. Second, the refined pitch and roll are adopted to retrieve a gravity-aligned BEV image of each frame using differentiable camera projection. Finally, a differentiable pose estimator is utilized to estimate the remaining 3 DoF poses between the BEV frames: leading to a 5 DoF pose estimation. Our method allows for learning the covariance matrices end-to-end supervised by the pose estimation loss, demonstrating superior performance to empirical baselines. Experimental results on synthetic and real-world datasets demonstrate that our simple approach is competitive with state-of-the-art methods and generalizes well on unseen scenes.

Yunkai Wang, Dongkun Zhang, Yuxiang Cui et al.

One of the challenges in vision-based driving trajectory generation is dealing with out-of-distribution scenarios. In this paper, we propose a domain generalization method for vision-based driving trajectory generation for autonomous vehicles in urban environments, which can be seen as a solution to extend the Invariant Risk Minimization (IRM) method in complex problems. We leverage an adversarial learning approach to train a trajectory generator as the decoder. Based on the pre-trained decoder, we infer the latent variables corresponding to the trajectories, and pre-train the encoder by regressing the inferred latent variable. Finally, we fix the decoder but fine-tune the encoder with the final trajectory loss. We compare our proposed method with the state-of-the-art trajectory generation method and some recent domain generalization methods on both datasets and simulation, demonstrating that our method has better generalization ability.

Haodong Zhang, Weijie Li, Jiangpin Liu et al.

Motion retargeting from a human demonstration to a robot is an effective way to reduce the professional requirements and workload of robot programming, but faces the challenges resulting from the differences between humans and robots. Traditional optimization-based methods are time-consuming and rely heavily on good initialization, while recent studies using feedforward neural networks suffer from poor generalization to unseen motions. Moreover, they neglect the topological information in human skeletons and robot structures. In this paper, we propose a novel neural latent optimization approach to address these problems. Latent optimization utilizes a decoder to establish a mapping between the latent space and the robot motion space. Afterward, the retargeting results that satisfy robot constraints can be obtained by searching for the optimal latent vector. Alongside with latent optimization, neural initialization exploits an encoder to provide a better initialization for faster and better convergence of optimization. Both the human skeleton and the robot structure are modeled as graphs to make better use of topological information. We perform experiments on retargeting Chinese sign language, which involves two arms and two hands, with additional requirements on the relative relationships among joints. Experiments include retargeting various human demonstrations to YuMi, NAO, and Pepper in the simulation environment and to YuMi in the real-world environment. Both efficiency and accuracy of the proposed method are verified.

Zexi Chen, Zheyuan Huang, Yunkai Wang et al.

Recent studies on deep-learning-based small defection segmentation approaches are trained in specific settings and tend to be limited by fixed context. Throughout the training, the network inevitably learns the representation of the background of the training data before figuring out the defection. They underperform in the inference stage once the context changed and can only be solved by training in every new setting. This eventually leads to the limitation in practical robotic applications where contexts keep varying. To cope with this, instead of training a network context by context and hoping it to generalize, why not stop misleading it with any limited context and start training it with pure simulation? In this paper, we propose the network SSDS that learns a way of distinguishing small defections between two images regardless of the context, so that the network can be trained once for all. A small defection detection layer utilizing the pose sensitivity of phase correlation between images is introduced and is followed by an outlier masking layer. The network is trained on randomly generated simulated data with simple shapes and is generalized across the real world. Finally, SSDS is validated on real-world collected data and demonstrates the ability that even when trained in cheap simulation, SSDS can still find small defections in the real world showing the effectiveness and its potential for practical applications.

Yunshuang Li, Zheyuan Huang, Zexi chen et al.

Ground robots always get collision in that only if they get close to the obstacles, can they sense the danger and take actions, which is usually too late to avoid the crash, causing severe damage to the robots. To address this issue, we present collaboration of aerial and ground robots in recognition of feasible region. Taking the aerial robots' advantages of having large scale variance of view points of the same route which the ground robots is on, the collaboration work provides global information of road segmentation for the ground robot, thus enabling it to obtain feasible region and adjust its pose ahead of time. Under normal circumstance, the transformation between these two devices can be obtained by GPS yet with much error, directly causing inferior influence on recognition of feasible region. Thereby, we utilize the state-of-the-art research achievements in matching heterogeneous sensor measurements called deep phase correlation network(DPCN), which has excellent performance on heterogeneous mapping, to refine the transformation. The network is light-weighted and promising for better generalization. We use Aero-Ground dataset which consists of heterogeneous sensor images and aerial road segmentation images. The results show that our collaborative system has great accuracy, speed and stability.

Xuecheng Xu, Huan Yin, Zexi Chen et al.

Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention as it is robust against the appearance change. In this paper, we propose a LiDAR-based place recognition method, named Differentiable Scan Context with Orientation (DiSCO), which simultaneously finds the scan at a similar place and estimates their relative orientation. The orientation can further be used as the initial value for the down-stream local optimal metric pose estimation, improving the pose estimation especially when a large orientation between the current scan and retrieved scan exists. Our key idea is to transform the feature into the frequency domain. We utilize the magnitude of the spectrum as the place signature, which is theoretically rotation-invariant. In addition, based on the differentiable phase correlation, we can efficiently estimate the global optimal relative orientation using the spectrum. With such structural constraints, the network can be learned in an end-to-end manner, and the backbone is fully shared by the two tasks, achieving interpretability and light weight. Finally, DiSCO is validated on three datasets with long-term outdoor conditions, showing better performance than the compared methods.

Yunkai Wang, Dongkun Zhang, Jingke Wang et al.

One of the challenges to reduce the gap between the machine and the human level driving is how to endow the system with the learning capacity to deal with the coupled complexity of environments, intentions, and dynamics. In this paper, we propose a hierarchical driving model with explicit model of continuous intention and continuous dynamics, which decouples the complexity in the observation-to-action reasoning in the human driving data. Specifically, the continuous intention module takes the route planning map obtained by GPS and IMU, perception from a RGB camera and LiDAR as input to generate a potential map encoded with obstacles and intentions being expressed as grid based potentials. Then, the potential map is regarded as a condition, together with the current dynamics, to generate a continuous trajectory as output by a continuous function approximator network, whose derivatives can be used for supervision without additional parameters. Finally, we validate our method on both datasets and simulator, demonstrating that our method has higher prediction accuracy of displacement and velocity and generates smoother trajectories. The method is also deployed on the real vehicle with loop latency, validating its effectiveness. To the best of our knowledge, this is the first work to produce the driving trajectory using a continuous function approximator network.

Xuecheng Xu, Zexi Chen, Jiaxin Guo et al.

With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground system. The proposed approach aims to help precisely matching the map constructed by two independent systems that have large scale variance of viewpoints of the same route and eventually enables the ground mobile robot to localize itself in the global map given by the drone. It contains dense mapping with Elevation Map and software "Metashape", map matching with a proposed template matching algorithm, weighted normalized cross-correlation (WNCC) and localization with particle filter. The approach enables map matching for cooperative SLAM with the feasibility of multiple scene sensors, varies from stereo cameras to lidars, and is insensitive to the synchronization of the two systems. We demonstrate the accuracy, robustness, and the speed of the approach under experiments of the Aero-Ground Dataset.

Zexi Chen, Bharathkumar Ramachandra, Ranga Raju Vatsavai

Generative Adversarial Networks (GANs) based semi-supervised learning (SSL) approaches are shown to improve classification performance by utilizing a large number of unlabeled samples in conjunction with limited labeled samples. However, their performance still lags behind the state-of-the-art non-GAN based SSL approaches. We identify that the main reason for this is the lack of consistency in class probability predictions on the same image under local perturbations. Following the general literature, we address this issue via label consistency regularization, which enforces the class probability predictions for an input image to be unchanged under various semantic-preserving perturbations. In this work, we introduce consistency regularization into the vanilla semi-GAN to address this critical limitation. In particular, we present a new composite consistency regularization method which, in spirit, leverages both local consistency and interpolation consistency. We demonstrate the efficacy of our approach on two SSL image classification benchmark datasets, SVHN and CIFAR-10. Our experiments show that this new composite consistency regularization based semi-GAN significantly improves its performance and achieves new state-of-the-art performance among GAN-based SSL approaches.

Zexi Chen, Benjamin Dutton, Bharathkumar Ramachandra et al.

The Mean Teacher (MT) model of Tarvainen and Valpola has shown favorable performance on several semi-supervised benchmark datasets. MT maintains a teacher model's weights as the exponential moving average of a student model's weights and minimizes the divergence between their probability predictions under diverse perturbations of the inputs. However, MT is known to suffer from confirmation bias, that is, reinforcing incorrect teacher model predictions. In this work, we propose a simple yet effective method called Local Clustering (LC) to mitigate the effect of confirmation bias. In MT, each data point is considered independent of other points during training; however, data points are likely to be close to each other in feature space if they share similar features. Motivated by this, we cluster data points locally by minimizing the pairwise distance between neighboring data points in feature space. Combined with a standard classification cross-entropy objective on labeled data points, the misclassified unlabeled data points are pulled towards high-density regions of their correct class with the help of their neighbors, thus improving model performance. We demonstrate on semi-supervised benchmark datasets SVHN and CIFAR-10 that adding our LC loss to MT yields significant improvements compared to MT and performance comparable to the state of the art in semi-supervised learning.

Yunkai Wang, Shenhan Jia, Zexi Chen et al.

In the case of the two-person zero-sum stochastic game with a central controller, this paper proposes a best collaborative behavior search and selection algorithm based on reinforcement learning, in response to how to choose the best collaborative object and action for the central controller. In view of the existing multi-agent collaboration and confrontation reinforcement learning methods, the methods of traversing all actions in a certain state leads to the problem of long calculation time and unsafe policy exploration. This paper proposes to construct a feasible collaborative behavior set by using action space discretization, establishing models of both sides, model-based prediction and parallel search. Then, we use the deep q-learning method in reinforcement learning to train the scoring function to select the optimal collaboration behavior from the feasible collaborative behavior set. This method enables efficient and accurate calculation in an environment with strong confrontation, high dynamics and a large number of agents, which is verified by the RoboCup Small Size League robots passing collaboration.

Zexi Chen, Haodong Zhang, Dashun Guo et al.

ZJUNlict became the Small Size League Champion of RoboCup 2019 with 6 victories and 1 tie for their 7 games. The overwhelming ability of ball-handling and passing allows ZJUNlict to greatly threaten its opponent and almost kept its goal clear without being threatened. This paper presents the core technology of its ball-handling and robot movement which consist of hardware optimization, dynamic passing and shooting strategy, and multi-agent cooperation and formation. We first describe the mechanical optimization on the placement of the capacitors, the redesign of the damping system of the dribbler and the electrical optimization on the replacement of the core chip. We then describe our passing point algorithm. The passing and shooting strategy can be separated into two different parts, where we search the passing point on SBIP-DPPS and evaluate the point based on the ball model. The statements and the conclusion should be supported by the performances and log of games on Small Size League RoboCup 2019.

Zheyuan Huang, Yunkai Wang, Lingyun Chen et al.

RoboCup SSL is an excellent platform for researching artificial intelligence and robotics. The dribbling system is an essential issue, which is the main part for completing advanced soccer skills such as trapping and dribbling. In this paper, we designed a new dribbling system for SSL robots, including mechatronics design and control algorithms. For the mechatronics design, we analysed and exposed the 3-touch-point model with the simulation in ADAMS. In the motor controller algorithm, we use reinforcement learning to control the torque output. Finally we verified the results on the robot.

Zheyuan Huang, Lingyun Chen, Jiacheng Li et al.

For the Small Size League of RoboCup 2018, Team ZJUNLict has won the champion and therefore, this paper thoroughly described the devotion which ZJUNLict has devoted and the effort that ZJUNLict has contributed. There are three mean optimizations for the mechanical part which accounted for most of our incredible goals, they are "Touching Point Optimization", "Damping System Optimization", and "Dribbler Optimization". For the electrical part, we realized "Direct Torque Control", "Efficient Radio Communication Protocol" which will be credited for stabilizing the dribbler and a more secure communication between robots and the computer. Our software group contributed as much as our hardware group with the effort of "Vision Lost Compensation" to predict the movement by kalman filter, and "Interception Prediction Algorithm" to achieve some skills and improve our ball possession rate.

Zexi Chen, Bharathkumar Ramachandra, Tianfu Wu et al.

Spatial and temporal relationships, both short-range and long-range, between objects in videos, are key cues for recognizing actions. It is a challenging problem to model them jointly. In this paper, we first present a new variant of Long Short-Term Memory, namely Relational LSTM, to address the challenge of relation reasoning across space and time between objects. In our Relational LSTM module, we utilize a non-local operation similar in spirit to the recently proposed non-local network to substitute the fully connected operation in the vanilla LSTM. By doing this, our Relational LSTM is capable of capturing long and short-range spatio-temporal relations between objects in videos in a principled way. Then, we propose a two-branch neural architecture consisting of the Relational LSTM module as the non-local branch and a spatio-temporal pooling based local branch. The local branch is utilized for capturing local spatial appearance and/or short-term motion features. The two branches are concatenated to learn video-level features from snippet-level ones which are then used for classification. Experimental results on UCF-101 and HMDB-51 datasets show that our model achieves state-of-the-art results among LSTM-based methods, while obtaining comparable performance with other state-of-the-art methods (which use not directly comparable schema). Further, on the more complex large-scale Charades dataset, we obtain a large 3.2% gain over state-of-the-art methods, verifying the effectiveness of our method in complex understanding.