Qiang Guan

Liqi Yan, Qifan Wang, Junhan Zhao et al.

First-Person-View (FPV) holds immense potential for revolutionizing the trajectory of Unmanned Aerial Vehicles (UAVs), offering an exhilarating avenue for navigating complex building structures. Yet, traditional Neural Radiance Field (NeRF) methods face challenges such as sampling single points per iteration and requiring an extensive array of views for supervision. UAV videos exacerbate these issues with limited viewpoints and significant spatial scale variations, resulting in inadequate detail rendering across diverse scales. In response, we introduce FPV-NeRF, addressing these challenges through three key facets: (1) Temporal consistency. Leveraging spatio-temporal continuity ensures seamless coherence between frames; (2) Global structure. Incorporating various global features during point sampling preserves space integrity; (3) Local granularity. Employing a comprehensive framework and multi-resolution supervision for multi-scale scene feature representation tackles the intricacies of UAV video spatial scales. Additionally, due to the scarcity of publicly available FPV videos, we introduce an innovative view synthesis method using NeRF to generate FPV perspectives from UAV footage, enhancing spatial perception for drones. Our novel dataset spans diverse trajectories, from outdoor to indoor environments, in the UAV domain, differing significantly from traditional NeRF scenarios. Through extensive experiments encompassing both interior and exterior building structures, FPV-NeRF demonstrates a superior understanding of the UAV flying space, outperforming state-of-the-art methods in our curated UAV dataset. Explore our project page for further insights: https://fpv-nerf.github.io/.

Xinyan Cai, Shiguang Wu, Dafeng Chi et al.

In complex embodied long-horizon manipulation tasks, effective task decomposition and execution require synergistic integration of textual logical reasoning and visual-spatial imagination to ensure efficient and accurate operation. Current methods fail to adopt a unified generation framework for multimodal planning, lead to inconsistent in multimodal planning. To address this challenge, we present \textbf{EVLP (Embodied Vision-Language Planner)}, an innovative multimodal unified generation framework that jointly models linguistic reasoning and visual generation. Our approach achieves multimodal planning for long-horizon tasks through a novel training pipeline incorporating dynamic pretraining and reinforced alignment. Our core innovations consist of three key components: \textbf{1) Unified Multimodal Generation Framework}: For understanding, We integrate semantic information with spatial features to provide comprehensive visual perception. For generation, we directly learn the joint distribution of discrete images for one-step visual synthesis, enabling coordinated language-visual modeling through learnable cross-modal attention mechanisms. \textbf{2) Dynamic Perception Pretraining}: We propose a bidirectional dynamic alignment strategy employing inverse dynamics tasks and forward dynamics tasks, effectively strengthening multimodal correlations within a unified feature space. \textbf{3) Reinforced Supervised Fine-Tuning}: While conducting instruction-based fine-tuning in the unified generation space, we construct a reinforce loss to align the spatial logic between textual actions and generated images, enabling the model to acquire spatio-awared multimodal planning capabilities.

Keer Yang, Guanqun Zhang, Chuan Bi et al.

In recent years, there have been quite a few attempts to apply intelligent techniques to financial trading, i.e., constructing automatic and intelligent trading framework based on historical stock price. Due to the unpredictable, uncertainty and volatile nature of financial market, researchers have also resorted to deep learning to construct the intelligent trading framework. In this paper, we propose to use CNN as the core functionality of such framework, because it is able to learn the spatial dependency (i.e., between rows and columns) of the input data. However, different with existing deep learning-based trading frameworks, we develop novel normalization process to prepare the stock data. In particular, we first empirically observe that the stock data is intrinsically heterogeneous and bursty, and then validate the heterogeneity and burst nature of stock data from a statistical perspective. Next, we design the data normalization method in a way such that the data heterogeneity is preserved and bursty events are suppressed. We verify out developed CNN-based trading framework plus our new normalization method on 29 stocks. Experiment results show that our approach can outperform other comparing approaches.