Recognizing and grasping novel-category objects remains a crucial yet challenging problem in real-world robotic applications. Despite its significance, limited research has been conducted in this specific domain. To address this, we seamlessly propose a novel framework that integrates open-vocabulary learning into the domain of robotic grasping, empowering robots with the capability to adeptly handle novel objects. Our contributions are threefold. Firstly, we present a large-scale benchmark dataset specifically tailored for evaluating the performance of open-vocabulary grasping tasks. Secondly, we propose a unified visual-linguistic framework that serves as a guide for robots in successfully grasping both base and novel objects. Thirdly, we introduce two alignment modules designed to enhance visual-linguistic perception in the robotic grasping process. Extensive experiments validate the efficacy and utility of our approach. Notably, our framework achieves an average accuracy of 71.2% and 64.4% on base and novel categories in our new dataset, respectively. Our code and dataset are available at https://github.com/cv516Buaa/OVGNet.

Remote sensing (RS) image scene classification task faces many challenges due to the interference from different characteristics of different geographical elements. To solve this problem, we propose a multi-branch ensemble network to enhance the feature representation ability by fusing features in final output logits and intermediate feature maps. However, simply adding branches will increase the complexity of models and decline the inference efficiency. On this issue, we embed self-distillation (SD) method to transfer knowledge from ensemble network to main-branch in it. Through optimizing with SD, main-branch will have close performance as ensemble network. During inference, we can cut other branches to simplify the whole model. In this paper, we first design compact multi-branch ensemble network, which can be trained in an end-to-end manner. Then, we insert SD method on output logits and feature maps. Compared to previous methods, our proposed architecture (ESD-MBENet) performs strongly on classification accuracy with compact design. Extensive experiments are applied on three benchmark RS datasets AID, NWPU-RESISC45 and UC-Merced with three classic baseline models, VGG16, ResNet50 and DenseNet121. Results prove that our proposed ESD-MBENet can achieve better accuracy than previous state-of-the-art (SOTA) complex models. Moreover, abundant visualization analysis make our method more convincing and interpretable.

There is an increased interest in building data analytics frameworks with advanced algebraic capabilities both in industry and academia. Many of these frameworks, e.g., TensorFlow, implement their compute-intensive primitives in two flavors-as multi-thread routines for multi-core CPUs and as highly-parallel kernels executed on GPU. Stochastic gradient descent (SGD) is the most popular optimization method for model training implemented extensively on modern data analytics platforms. While the data-intensive properties of SGD are well-known, there is an intense debate on which of the many SGD variants is better in practice. In this paper, we perform a comprehensive experimental study of parallel SGD for training machine learning models. We consider the impact of three factors - computing architecture (multi-core CPU or GPU), synchronous or asynchronous model updates, and data sparsity - on three measures-hardware efficiency, statistical efficiency, and time to convergence. We draw several interesting findings from our experiments with logistic regression (LR), support vector machines (SVM), and deep neural nets (MLP) on five real datasets. As expected, GPU always outperforms parallel CPU for synchronous SGD. The gap is, however, only 2-5X for simple models, and below 7X even for fully-connected deep nets. For asynchronous SGD, CPU is undoubtedly the optimal solution, outperforming GPU in time to convergence even when the GPU has a speedup of 10X or more. The choice between synchronous GPU and asynchronous CPU is not straightforward and depends on the task and the characteristics of the data. Thus, CPU should not be easily discarded for machine learning workloads. We hope that our insights provide a useful guide for applying parallel SGD in practice and - more importantly - choosing the appropriate computing architecture