Language-based localization is a crucial task in robotics and computer vision, enabling robots to understand spatial positions through language. Recent methods rely on contrastive learning to establish correspondences between global features of texts and point clouds. However, the inherent ambiguity of textual descriptions makes it difficult to convey geometric information accurately, forcing alignment of them in the feature space may compromise the expressiveness of the point clouds. Unlike previous methods, this paper proposes using language as a filter to distinguish dissimilar locations. To this end, we propose a robust framework of multi-level negative contrastive learning for language-based localization, fully leveraging the descriptive power of language for spatial localization. Our method learns multiple mismatched factors by minimizing the similarity of different locations at different levels, including global-level, instance-level and relationlevel, respectively. Extensive experiments conducted on the KITTI360Pose benchmark demonstrate that our method outperforms better that the state-of-the-art methods. Specifically, we achieve a 56.3% improvement in Top-1 retrieval recall and a 45.9% improvement in 5m localization recall.

Adversarial examples can mislead deep neural networks with subtle perturbations, causing them to make incorrect predictions. Notably, adversarial examples crafted for one model can also deceive other models, a phenomenon known as the transferability of adversarial examples. To improve transferability, existing studies have designed increasingly complex mechanisms, but the improvements achieved remain relatively limited and are often difficult to adapt to other modalities, further restricting the scalability of these methods. In this work, we observe a mirroring relationship between model generalization and adversarial example transferability. Motivated by this observation, we propose an augmentation-based attack, called OPS (OperatorPerturbation-based Stochastic optimization), which constructs a stochastic optimization problem by input transformation operators and random perturbations, and solves this problem to generate adversarial examples with better transferability. Extensive experiments on both images and 3D point clouds demonstrate that OPS significantly outperforms existing state-of-the-art methods in terms of both performance and cost, showcasing the universality and superiority of our approach. The code is available at https://github.com/the-full/OPS.

Software similarity analysis is crucial in various fields, including code clone detection, security analysis, and software refactoring. While research continues to identify new use cases, numerous similarity detectors have already been proposed for specific contexts. These detectors usually leverage project attributes, such as source code, contributors, documentation, and dependencies. Existing works consistently demonstrate that their approaches outperform others in extensive evaluations. In this paper, we challenge the idea of a universally superior similarity model. We argue that similarity is a fluent concept and that relevant metrics always depend on specific needs. We present a novel framework that enables a flexible aggregation of diverse similarity models, allowing fine-tuned configurations for specific needs and use cases. Our evaluation incorporates multiple existing similarity models and their respective benchmarks to reveal the fundamental dilemma: depending on the configuration, our aggregated model will either confirm prior results or expose significant differences among individual models. However, we will demonstrate that these variations can be explained by the additional information that leads to more fine-grained results. Our results illustrate the future of software similarity research: configurable ensembles of much more specialized models.

Numerous studies have shown thatContinuous Integration(CI) significantly improves software development productivity. Research has already shown in other fields of software engineering that findings do not always generalize and are often limited to a specific context. So far, research on CI has not differentiated between varying contexts of the studied projects, which includes, for example, varying domains, personnel, technical environments, or cultures. We need to extend the theory of CI by considering the relevant context that will impact how projects approach CI. Although existing studies implicitly touch on context, they often lack a consistent terminology or rely on experience rather than a standardized approach. In this paper, we bridge this gap by developing a taxonomy of relevant contextual factors within the domain of CI. Using grounded theory, we analyze peer-reviewed studies and develop a comprehensive taxonomy of contextual factors of CI that we validate through a practitioner survey. The resulting taxonomy contains multiple levels of details, the main dimensions being Product, Team, Process, Quality, and Scale. The taxonomy offers a structured framework to address the gap in CI research regarding contextual theory. Researchers can use it to describe the scope of findings and to reason about the generalizability of theories. Developers can select and reuse practices more effectively by comparing to other, similar projects.

Depth estimation models have shown promising performance on clear scenes but fail to generalize to adverse weather conditions due to illumination variations, weather particles, etc. In this paper, we propose WeatherDepth, a self-supervised robust depth estimation model with curriculum contrastive learning, to tackle performance degradation in complex weather conditions. Concretely, we first present a progressive curriculum learning scheme with three simple-to-complex curricula to gradually adapt the model from clear to relative adverse, and then to adverse weather scenes. It encourages the model to gradually grasp beneficial depth cues against the weather effect, yielding smoother and better domain adaption. Meanwhile, to prevent the model from forgetting previous curricula, we integrate contrastive learning into different curricula. By drawing reference knowledge from the previous course, our strategy establishes a depth consistency constraint between different courses toward robust depth estimation in diverse weather. Besides, to reduce manual intervention and better adapt to different models, we designed an adaptive curriculum scheduler to automatically search for the best timing for course switching. In the experiment, the proposed solution is proven to be easily incorporated into various architectures and demonstrates state-of-the-art (SoTA) performance on both synthetic and real weather datasets. Source code and data are available at https://github.com/wangjiyuan9/WeatherDepth.

MOTIVATION: Combination therapies have been widely used to treat cancers. However, it is cost and time consuming to experimentally screen synergistic drug pairs due to the enormous number of possible drug combinations. Thus, computational methods have become an important way to predict and prioritize synergistic drug pairs. RESULTS: We proposed a Deep Tensor Factorization (DTF) model, which integrated a tensor factorization method and a deep neural network (DNN), to predict drug synergy. The former extracts latent features from drug synergy information while the latter constructs a binary classifier to predict the drug synergy status. Compared to the tensor-based method, the DTF model performed better in predicting drug synergy. The area under precision-recall curve (PR AUC) was 0.58 for DTF and 0.24 for the tensor method. We also compared the DTF model with DeepSynergy and logistic regression models, and found that the DTF outperformed the logistic regression model and achieved similar performance as DeepSynergy using several performance metrics for classification task. Applying the DTF model to predict missing entries in our drug-cell-line tensor, we identified novel synergistic drug combinations for 10 cell lines from the 5 cancer types. A literature survey showed that some of these predicted drug synergies have been identified in vivo or in vitro. Thus, the DTF model could be a valuable in silico tool for prioritizing novel synergistic drug combinations. AVAILABILITY AND IMPLEMENTATION: Source code and data are available at https://github.com/ZexuanSun/DTF-Drug-Synergy. SUPPLEMENTARY INFORMATION: Supplementary data are available at Bioinformatics online.