Category-level articulated object pose perception-encompassing both static pose estimation and dynamic pose tracking-is critical for embodied AI systems interacting with complex environments. Due to the inherent complexity and diverse motion structures of articulated objects, existing methods often exhibit limitations in adequately modeling kinematic constraints, handling self-occlusions, and meeting optimization requirements. Building upon EfficientCAPER (Yu et al., 2024), this work introduces CAPER++, a unified framework addressing these limitations through three key innovations: first, a joint-centric hierarchical model decomposes objects into a root part and constrained parts linked by joints, explicitly embedding kinematic constraints for geometrically consistent pose recovery. Second, an SE(3) manifold formulation leverages Lie algebra in the tangent space for singularity-free rotation representation and stable optimization, replacing error-prone direct regression. Third, for tracking, a proxy canonicalization strategy reformulates pose updates as SE(3) increment predictions relative to keyframes, enhanced by a dynamic keyframe mechanism to suppress drift. Extensive experiments on synthetic (ArtImage, PM-Videos), semi-synthetic (ReArtMix, ReArt-Videos), and real-world (RobotArm, RobotArm-Videos) benchmarks demonstrate state-of-the-art accuracy and robustness. CAPER++ achieves real-time inference (50 FPS) without post-processing, significantly advancing category-level articulated perception for real-world applications.

Articulated objects play a vital role in daily interactions, but traditional RGB-based pose estimation methods often face challenges such as lighting variations and shadows. To address these limitations, we introduce PAGE, a novel Pre-defined keypoint-based framework for category-level articulation pose estimation via multi-modal AliGnmEnt. Our approach is motivated by the observation that the distance distribution between heuristically generated keypoints and visible points exhibits a divergent pattern, a phenomenon previously overlooked. To tackle this, we propose a customized unsupervised keypoint estimation method that enhances the stability and robustness of model predictions. Furthermore, to minimize mutual information redundancy between point clouds and RGB images, we design a geometry-color alignment module that fuses features after aligning the two modalities. This is followed by decoding the radius for each visible point and applying our proposal integration scoring strategy to predict keypoints. The framework ultimately outputs the per-part 6D pose of the articulated object.We conduct extensive experiments across diverse datasets, ranging from synthetic to real-world scenarios, demonstrating the robustness and superior performance of PAGE. This work holds significant promise for applications in robotics, embodied intelligence, and augmented reality. Codes and datasets are available at the website: https://sites.google.com/view/pageforart.

Human life is filled with articulated objects. Previous works for estimating the pose of category-level articulated objects rely on costly 3D point clouds or RGB-D images. In this paper, our goal is to estimate category-level articulation poses from a single RGB image, where we propose R2-Art, a novel category-level Articulation pose estimation framework from a single RGB image and a cascade Render strategy. Given an RGB image as input, R2-Art estimates per-part 6D pose for the articulation. Specifically, we design parallel regression branches tailored to generate camera-to-root translation and rotation. Using the predicted joint states, we perform PC prior transformation and deformation with a joint-centric modeling approach. For further refinement, a cascade render strategy is proposed for projecting the 3D deformed prior onto the 2D mask. Extensive experiments are provided to validate our R2-Art on various datasets ranging from synthetic datasets to real-world scenarios, demonstrating the superior performance and robustness of the R2-Art. We believe that this work has the potential to be applied in many fields including robotics, embodied intelligence, and augmented reality.

Garments are common in daily life and are important for embodied intelligence community. Current category-level garments pose tracking works focus on predicting point-wise canonical correspondence and learning a shape deformation in point cloud sequences. In this paper, motivated by the 2D warping space and shape prior, we propose GaPT-DAR, a novel category-level Garments Pose Tracking framework with integrated 2D Deformation And 3D Reconstruction function, which fully utilize 3D-2D projection and 2D-3D reconstruction to transform the 3D point-wise learning into 2D warping deformation learning. Specifically, GaPT-DAR firstly builds a Voting-based Project module that learns the optimal 3D-2D projection plane for maintaining the maximum orthogonal entropy during point projection. Next, a Garments Deformation module is designed in 2D space to explicitly model the garments warping procedure with deformation parameters. Finally, we build a Depth Reconstruction module to recover the 2D images into 3D warp field. We provide extensive experiments on VR-Folding dataset to evaluate our GaPT-DAR and the results show obvious improvements on most of the metrics compared to state-of-the-arts (i.e. Garment-Nets [8] and GarmentTracking [32]). More details are available at https://sites.google.com/view/gapt-dar.

Articulations are essential in everyday interactions, yet traditional RGB-based pose estimation methods often struggle with issues such as lighting variations and shadows. To overcome these challenges, we propose a novel Pre-defined keypoint based framework for category-level articulation pose estimation via multi-modal Alignment, coined PAGE. Specifically, we first propose a customized keypoint estimation method, aiming to avoid the divergent distance pattern between heuristically generated keypoints and visible points. In addition, to reduce the mutual information redundancy between point clouds and RGB images, we design the geometry-color alignment, which fuses the features after aligning two modalities. This is followed by decoding the radius for each visible point, and applying our proposal integration scoring strategy to predict keypoints. Ultimately, the framework outputs the per-part 6D pose of the articulation. We conduct extensive experiments to evaluate PAGE across a variety of datasets, from synthetic to real-world scenarios, demonstrating its robustness and superior performance.

IFL (Image Forgery Location) helps secure digital media forensics. However, many methods suffer from false detections (i.e., FPs) and inaccurate boundaries. In this paper, we proposed the CatmullRom Splines-based Regression Network (CSR-Net), which first rethinks the IFL task from the perspective of regression to deal with this problem. Specifically speaking, we propose an adaptive CutmullRom splines fitting scheme for coarse localization of the tampered regions. Then, for false positive cases, we first develop a novel re-scoring mechanism, which aims to filter out samples that cannot have responses on both the classification branch and the instance branch. Later on, to further restrict the boundaries, we design a learnable texture extraction module, which refines and enhances the contour representation by decoupling the horizontal and vertical forgery features to extract a more robust contour representation, thus suppressing FPs. Compared to segmentation-based methods, our method is simple but effective due to the unnecessity of post-processing. Extensive experiments show the superiority of CSR-Net to existing state-of-the-art methods, not only on standard natural image datasets but also on social media datasets.

Articulated objects are common in our daily life. However, current category-level articulation pose works mostly focus on predicting 9D poses on statistical point cloud observations. In this paper, we deal with the problem of category-level online robust 9D pose tracking of articulated objects, where we propose VoCAPTER, a novel 3D Voting-based Category-level Articulated object Pose TrackER. Our VoCAPTER efficiently updates poses between adjacent frames by utilizing partial observations from the current frame and the estimated per-part 9D poses from the previous frame. Specifically, by incorporating prior knowledge of continuous motion relationships between frames, we begin by canonicalizing the input point cloud, casting the pose tracking task as an inter-frame pose increment estimation challenge. Subsequently, to obtain a robust pose-tracking algorithm, our main idea is to leverage SE(3)-invariant features during motion. This is achieved through a voting-based articulation tracking algorithm, which identifies keyframes as reference states for accurate pose updating throughout the entire video sequence. We evaluate the performance of VoCAPTER in the synthetic dataset and real-world scenarios, which demonstrates VoCAPTER's generalization ability to diverse and complicated scenes. Through these experiments, we provide evidence of VoCAPTER's superiority and robustness in multi-frame pose tracking of articulated objects. We believe that this work can facilitate the progress of various fields, including robotics, embodied intelligence, and augmented reality. All the codes will be made publicly available.

In remote sensing imaging systems, pan-sharpening is an important technique to obtain high-resolution multispectral images from a high-resolution panchromatic image and its corresponding low-resolution multispectral image. Due to the powerful learning capability of convolution neural networks (CNNs), CNN-based methods have dominated this field. However, due to the limitation of the convolution operator, long-range spatial features are often not accurately obtained, thus limiting the overall performance. To this end, we propose a novel and effective method by exploiting a customized transformer architecture and information-lossless invertible neural module for long-range dependencies modeling and effective feature fusion in this article. Specifically, the customized transformer formulates the panchromatic (PAN) and multispectral (MS) features as queries and keys to encourage joint feature learning across two modalities, while the designed invertible neural module enables effective feature fusion to generate the expected pan-sharpened results. To the best of our knowledge, this is the first attempt to introduce a transformer and a invertible neural network into the pan-sharpening field. Extensive experiments over different kinds of satellite datasets demonstrate that our method outperforms state-of-the-art algorithms both visually and quantitatively with fewer parameters and flops. Furthermore, the ablation experiments also prove the effectiveness of the proposed customized long-range transformer and effective invertible neural feature fusion module for pan-sharpening.

Recent object detection methods largely rely on numerous pre-defined anchors that suffer from huge computational cost and resource consumption. To solve this issue, we propose a low-memory deep reinforcement learning based anchor-free object detection approach, namely ReinforceDet, which computes few but accurate region proposals for detection. Specifically, the extracted feature maps are fed into a reinforcement learning network to localize objects as initial region proposals with our re-designed reward function and then adopt another neural network to refine them. To speed up this process in test phase, we decouple the two-branch CNN networks as light-head cascaded subnetworks, named IoU-net and bounding box net. Experimental results show that ReinforceDet could obtain the state-of-the-art performance with much lower compitational and memory cost.

Case retrieval is one of the key steps of case-based reasoning. The quality of case retrieval determines the effectiveness of the system. The common similarity calculation methods based on attributes include distance and inner product. Different similarity calculations have different influences on the effect of case retrieval. How to combine different similarity calculation results to get a more widely used and better retrieval algorithm is a hot issue in the current case-based reasoning research. In this paper, the granularity of quotient space is introduced into the similarity calculation based on attribute, and a case retrieval algorithm based on granularity synthesis theory is proposed. This method first uses similarity calculation of different attributes to get different results of case retrieval, and considers that these classification results constitute different quotient spaces, and then organizes these quotient spaces according to granularity synthesis theory to get the classification results of case retrieval. The experimental results verify the validity and correctness of this method and the application potential of granularity calculation of quotient space in case-based reasoning.

The intelligent control of cleaning of rice–wheat combined harvester is a complex problem, which includes the initial setting of cleaning control, judgment of cleaning loss state, cause analysis and selection of corresponding control strategies and many other sub-problems. The knowledge contained in these sub-problems, including knowledge representation methods and reasoning strategies, is different. Therefore, this paper decomposes the complex problem of cleaning control into a sub-problem of hierarchical structure, and constructs a knowledge model of cleaning control based on binary tree structure. In this way, the cleaning control problem can be decomposed into a small set of sub-problems by the judgment of the nodes of the binary tree, until the sub-problems are small enough to be solved directly so as to get the solution of the original problem. It is proved by examples that this method is of great significance to improve the efficiency of knowledge acquisition, management and maintenance of the expert system of rice–wheat combine harvester, and to enhance the knowledge service ability of the expert system of rice–wheat combine harvester. This method can also be used for reference in other fields.

Specialized control of pests and diseases have been a high-priority issue for the agriculture industry in many countries. On account of automation and cost effectiveness, image analytic pest recognition systems are widely utilized in practical crops prevention applications. But due to powerless hand-crafted features, current image analytic approaches achieve low accuracy and poor robustness in practical large-scale multiclass pest detection and recognition. To tackle this problem, this article proposes a novel deep learning based automatic approach using hybrid and local activated features for pest monitoring. In the presented method, we exploit the global information from feature maps to build our global activated feature pyramid network to extract pests' highly discriminative features across various scales over both depth and position levels. It makes changes of depth or spatial sensitive features in pest images more visible during downsampling. Next, an improved pest localization module named local activated region proposal network is proposed to find the precise pest objects positions by augmenting contextualized and attentional information for feature completion and enhancement in local level. The approach is evaluated on our seven-year large-scale pest data-set containing 88.6 K images (16 types of pests) with 582.1 K manually labeled pest objects. The experimental results show that our solution performs over 75.03% mean average precision (mAP) in industrial circumstances, which outweighs two other state-of-the-art methods: Faster R-CNN with mAP up to 70% and feature pyramid network mAP up to 72%.

Natural disasters have had great impact on human beings. Emergency relief is becoming more important with the increase of the frequency and scale of humanitarian emergencies resulting from more natural disasters because of climate change. In this paper, an interesting hybrid knowledge representation method during the development of a KBS for design of emergency relief structures is presented. It encapsulates ill-structured, semi-structured and structured knowledge that is gathered from literature, human expert and even knowledge gleaned during the system development. All routine as well as cumbrous activities in the emergency relief cycle are covered. The system can provide the user with advice on preliminary plan evaluation, plan optimization, plan evaluation, plan summary and miscellaneous. It would be beneficial to the field of disaster emergency relief decision by focusing on the acquisition and organization of expert knowledge through the development of knowledge-based system.

Monitoring pest in agriculture has been a high-priority issue all over the world. Computer vision techniques are widely utilized in practical crop pest prevention applications due to the rapid development of artificial intelligence technology. However, current deep learning image analytic approaches achieve low accuracy and poor robustness in agriculture pest monitoring task. This paper targets at this challenge by proposing a novel two-stage deep learning based automatic pest monitoring system with hybrid global and local activated feature. In this approach, a Global activated Feature Pyramid Network (GaFPN) is firstly proposed for extracting highly representative features of pests over both depth and spatial position activation levels. Then, an improved Local activated Region Proposal Network (LaRPN) augmenting contextual and attentional information is represented for precisely locating pest objects. Finally, we design a fully connected neural network to estimate the severity of input image under the detected pests. The experimental results on our 88.6K images dataset (with 16 types of common pests) show that our approach outweighs the state-of-the-art methods in industrial circumstances.

A knowledge model for knowledge base system in the Web environment is proposed, which includes problem description layer and knowledge layer. A knowledge base is made up of a set of knowledge models. Knowledge models are used to support knowledge representation and reasoning. Visual knowledge modeling tool and visual knowledge service tool based on Web environment realize the construction of knowledge base system in Web environment. The knowledge base system supports the construction of agricultural expert system. By comparison with CommonKADS, it is proved that this method can improve the efficiency of knowledge acquisition, management and maintenance in Web environment. This method also has the reference significance to the construction of the knowledge base system in the Web environment in other domains.

The acquisition, presentation and management of autonomous driving decision-making knowledge of unmanned vehicles are the key and difficult issues in the autonomous driving decision-making system of unmanned vehicles. This paper presents a knowledge model, which includes problem description layer and problem-solving knowledge layer. The automatic driving decision knowledge base of unmanned vehicle is composed of a set of knowledge models. Knowledge model supports knowledge representation and reasoning. Based on the WEB visualization knowledge modeling tool and visualization knowledge service tool, we construct the decision-making knowledge base management system for autonomous driving of unmanned vehicles and then construct the autonomous driving decision-making system of unmanned vehicles. The reasoning example shows that the knowledge base management system can effectively improve the knowledge acquisition, representation and maintenance efficiency of autonomous driving decision-making system, which is of great significance in enhancing the intelligence level of autonomous driving decision-making system.

SUMMARY: Identifying molecular cancer subtypes from multi-omics data is an important step in the personalized medicine. We introduce CancerSubtypes, an R package for identifying cancer subtypes using multi-omics data, including gene expression, miRNA expression and DNA methylation data. CancerSubtypes integrates four main computational methods which are highly cited for cancer subtype identification and provides a standardized framework for data pre-processing, feature selection, and result follow-up analyses, including results computing, biology validation and visualization. The input and output of each step in the framework are packaged in the same data format, making it convenience to compare different methods. The package is useful for inferring cancer subtypes from an input genomic dataset, comparing the predictions from different well-known methods and testing new subtype discovery methods, as shown with different application scenarios in the Supplementary Material. AVAILABILITY AND IMPLEMENTATION: The package is implemented in R and available under GPL-2 license from the Bioconductor website (http://bioconductor.org/packages/CancerSubtypes/). CONTACT: [email protected] or [email protected]. SUPPLEMENTARY INFORMATION: Supplementary data are available at Bioinformatics online.

Dimension reduction methods including feature selection and feature extraction have played an important role in data mining and pattern recognition. In this study, we propose a novel unsupervised feature selection approach based on sparse representation theory, namely Sparsity Score (SS). Due to the sparse representation procedure, SS not only owns the global property of Variance Score (VS) and the local property of Laplacian Score (LS), but also possesses the discriminating nature. Experimental results, based on three well-known face datasets (Yale, ORL and CMU PIE), reveal that SS performs well in the evaluation of the feature significance, and it significantly outperforms VS and LS.

Discovering causal relationships in large databases of observational data is challenging. The pioneering work in this area was rooted in the theory of Bayesian network (BN) learning, which however, is a NP-complete problem. Hence several constraint-based algorithms have been developed to efficiently discover causations in large databases. These methods usually use the idea of BN learning, directly or indirectly, and are focused on causal relationships with single cause variables. In this paper, we propose an approach to mine causal rules in large databases of binary variables. Our method expands the scope of causality discovery to causal relationships with multiple cause variables, and we utilise partial association tests to exclude noncausal associations, to ensure the high reliability of discovered causal rules. Furthermore an efficient algorithm is designed for the tests in large databases. We assess the method with a set of real-world diagnostic data. The results show that our method can effectively discover interesting causal rules in large databases.

Color transfer between images is one of the most common tasks in image processing. We can borrow one image 's color characteristics from another. In this paper we investigate an advanced algorithm for transferring color. A combined clustering method is introduced to find the match areas between two images. Subtractive clustering is used with FCM clustering to prevent the latter from falling into local optimum solution and minimize the amount of human labor in finding the number of clustering. We show that this technique can be successfully applied to the adaptive color transferring and speed up the process. The experiment results are satisfactory.