Out-of-distribution (OOD) detection aims to detect "unknown" data whose
labels have not been seen during the in-distribution (ID) training process.
Recent progress in representation learning gives rise to distance-based OOD
detection that recognizes inputs as ID/OOD according to their relative
distances to the training data of ID classes. Previous approaches calculate
pairwise distances relying only on global image representations, which can be
sub-optimal as the inevitable background clutter and intra-class variation may
drive image-level representations from the same ID class far apart in a given
representation space. In this work, we overcome this challenge by proposing
Multi-scale OOD DEtection (MODE), a first framework leveraging both global
visual information and local region details of images to maximally benefit OOD
detection. Specifically, we first find that existing models pretrained by
off-the-shelf cross-entropy or contrastive losses are incompetent to capture
valuable local representations for MODE, due to the scale-discrepancy between
the ID training and OOD detection processes. To mitigate this issue and
encourage locally discriminative representations in ID training, we propose
Attention-based Local PropAgation (ALPA), a trainable objective that exploits a
cross-attention mechanism to align and highlight the local regions of the
target objects for pairwise examples. During test-time OOD detection, a
Cross-Scale Decision (CSD) function is further devised on the most
discriminative multi-scale representations to distinguish ID/OOD data more
faithfully. We demonstrate the effectiveness and flexibility of MODE on several
benchmarks -- on average, MODE outperforms the previous state-of-the-art by up
to 19.24% in FPR, 2.77% in AUROC. Code is available at
this https URL

本研究提出了第一个多尺度的 “模式”（MODE）框架，通过同时利用图像的全局视觉信息和局部区域细节来实现最大效益的外域检测。通过引入注意力机制和交叉尺度决策函数，MODE 在几个基准测试中表现出卓越的性能，平均可以在误报率上提高 19.24%、在 AUROC 上提高 2.77%。

从全球到本地：多尺度的离群检测

From Global to Local: Multi-scale Out-of-distribution Detection

Solving the inverse kinematics problem is a fundamental challenge in motion
planning, control, and calibration for articulated robots. Kinematic models for
these robots are typically parametrized by joint angles, generating a
complicated mapping between the robot configuration and the end-effector pose.
Alternatively, the kinematic model and task constraints can be represented
using invariant distances between points attached to the robot. In this paper,
we formalize the equivalence of distance-based inverse kinematics and the
distance geometry problem for a large class of articulated robots and task
constraints. Unlike previous approaches, we use the connection between distance
geometry and low-rank matrix completion to find inverse kinematics solutions by
completing a partial Euclidean distance matrix through local optimization.
Furthermore, we parametrize the space of Euclidean distance matrices with the
Riemannian manifold of fixed-rank Gram matrices, allowing us to leverage a
variety of mature Riemannian optimization methods. Finally, we show that bound
smoothing can be used to generate informed initializations without significant
computational overhead, improving convergence. We demonstrate that our inverse
kinematics solver achieves higher success rates than traditional techniques,
and substantially outperforms them on problems that involve many workspace
constraints.

本文提出了基于距离几何的逆运动学求解器，并结合 Riemannian 优化算法，初值平滑技术等方法，实现了更高效的求解方法。