Fast-BEV: A Fast and Strong Bird's-Eye View Perception Baseline.

Recently, perception task based on Bird's-Eye View (BEV) representation has drawn more and more attention, and BEV representation is promising as the foundation for next-generation Autonomous Vehicle (AV) perception. However, most existing BEV solutions either require considerable resources to execute on-vehicle inference or suffer from modest performance. This paper proposes a simple yet effective framework, termed Fast-BEV, which is capable of performing faster BEV perception on the on-vehicle chips. Towards this goal, we first empirically find that the BEV representation can be sufficiently powerful without expensive transformer based transformation nor depth representation. Our Fast-BEV consists of five parts, We innovatively propose (1) a lightweight deploymentfriendly view transformation which fast transfers 2D image feature to 3D voxel space, (2) an multi-scale image encoder which leverages multi-scale information for better performance, (3) an efficient BEV encoder which is particularly designed to speed up on-vehicle inference. We further introduce (4) a strong data augmentation strategy for both image and BEV space to avoid over-fitting, (5) a multiframe feature fusion mechanism to leverage the temporal information. Among them, (1) and (3) enable Fast-BEV to be fast inference and deployment friendly on the on-vehicle chips, (2), (4) and (5) ensure that Fast-BEV has competitive performance. All these make Fast-BEV a solution with high performance, fast inference speed, and deployment-friendly on the on-vehicle chips of autonomous driving. Through experiments, on 2080Ti platform, our R50 model can run 52.6 FPS with 47.3% NDS on the nuScenes validation set, exceeding the 41.3 FPS and 47.5% NDS of the BEVDepth-R50 model [1] and 30.2 FPS and 45.7% NDS of the BEVDet4D-R50 model [2]. Our largest model (R101@900x1600) establishes a competitive 53.5% NDS on the nuScenes validation set. We further develop a benchmark with considerable accuracy and efficiency on current popular on-vehicle chips. The code is released at: https://github.com/Sense-GVT/FastBEV.

Dual-Valence Characteristics of Be11: Tin/Lead-like Superatom.

To enhance the superatom family, the new superatom analogue Be11 of group IVA elements has been developed. Be11 can exhibit multiple valence states (+2 and +4), similar to carbon-group elements, and is capable of forming stable ionic compounds with other atoms such as carbon, chalcogen, (super)halogen, and hydroxyl. This resembles how tin and lead atoms combine with these elements to form stable molecules. Their special stability can be rationalized from the perspective of a cluster shell model. Sn or Pb could be the nearest atomic analogue to Be11 in group IVA, as the +2 oxidation state is more stable than the +4 oxidation state. This comparative investigation highlights the resemblance between Be11 and carbon-group elements, which encourages additional exploration within the superatom family.

High electron affinity triggered by lithium coordination: quasi-chalcogen properties of Li2Sn8Be.

This work puts forward an unusual but rational strategy to design superatoms mimicking the properties of group via elements. A new dianion with closo-configuration, namely Li2Sn8Be2-, has been obtained by decorating endohedral Zintl ion Sn8Be4- with two Li ligands. Its neutral counterpart, namely Li2Sn8Be, exhibits a high electron affinity of 2.526 eV, which not only exceeds that of the Sn8Be cluster but is higher than those of chalcogen elements. Li2Sn8Be has the potential to form stable ionic compounds with lithium, calcium, and even superalkali and superalkali-earth-metal atoms, and has an oxidation state of -2 therein. Besides, compound analogues of CO, O22-, H2O2, and Li2O2 can also be obtained with Li2Sn8Be serving as the building block. The striking resemblance between Li2Sn8Be and oxygen-group elements not only qualifies it for membership of the superatom family, but further collaborates the theoretical framework of the "three-dimensional periodic table".

Human inspired fall arrest strategy for humanoid robots based on stiffness ellipsoid optimisation.

Falls are a common risk and impose severe threats to both humans and humanoid robots as a product of bipedal locomotion. Inspired by human fall arrest, we present a novel humanoid robot fall prevention strategy by using arms to make contact with environmental objects. Firstly, the capture point method is used to detect falling. Once the fall is inevitable, the arm of the robot will be actuated to gain contact with an environmental object to prevent falling. We propose a hypothesis that humans naturally favour to select a pose that can generate a suitable Cartesian stiffness of the arm end-effector. Based on this principle, a configuration optimiser is designed to choose a pose of the arm that maximises the value of the stiffness ellipsoid of the endpoint along the impact force direction. During contact, the upper limb acts as an adjustable active spring-damper and absorbs impact shock to steady itself. To validate the proposed strategy, several simulations are performed in MATLAB & Simulink by having the humanoid robot confront a wall as a case study in which the strategy is proved to be effective and feasible. The results show that using the proposed strategy can reduce the joint torque during impact when the arms are used to arrest the fall.

On Close Parallels between the Zintl-Based Superatom Ge9Be and Chalcogen Elements.

Ever since the concept of superatoms was brought forward in the 1990s, various specific types of clusters have been proposed to mimic atomic properties and enrich the "three-dimensional periodic table". In this work, a Zintl cluster, namely, Ge9Be, has been certified eligible to join the superatom family, owing to its surprising similarity to chalcogen elements. Having 38 valence electrons, Ge9Be has an intrinsic desire to gain two additional electrons to achieve electronic shell closure, in which its quasi-chalcogen identity roots. Like oxygen-group elements, Ge9Be has the potential to form stable ionic compounds with lithium, beryllium, calcium, and superalkaline-earth atom FLi3. On the other hand, the combination of Ge9Be and the multiple valence superatom Al7- results in covalent compounds resembling carbon oxides. Close parallels have also been found between (Ge9Be)2-based compounds and common peroxides, further evidencing the superatom characteristics of Ge9Be. This finding puts forward an almost perfect superatom counterpart of group VIA elements and opens the door to characteristics-oriented design and synthesis of stable superatom motifs by utilizing solid Zintl clusters.