Most previous progress in object tracking is realized in daytime scenes with favorable illumination. State-of-the-arts can hardly carry on their superiority at night so far, thereby considerably blocking the broadening of visual tracking-related unmanned aerial vehicle (UAV) applications. To realize reliable UAV tracking at night, a spatial-channel Transformer-based low-light enhancer (namely SCT), which is trained in a novel task-inspired manner, is proposed and plugged prior to tracking approaches. To achieve semantic-level low-light enhancement targeting the high-level task, the novel spatial-channel attention module is proposed to model global information while preserving local context. In the enhancement process, SCT denoises and illuminates nighttime images simultaneously through a robust non-linear curve projection. Moreover, to provide a comprehensive evaluation, we construct a challenging nighttime tracking benchmark, namely DarkTrack2021, which contains 110 challenging sequences with over 100 K frames in total. Evaluations on both the public UAVDark135 benchmark and the newly constructed DarkTrack2021 benchmark show that the task-inspired design enables SCT with significant performance gains for nighttime UAV tracking compared with other top-ranked low-light enhancers. Real-world tests on a typical UAV platform further verify the practicability of the proposed approach. The DarkTrack2021 benchmark and the code of the proposed approach are publicly available at https://github.com/vision4robotics/SCT .

Due to the remarkable potential applications, defocus blur detection, which aims to separate blurry regions from an image, has attracted much attention. Although significant progress has been made by many methods, there are still various challenges that hinder the results, e.g., confusing background areas, sensitivity to the scale and missing the boundary details of the defocus blur regions. To solve these issues, in this paper, we propose a deep convolutional neural network (CNN) for defocus blur detection via a Bidirectional Residual Refining network (BR $^{2}$ Net). Specifically, a residual learning and refining module (RLRM) is designed to correct the prediction errors in the intermediate defocus blur map. Then, we develop a bidirectional residual feature refining network with two branches by embedding multiple RLRMs into it for recurrently combining and refining the residual features. One branch of the network refines the residual features from the shallow layers to the deep layers, and the other branch refines the residual features from the deep layers to the shallow layers. In such a manner, both the low-level spatial details and high-level semantic information can be encoded step by step in two directions to suppress background clutter and enhance the detected region details. The outputs of the two branches are fused to generate the final results. In addition, with the observation that different feature channels have different extents of discrimination for detecting blurred regions, we add a channel attention module to each feature extraction layer to select more discriminative features for residual learning. To promote further research on defocus blur detection, we create a new dataset with various challenging images and manually annotate their corresponding pixelwise ground truths. The proposed network is validated on two commonly used defocus blur detection datasets and our newly collected dataset by comparing it with 10 other state-of-the-art methods. Extensive experiments with ablation studies demonstrate that BR $^{2}$ Net consistently and significantly outperforms the competitors in terms of both the efficiency and accuracy.

Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation, enables complex interactions similar to human hand dexterity. With recent advances in robotics and machine learning, there is a growing demand for these systems to operate in complex and unstructured environments. Traditional model-based approaches struggle to generalize across tasks and object variations due to the high dimensionality and complex contact dynamics of dexterous manipulation. Although model-free methods such as reinforcement learning (RL) show promise, they require extensive training, large-scale interaction data, and carefully designed rewards for stability and effectiveness. Imitation learning (IL) offers an alternative by allowing robots to acquire dexterous manipulation skills directly from expert demonstrations, capturing fine-grained coordination and contact dynamics while bypassing the need for explicit modeling and large-scale trial-and-error. This survey provides an overview of dexterous manipulation methods based on imitation learning, details recent advances, and addresses key challenges in the field. Additionally, it explores potential research directions to enhance IL-driven dexterous manipulation. Our goal is to offer researchers and practitioners a comprehensive introduction to this rapidly evolving domain.