Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the also-human-inspired technique of in-hand-manipulation can glean rich data in a fraction of the time of EPs. We propose a simple 3-DOF robotic hand design, optimized for object rolling tasks via a variable-width palm and associated control system. This system dynamically adjusts the distance between the finger bases in response to object behavior. Compared to fixed finger bases, this technique significantly increases the area of the object that is exposed to finger-mounted tactile arrays during a single rolling motion (an increase of over 60% was observed for a cylinder with a 30-millimeter diameter). In addition, this paper presents a feature extraction algorithm for the collected spatiotemporal dataset, which focuses on object corner identification, analysis, and compact representation. This technique drastically reduces the dimensionality of each data sample from 10 x 1500 time series data to 80 features, which was further reduced by Principal Component Analysis (PCA) to 22 components. An ensemble subspace k-nearest neighbors (KNN) classification model was trained with 90 observations on rolling three different geometric objects, resulting in a three-fold cross-validation accuracy of 95.6% for object shape recognition.

Managing novelty in perception-based human activity recognition (HAR) is critical in realistic settings to improve task performance over time and ensure solution generalization outside of prior seen samples. Novelty manifests in HAR as unseen samples, activities, objects, environments, and sensor changes, among other ways. Novelty may be task-relevant, such as a new class or new features, or task-irrelevant resulting in nuisance novelty, such as never before seen noise, blur, or distorted video recordings. To perform HAR optimally, algorithmic solutions must be tolerant to nuisance novelty, and learn over time in the face of novelty. This paper 1) formalizes the definition of novelty in HAR building upon the prior definition of novelty in classification tasks, 2) proposes an incremental open world learning (OWL) protocol and applies it to the Kinetics datasets to generate a new benchmark KOWL-718, 3) analyzes the performance of current state-of-the-art HAR models when novelty is introduced over time, 4) provides a containerized and packaged pipeline for reproducing the OWL protocol and for modifying for any future updates to Kinetics. The experimental analysis includes an ablation study of how the different models perform under various conditions as annotated by Kinetics-AVA. The protocol as an algorithm for reproducing experiments using the KOWL-718 benchmark will be publicly released with code and containers at https://github.com/prijatelj/human-activity-recognition-in-an-open-world. The code may be used to analyze different annotations and subsets of the Kinetics datasets in an incremental open world fashion, as well as be extended as further updates to Kinetics are released.

With the rise in high resolution remote sensing technologies there has been an explosion in the amount of data available for forest monitoring, and an accompanying growth in artificial intelligence applications to automatically derive forest properties of interest from these datasets. Many studies use their own data at small spatio-temporal scales, and demonstrate an application of an existing or adapted data science method for a particular task. This approach often involves intensive and time-consuming data collection and processing, but generates results restricted to specific ecosystems and sensor types. There is a lack of widespread acknowledgement of how the types and structures of data used affects performance and accuracy of analysis algorithms. To accelerate progress in the field more efficiently, benchmarking datasets upon which methods can be tested and compared are sorely needed. Here, we discuss how lack of standardisation impacts confidence in estimation of key forest properties, and how considerations of data collection need to be accounted for in assessing method performance. We present pragmatic requirements and considerations for the creation of rigorous, useful benchmarking datasets for forest monitoring applications, and discuss how tools from modern data science can improve use of existing data. We list a set of example large-scale datasets that could contribute to benchmarking, and present a vision for how community-driven, representative benchmarking initiatives could benefit the field.

The number of international benchmarking competitions is steadily increasing in various fields of machine learning (ML) research and practice. So far, however, little is known about the common practice as well as bottlenecks faced by the community in tackling the research questions posed. To shed light on the status quo of algorithm development in the specific field of biomedical imaging analysis, we designed an international survey that was issued to all participants of challenges conducted in conjunction with the IEEE ISBI 2021 and MICCAI 2021 conferences (80 competitions in total). The survey covered participants' expertise and working environments, their chosen strategies, as well as algorithm characteristics. A median of 72% challenge participants took part in the survey. According to our results, knowledge exchange was the primary incentive (70%) for participation, while the reception of prize money played only a minor role (16%). While a median of 80 working hours was spent on method development, a large portion of participants stated that they did not have enough time for method development (32%). 25% perceived the infrastructure to be a bottleneck. Overall, 94% of all solutions were deep learning-based. Of these, 84% were based on standard architectures. 43% of the respondents reported that the data samples (e.g., images) were too large to be processed at once. This was most commonly addressed by patch-based training (69%), downsampling (37%), and solving 3D analysis tasks as a series of 2D tasks. K-fold cross-validation on the training set was performed by only 37% of the participants and only 50% of the participants performed ensembling based on multiple identical models (61%) or heterogeneous models (39%). 48% of the respondents applied postprocessing steps.

Large language models (LLMs) have been shown to be able to perform new tasks based on a few demonstrations or natural language instructions. While these capabilities have led to widespread adoption, most LLMs are developed by resource-rich organizations and are frequently kept from the public. As a step towards democratizing this powerful technology, we present BLOOM, a 176B-parameter open-access language model designed and built thanks to a collaboration of hundreds of researchers. BLOOM is a decoder-only Transformer language model that was trained on the ROOTS corpus, a dataset comprising hundreds of sources in 46 natural and 13 programming languages (59 in total). We find that BLOOM achieves competitive performance on a wide variety of benchmarks, with stronger results after undergoing multitask prompted finetuning. To facilitate future research and applications using LLMs, we publicly release our models and code under the Responsible AI License.

Despite their popularity in deep learning and machine learning in general, the theoretical properties of adaptive optimizers such as Adagrad, RMSProp, Adam or AdamW are not yet fully understood. In this paper, we develop a novel framework to study the stability and generalization of these optimization methods. Based on this framework, we show provable guarantees about such properties that depend heavily on a single parameter $\beta_2$. Our empirical experiments support our claims and provide practical insights into the stability and generalization properties of adaptive optimization methods.

模型校准衡量预测的概率估计与真实性可能性之间的一致性。正确的模型校准对于高风险应用至关重要。不幸的是，现代深层神经网络的校准不佳，损害了可信度和可靠性。由于组织边界的自然不确定性，医疗图像分割尤其遭受了这种情况。这对他们的损失功能感到愤怒，这有利于多数级别的过度自信。我们用Domino（一种域感知的模型校准方法）解决了这些挑战，该方法利用了类标签之间的语义混淆性和分层相似性。我们的实验表明，在头部图像分割中，我们受多米诺骨牌校准的深神经网络优于非校准模型和最先进的形态学方法。我们的结果表明，与这些方法相比，我们的方法可以始终如一地实现更好的校准，更高的准确性和更快的推理时间，尤其是在稀有类别上。该性能归因于我们的域知觉正规化，以告知语义模型校准。这些发现表明，班级标签之间语义联系在建立深度学习模型的信心中的重要性。该框架有可能提高通用医学图像分割模型的可信度和可靠性。本文的代码可在以下网址获得：https：//github.com/lab-smile/domino。

机器学习（ML）算法在帮助不同学科和机构的科学社区解决大型和多样化的数据问题方面表现出了增长的趋势。但是，许多可用的ML工具在编程方面要求且计算成本高昂。 MlexChange项目旨在建立一个配备有能力工具的协作平台，该平台使科学家和设施使用者没有深刻的ML背景来使用ML和计算资源进行科学发现。在高水平上，我们针对完整的用户体验，在该体验中，可以通过Web应用程序可以轻松获得管理和交换ML算法，工作流和数据。到目前为止，我们已经构建了四个主要组件，即中央职位管理器，集中式内容注册表，用户门户和搜索引擎，并成功地将这些组件部署到了测试服务器上。由于每个组件都是一个独立的容器，因此可以轻松地在不同尺度的服务器上部署整个平台或其个人服务，从笔记本电脑（通常是单个用户）到高性能群集（HPC）（同时）通过许多用户。因此，MlexChange使用方案使灵活性变得灵活 - 用户可以从远程服务器访问服务和资源，也可以在其本地网络中运行整个平台或其个人服务。

本文探讨了数据驱动模型使用简单的分类标签预测电源系统中电压偏移事件的有效性。通过将预测视为一项分类分类任务，工作流程的特征是计算负担低。关于意大利150 kV子贸易网络的真实部分的概念验证案例研究，该网络托管大量风能发电，证明了该提案的一般有效性，并深入了解了几个广泛的优势和劣势利用此应用程序的预测模型。

我们介绍了泰德（Tidee），这是一种体现的代理，它根据学识渊博的常识对象和房间安排先验来整理一个无序场景。泰德（Tidee）探索家庭环境，检测到其自然位置的对象，渗透到它们的合理对象上下文，在当前场景中定位此类上下文，并重新定位对象。常识先验在三个模块中编码：i）检测到现象对象的视觉声音检测器，ii）对象和空间关系的关联神经图记忆，提出了对象重新定位的合理语义插座和表面，以及iii）引导代理商探索的可视搜索网络，以有效地将利益定位在当前场景中以重新定位对象。我们测试了在AI2THOR模拟环境中整理混乱的场景的潮汐。 Tidee直接从像素和原始深度输入中执行任务，而没有事先观察到同一房间，仅依靠从单独的一组培训房屋中学到的先验。人类对由此产生的房间进行重组的评估表明，泰德（Tidee）的表现优于该模型的消融版本，这些版本不使用一个或多个常识性先验。在相关的房间重新安排基准测试中，该基准使代理可以在重新排列前查看目标状态，我们的模型的简化版本大大胜过了最佳的方法，可以通过大幅度的差距。代码和数据可在项目网站上获得：https：//tidee-agent.github.io/。