在过去的二十年中，已经采用了过采样来克服从不平衡数据集中学习的挑战。文献中提出了许多解决这一挑战的方法。另一方面，过采样是一个问题。也就是说，在解决现实世界问题时，经过虚拟数据训练的模型可能会出色地失败。过采样方法的根本困难是，鉴于现实生活中的人群，合成的样本可能并不真正属于少数群体。结果，在假装代表少数群体的同时，在这些样本上训练分类器可能会导致在现实世界中使用该模型时的预测。我们在本文中分析了大量的过采样方法，并根据隐藏了许多多数示例，设计了一种新的过采样评估系统，并将其与通过过采样过程产生的示例进行了比较。根据我们的评估系统，我们根据它们错误生成的示例进行比较对所有这些方法进行了排名。我们使用70多种超采样方法和三种不平衡现实世界数据集的实验表明，所有研究的过采样方法都会生成最有可能是多数人的少数样本。给定数据和方法，我们认为以目前的形式和方法对从类不平衡数据学习不可靠，应在现实世界中避免。

经典的双赢有一个关键的缺陷，因为它不能为各方提供适当的获胜，因为每一方认为他们是赢家。实际上，一方可能比另一方赢得更多。该策略不仅限于单一产品或谈判;它可以应用于生活中的各种情况。我们提出了一种衡量本文双赢的新颖方式。该方法采用模糊逻辑来创建一个数学模型，援助谈判者量化其获胜百分比。该模型采用现实生活谈判的考验，如伊朗铀浓缩谈判，伊拉克 - 约旦石油交易和铁矿石谈判（2005-2009）。呈现的模型在实践中表明是一种有用的工具，并且可以容易地广泛地在其他域中使用。

基于全面的生物识别是一个广泛的研究区域。然而，仅使用部分可见的面，例如在遮盖的人的情况下，是一个具有挑战性的任务。在这项工作中使用深卷积神经网络（CNN）来提取来自遮盖者面部图像的特征。我们发现，第六和第七完全连接的层，FC6和FC7分别在VGG19网络的结构中提供了鲁棒特征，其中这两层包含4096个功能。这项工作的主要目标是测试基于深度学习的自动化计算机系统的能力，不仅要识别人，还要对眼睛微笑等性别，年龄和面部表达的认可。我们的实验结果表明，我们为所有任务获得了高精度。最佳记录的准确度值高达99.95％，用于识别人员，99.9％，年龄识别的99.9％，面部表情（眼睛微笑）认可为80.9％。

Ever since the first microscope by Zacharias Janssen in the late 16th century, scientists have been inventing new types of microscopes for various tasks. Inventing a novel architecture demands years, if not decades, worth of scientific experience and creativity. In this work, we introduce Differentiable Microscopy ($\partial\mu$), a deep learning-based design paradigm, to aid scientists design new interpretable microscope architectures. Differentiable microscopy first models a common physics-based optical system however with trainable optical elements at key locations on the optical path. Using pre-acquired data, we then train the model end-to-end for a task of interest. The learnt design proposal can then be simplified by interpreting the learnt optical elements. As a first demonstration, based on the optical 4-$f$ system, we present an all-optical quantitative phase microscope (QPM) design that requires no computational post-reconstruction. A follow-up literature survey suggested that the learnt architecture is similar to the generalized phase contrast method developed two decades ago. Our extensive experiments on multiple datasets that include biological samples show that our learnt all-optical QPM designs consistently outperform existing methods. We experimentally verify the functionality of the optical 4-$f$ system based QPM design using a spatial light modulator. Furthermore, we also demonstrate that similar results can be achieved by an uninterpretable learning based method, namely diffractive deep neural networks (D2NN). The proposed differentiable microscopy framework supplements the creative process of designing new optical systems and would perhaps lead to unconventional but better optical designs.

Designing experiments often requires balancing between learning about the true treatment effects and earning from allocating more samples to the superior treatment. While optimal algorithms for the Multi-Armed Bandit Problem (MABP) provide allocation policies that optimally balance learning and earning, they tend to be computationally expensive. The Gittins Index (GI) is a solution to the MABP that can simultaneously attain optimality and computationally efficiency goals, and it has been recently used in experiments with Bernoulli and Gaussian rewards. For the first time, we present a modification of the GI rule that can be used in experiments with exponentially-distributed rewards. We report its performance in simulated 2- armed and 3-armed experiments. Compared to traditional non-adaptive designs, our novel GI modified design shows operating characteristics comparable in learning (e.g. statistical power) but substantially better in earning (e.g. direct benefits). This illustrates the potential that designs using a GI approach to allocate participants have to improve participant benefits, increase efficiencies, and reduce experimental costs in adaptive multi-armed experiments with exponential rewards.

Quadruped robots are currently used in industrial robotics as mechanical aid to automate several routine tasks. However, presently, the usage of such a robot in a domestic setting is still very much a part of the research. This paper discusses the understanding and virtual simulation of such a robot capable of detecting and understanding human emotions, generating its gait, and responding via sounds and expression on a screen. To this end, we use a combination of reinforcement learning and software engineering concepts to simulate a quadruped robot that can understand emotions, navigate through various terrains and detect sound sources, and respond to emotions using audio-visual feedback. This paper aims to establish the framework of simulating a quadruped robot that is emotionally intelligent and can primarily respond to audio-visual stimuli using motor or audio response. The emotion detection from the speech was not as performant as ERANNs or Zeta Policy learning, still managing an accuracy of 63.5%. The video emotion detection system produced results that are almost at par with the state of the art, with an accuracy of 99.66%. Due to its "on-policy" learning process, the PPO algorithm was extremely rapid to learn, allowing the simulated dog to demonstrate a remarkably seamless gait across the different cadences and variations. This enabled the quadruped robot to respond to generated stimuli, allowing us to conclude that it functions as predicted and satisfies the aim of this work.

Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping action, leading to the generation of wrong or inaccurate grasp poses. We propose a novel grasping strategy, named 3DSGrasp, that predicts the missing geometry from the partial PCD to produce reliable grasp poses. Our proposed PCD completion network is a Transformer-based encoder-decoder network with an Offset-Attention layer. Our network is inherently invariant to the object pose and point's permutation, which generates PCDs that are geometrically consistent and completed properly. Experiments on a wide range of partial PCD show that 3DSGrasp outperforms the best state-of-the-art method on PCD completion tasks and largely improves the grasping success rate in real-world scenarios. The code and dataset will be made available upon acceptance.

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features into a single objective. If they try to do both at once from input designed to teach the full reward function, it is easy to end up with a representation that contains spurious correlations in the data, which fails to generalize to new settings. Instead, our ultimate goal is to enable robots to identify and isolate the causal features that people actually care about and use when they represent states and behavior. Our idea is that we can tune into this representation by asking users what behaviors they consider similar: behaviors will be similar if the features that matter are similar, even if low-level behavior is different; conversely, behaviors will be different if even one of the features that matter differs. This, in turn, is what enables the robot to disambiguate between what needs to go into the representation versus what is spurious, as well as what aspects of behavior can be compressed together versus not. The notion of learning representations based on similarity has a nice parallel in contrastive learning, a self-supervised representation learning technique that maps visually similar data points to similar embeddings, where similarity is defined by a designer through data augmentation heuristics. By contrast, in order to learn the representations that people use, so we can learn their preferences and objectives, we use their definition of similarity. In simulation as well as in a user study, we show that learning through such similarity queries leads to representations that, while far from perfect, are indeed more generalizable than self-supervised and task-input alternatives.

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in real-world underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission and make high-impact strategic decisions. We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and re-configurable communications.

and widely used information measurement metric, particularly popularized for SSVEP- based Brain-Computer (BCI) interfaces. By combining speed and accuracy into a single-valued parameter, this metric aids in the evaluation and comparison of various target identification algorithms across different BCI communities. To accurately depict performance and inspire an end-to-end design for futuristic BCI designs, a more thorough examination and definition of ITR is therefore required. We model the symbiotic communication medium, hosted by the retinogeniculate visual pathway, as a discrete memoryless channel and use the modified capacity expressions to redefine the ITR. We use graph theory to characterize the relationship between the asymmetry of the transition statistics and the ITR gain with the new definition, leading to potential bounds on data rate performance. On two well-known SSVEP datasets, we compared two cutting-edge target identification methods. Results indicate that the induced DM channel asymmetry has a greater impact on the actual perceived ITR than the change in input distribution. Moreover, it is demonstrated that the ITR gain under the new definition is inversely correlated with the asymmetry in the channel transition statistics. Individual input customizations are further shown to yield perceived ITR performance improvements. An algorithm is proposed to find the capacity of binary classification and further discussions are given to extend such results to ensemble techniques.We anticipate that the results of our study will contribute to the characterization of the highly dynamic BCI channel capacities, performance thresholds, and improved BCI stimulus designs for a tighter symbiosis between the human brain and computer systems while enhancing the efficiency of the underlying communication resources.