这项工作研究了一个由机器人辅助的人群疏散问题，我们控制了一小群机器人，以指导大量的人群到安全地点。挑战在于如何建模人类机器人的相互作用和设计机器人控制以间接控制人口，从而超过了机器人。为了应对挑战，我们将人群视为连续体，并将疏散目标提出，以推动人群密度到目标位置。我们提出了一个新型的均值模型，该模型由一个微观方程组成，该系列明确模拟了人类运动如何由机器人局部指导和相关的宏观方程，该方程描述了如何由所有机器人产生的人群密度控制的人群密度。 。然后，我们为机器人设计密度反馈控制器，以动态调整其状态，以使生成的导航速度字段将人群密度驱动到目标密度。证明了拟议控制器的稳定性保证。包括基于代理的模拟来评估所提出的疏散算法。

本文描述了目前在为机器人开发道德体系结构方面的进展，该机器人旨在遵循人类的道德决策过程。我们对普通成年人（人）和道德专家（专家）进行了调查，以在两种特定情况下认为是道德行为：与老年人进行药丸和与孩子一起玩游戏。调查的关键目标是更好地了解人类的道德决策。在第一次调查中，民间回应是基于主题的道德选择（“民间道德”）。在第二次调查中，专家响应是基于专家在每种情况下使用不同形式的道德框架的应用。我们观察到，我们在调查中纳入的大多数正式伦理框架（功利主义，康德伦理，护理和美德伦理伦理）和“民间道德”和“民间道德”在高风险的任务中与老年人一起在高风险任务中保守孩子的表现不足。

深度学习（DL）模型为各种医学成像基准挑战提供了最先进的性能，包括脑肿瘤细分（BRATS）挑战。然而，局灶性病理多隔室分割（例如，肿瘤和病变子区）的任务特别具有挑战性，并且潜在的错误阻碍DL模型转化为临床工作流程。量化不确定形式的DL模型预测的可靠性，可以实现最不确定的地区的临床审查，从而建立信任并铺平临床翻译。最近，已经引入了许多不确定性估计方法，用于DL医学图像分割任务。开发指标评估和比较不确定性措施的表现将有助于最终用户制定更明智的决策。在本研究中，我们探索并评估在Brats 2019-2020任务期间开发的公制，以对不确定量化量化（Qu-Brats），并旨在评估和排列脑肿瘤多隔室分割的不确定性估计。该公制（1）奖励不确定性估计，对正确断言产生高置信度，以及在不正确的断言处分配低置信水平的估计数，（2）惩罚导致更高百分比的无关正确断言百分比的不确定性措施。我们进一步基准测试由14个独立参与的Qu-Brats 2020的分割不确定性，所有这些都参与了主要的Brats细分任务。总体而言，我们的研究结果证实了不确定性估计提供了分割算法的重要性和互补价值，因此突出了医学图像分析中不确定性量化的需求。我们的评估代码在HTTPS://github.com/ragmeh11/qu-brats公开提供。

深入学习在物体识别任务中取得了显着的成功，通过像想象成像的大规模数据集的可用性。然而，在没有重放旧数据的情况下逐步学习时，深度学习系统遭受灾难性的遗忘。对于真实世界的应用，机器人还需要逐步学习新对象。此外，由于机器人提供有限的人类援助，他们必须只能从几个例子中学习。但是，非常少量的对象识别数据集和基准测试以测试机器人视觉的增量学习能力。此外，没有专门为几个例子提供用于增量对象学习的数据集或基准。为了填补这个差距，我们呈现了一个新的DataSet称为F-Siol-310（几次增量对象学习），该数据集专门捕获用于测试机器人视觉的少量增量对象学习能力。我们还提供了在F-SIOL-310上的8个增量学习算法的基准和评估，以备将来的比较。我们的结果表明，机器人视觉的几次射击增量对象学习问题远未解决。

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.

Accomplishing safe and efficient driving is one of the predominant challenges in the controller design of connected automated vehicles (CAVs). It is often more convenient to address these goals separately and integrate the resulting controllers. In this study, we propose a controller integration scheme to fuse performance-based controllers and safety-oriented controllers safely for the longitudinal motion of a CAV. The resulting structure is compatible with a large class of controllers, and offers flexibility to design each controller individually without affecting the performance of the others. We implement the proposed safe integration scheme on a connected automated truck using an optimal-in-energy controller and a safety-oriented connected cruise controller. We validate the premise of the safe integration through experiments with a full-scale truck in two scenarios: a controlled experiment on a test track and a real-world experiment on a public highway. In both scenarios, we achieve energy efficient driving without violating safety.

In this paper, we empirically analyze a simple, non-learnable, and nonparametric Nadaraya-Watson (NW) prediction head that can be used with any neural network architecture. In the NW head, the prediction is a weighted average of labels from a support set. The weights are computed from distances between the query feature and support features. This is in contrast to the dominant approach of using a learnable classification head (e.g., a fully-connected layer) on the features, which can be challenging to interpret and can yield poorly calibrated predictions. Our empirical results on an array of computer vision tasks demonstrate that the NW head can yield better calibration than its parametric counterpart, while having comparable accuracy and with minimal computational overhead. To further increase inference-time efficiency, we propose a simple approach that involves a clustering step run on the training set to create a relatively small distilled support set. In addition to using the weights as a means of interpreting model predictions, we further present an easy-to-compute "support influence function," which quantifies the influence of a support element on the prediction for a given query. As we demonstrate in our experiments, the influence function can allow the user to debug a trained model. We believe that the NW head is a flexible, interpretable, and highly useful building block that can be used in a range of applications.

在这项工作中，我们介绍了亲和力-VAE：基于其相似性在多维图像数据中自动聚类和对象分类的框架。该方法扩展了$ \ beta $ -vaes的概念，其基于亲和力矩阵驱动的知情相似性损失组件。与标准的$ \ beta $ -VAE相比，该亲和力VAE能够在潜在表示中创建旋转不变的，形态上均匀的簇，并具有改进的群集分离。我们探讨了2D和3D图像数据上潜在空间的潜在分离和连续性的程度，包括模拟的生物电子冷冻术（Cryo-ET）体积，作为科学应用的一个例子。

最新的语音识别模型依赖于大型监督数据集，这些数据集对于许多低资源语言而言不可用。在这项工作中，我们提出了一条语音识别管道，该管道不需要目标语言的任何音频。唯一的假设是我们可以访问原始文本数据集或一组N-Gram统计信息。我们的语音管道包括三个组成部分：声学，发音和语言模型。与标准管道不同，我们的声学和​​发音模型在没有任何监督的情况下使用多语言模型。语言模型是使用n-gram统计信息或原始文本数据集构建的。我们通过将其与Croubadan结合使用：一种大型濒危语言N-Gram数据库来构建1909年语言的语音识别。此外，我们在两个数据集中测试了129种语言的方法：常见语音和CMU Wilderness数据集。我们在使用Crubadan统计数据的荒野数据集上获得了50％的CER和74％WER，并在使用10000原始文本说话时将其提高到45％的CER和69％。

FIB/SEM断层扫描代表了电池研究和许多其他领域中三维纳米结构表征的必不可少的工具。然而，在许多情况下，对比度和3D分类/重建问题出现，这极大地限制了该技术的适用性，尤其是在多孔材料上，例如电池或燃料电池中用于电极材料的材料。区分不同的组件（例如主动LI存储颗粒和碳/粘合剂材料）很困难，并且通常可以防止对图像数据进行可靠的定量分析，甚至可能导致关于结构 - 质地关系的错误结论。在这项贡献中，我们提出了一种新型的数据分类方法，该方法是通过FIB/SEM断层扫描获得的三维图像数据及其在NMC电池电极材料中的应用。我们使用两个不同的图像信号，即Angled SE2腔室检测器和Inlens检测器信号的信号，将信号组合在一起并训练一个随机森林，即特定的机器学习算法。我们证明，这种方法可以克服适合多相测量的现有技术的当前局限性，并且即使在当前的最新技术失败或对大型训练集的需求之后，它也可以进行定量数据重建。这种方法可能会作为使用FIB/SEM断层扫描的未来研究指南。