由于有限的有效载荷能力有限，因此在山区环境中的救援任务几乎无法通过标准的腿部机器人或飞行机器人来实现。我们提出了一个新颖的概念，用于绳索攀岩机器人，该机器人可以谈判最新的斜坡并承担重载的有效载荷。机器人通过绳子固定在山上，并配备了一条腿来推向山上并开始跳跃动作。在跳跃之间，提升机被用来绕/放开绳索，以垂直移动并影响横向运动。这种简单的（但有效）的两倍致动，使系统能够实现高安全性和能源效率。确实，绳索可以防止机器人掉落，同时弥补了大部分重量，从而大大减少了腿部执行器所需的努力。我们还提出了一种最佳控制策略，以生成克服障碍的点对点轨迹。由于使用了自定义简化的机器人模型，我们可以实现快速计算时间（$ <$ 1 s）。我们使用完整的机器人模型验证了凉亭模拟中生成的最佳运动，显示了提出的方法的有效性，并确认了我们概念的兴趣。最后，我们进行了可及性分析，表明可实现的目标区域受到脚壁接触的摩擦特性的强烈影响。

Because of the considerable heterogeneity and complexity of the technological landscape, building accurate models to forecast is a challenging endeavor. Due to their high prevalence in many complex systems, S-curves are a popular forecasting approach in previous work. However, their forecasting performance has not been directly compared to other technology forecasting approaches. Additionally, recent developments in time series forecasting that claim to improve forecasting accuracy are yet to be applied to technological development data. This work addresses both research gaps by comparing the forecasting performance of S-curves to a baseline and by developing an autencoder approach that employs recent advances in machine learning and time series forecasting. S-curves forecasts largely exhibit a mean average percentage error (MAPE) comparable to a simple ARIMA baseline. However, for a minority of emerging technologies, the MAPE increases by two magnitudes. Our autoencoder approach improves the MAPE by 13.5% on average over the second-best result. It forecasts established technologies with the same accuracy as the other approaches. However, it is especially strong at forecasting emerging technologies with a mean MAPE 18% lower than the next best result. Our results imply that a simple ARIMA model is preferable over the S-curve for technology forecasting. Practitioners looking for more accurate forecasts should opt for the presented autoencoder approach.

从不同的随机初始化开始，经过随机梯度下降（SGD）训练的神经网络通常在功能上非常相似，从而提出了一个问题，即不同的SGD溶液之间是否存在有意义的差异。 Entezari等。最近猜想，尽管初始化不同，但在考虑到神经网络的置换不变性后，SGD发现的解决方案位于相同的损失谷中。具体而言，他们假设可以将SGD找到的任何两种解决方案排列，以使其参数之间的线性插值形成一条路径，而不会显着增加损失。在这里，我们使用一种简单但功能强大的算法来找到这样的排列，使我们能够获得直接的经验证据，证明该假设在完全连接的网络中是正确的。引人注目的是，我们发现在初始化时已经存在两个网络，并且平均它们随机，但适当排列的初始化的性能大大高于机会。相反，对于卷积架构，我们的证据表明该假设不存在。特别是在大型学习率制度中，SGD似乎发现了各种模式。

算法决策支持（AD）在社会各个领域的各种不同背景和结构中逐渐使用，影响了许多人的生活。它的使用引发了有关问责制，透明度和责任的问题。我们的文章旨在概述与组织环境中与广告，责任和决策相关的中心问题，并确定开放的问题和研究差距。此外，我们描述了一套准则和一种补充数字工具，以协助从业者在组织环境中介绍广告时绘制责任。 - 算法替代决策（算法决策支持，广告），越来越多地用于各种环境和结构，并影响了许多社会领域中许多人的生活。您的使用提出了一些问题，包括会计，透明度和责任。在以后，我们必须就有关广告，责任和决策 - 在组织环境中制定的最重要问题进行一个\“ Uberblick \”，并展示一些开放的问题和研究。实践是我们制定的指南，包括数字工具，这应该有助于帮助用户：尤其是在组织环境中使用广告时的位置和责任分配。

大型文本语料库培训的基于变压器的语言模型在自然语言处理社区中享有巨大的普及，并且通常用作下游任务的起点。虽然这些模型是不可否认的，但这是一种挑战，以量化超出传统准确度指标的性能。在本文中，我们通过在培训过程的顺序阶段的获取知识快照来比较基于BERT的语言模型。可以通过查询具有探测任务的屏蔽语言模型来发现来自培训语料库的结构化关系。我们提出了一种通过在罗伯塔早期训练的各个阶段的CLOZE“填空”陈述中产生知识图表提取物来揭示知识收集时间表的方法。我们将该分析扩展到BERT模型（Distilbert，Bert-Base，Roberta）的预磨损变体进行比较。这项工作提出了通过知识图提取（GED，Graph2VEC）来比较语言模型的定量框架，并且展示了语音分析（波动）以确定每个模型变体的语言强度。使用这些指标，机器学习从业者可以比较模型，诊断其模型的行为优势和劣势，并确定新的目标数据集以提高模型性能。

In this paper, we propose a novel framework dubbed peer learning to deal with the problem of biased scene graph generation (SGG). This framework uses predicate sampling and consensus voting (PSCV) to encourage different peers to learn from each other, improving model diversity and mitigating bias in SGG. To address the heavily long-tailed distribution of predicate classes, we propose to use predicate sampling to divide and conquer this issue. As a result, the model is less biased and makes more balanced predicate predictions. Specifically, one peer may not be sufficiently diverse to discriminate between different levels of predicate distributions. Therefore, we sample the data distribution based on frequency of predicates into sub-distributions, selecting head, body, and tail classes to combine and feed to different peers as complementary predicate knowledge during the training process. The complementary predicate knowledge of these peers is then ensembled utilizing a consensus voting strategy, which simulates a civilized voting process in our society that emphasizes the majority opinion and diminishes the minority opinion. This approach ensures that the learned representations of each peer are optimally adapted to the various data distributions. Extensive experiments on the Visual Genome dataset demonstrate that PSCV outperforms previous methods. We have established a new state-of-the-art (SOTA) on the SGCls task by achieving a mean of \textbf{31.6}.

Ensemble learning combines results from multiple machine learning models in order to provide a better and optimised predictive model with reduced bias, variance and improved predictions. However, in federated learning it is not feasible to apply centralised ensemble learning directly due to privacy concerns. Hence, a mechanism is required to combine results of local models to produce a global model. Most distributed consensus algorithms, such as Byzantine fault tolerance (BFT), do not normally perform well in such applications. This is because, in such methods predictions of some of the peers are disregarded, so a majority of peers can win without even considering other peers' decisions. Additionally, the confidence score of the result of each peer is not normally taken into account, although it is an important feature to consider for ensemble learning. Moreover, the problem of a tie event is often left un-addressed by methods such as BFT. To fill these research gaps, we propose PoSw (Proof of Swarm), a novel distributed consensus algorithm for ensemble learning in a federated setting, which was inspired by particle swarm based algorithms for solving optimisation problems. The proposed algorithm is theoretically proved to always converge in a relatively small number of steps and has mechanisms to resolve tie events while trying to achieve sub-optimum solutions. We experimentally validated the performance of the proposed algorithm using ECG classification as an example application in healthcare, showing that the ensemble learning model outperformed all local models and even the FL-based global model. To the best of our knowledge, the proposed algorithm is the first attempt to make consensus over the output results of distributed models trained using federated learning.

Problem statement: Standardisation of AI fairness rules and benchmarks is challenging because AI fairness and other ethical requirements depend on multiple factors such as context, use case, type of the AI system, and so on. In this paper, we elaborate that the AI system is prone to biases at every stage of its lifecycle, from inception to its usage, and that all stages require due attention for mitigating AI bias. We need a standardised approach to handle AI fairness at every stage. Gap analysis: While AI fairness is a hot research topic, a holistic strategy for AI fairness is generally missing. Most researchers focus only on a few facets of AI model-building. Peer review shows excessive focus on biases in the datasets, fairness metrics, and algorithmic bias. In the process, other aspects affecting AI fairness get ignored. The solution proposed: We propose a comprehensive approach in the form of a novel seven-layer model, inspired by the Open System Interconnection (OSI) model, to standardise AI fairness handling. Despite the differences in the various aspects, most AI systems have similar model-building stages. The proposed model splits the AI system lifecycle into seven abstraction layers, each corresponding to a well-defined AI model-building or usage stage. We also provide checklists for each layer and deliberate on potential sources of bias in each layer and their mitigation methodologies. This work will facilitate layer-wise standardisation of AI fairness rules and benchmarking parameters.

Recently, local peer topology has been shown to influence the overall convergence of decentralized learning (DL) graphs in the presence of data heterogeneity. In this paper, we demonstrate the advantages of constructing a proxy-based locally heterogeneous DL topology to enhance convergence and maintain data privacy. In particular, we propose a novel peer clumping strategy to efficiently cluster peers before arranging them in a final training graph. By showing how locally heterogeneous graphs outperform locally homogeneous graphs of similar size and from the same global data distribution, we present a strong case for topological pre-processing. Moreover, we demonstrate the scalability of our approach by showing how the proposed topological pre-processing overhead remains small in large graphs while the performance gains get even more pronounced. Furthermore, we show the robustness of our approach in the presence of network partitions.

Body segmentation is an important step in many computer vision problems involving human images and one of the key components that affects the performance of all downstream tasks. Several prior works have approached this problem using a multi-task model that exploits correlations between different tasks to improve segmentation performance. Based on the success of such solutions, we present in this paper a novel multi-task model for human segmentation/parsing that involves three tasks, i.e., (i) keypoint-based skeleton estimation, (ii) dense pose prediction, and (iii) human-body segmentation. The main idea behind the proposed Segmentation--Pose--DensePose model (or SPD for short) is to learn a better segmentation model by sharing knowledge across different, yet related tasks. SPD is based on a shared deep neural network backbone that branches off into three task-specific model heads and is learned using a multi-task optimization objective. The performance of the model is analysed through rigorous experiments on the LIP and ATR datasets and in comparison to a recent (state-of-the-art) multi-task body-segmentation model. Comprehensive ablation studies are also presented. Our experimental results show that the proposed multi-task (segmentation) model is highly competitive and that the introduction of additional tasks contributes towards a higher overall segmentation performance.