在过去的十年中，在杂交无人驾驶空中水下车辆的研究中努力，机器人可以轻松飞行和潜入水中的机械适应水平。然而，大多数文献集中在物理设计，建筑物的实际问题上，最近，低水平的控制策略。在高级情报的背景下，如运动规划和与现实世界的互动的情况下已经完成。因此，我们在本文中提出了一种轨迹规划方法，允许避免避免未知的障碍和空中媒体之间的平滑过渡。我们的方法基于经典迅速探索随机树的变体，其主要优点是处理障碍，复杂的非线性动力学，模型不确定性和外部干扰的能力。该方法使用\ Hydrone的动态模型，提出具有高水下性能的混合动力车辆，但我们认为它可以很容易地推广到其他类型的空中/水生平台。在实验部分中，我们在充满障碍物的环境中显示了模拟结果，其中机器人被命令执行不同的媒体运动，展示了我们的策略的适用性。
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在本文中，我们研究了DRL算法在本地导航问题的应用，其中机器人仅配备有限量距离的外部感受传感器（例如LIDAR），在未知和混乱的工作区中朝着目标位置移动。基于DRL的碰撞避免政策具有一些优势，但是一旦他们学习合适的动作的能力仅限于传感器范围，它们就非常容易受到本地最小值的影响。由于大多数机器人在非结构化环境中执行任务，因此寻求能够避免本地最小值的广义本地导航政策，尤其是在未经训练的情况下，这是非常兴趣的。为此，我们提出了一种新颖的奖励功能，该功能结合了在训练阶段获得的地图信息，从而提高了代理商故意最佳行动方案的能力。另外，我们使用SAC算法来训练我们的ANN，这表明在最先进的文献中比其他人更有效。一组SIM到SIM和SIM到现实的实验表明，我们提出的奖励与SAC相结合的表现优于比较局部最小值和避免碰撞的方法。
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对制造工艺的机器化的需求很大，因此单调劳动。一些需要特定技能的制造任务（焊接，绘画等）缺乏工人。机器人已在这些任务中使用，但是它们的灵活性受到限制，因为它们仍然很难通过非专家编程/重新编程，从而使它们无法访问大多数公司。机器人离线编程（OLP）是可靠的。但是，直接来自CAD/CAM的生成路径不包括代表人类技能的相关参数，例如机器人最终效应器的方向和速度。本文提出了一个直观的机器人编程系统，以捕捉人类制造技能并将其转变为机器人程序。使用连接到工作工具的磁跟踪系统记录人类熟练工人的演示。收集的数据包括工作路径的方向和速度。位置数据是从CAD/CAM中提取的，因为磁跟踪器捕获时的误差很明显。路径姿势在笛卡尔空间中转换，并在模拟环境中进行验证。生成机器人程序并将其转移到真正的机器人。关于玻璃粘合剂应用过程的实验证明了拟议框架捕获人类技能并将其转移到机器人方面的使用和有效性的直觉。
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对于网络入侵检测系统（NIDS）使用机器学习（ML）的大多数研究都使用良好的数据集，例如KDD-CUP99，NSL-KDD，UNSW-NB15和Cicids-2017。在这种情况下，探讨了机器学习技术的可能性，旨在与已发表的基线（以模型为中心的方法）相比的度量改进。但是，这些数据集将一些限制呈现为老化，使得将基于ML的解决方案转换为现实世界的应用程序，这使得它不可行。本文提出了一种系统以系统为中心的方法来解决NIDS研究的当前限制，特别是数据集。此方法生成由最近的网络流量和攻击组成的NID数据集，其中包含设计的标签过程。
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Previous work has shown the potential of deep learning to predict renal obstruction using kidney ultrasound images. However, these image-based classifiers have been trained with the goal of single-visit inference in mind. We compare methods from video action recognition (i.e. convolutional pooling, LSTM, TSM) to adapt single-visit convolutional models to handle multiple visit inference. We demonstrate that incorporating images from a patient's past hospital visits provides only a small benefit for the prediction of obstructive hydronephrosis. Therefore, inclusion of prior ultrasounds is beneficial, but prediction based on the latest ultrasound is sufficient for patient risk stratification.
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We study inductive matrix completion (matrix completion with side information) under an i.i.d. subgaussian noise assumption at a low noise regime, with uniform sampling of the entries. We obtain for the first time generalization bounds with the following three properties: (1) they scale like the standard deviation of the noise and in particular approach zero in the exact recovery case; (2) even in the presence of noise, they converge to zero when the sample size approaches infinity; and (3) for a fixed dimension of the side information, they only have a logarithmic dependence on the size of the matrix. Differently from many works in approximate recovery, we present results both for bounded Lipschitz losses and for the absolute loss, with the latter relying on Talagrand-type inequalities. The proofs create a bridge between two approaches to the theoretical analysis of matrix completion, since they consist in a combination of techniques from both the exact recovery literature and the approximate recovery literature.
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This paper presents a corpus annotated for the task of direct-speech extraction in Croatian. The paper focuses on the annotation of the quotation, co-reference resolution, and sentiment annotation in SETimes news corpus in Croatian and on the analysis of its language-specific differences compared to English. From this, a list of the phenomena that require special attention when performing these annotations is derived. The generated corpus with quotation features annotations can be used for multiple tasks in the field of Natural Language Processing.
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With the ever-growing popularity of the field of NLP, the demand for datasets in low resourced-languages follows suit. Following a previously established framework, in this paper, we present the UNER dataset, a multilingual and hierarchical parallel corpus annotated for named-entities. We describe in detail the developed procedure necessary to create this type of dataset in any language available on Wikipedia with DBpedia information. The three-step procedure extracts entities from Wikipedia articles, links them to DBpedia, and maps the DBpedia sets of classes to the UNER labels. This is followed by a post-processing procedure that significantly increases the number of identified entities in the final results. The paper concludes with a statistical and qualitative analysis of the resulting dataset.
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This article presents the application of the Universal Named Entity framework to generate automatically annotated corpora. By using a workflow that extracts Wikipedia data and meta-data and DBpedia information, we generated an English dataset which is described and evaluated. Furthermore, we conducted a set of experiments to improve the annotations in terms of precision, recall, and F1-measure. The final dataset is available and the established workflow can be applied to any language with existing Wikipedia and DBpedia. As part of future research, we intend to continue improving the annotation process and extend it to other languages.
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Some recent pieces of work in the Machine Learning (ML) literature have demonstrated the usefulness of assessing which observations are hardest to have their label predicted accurately. By identifying such instances, one may inspect whether they have any quality issues that should be addressed. Learning strategies based on the difficulty level of the observations can also be devised. This paper presents a set of meta-features that aim at characterizing which instances of a dataset are hardest to have their label predicted accurately and why they are so, aka instance hardness measures. Both classification and regression problems are considered. Synthetic datasets with different levels of complexity are built and analyzed. A Python package containing all implementations is also provided.
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