基于变压器模型架构的最近深入学习研究在各种域和任务中展示了最先进的性能，主要是在计算机视觉和自然语言处理域中。虽然最近的一些研究已经实施了使用电子健康记录数据的临床任务的变压器，但它们的范围，灵活性和全面性有限。在本研究中，我们提出了一种灵活的基于变换器的EHR嵌入管道和预测模型框架，它引入了利用了医疗域唯一的数据属性的现有工作流程的几个新颖修改。我们展示了灵活设计的可行性，在重症监护病房的案例研究中，我们的模型准确地预测了七种临床结果，这些临床结果与多个未来的时间范围有关的入院和患者死亡率。

Ensuring safety is of paramount importance in physical human-robot interaction applications. This requires both an adherence to safety constraints defined on the system state, as well as guaranteeing compliant behaviour of the robot. If the underlying dynamical system is known exactly, the former can be addressed with the help of control barrier functions. Incorporation of elastic actuators in the robot's mechanical design can address the latter requirement. However, this elasticity can increase the complexity of the resulting system, leading to unmodeled dynamics, such that control barrier functions cannot directly ensure safety. In this paper, we mitigate this issue by learning the unknown dynamics using Gaussian process regression. By employing the model in a feedback linearizing control law, the safety conditions resulting from control barrier functions can be robustified to take into account model errors, while remaining feasible. In order enforce them on-line, we formulate the derived safety conditions in the form of a second-order cone program. We demonstrate our proposed approach with simulations on a two-degree of freedom planar robot with elastic joints.

流行模型是理解传染病的强大工具。但是，随着它们的大小和复杂性的增加，它们可以迅速在计算上棘手。建模方法的最新进展表明，替代模型可用于模拟具有高维参数空间的复杂流行模型。我们表明，深层序列到序列（SEQ2SEQ）模型可以作为具有基于序列模型参数的复杂流行病模型的准确替代物，从而有效地复制了季节性和长期传播动力学。一旦受过培训，我们的代理人可以预测场景比原始模型快几千倍，从而使其非常适合策略探索。我们证明，用博学的模拟器代替传统的流行模型有助于强大的贝叶斯推断。