The precise control of soft and continuum robots requires knowledge of their shape. The shape of these robots has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in sensors resulting in inaccurate results and increased fabrication complexity. Exteroceptive methods so far rely on placing reflective markers on all tracked components and triangulating their position using multiple motion-tracking cameras. Tracking systems are expensive and infeasible for deformable robots interacting with the environment due to marker occlusion and damage. Here, we present a regression approach for 3D shape estimation using a convolutional neural network. The proposed approach takes advantage of data-driven supervised learning and is capable of real-time marker-less shape estimation during inference. Two images of a robotic system are taken simultaneously at 25 Hz from two different perspectives, and are fed to the network, which returns for each pair the parameterized shape. The proposed approach outperforms marker-less state-of-the-art methods by a maximum of 4.4\% in estimation accuracy while at the same time being more robust and requiring no prior knowledge of the shape. The approach can be easily implemented due to only requiring two color cameras without depth and not needing an explicit calibration of the extrinsic parameters. Evaluations on two types of soft robotic arms and a soft robotic fish demonstrate our method's accuracy and versatility on highly deformable systems in real-time. The robust performance of the approach against different scene modifications (camera alignment and brightness) suggests its generalizability to a wider range of experimental setups, which will benefit downstream tasks such as robotic grasping and manipulation.

为了使软机器人在以人为本的环境中有效工作，他们需要能够根据（本体感受）传感器估算其状态和外部相互作用。估计干扰使软机器人可以执行理想的力控制。即使在刚性操纵器的情况下，最终效应器的力估计也被视为一个非平凡的问题。实际上，其他当前应对这一挑战的方法也存在防止其一般应用的缺点。它们通常基于简化的软动力学模型，例如依赖于零件的恒定曲率（PCC）近似值或匹配的刚体模型的模型，这些模型并不代表该问题的细节。因此，无法构建复杂的人类机器人互动所需的应用。有限元方法（FEM）允许以更通用的方式预测软机器人动力学。在这里，使用框架沙发的软机器人建模功能，我们构建了一个详细的FEM模型，该模型由多段的软连续机器人手臂组成，该机器人由合规的可变形材料和纤维增强的压力驱动室组成，并具有用于提供方向输出的传感器的模型。该模型用于为操纵器建立状态观察者。校准模型参数以使用物理实验匹配手动制造过程的缺陷。然后，我们解决了二次编程逆动力学问题，以计算解释姿势误差的外力的组成部分。我们的实验显示，平均力估计误差约为1.2％。由于提出的方法是通用的，因此这些结果令人鼓舞，该任务是构建可以在以人为中心的环境中部署的复杂，反应性，基于传感器的行为的软机器人。

While skin cancer classification has been a popular and valuable deep learning application for years, there has been little consideration of the context in which testing images are taken. Traditional melanoma classifiers rely on the assumption that their testing environments are analogous to the structured images on which they are trained. This paper combats this notion, arguing that mole size, a vital attribute in professional dermatology, is a red herring in automated melanoma detection. Although malignant melanomas are consistently larger than benign melanomas, this distinction proves unreliable and harmful when images cannot be contextually scaled. This implementation builds a custom model that eliminates size as a training feature to prevent overfitting to incorrect parameters. Additionally, random rotation and contrast augmentations are performed to simulate the real-world use of melanoma detection applications. Several custom models with varying forms of data augmentation are implemented to demonstrate the most significant features of the generalization abilities of mole classifiers. These implementations show that user unpredictability is crucial when utilizing such applications. The caution required when manually modifying data is acknowledged, as data loss and biased conclusions are necessary considerations in this process. Additionally, mole size inconsistency and its significance are discussed in both the dermatology and deep learning communities.

Variational autoencoder (VAE) is a popular method for drug discovery and there had been a great deal of architectures and pipelines proposed to improve its performance. But the VAE model itself suffers from deficiencies such as poor manifold recovery when data lie on low-dimensional manifold embedded in higher dimensional ambient space and they manifest themselves in each applications differently. The consequences of it in drug discovery is somewhat under-explored. In this paper, we study how to improve the similarity of the data generated via VAE and the training dataset by improving manifold recovery via a 2-stage VAE where the second stage VAE is trained on the latent space of the first one. We experimentally evaluated our approach using the ChEMBL dataset as well as a polymer datasets. In both dataset, the 2-stage VAE method is able to improve the property statistics significantly from a pre-existing method.

Diffusion generative models have recently been applied to domains where the available data can be seen as a discretization of an underlying function, such as audio signals or time series. However, these models operate directly on the discretized data, and there are no semantics in the modeling process that relate the observed data to the underlying functional forms. We generalize diffusion models to operate directly in function space by developing the foundational theory for such models in terms of Gaussian measures on Hilbert spaces. A significant benefit of our function space point of view is that it allows us to explicitly specify the space of functions we are working in, leading us to develop methods for diffusion generative modeling in Sobolev spaces. Our approach allows us to perform both unconditional and conditional generation of function-valued data. We demonstrate our methods on several synthetic and real-world benchmarks.

We propose a framework for learning a fragment of probabilistic computation tree logic (pCTL) formulae from a set of states that are labeled as safe or unsafe. We work in a relational setting and combine ideas from relational Markov Decision Processes with pCTL model-checking. More specifically, we assume that there is an unknown relational pCTL target formula that is satisfied by only safe states, and has a horizon of maximum $k$ steps and a threshold probability $\alpha$. The task then consists of learning this unknown formula from states that are labeled as safe or unsafe by a domain expert. We apply principles of relational learning to induce a pCTL formula that is satisfied by all safe states and none of the unsafe ones. This formula can then be used as a safety specification for this domain, so that the system can avoid getting into dangerous situations in future. Following relational learning principles, we introduce a candidate formula generation process, as well as a method for deciding which candidate formula is a satisfactory specification for the given labeled states. The cases where the expert knows and does not know the system policy are treated, however, much of the learning process is the same for both cases. We evaluate our approach on a synthetic relational domain.

光学相干断层扫描（OCT）是一种非侵入性技术，可在微米分辨率中捕获视网膜的横截面区域。它已被广泛用作辅助成像参考，以检测与眼睛有关的病理学并预测疾病特征的纵向进展。视网膜层分割是至关重要的特征提取技术之一，其中视网膜层厚度的变化和由于液体的存在而引起的视网膜层变形高度相关，与多种流行性眼部疾病（如糖尿病性视网膜病）和年龄相关的黄斑疾病高度相关。变性（AMD）。但是，这些图像是从具有不同强度分布或换句话说的不同设备中获取的，属于不同的成像域。本文提出了一种分割引导的域适应方法，以将来自多个设备的图像调整为单个图像域，其中可用的最先进的预训练模型可用。它避免了即将推出的新数据集的手动标签的时间消耗以及现有网络的重新培训。网络的语义一致性和全球特征一致性将最大程度地减少许多研究人员报告的幻觉效果，这些效应对周期矛盾的生成对抗网络（Cyclegan）体系结构。

蒙特卡洛树搜索（MCTS）是一种搜索最佳决策的最佳先入点方法。 MCT的成功在很大程度上取决于树木的建造方式，并且选择过程在其中起着基本作用。被证明是可靠的一种特殊选择机制是基于树木（UCT）的上限置信度范围。 UCT试图通过考虑存储在MCT的统计树中的值来平衡探索和剥削。但是，对MCTS UCT的一些调整对于这是必要的。在这项工作中，我们使用进化算法（EAS）以替代UCT公式并在MCT中使用进化的表达式来进化数学表达式。更具体地说，我们通过在MCTS方法（SIEA-MCT）中提出的语义启发的进化算法来发展表达式。这是受遗传编程（GP）语义的启发，其中使用健身案例被视为在GP中采用的要求。健身病例通常用于确定个体的适应性，可用于计算个体的语义相似性（或差异）。但是，MCT中没有健身案例。我们通过使用MCT的多个奖励值来扩展此概念，从而使我们能够确定个人及其语义的适应性。通过这样做，我们展示了SIEA-MCT如何能够成功地发展数学表达式，而数学表达式与UCT相比，无需调整这些演变的表达式而产生更好或竞争的结果。我们比较了提出的SIEA-MCT与MCTS算法，MCTS快速动作值估计算法的性能， *-minimax家族的三种变体，一个随机控制器和另外两种EA方法。我们始终展示SIEA-MCT在挑战性的Carcassonne游戏中如何优于大多数这些智能控制者。

矩阵的完成问题旨在从对其个别元素的观察中恢复低级$ r \ ll d $的$ d \ times d $地面真相矩阵。现实世界中的矩阵完成通常是一个巨大的优化问题，$ d $如此之大，以至于即使是$ O（d）$ o（d）$ o（d）$ o（d）$ o（d）$ o（d）$ o（d）$ o（d）$ o（d）$ o（d）$ o（d）$ o（d）$ o（d）$ d $的昂贵。随机梯度下降（SGD）是少数能够大规模求解矩阵完成的算法之一，也可以自然地通过不断发展的地面真相处理流数据。不幸的是，当底层地面真理不足时，SGD经历了戏剧性的减速。它至少需要$ o（\ kappa \ log（1/\ epsilon））$迭代才能获得$ \ epsilon $ -close $ \ epsilon $ -Close以接地真相矩阵，条件号$ \ kappa $。在本文中，我们提出了一个预处理的SGD版本，该版本保留了SGD的所有有利的实践素质用于大规模的在线优化，同时也使其不可知到$ \ kappa $。对于对称地面真相和根平方错误（RMSE）损失，我们证明预处理的SGD收敛到$ \ epsilon $ -Accuracy in $ o（\ log（1/\ epsilon））$ tererations $迭代，并具有快速的线性线性融合率好像地面真相是完美的条件，$ \ kappa = 1 $。在我们的数值实验中，我们观察到在1位跨透明拷贝损失下进行的不条件矩阵完成的加速度，以及贝叶斯个性化排名（BPR）损失等成对损失。

本文通过讨论参加了为期三年的SubT竞赛的六支球队的不同大满贯策略和成果，报道了地下大满贯的现状。特别是，本文有四个主要目标。首先，我们审查团队采用的算法，架构和系统；特别重点是以激光雷达以激光雷达为中心的SLAM解决方案（几乎所有竞争中所有团队的首选方法），异质的多机器人操作（包括空中机器人和地面机器人）和现实世界的地下操作（从存在需要处理严格的计算约束的晦涩之处）。我们不会回避讨论不同SubT SLAM系统背后的肮脏细节，这些系统通常会从技术论文中省略。其次，我们通过强调当前的SLAM系统的可能性以及我们认为与一些良好的系统工程有关的范围来讨论该领域的成熟度。第三，我们概述了我们认为是基本的开放问题，这些问题可能需要进一步的研究才能突破。最后，我们提供了在SubT挑战和相关工作期间生产的开源SLAM实现和数据集的列表，并构成了研究人员和从业人员的有用资源。