扩散模型是强大的生成模型，可使用得分函数模拟扩散过程的反面，以合成噪声数据。扩散模型的采样过程可以解释为求解反向随机微分方程（SDE）或扩散过程的普通微分方程（ODE），通常需要多达数千个离散步骤来生成单个图像。这引发了人们对开发反向S/ODE的有效整合技术的极大兴趣。在这里，我们提出了一种基于得分的采样的正交方法：Denoising MCMC（DMCMC）。 DMCMC首先使用MCMC在数据和方差（或扩散时间）的产品空间中生产样品。然后，使用反向S/ODE积分器来定义MCMC样品。由于MCMC越过数据歧管接近数据，因此为DMCMC生产干净样品的计算成本远小于从噪声中产生干净样品的计算成本。为了验证拟议的概念，我们表明denoing langevin Gibbs（DLG）是DMCMC实例，成功地加速了有关CIFAR10和Celeba-HQ-HQ-256图像生成的这项工作中考虑的所有六个反向S/ODE集成器。值得注意的是，结合了Karras等人的集成商。 （2022）和Song等人的预训练分数模型。 （2021b），DLG达到SOTA结果。在CIFAR10上有限数量的分数功能评估（NFE）设置中，我们有$ 3.86 $ fid，$ \ \ \ \ \ $ \ $ \ $ 2.63 $ fid，$ \ \ \ \ \ \ 20 $ nfe。在Celeba-HQ-256上，我们有$ 6.99 $ fid，$ \ $ \ 160 $ nfe，击败了Kim等人的当前最佳记录。 （2022）在基于分数的型号中，$ 7.16 $ FID，$ 4000 $ NFE。代码：https：//github.com/1202KBS/DMCMC

用于开放式对话的基于示例基础的生成模型，基于由猎犬提供的示例，利用生成模型和检索模型来产生响应。然而，它们经常忽略所检索的示例，同时产生响应或产生超过拟接到检索的示例的响应。在本文中，我们认为这些缺点是从开放域对话的一对多问题中衍生出来的。当检索的示例与与金响应显着不同的给定上下文相关时，基于示例的基础生成模型验证以忽略示例，因为示例对于产生金响应并不有用。另一方面，当检索到的示例性与金响应类似时，经过高度的，生成模型训练以依赖于示例。因此，我们提出了一种选择与金响应有语义相关的示例性的训练方法，而是从黄金响应的词汇偏移以减轻上述缺点。在培训阶段，我们建议的培训方法首先使用黄金响应而不是对话背景作为查询，以选择与金响应有关的语义相关的样本。然后，它消除了这种示例性，其中词汇类似于金响应，以减轻生成模型对该示例性的依赖性。剩余的示例可以与给定的上下文无关紧要，因为它们是根据金响应搜索的。因此，我们建议的培训方法进一步利用了给定的上下文与示例之间的相关评分，以惩罚不相关的样权。广泛的实验表明，我们所提出的培训方法减轻了现有的基于示例的生成模型的缺点，并显着提高了适当性和信息性方面的性能。

The 3D-aware image synthesis focuses on conserving spatial consistency besides generating high-resolution images with fine details. Recently, Neural Radiance Field (NeRF) has been introduced for synthesizing novel views with low computational cost and superior performance. While several works investigate a generative NeRF and show remarkable achievement, they cannot handle conditional and continuous feature manipulation in the generation procedure. In this work, we introduce a novel model, called Class-Continuous Conditional Generative NeRF ($\text{C}^{3}$G-NeRF), which can synthesize conditionally manipulated photorealistic 3D-consistent images by projecting conditional features to the generator and the discriminator. The proposed $\text{C}^{3}$G-NeRF is evaluated with three image datasets, AFHQ, CelebA, and Cars. As a result, our model shows strong 3D-consistency with fine details and smooth interpolation in conditional feature manipulation. For instance, $\text{C}^{3}$G-NeRF exhibits a Fr\'echet Inception Distance (FID) of 7.64 in 3D-aware face image synthesis with a $\text{128}^{2}$ resolution. Additionally, we provide FIDs of generated 3D-aware images of each class of the datasets as it is possible to synthesize class-conditional images with $\text{C}^{3}$G-NeRF.

In both terrestrial and marine ecology, physical tagging is a frequently used method to study population dynamics and behavior. However, such tagging techniques are increasingly being replaced by individual re-identification using image analysis. This paper introduces a contrastive learning-based model for identifying individuals. The model uses the first parts of the Inception v3 network, supported by a projection head, and we use contrastive learning to find similar or dissimilar image pairs from a collection of uniform photographs. We apply this technique for corkwing wrasse, Symphodus melops, an ecologically and commercially important fish species. Photos are taken during repeated catches of the same individuals from a wild population, where the intervals between individual sightings might range from a few days to several years. Our model achieves a one-shot accuracy of 0.35, a 5-shot accuracy of 0.56, and a 100-shot accuracy of 0.88, on our dataset.

Feature selection helps reduce data acquisition costs in ML, but the standard approach is to train models with static feature subsets. Here, we consider the dynamic feature selection (DFS) problem where a model sequentially queries features based on the presently available information. DFS is often addressed with reinforcement learning (RL), but we explore a simpler approach of greedily selecting features based on their conditional mutual information. This method is theoretically appealing but requires oracle access to the data distribution, so we develop a learning approach based on amortized optimization. The proposed method is shown to recover the greedy policy when trained to optimality and outperforms numerous existing feature selection methods in our experiments, thus validating it as a simple but powerful approach for this problem.

The purpose of this work was to tackle practical issues which arise when using a tendon-driven robotic manipulator with a long, passive, flexible proximal section in medical applications. A separable robot which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. A control input which resolves the redundancy in the kinematics and a physical interpretation of this redundancy are provided. The effect of a static change in the proximal section angle on bending angle error was explored under four testing conditions for a sinusoidal input. Bending angle error increased for increasing proximal section angle for all testing conditions with an average error reduction of 41.48% for retension, 4.28% for hysteresis, and 52.35% for re-tension + hysteresis compensation relative to the baseline case. Two major sources of error in tracking the bending angle were identified: time delay from hysteresis and DC offset from the proximal section angle. Examination of these error sources revealed that the simple hysteresis compensation was most effective for removing time delay and re-tension compensation for removing DC offset, which was the primary source of increasing error. The re-tension compensation was also tested for dynamic changes in the proximal section and reduced error in the final configuration of the tip by 89.14% relative to the baseline case.

According to the rapid development of drone technologies, drones are widely used in many applications including military domains. In this paper, a novel situation-aware DRL- based autonomous nonlinear drone mobility control algorithm in cyber-physical loitering munition applications. On the battlefield, the design of DRL-based autonomous control algorithm is not straightforward because real-world data gathering is generally not available. Therefore, the approach in this paper is that cyber-physical virtual environment is constructed with Unity environment. Based on the virtual cyber-physical battlefield scenarios, a DRL-based automated nonlinear drone mobility control algorithm can be designed, evaluated, and visualized. Moreover, many obstacles exist which is harmful for linear trajectory control in real-world battlefield scenarios. Thus, our proposed autonomous nonlinear drone mobility control algorithm utilizes situation-aware components those are implemented with a Raycast function in Unity virtual scenarios. Based on the gathered situation-aware information, the drone can autonomously and nonlinearly adjust its trajectory during flight. Therefore, this approach is obviously beneficial for avoiding obstacles in obstacle-deployed battlefields. Our visualization-based performance evaluation shows that the proposed algorithm is superior from the other linear mobility control algorithms.

In robotics and computer vision communities, extensive studies have been widely conducted regarding surveillance tasks, including human detection, tracking, and motion recognition with a camera. Additionally, deep learning algorithms are widely utilized in the aforementioned tasks as in other computer vision tasks. Existing public datasets are insufficient to develop learning-based methods that handle various surveillance for outdoor and extreme situations such as harsh weather and low illuminance conditions. Therefore, we introduce a new large-scale outdoor surveillance dataset named eXtremely large-scale Multi-modAl Sensor dataset (X-MAS) containing more than 500,000 image pairs and the first-person view data annotated by well-trained annotators. Moreover, a single pair contains multi-modal data (e.g. an IR image, an RGB image, a thermal image, a depth image, and a LiDAR scan). This is the first large-scale first-person view outdoor multi-modal dataset focusing on surveillance tasks to the best of our knowledge. We present an overview of the proposed dataset with statistics and present methods of exploiting our dataset with deep learning-based algorithms. The latest information on the dataset and our study are available at https://github.com/lge-robot-navi, and the dataset will be available for download through a server.

Springs are efficient in storing and returning elastic potential energy but are unable to hold the energy they store in the absence of an external load. Lockable springs use clutches to hold elastic potential energy in the absence of an external load but have not yet been widely adopted in applications, partly because clutches introduce design complexity, reduce energy efficiency, and typically do not afford high-fidelity control over the energy stored by the spring. Here, we present the design of a novel lockable compression spring that uses a small capstan clutch to passively lock a mechanical spring. The capstan clutch can lock up to 1000 N force at any arbitrary deflection, unlock the spring in less than 10 ms with a control force less than 1 % of the maximal spring force, and provide an 80 % energy storage and return efficiency (comparable to a highly efficient electric motor operated at constant nominal speed). By retaining the form factor of a regular spring while providing high-fidelity locking capability even under large spring forces, the proposed design could facilitate the development of energy-efficient spring-based actuators and robots.

Supervision for metric learning has long been given in the form of equivalence between human-labeled classes. Although this type of supervision has been a basis of metric learning for decades, we argue that it hinders further advances of the field. In this regard, we propose a new regularization method, dubbed HIER, to discover the latent semantic hierarchy of training data, and to deploy the hierarchy to provide richer and more fine-grained supervision than inter-class separability induced by common metric learning losses. HIER achieved this goal with no annotation for the semantic hierarchy but by learning hierarchical proxies in hyperbolic spaces. The hierarchical proxies are learnable parameters, and each of them is trained to serve as an ancestor of a group of data or other proxies to approximate the semantic hierarchy among them. HIER deals with the proxies along with data in hyperbolic space since geometric properties of the space are well-suited to represent their hierarchical structure. The efficacy of HIER was evaluated on four standard benchmarks, where it consistently improved performance of conventional methods when integrated with them, and consequently achieved the best records, surpassing even the existing hyperbolic metric learning technique, in almost all settings.