This paper introduces proportional algebras as algebras endowed a the 4-ary analogical proportion relation satisfying a suitable set of axioms, where the fundamental concepts of subalgebras, homomorphisms, congruences, and functors are constructed.

本文研究了仅由宇宙和单个单一功能组成的单一代数中的类比比例。我们表明，类比比例关系在由自然数形成的无限单一代数中以及通过差异比例形成的无限单一代数。

类比制作是人类智慧的核心和创造力，在这种多样化的任务中的应用程序作为致辞推理，学习，语言习得和故事讲述。本文研究了表单中的Booleans之间的类比比例为$ b $ c $ c $ c $'称为布尔比例。从技术上讲，我们实例化了一个抽象的类比比例框架 - 最近由作者推出的 - 在布尔域中由真相值与布尔函数组成。事实证明，我们对布尔值的概念有吸引力的数学特性，并且它与一般情况下的布尔比例突出的突出模型恰到好异。在更广泛的意义上，本文是朝着模拟推理和学习系统理论的进一步迈出，具有潜在应用的潜在应用，这是具有型号的基本的AI问题，如在致辞推理和计算学习和创造力等。

类比制作是人工智能和人工智能的核心，并在这种多样化任务中的应用程序的创造力作为致辞推理，学习，语言习得和故事讲述。本文从第一个原则介绍了一个摘要的类比比例的摘要代数框架，其形式的“$ a $的数量为$ b $ conal通用代数的常规设定中的$ c $ d $ d。这使我们能够以统一的方式比较可能跨越不同域的数学对象，这对于AI系统至关重要。事实证明，我们对类比比例的概念具有吸引力的数学属性。当我们从第一个原则构建我们的模型，只使用普通代数的基本概念，并且我们的模型问题是在文献中预先推出的类似商品比例的一些基本属性，以说服我们模型的合理性的读者，我们表明它可以自然嵌入通过模型 - 理论类型分为一阶逻辑，并从该角度证明类似的比例与结构保留映射兼容。这为其适用性提供了概念证据。在更广泛的意义上，本文是朝着模拟推理和学习系统理论的第一步，其潜在应用于基本的AI问题，如致料语言推理和计算学习和创造力。

Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity, especially for solving unexpected problems. A main challenge in teleoperation consists of providing enough feedback to the human operator for situation awareness and thus create full immersion, as well as offering the operator suitable control interfaces to achieve efficient and robust task fulfillment. We present a bimanual telemanipulation system consisting of an anthropomorphic avatar robot and an operator station providing force and haptic feedback to the human operator. The avatar arms are controlled in Cartesian space with a direct mapping of the operator movements. The measured forces and torques on the avatar side are haptically displayed to the operator. We developed a predictive avatar model for limit avoidance which runs on the operator side, ensuring low latency. The system was successfully evaluated during the ANA Avatar XPRIZE competition semifinals. In addition, we performed in lab experiments and carried out a small user study with mostly untrained operators.

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.

Learning enabled autonomous systems provide increased capabilities compared to traditional systems. However, the complexity of and probabilistic nature in the underlying methods enabling such capabilities present challenges for current systems engineering processes for assurance, and test, evaluation, verification, and validation (TEVV). This paper provides a preliminary attempt to map recently developed technical approaches in the assurance and TEVV of learning enabled autonomous systems (LEAS) literature to a traditional systems engineering v-model. This mapping categorizes such techniques into three main approaches: development, acquisition, and sustainment. We review the latest techniques to develop safe, reliable, and resilient learning enabled autonomous systems, without recommending radical and impractical changes to existing systems engineering processes. By performing this mapping, we seek to assist acquisition professionals by (i) informing comprehensive test and evaluation planning, and (ii) objectively communicating risk to leaders.

In inverse reinforcement learning (IRL), a learning agent infers a reward function encoding the underlying task using demonstrations from experts. However, many existing IRL techniques make the often unrealistic assumption that the agent has access to full information about the environment. We remove this assumption by developing an algorithm for IRL in partially observable Markov decision processes (POMDPs). We address two limitations of existing IRL techniques. First, they require an excessive amount of data due to the information asymmetry between the expert and the learner. Second, most of these IRL techniques require solving the computationally intractable forward problem -- computing an optimal policy given a reward function -- in POMDPs. The developed algorithm reduces the information asymmetry while increasing the data efficiency by incorporating task specifications expressed in temporal logic into IRL. Such specifications may be interpreted as side information available to the learner a priori in addition to the demonstrations. Further, the algorithm avoids a common source of algorithmic complexity by building on causal entropy as the measure of the likelihood of the demonstrations as opposed to entropy. Nevertheless, the resulting problem is nonconvex due to the so-called forward problem. We solve the intrinsic nonconvexity of the forward problem in a scalable manner through a sequential linear programming scheme that guarantees to converge to a locally optimal policy. In a series of examples, including experiments in a high-fidelity Unity simulator, we demonstrate that even with a limited amount of data and POMDPs with tens of thousands of states, our algorithm learns reward functions and policies that satisfy the task while inducing similar behavior to the expert by leveraging the provided side information.

Speech-driven 3D facial animation has been widely explored, with applications in gaming, character animation, virtual reality, and telepresence systems. State-of-the-art methods deform the face topology of the target actor to sync the input audio without considering the identity-specific speaking style and facial idiosyncrasies of the target actor, thus, resulting in unrealistic and inaccurate lip movements. To address this, we present Imitator, a speech-driven facial expression synthesis method, which learns identity-specific details from a short input video and produces novel facial expressions matching the identity-specific speaking style and facial idiosyncrasies of the target actor. Specifically, we train a style-agnostic transformer on a large facial expression dataset which we use as a prior for audio-driven facial expressions. Based on this prior, we optimize for identity-specific speaking style based on a short reference video. To train the prior, we introduce a novel loss function based on detected bilabial consonants to ensure plausible lip closures and consequently improve the realism of the generated expressions. Through detailed experiments and a user study, we show that our approach produces temporally coherent facial expressions from input audio while preserving the speaking style of the target actors.

We study the problem of graph clustering under a broad class of objectives in which the quality of a cluster is defined based on the ratio between the number of edges in the cluster, and the total weight of vertices in the cluster. We show that our definition is closely related to popular clustering measures, namely normalized associations, which is a dual of the normalized cut objective, and normalized modularity. We give a linear time constant-approximate algorithm for our objective, which implies the first constant-factor approximation algorithms for normalized modularity and normalized associations.