Attention-based multiple instance learning (AMIL) algorithms have proven to be successful in utilizing gigapixel whole-slide images (WSIs) for a variety of different computational pathology tasks such as outcome prediction and cancer subtyping problems. We extended an AMIL approach to the task of survival prediction by utilizing the classical Cox partial likelihood as a loss function, converting the AMIL model into a nonlinear proportional hazards model. We applied the model to tissue microarray (TMA) slides of 330 lung cancer patients. The results show that AMIL approaches can handle very small amounts of tissue from a TMA and reach similar C-index performance compared to established survival prediction methods trained with highly discriminative clinical factors such as age, cancer grade, and cancer stage

当考虑$ N $标记的机器人的运动计划时，我们需要通过一系列平行，连续的，无碰撞的机器人运动来重新布置给定的启动配置为所需的目标配置。目的是在最短的时间内达到新配置；一个重要的约束是始终保持群体连接。以前已经考虑过这种类型的问题，最近值得注意的结果可实现不一定连接的重新配置：如果将起始配置映射到目标配置，则需要最大的曼哈顿距离$ D $，则总体时间表的总持续时间可以是限制为$ \ Mathcal {O}（d）$，这是最佳选择的恒定因素。但是，只有在允许断开连接的重新配置或用于缩放的配置（通过将给定对象的所有维度通过相同的乘法因子增加到相同的乘法因子增加）时，才能实现恒定拉伸。我们通过（1）建立$ \ omega（\ sqrt {n}）$的下限来解决这些主要的开放问题可以实现重新配置。此外，我们表明（3）决定是否可以实现2个制造物，而可以检查多项式时间是否可以实现1个制造pan。

语言模型既展示了定量的改进，又展示了新的定性功能，随着规模的增加。尽管它们具有潜在的变革性影响，但这些新能力的特征却很差。为了为未来的研究提供信息，为破坏性的新模型能力做准备，并改善社会有害的效果，至关重要的是，我们必须了解目前和近乎未来的能力和语言模型的局限性。为了应对这一挑战，我们介绍了超越模仿游戏基准（Big Bench）。 Big Bench目前由204个任务组成，由132家机构的442位作者贡献。任务主题是多样的，从语言学，儿童发展，数学，常识性推理，生物学，物理学，社会偏见，软件开发等等。 Big-Bench专注于被认为超出当前语言模型的功能的任务。我们评估了OpenAI的GPT型号，Google内部密集变压器体系结构和大型基础上的开关稀疏变压器的行为，跨越了数百万到数十亿个参数。此外，一个人类专家评估者团队执行了所有任务，以提供强大的基准。研究结果包括：模型性能和校准都随规模改善，但绝对的术语（以及与评估者的性能相比）；在模型类中的性能非常相似，尽管带有稀疏性。逐渐和预测的任务通常涉及大量知识或记忆成分，而在临界规模上表现出“突破性”行为的任务通常涉及多个步骤或组成部分或脆性指标；社交偏见通常会随着含糊不清的环境而随着规模而增加，但这可以通过提示来改善。

数据增强是自然语言处理（NLP）模型的鲁棒性评估的重要组成部分，以及增强他们培训的数据的多样性。在本文中，我们呈现NL-Cogmenter，这是一种新的参与式Python的自然语言增强框架，它支持创建两个转换（对数据的修改）和过滤器（根据特定功能的数据拆分）。我们描述了框架和初始的117个变换和23个过滤器，用于各种自然语言任务。我们通过使用其几个转换来分析流行自然语言模型的鲁棒性来证明NL-Upmenter的功效。基础架构，Datacards和稳健性分析结果在NL-Augmenter存储库上公开可用（\ url {https://github.com/gem-benchmark/nl-augmenter}）。

用于同时增加具有稀疏连接的一层人工神经网络的实证分布的大量规律，同时增加了随机梯度下降的两种，神经元和训练迭代。

尽管从研究界获得了重大关注，但单眼视频中分段和跟踪对象的任务仍然有很多改进空间。现有工程同时证明了各种图像级分段任务的扩张和可变形卷曲的功效。这使得这种卷积的3D扩展也应该产生视频级分段任务的3D扩展。但是，这方面尚未在现有文献中彻底探讨。在本文中，我们提出了动态扩张卷积（D ^ 2Conv3d）：一种新型类型的卷积，其汲取了来自扩张和可变形卷曲的灵感，并将它们延伸到3D（时空）域。我们通过实验表明，D ^ 2CONV3D可用于通过简单地使用D ^ 2CONV3D作为标准卷积的替代品来改进多个视频分段相关基准的多个3D CNN架构的性能。我们进一步表明，D ^ 2CONV3D OUT-upial延伸的现有扩张和可变形卷曲的速度扩展到3D。最后，我们在Davis 2016无监督的视频对象分段基准测试中设置了新的最先进的。代码在https://github.com/schmiddo/d2conv3d上公开提供。

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.