Fine-grained semantic segmentation of a person's face and head, including facial parts and head components, has progressed a great deal in recent years. However, it remains a challenging task, whereby considering ambiguous occlusions and large pose variations are particularly difficult. To overcome these difficulties, we propose a novel framework termed Mask-FPAN. It uses a de-occlusion module that learns to parse occluded faces in a semi-supervised way. In particular, face landmark localization, face occlusionstimations, and detected head poses are taken into account. A 3D morphable face model combined with the UV GAN improves the robustness of 2D face parsing. In addition, we introduce two new datasets named FaceOccMask-HQ and CelebAMaskOcc-HQ for face paring work. The proposed Mask-FPAN framework addresses the face parsing problem in the wild and shows significant performance improvements with MIOU from 0.7353 to 0.9013 compared to the state-of-the-art on challenging face datasets.

Deep unfolding networks (DUNs) have proven to be a viable approach to compressive sensing (CS). In this work, we propose a DUN called low-rank CS network (LR-CSNet) for natural image CS. Real-world image patches are often well-represented by low-rank approximations. LR-CSNet exploits this property by adding a low-rank prior to the CS optimization task. We derive a corresponding iterative optimization procedure using variable splitting, which is then translated to a new DUN architecture. The architecture uses low-rank generation modules (LRGMs), which learn low-rank matrix factorizations, as well as gradient descent and proximal mappings (GDPMs), which are proposed to extract high-frequency features to refine image details. In addition, the deep features generated at each reconstruction stage in the DUN are transferred between stages to boost the performance. Our extensive experiments on three widely considered datasets demonstrate the promising performance of LR-CSNet compared to state-of-the-art methods in natural image CS.

尽管受到监督的深度学习彻底改变了语音和音频处理，但它必须为个人任务和应用程序方案建立专业模型。同样，很难将其应用于仅可用标记数据的方言和语言。自我监督的代表学习方法承诺一个单一的通用模型，该模型将使各种各样的任务和领域受益。这种方法已显示出在自然语言处理和计算机视觉域中的成功，在减少许多下游场景所需的标签数量的同时，达到了新的性能水平。语音表示学习在三个主要类别中也经历了类似的进展：生成，对比和预测方法。其他方法依赖于多模式数据，用于预训练，将文本或视觉数据流与语音混合。尽管自我监督的语音表示仍然是一个新生的研究领域，但它与用零词汇资源的声学单词嵌入和学习密切相关，这两种资源已经进行了多年的积极研究。这篇评论介绍了自我监督的语音表示学习及其与其他研究领域的联系的方法。由于许多当前的方法仅集中在自动语音识别作为下游任务上，因此我们回顾了基准测试的最新努力，以将应用程序扩展到语音识别之外。

对森林生物量股票的知识及其发展对于实施有效的气候变化缓解措施是重要的。需要研究驾驶AF的过程，重新砍伐和森林砍伐，是碳核算的先决条件。使用空机激光雷达的遥感可用于测量大规模植被生物量。我们呈现深度学习系统，用于预测木材体积，地上生物量（AGB），随后直接从3D LIDAR点云数据碳。我们设计了不同的神经网络架构进行点云回归，并在遥感数据上评估AGB估计从国家森林库存中的现场测量获得的遥感数据。我们对回归的Minkowski卷积神经网络的调整给出了最佳结果。与在Point云的基本统计中运营的最先进的方法相比，深度神经网络产生了明显更准确的木材体积，AGB和碳估计，我们希望这一发现对基于LIDAR的分析产生了强烈影响陆地生态系统动态。

通过首先通过自动语音识别（ASR）转换话语，然后将输出馈送到基于文本的模型，通常通过转录语言理解（SLU）任务来解决。自我监督代表学习的最新进展旨在改善ASR组件。我们调查了是否对演讲的代表性学习已经成熟，以取代SLU中的ASR。我们将学位语音特征与Wav2Vec 2.0，最先进的ASR成绩单以及基于新型语音的名称实体识别任务的输入，是真实世界紧急呼叫和两个基于语音的命名实体识别任务的输入。现有的SLU基准。我们表明，学习的语音功能优于三种分类任务的ASR成绩单。对于机器翻译，ASR成绩单仍然是更好的选择。我们突出了Wav2VEC 2.0表示的内在稳健性，以失控的单词作为更好的性能的关键。

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.