具有有限培训数据的自然语言建模是一个具有挑战性的问题，许多算法由于其出色的概括能力而利用大规模预处理的语言模型（PLM）。其中，在固定的大规模PLM之上结合了特定于任务的适配器的增材学习，已普遍用于几次设置。但是，这种增加的适配器仍然很容易忽略PLM的知识，尤其是对于几种自然语言生成（NLG），因为整个序列通常仅由新训练的适配器生成。因此，在这项工作中，我们基于强化学习（RL）开发了一种新颖的添加剂学习算法，该算法在培训和推理过程中有选择地在任务将军PLM和特定于任务的适配器之间输出语言令牌。对两个发电机的输出令牌选择可以使适配器仅考虑到序列生成的任务相关的部分，因此使其更适合过度拟合，并且在RL培训中更稳定。此外，为了从PLM获取每个几次任务的互补适配器，我们利用一个单独的选择模块，该模块也接受了RL同时训练。对各种少数NLG任务的实验结果，包括问题回答，数据到文本生成和文本摘要表明，所提出的选择性令牌生成显着优于基于PLM的先前的加性学习算法。

预测交通状况非常具有挑战性，因为每条道路在空间和时间上都高度依赖。最近，为了捕获这种空间和时间依赖性，已经引入了专门设计的架构，例如图形卷积网络和时间卷积网络。尽管流量预测取得了显着进展，但我们发现基于深度学习的流量预测模型仍然在某些模式中失败，主要是在事件情况下（例如，快速速度下降）。尽管通常认为这些故障是由于不可预测的噪声造成的，但我们发现可以通过考虑以前的失败来纠正这些故障。具体而言，我们观察到这些失败中的自相关错误，这表明仍然存在一些可预测的信息。在这项研究中，为了捕获错误的相关性，我们引入了Rescal，Rescal是流量预测的剩余估计模块，作为广泛适用的附加模块，用于现有的流量预测模型。我们的恢复通过使用以前的错误和图形信号来估算未来错误，从而实时校准现有模型的预测。对METR-LA和PEMS-BAY进行的广泛实验表明，我们的恢复可以正确捕获错误的相关性，并在事件情况下纠正各种流量预测模型的故障。

有条件的生成对抗网络（CGANS）在课堂条件生成任务中显示出卓越的结果。为了同时控制多个条件，CGAN需要多标签训练数据集，其中可以将多个标签分配给每个数据实例。然而，巨大的注释成本限制了在现实世界中多标签数据集的可访问性。因此，我们探索称为单个正设置的实用设置，其中每个数据实例仅由一个没有明确的负标签的一个正标记。为了在单个正面设置中生成多标签数据，我们提出了一种基于马尔可夫链蒙特卡洛方法的新型抽样方法，称为单一标记（S2M）采样。作为一种广泛适用的“附加”方法，我们提出的S2M采样使现有的无条件和有条件的gans能够以最小的注释成本绘制高质量的多标签数据。在真实图像数据集上进行的广泛实验可以验证我们方法的有效性和正确性，即使与经过完全注释的数据集训练的模型相比。

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.