在几乎不可预测且通常严重的主题运动的情况下获得的多个MR Slices的胎儿大脑的体积重建是一项具有挑战性的任务，对切片转换的初始化非常敏感。我们建议使用经过合成转换数据训练的变压器提出了一种新型的切片到体积的注册方法，该数据将MR Slices的多个堆栈模拟为序列。通过注意机制，我们的模型会自动检测切片之间的相关性，并使用来自其他切片的信息预测一个切片的转换。我们还估计了基础3D卷，以帮助切片到体积的注册，并交替更新音量和转换以提高准确性。合成数据的结果表明，与现有的最新方法相比，我们的方法可实现较低的注册误差和更好的重建质量。还进行了使用现实世界中MRI数据的实验，以证明该模型在严重的胎儿运动下提高3D重建质量的能力。

在医疗保健中采用机器学习模型需要最终用户对系统的信任。为他们的预测提供额外的支持证据，以促进通过。我们定义了一致的证据，既兼容，又充分涉及模型预测。我们提出了促进更一致的证据的模型不一致和常规方案的措施。我们在从胸部射线照片的水肿严重程度分级的背景下展示了我们的想法。我们经验证明，一致的模型在支持解释时提供竞争性能。

我们提出并通过在图像和文本的本地特征之间最大化互信息来提出并展示表示学习方法。这种方法的目标是通过利用描述图像中发现的自由文本中包含的丰富信息来学习有用的图像表示。我们的方法通过鼓励产生的表示展示了高局部互信息来训练图像和文本编码器。我们利用神经网络鉴别器的互信息估算的最新进展。我们认为，本地互信息的总和通常是全球相互信息的较低限制。我们在下游图像分类任务中的实验结果展示了使用本地特征进行图像文本表示学习的优势。

机器学习模型通常培训端到端和监督设置，使用配对（输入，输出）数据。示例包括最近的超分辨率方法，用于在（低分辨率，高分辨率）图像上培训。然而，这些端到端的方法每当输入中存在分布偏移时需要重新训练（例如，夜间图像VS日光）或相关的潜在变量（例如，相机模糊或手动运动）。在这项工作中，我们利用最先进的（SOTA）生成模型（这里是Stylegan2）来构建强大的图像前提，这使得贝叶斯定理应用于许多下游重建任务。我们的方法是通过生成模型（BRGM）的贝叶斯重建，使用单个预先训练的发生器模型来解决不同的图像恢复任务，即超级分辨率和绘画，通过与不同的前向腐败模型相结合。我们将发电机模型的重量保持固定，并通过估计产生重建图像的输入潜在的跳过载体来重建图像来估计图像。我们进一步使用变分推理来近似潜伏向量的后部分布，我们对多种解决方案进行采样。我们在三个大型和多样化的数据集中展示了BRGM：（i）来自Flick的60,000个图像面向高质量的数据集（II）来自MIMIC III的高质量数据集（II）240,000胸X射线，（III）的组合收集5脑MRI数据集，具有7,329个扫描。在所有三个数据集和没有任何DataSet特定的HyperParameter调整，我们的简单方法会在超级分辨率和绘画上对当前的特定任务最先进的方法产生性能竞争力，同时更加稳定，而不需要任何培训。我们的源代码和预先训练的型号可在线获取：https://razvanmarinescu.github.io/brgm/。

The performance of inertial navigation systems is largely dependent on the stable flow of external measurements and information to guarantee continuous filter updates and bind the inertial solution drift. Platforms in different operational environments may be prevented at some point from receiving external measurements, thus exposing their navigation solution to drift. Over the years, a wide variety of works have been proposed to overcome this shortcoming, by exploiting knowledge of the system current conditions and turning it into an applicable source of information to update the navigation filter. This paper aims to provide an extensive survey of information aided navigation, broadly classified into direct, indirect, and model aiding. Each approach is described by the notable works that implemented its concept, use cases, relevant state updates, and their corresponding measurement models. By matching the appropriate constraint to a given scenario, one will be able to improve the navigation solution accuracy, compensate for the lost information, and uncover certain internal states, that would otherwise remain unobservable.

We consider infinite horizon Markov decision processes (MDPs) with fast-slow structure, meaning that certain parts of the state space move "fast" (and in a sense, are more influential) while other parts transition more "slowly." Such structure is common in real-world problems where sequential decisions need to be made at high frequencies, yet information that varies at a slower timescale also influences the optimal policy. Examples include: (1) service allocation for a multi-class queue with (slowly varying) stochastic costs, (2) a restless multi-armed bandit with an environmental state, and (3) energy demand response, where both day-ahead and real-time prices play a role in the firm's revenue. Models that fully capture these problems often result in MDPs with large state spaces and large effective time horizons (due to frequent decisions), rendering them computationally intractable. We propose an approximate dynamic programming algorithmic framework based on the idea of "freezing" the slow states, solving a set of simpler finite-horizon MDPs (the lower-level MDPs), and applying value iteration (VI) to an auxiliary MDP that transitions on a slower timescale (the upper-level MDP). We also extend the technique to a function approximation setting, where a feature-based linear architecture is used. On the theoretical side, we analyze the regret incurred by each variant of our frozen-state approach. Finally, we give empirical evidence that the frozen-state approach generates effective policies using just a fraction of the computational cost, while illustrating that simply omitting slow states from the decision modeling is often not a viable heuristic.

In the present work we propose an unsupervised ensemble method consisting of oblique trees that can address the task of auto-encoding, namely Oblique Forest AutoEncoders (briefly OF-AE). Our method is a natural extension of the eForest encoder introduced in [1]. More precisely, by employing oblique splits consisting in multivariate linear combination of features instead of the axis-parallel ones, we will devise an auto-encoder method through the computation of a sparse solution of a set of linear inequalities consisting of feature values constraints. The code for reproducing our results is available at https://github.com/CDAlecsa/Oblique-Forest-AutoEncoders.

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features into a single objective. If they try to do both at once from input designed to teach the full reward function, it is easy to end up with a representation that contains spurious correlations in the data, which fails to generalize to new settings. Instead, our ultimate goal is to enable robots to identify and isolate the causal features that people actually care about and use when they represent states and behavior. Our idea is that we can tune into this representation by asking users what behaviors they consider similar: behaviors will be similar if the features that matter are similar, even if low-level behavior is different; conversely, behaviors will be different if even one of the features that matter differs. This, in turn, is what enables the robot to disambiguate between what needs to go into the representation versus what is spurious, as well as what aspects of behavior can be compressed together versus not. The notion of learning representations based on similarity has a nice parallel in contrastive learning, a self-supervised representation learning technique that maps visually similar data points to similar embeddings, where similarity is defined by a designer through data augmentation heuristics. By contrast, in order to learn the representations that people use, so we can learn their preferences and objectives, we use their definition of similarity. In simulation as well as in a user study, we show that learning through such similarity queries leads to representations that, while far from perfect, are indeed more generalizable than self-supervised and task-input alternatives.

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in real-world underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission and make high-impact strategic decisions. We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and re-configurable communications.

Deep learning models are known to put the privacy of their training data at risk, which poses challenges for their safe and ethical release to the public. Differentially private stochastic gradient descent is the de facto standard for training neural networks without leaking sensitive information about the training data. However, applying it to models for graph-structured data poses a novel challenge: unlike with i.i.d. data, sensitive information about a node in a graph cannot only leak through its gradients, but also through the gradients of all nodes within a larger neighborhood. In practice, this limits privacy-preserving deep learning on graphs to very shallow graph neural networks. We propose to solve this issue by training graph neural networks on disjoint subgraphs of a given training graph. We develop three random-walk-based methods for generating such disjoint subgraphs and perform a careful analysis of the data-generating distributions to provide strong privacy guarantees. Through extensive experiments, we show that our method greatly outperforms the state-of-the-art baseline on three large graphs, and matches or outperforms it on four smaller ones.