由于GPU高度平行的架构，GPU受到训练深度学习模型的青睐。结果，大多数有关培训优化的研究都集中在GPU上。但是，在决定如何选择适当的培训硬件时，经常在成本和效率之间进行权衡。特别是，如果对CPU的培训更有效，则CPU服务器可能会有益，因为它们会产生更少的硬件更新成本并更好地利用现有基础架构。本文为使用CPU的培训深度学习模型做出了一些贡献。首先，它提出了一种优化Intel CPU的深度学习模型培训的方法和一个名为ProfileDNN的工具包，我们开发了它来改善性能分析。其次，我们描述了一种通用培训优化方法，该方法指导我们的工作流程，并探讨了几个案例研究，我们确定了绩效问题，然后优化了Pytorch的Intel扩展，从而导致了Retinanet-Resnext50模型的总体2X训练性能提高。第三，我们展示了如何利用ProfileDNN的可视化功能，这使我们能够查明瓶颈并创建一个自定义焦点损失内核，该内核比正式参考Pytorch实现更快。

ICECUBE是一种用于检测1 GEV和1 PEV之间大气和天体中微子的光学传感器的立方公斤阵列，该阵列已部署1.45 km至2.45 km的南极的冰盖表面以下1.45 km至2.45 km。来自ICE探测器的事件的分类和重建在ICeCube数据分析中起着核心作用。重建和分类事件是一个挑战，这是由于探测器的几何形状，不均匀的散射和冰中光的吸收，并且低于100 GEV的光，每个事件产生的信号光子数量相对较少。为了应对这一挑战，可以将ICECUBE事件表示为点云图形，并将图形神经网络（GNN）作为分类和重建方法。 GNN能够将中微子事件与宇宙射线背景区分开，对不同的中微子事件类型进行分类，并重建沉积的能量，方向和相互作用顶点。基于仿真，我们提供了1-100 GEV能量范围的比较与当前ICECUBE分析中使用的当前最新最大似然技术，包括已知系统不确定性的影响。对于中微子事件分类，与当前的IceCube方法相比，GNN以固定的假阳性速率（FPR）提高了信号效率的18％。另外，GNN在固定信号效率下将FPR的降低超过8（低于半百分比）。对于能源，方向和相互作用顶点的重建，与当前最大似然技术相比，分辨率平均提高了13％-20％。当在GPU上运行时，GNN能够以几乎是2.7 kHz的中位数ICECUBE触发速率的速率处理ICECUBE事件，这打开了在在线搜索瞬态事件中使用低能量中微子的可能性。

了解潮汐能流中鱼类的丰度和分布对于评估通过向栖息地引入潮汐能设备所带来的风险很重要。但是，适合潮汐能的潮汐电流流量通常是高度湍流的，这使回声器数据的解释变得复杂。必须从用于生物分析的数据中排除受夹带空气回报污染的水柱的部分。应用单个常规算法来识别夹带的空气的深度不足，对于不连续，深度动态，多孔的边界而言，随着潮流流速而变化。使用Fundy湾的潮汐能示威场所进行的案例研究，我们描述了具有基于U-NET的体系结构的深机学习模型的开发和应用。我们的模型Echofilter对湍流条件的动态范围高度响应，并且对边界位置的细微差别敏感，产生了夹带的空气边界线，在移动下降方面的平均误差为0.33亿，并且在移动下降范围内为0.5-1.5-1.0m关于固定的上调数据，不到现有算法解决方案的一半。该模型的整体注释与人类细分有很高的一致性，移动下降记录的联合会得分为99％，而固定的上方录音记录为92-95％。与手动编辑当前可用算法所需的线路位置所需的时间相比，手动编辑所需的时间减少了50％。由于最初的自动放置的改进，模型的实现允许提高线路位置的标准化和可重复性。

开普勒和苔丝任务产生了超过100,000个潜在的传输信号，必须处理，以便创建行星候选的目录。在过去几年中，使用机器学习越来越感兴趣，以分析这些数据以寻找新的外延网。与现有的机器学习作品不同，exoMiner，建议的深度学习分类器在这项工作中，模仿域专家如何检查诊断测试以VET传输信号。 exoMiner是一种高度准确，可说明的和强大的分类器，其中1）允许我们验证来自桅杆开口存档的301个新的外延网，而2）是足够的，足以应用于诸如正在进行的苔丝任务的任务中应用。我们进行了广泛的实验研究，以验证exoMiner在不同分类和排名指标方面比现有的传输信号分类器更可靠，准确。例如，对于固定精度值为99％，exoMiner检索测试集中的93.6％的所有外产网（即，召回= 0.936），而最佳现有分类器的速率为76.3％。此外，exoMiner的模块化设计有利于其解释性。我们介绍了一个简单的解释性框架，提供了具有反馈的专家，为什么exoMiner将运输信号分类为特定类标签（例如，行星候选人或不是行星候选人）。

我们理论上和经验地证明，对抗性鲁棒性可以显着受益于半体验学习。从理论上讲，我们重新审视了Schmidt等人的简单高斯模型。这显示了标准和稳健分类之间的示例复杂性差距。我们证明了未标记的数据桥接这种差距：简单的半体验学习程序（自我训练）使用相同数量的达到高标准精度所需的标签实现高的强大精度。经验上，我们增强了CiFar-10，使用50万微小的图像，使用了8000万微小的图像，并使用强大的自我训练来优于最先进的鲁棒精度（i）$ \ ell_ infty $鲁棒性通过对抗培训和（ii）认证$ \ ell_2 $和$ \ ell_ \ infty $鲁棒性通过随机平滑的几个强大的攻击。在SVHN上，添加DataSet自己的额外训练集，删除的标签提供了4到10个点的增益，在使用额外标签的1点之内。

There are multiple scales of abstraction from which we can describe the same image, depending on whether we are focusing on fine-grained details or a more global attribute of the image. In brain mapping, learning to automatically parse images to build representations of both small-scale features (e.g., the presence of cells or blood vessels) and global properties of an image (e.g., which brain region the image comes from) is a crucial and open challenge. However, most existing datasets and benchmarks for neuroanatomy consider only a single downstream task at a time. To bridge this gap, we introduce a new dataset, annotations, and multiple downstream tasks that provide diverse ways to readout information about brain structure and architecture from the same image. Our multi-task neuroimaging benchmark (MTNeuro) is built on volumetric, micrometer-resolution X-ray microtomography images spanning a large thalamocortical section of mouse brain, encompassing multiple cortical and subcortical regions. We generated a number of different prediction challenges and evaluated several supervised and self-supervised models for brain-region prediction and pixel-level semantic segmentation of microstructures. Our experiments not only highlight the rich heterogeneity of this dataset, but also provide insights into how self-supervised approaches can be used to learn representations that capture multiple attributes of a single image and perform well on a variety of downstream tasks. Datasets, code, and pre-trained baseline models are provided at: https://mtneuro.github.io/ .

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.

Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On the contrary, for multi-link systems, the natural system dynamics might even work against the actual goal. With the introduction of variable stiffness actuators, this problem has been partially addressed. With a suitable optimal control strategy, the approximate decoupling of the motor from the link can be achieved to maximize the energy transfer into the distal link prior to launch. However, such continuous stiffness variation is complex and typically leads to oscillatory swing-up motions instead of clear launch sequences. To circumvent this issue, we investigate decoupling for speed maximization with a dedicated novel actuator concept denoted Bi-Stiffness Actuation. With this, it is possible to fully decouple the link from the joint mechanism by a switch-and-hold clutch and simultaneously keep the elastic energy stored. We show that with this novel paradigm, it is not only possible to reach the same optimal performance as with power-equivalent variable stiffness actuation, but even directly control the energy transfer timing. This is a major step forward compared to previous optimal control approaches, which rely on optimizing the full time-series control input.

The previous fine-grained datasets mainly focus on classification and are often captured in a controlled setup, with the camera focusing on the objects. We introduce the first Fine-Grained Vehicle Detection (FGVD) dataset in the wild, captured from a moving camera mounted on a car. It contains 5502 scene images with 210 unique fine-grained labels of multiple vehicle types organized in a three-level hierarchy. While previous classification datasets also include makes for different kinds of cars, the FGVD dataset introduces new class labels for categorizing two-wheelers, autorickshaws, and trucks. The FGVD dataset is challenging as it has vehicles in complex traffic scenarios with intra-class and inter-class variations in types, scale, pose, occlusion, and lighting conditions. The current object detectors like yolov5 and faster RCNN perform poorly on our dataset due to a lack of hierarchical modeling. Along with providing baseline results for existing object detectors on FGVD Dataset, we also present the results of a combination of an existing detector and the recent Hierarchical Residual Network (HRN) classifier for the FGVD task. Finally, we show that FGVD vehicle images are the most challenging to classify among the fine-grained datasets.

The task of reconstructing 3D human motion has wideranging applications. The gold standard Motion capture (MoCap) systems are accurate but inaccessible to the general public due to their cost, hardware and space constraints. In contrast, monocular human mesh recovery (HMR) methods are much more accessible than MoCap as they take single-view videos as inputs. Replacing the multi-view Mo- Cap systems with a monocular HMR method would break the current barriers to collecting accurate 3D motion thus making exciting applications like motion analysis and motiondriven animation accessible to the general public. However, performance of existing HMR methods degrade when the video contains challenging and dynamic motion that is not in existing MoCap datasets used for training. This reduces its appeal as dynamic motion is frequently the target in 3D motion recovery in the aforementioned applications. Our study aims to bridge the gap between monocular HMR and multi-view MoCap systems by leveraging information shared across multiple video instances of the same action. We introduce the Neural Motion (NeMo) field. It is optimized to represent the underlying 3D motions across a set of videos of the same action. Empirically, we show that NeMo can recover 3D motion in sports using videos from the Penn Action dataset, where NeMo outperforms existing HMR methods in terms of 2D keypoint detection. To further validate NeMo using 3D metrics, we collected a small MoCap dataset mimicking actions in Penn Action,and show that NeMo achieves better 3D reconstruction compared to various baselines.