机器学习（ML）研究出版物通常在GitHub上提供开源实现，使他们的受众可以复制，验证甚至扩展机器学习算法，数据集和元数据。但是，到目前为止，关于此类ML研究存储库的协作活动程度知之甚少，特别是（1）此类存储库从叉子获得贡献的程度，（2）此类贡献的性质（即类型，变化），以及（3）变更的性质，这些变化未归还给叉子，这可能代表了错过的机会。在本文中，我们对1,346毫升研究存储库及其67,369叉进行了验证，无论是定量还是定性（通过Hindle等人的构建代码更改的开创性分类法）。我们发现，尽管ML研究存储库是大量分叉的，但只有9％的叉子对叉子存储库进行了修改。后者的42％发送给家长存储库的更改，其中一半（52％）被父家存储库接受。我们对539个贡献的定性分析和378个本地（仅叉）变化，扩展了Hindle等人的分类法，其中一个与ML（数据）相关的新顶级变更类别和15个新的子类别，包括9个ML--特定的（输入数据，输出数据，程序数据，共享，变更评估，参数调整，性能，预处理，模型培训）。虽然没有由叉子造成的更改主要是涉及域特定于域的定制和本地实验（例如，参数调整），但原点ML存储库确实错过了不可忽视的15.4％文档更改的13.6％的功能更改，而功能更改的13.6％和11.4％的错误修复更改。本文中的发现将对从业者，研究人员，工具匠和教育者有用。

Logic Mill is a scalable and openly accessible software system that identifies semantically similar documents within either one domain-specific corpus or multi-domain corpora. It uses advanced Natural Language Processing (NLP) techniques to generate numerical representations of documents. Currently it leverages a large pre-trained language model to generate these document representations. The system focuses on scientific publications and patent documents and contains more than 200 million documents. It is easily accessible via a simple Application Programming Interface (API) or via a web interface. Moreover, it is continuously being updated and can be extended to text corpora from other domains. We see this system as a general-purpose tool for future research applications in the social sciences and other domains.

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.

This paper proposes a novel observer-based controller for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) designed to directly receive measurements from a Vision-Aided Inertial Navigation System (VA-INS) and produce the required thrust and rotational torque inputs. The VA-INS is composed of a vision unit (monocular or stereo camera) and a typical low-cost 6-axis Inertial Measurement Unit (IMU) equipped with an accelerometer and a gyroscope. A major benefit of this approach is its applicability for environments where the Global Positioning System (GPS) is inaccessible. The proposed VTOL-UAV observer utilizes IMU and feature measurements to accurately estimate attitude (orientation), gyroscope bias, position, and linear velocity. Ability to use VA-INS measurements directly makes the proposed observer design more computationally efficient as it obviates the need for attitude and position reconstruction. Once the motion components are estimated, the observer-based controller is used to control the VTOL-UAV attitude, angular velocity, position, and linear velocity guiding the vehicle along the desired trajectory in six degrees of freedom (6 DoF). The closed-loop estimation and the control errors of the observer-based controller are proven to be exponentially stable starting from almost any initial condition. To achieve global and unique VTOL-UAV representation in 6 DoF, the proposed approach is posed on the Lie Group and the design in unit-quaternion is presented. Although the proposed approach is described in a continuous form, the discrete version is provided and tested. Keywords: Vision-aided inertial navigation system, unmanned aerial vehicle, vertical take-off and landing, stochastic, noise, Robotics, control systems, air mobility, observer-based controller algorithm, landmark measurement, exponential stability.

Recent advances in upper limb prostheses have led to significant improvements in the number of movements provided by the robotic limb. However, the method for controlling multiple degrees of freedom via user-generated signals remains challenging. To address this issue, various machine learning controllers have been developed to better predict movement intent. As these controllers become more intelligent and take on more autonomy in the system, the traditional approach of representing the human-machine interface as a human controlling a tool becomes limiting. One possible approach to improve the understanding of these interfaces is to model them as collaborative, multi-agent systems through the lens of joint action. The field of joint action has been commonly applied to two human partners who are trying to work jointly together to achieve a task, such as singing or moving a table together, by effecting coordinated change in their shared environment. In this work, we compare different prosthesis controllers (proportional electromyography with sequential switching, pattern recognition, and adaptive switching) in terms of how they present the hallmarks of joint action. The results of the comparison lead to a new perspective for understanding how existing myoelectric systems relate to each other, along with recommendations for how to improve these systems by increasing the collaborative communication between each partner.

A "heart attack" or myocardial infarction (MI), occurs when an artery supplying blood to the heart is abruptly occluded. The "gold standard" method for imaging MI is Cardiovascular Magnetic Resonance Imaging (MRI), with intravenously administered gadolinium-based contrast (late gadolinium enhancement). However, no "gold standard" fully automated method for the quantification of MI exists. In this work, we propose an end-to-end fully automatic system (MyI-Net) for the detection and quantification of MI in MRI images. This has the potential to reduce the uncertainty due to the technical variability across labs and inherent problems of the data and labels. Our system consists of four processing stages designed to maintain the flow of information across scales. First, features from raw MRI images are generated using feature extractors built on ResNet and MoblieNet architectures. This is followed by the Atrous Spatial Pyramid Pooling (ASPP) to produce spatial information at different scales to preserve more image context. High-level features from ASPP and initial low-level features are concatenated at the third stage and then passed to the fourth stage where spatial information is recovered via up-sampling to produce final image segmentation output into: i) background, ii) heart muscle, iii) blood and iv) scar areas. New models were compared with state-of-art models and manual quantification. Our models showed favorable performance in global segmentation and scar tissue detection relative to state-of-the-art work, including a four-fold better performance in matching scar pixels to contours produced by clinicians.

Increasing popularity of deep-learning-powered applications raises the issue of vulnerability of neural networks to adversarial attacks. In other words, hardly perceptible changes in input data lead to the output error in neural network hindering their utilization in applications that involve decisions with security risks. A number of previous works have already thoroughly evaluated the most commonly used configuration - Convolutional Neural Networks (CNNs) against different types of adversarial attacks. Moreover, recent works demonstrated transferability of the some adversarial examples across different neural network models. This paper studied robustness of the new emerging models such as SpinalNet-based neural networks and Compact Convolutional Transformers (CCT) on image classification problem of CIFAR-10 dataset. Each architecture was tested against four White-box attacks and three Black-box attacks. Unlike VGG and SpinalNet models, attention-based CCT configuration demonstrated large span between strong robustness and vulnerability to adversarial examples. Eventually, the study of transferability between VGG, VGG-inspired SpinalNet and pretrained CCT 7/3x1 models was conducted. It was shown that despite high effectiveness of the attack on the certain individual model, this does not guarantee the transferability to other models.

Spectrum coexistence is essential for next generation (NextG) systems to share the spectrum with incumbent (primary) users and meet the growing demand for bandwidth. One example is the 3.5 GHz Citizens Broadband Radio Service (CBRS) band, where the 5G and beyond communication systems need to sense the spectrum and then access the channel in an opportunistic manner when the incumbent user (e.g., radar) is not transmitting. To that end, a high-fidelity classifier based on a deep neural network is needed for low misdetection (to protect incumbent users) and low false alarm (to achieve high throughput for NextG). In a dynamic wireless environment, the classifier can only be used for a limited period of time, i.e., coherence time. A portion of this period is used for learning to collect sensing results and train a classifier, and the rest is used for transmissions. In spectrum sharing systems, there is a well-known tradeoff between the sensing time and the transmission time. While increasing the sensing time can increase the spectrum sensing accuracy, there is less time left for data transmissions. In this paper, we present a generative adversarial network (GAN) approach to generate synthetic sensing results to augment the training data for the deep learning classifier so that the sensing time can be reduced (and thus the transmission time can be increased) while keeping high accuracy of the classifier. We consider both additive white Gaussian noise (AWGN) and Rayleigh channels, and show that this GAN-based approach can significantly improve both the protection of the high-priority user and the throughput of the NextG user (more in Rayleigh channels than AWGN channels).

Previous work has shown the potential of deep learning to predict renal obstruction using kidney ultrasound images. However, these image-based classifiers have been trained with the goal of single-visit inference in mind. We compare methods from video action recognition (i.e. convolutional pooling, LSTM, TSM) to adapt single-visit convolutional models to handle multiple visit inference. We demonstrate that incorporating images from a patient's past hospital visits provides only a small benefit for the prediction of obstructive hydronephrosis. Therefore, inclusion of prior ultrasounds is beneficial, but prediction based on the latest ultrasound is sufficient for patient risk stratification.