手动相互作用的研究需要为高维多手指模型产生可行的掌握姿势，这通常依赖于分析抓取的合成，从而产生脆弱且不自然的结果。本文介绍了Grasp'd，这是一种与已知模型和视觉输入的可区分接触模拟的掌握方法。我们使用基于梯度的方法作为基于采样的GRASP合成的替代方法，该方法在没有简化假设的情况下失败，例如预先指定的接触位置和本本特征。这样的假设限制了掌握发现，尤其是排除了高接触功率掌握。相比之下，我们基于模拟的方法允许即使对于具有高度自由度的抓地力形态，也可以稳定，高效，物理逼真，高接触抓紧合成。我们确定并解决了对基于梯度的优化进行掌握模拟的挑战，例如非平滑对象表面几何形状，接触稀疏性和坚固的优化景观。 GRASP-D与人类和机器人手模型的分析掌握合成相比，并且结果抓紧超过4倍，超过4倍，从而导致较高的GRASP稳定性。视频和代码可在https://graspd-eccv22.github.io/上获得。

能够重现从光相互作用到接触力学的物理现象，模拟器在越来越多的应用程序域变得越来越有用，而现实世界中的相互作用或标记数据很难获得。尽管最近取得了进展，但仍需要大量的人为努力来配置模拟器以准确地再现现实世界的行为。我们介绍了一条管道，将反向渲染与可区分的模拟相结合，从而从深度或RGB视频中创建数字双铰接式机制。我们的方法自动发现关节类型并估算其运动学参数，而整体机制的动态特性则调整为实现物理准确的模拟。正如我们在模拟系统上所证明的那样，在我们的派生模拟传输中优化的控制策略成功地回到了原始系统。此外，我们的方法准确地重建了由机器人操纵的铰接机制的运动学树，以及现实世界中耦合的摆机制的高度非线性动力学。网站：https：//Eric-heiden.github.io/video2sim

Non-linear state-space models, also known as general hidden Markov models, are ubiquitous in statistical machine learning, being the most classical generative models for serial data and sequences in general. The particle-based, rapid incremental smoother PaRIS is a sequential Monte Carlo (SMC) technique allowing for efficient online approximation of expectations of additive functionals under the smoothing distribution in these models. Such expectations appear naturally in several learning contexts, such as likelihood estimation (MLE) and Markov score climbing (MSC). PARIS has linear computational complexity, limited memory requirements and comes with non-asymptotic bounds, convergence results and stability guarantees. Still, being based on self-normalised importance sampling, the PaRIS estimator is biased. Our first contribution is to design a novel additive smoothing algorithm, the Parisian particle Gibbs PPG sampler, which can be viewed as a PaRIS algorithm driven by conditional SMC moves, resulting in bias-reduced estimates of the targeted quantities. We substantiate the PPG algorithm with theoretical results, including new bounds on bias and variance as well as deviation inequalities. Our second contribution is to apply PPG in a learning framework, covering MLE and MSC as special examples. In this context, we establish, under standard assumptions, non-asymptotic bounds highlighting the value of bias reduction and the implicit Rao--Blackwellization of PPG. These are the first non-asymptotic results of this kind in this setting. We illustrate our theoretical results with numerical experiments supporting our claims.

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.

This paper introduces a novel algorithm, the Perturbed Proximal Preconditioned SPIDER algorithm (3P-SPIDER), designed to solve finite sum non-convex composite optimization. It is a stochastic Variable Metric Forward-Backward algorithm, which allows approximate preconditioned forward operator and uses a variable metric proximity operator as the backward operator; it also proposes a mini-batch strategy with variance reduction to address the finite sum setting. We show that 3P-SPIDER extends some Stochastic preconditioned Gradient Descent-based algorithms and some Incremental Expectation Maximization algorithms to composite optimization and to the case the forward operator can not be computed in closed form. We also provide an explicit control of convergence in expectation of 3P-SPIDER, and study its complexity in order to satisfy the epsilon-approximate stationary condition. Our results are the first to combine the composite non-convex optimization setting, a variance reduction technique to tackle the finite sum setting by using a minibatch strategy and, to allow deterministic or random approximations of the preconditioned forward operator. Finally, through an application to inference in a logistic regression model with random effects, we numerically compare 3P-SPIDER to other stochastic forward-backward algorithms and discuss the role of some design parameters of 3P-SPIDER.

Landing an unmanned aerial vehicle unmanned aerial vehicle (UAV) on top of an unmanned surface vehicle (USV) in harsh open waters is a challenging problem, owing to forces that can damage the UAV due to a severe roll and/or pitch angle of the USV during touchdown. To tackle this, we propose a novel model predictive control (MPC) approach enabling a UAV to land autonomously on a USV in these harsh conditions. The MPC employs a novel objective function and an online decomposition of the oscillatory motion of the vessel to predict, attempt, and accomplish the landing during near-zero tilt of the landing platform. The nonlinear prediction of the motion of the vessel is performed using visual data from an onboard camera. Therefore, the system does not require any communication with the USV or a control station. The proposed method was analyzed in numerous robotics simulations in harsh and extreme conditions and further validated in various real-world scenarios.

Artificial Intelligence (AI) has become commonplace to solve routine everyday tasks. Because of the exponential growth in medical imaging data volume and complexity, the workload on radiologists is steadily increasing. We project that the gap between the number of imaging exams and the number of expert radiologist readers required to cover this increase will continue to expand, consequently introducing a demand for AI-based tools that improve the efficiency with which radiologists can comfortably interpret these exams. AI has been shown to improve efficiency in medical-image generation, processing, and interpretation, and a variety of such AI models have been developed across research labs worldwide. However, very few of these, if any, find their way into routine clinical use, a discrepancy that reflects the divide between AI research and successful AI translation. To address the barrier to clinical deployment, we have formed MONAI Consortium, an open-source community which is building standards for AI deployment in healthcare institutions, and developing tools and infrastructure to facilitate their implementation. This report represents several years of weekly discussions and hands-on problem solving experience by groups of industry experts and clinicians in the MONAI Consortium. We identify barriers between AI-model development in research labs and subsequent clinical deployment and propose solutions. Our report provides guidance on processes which take an imaging AI model from development to clinical implementation in a healthcare institution. We discuss various AI integration points in a clinical Radiology workflow. We also present a taxonomy of Radiology AI use-cases. Through this report, we intend to educate the stakeholders in healthcare and AI (AI researchers, radiologists, imaging informaticists, and regulators) about cross-disciplinary challenges and possible solutions.

Artificial intelligence (AI) in its various forms finds more and more its way into complex distributed systems. For instance, it is used locally, as part of a sensor system, on the edge for low-latency high-performance inference, or in the cloud, e.g. for data mining. Modern complex systems, such as connected vehicles, are often part of an Internet of Things (IoT). To manage complexity, architectures are described with architecture frameworks, which are composed of a number of architectural views connected through correspondence rules. Despite some attempts, the definition of a mathematical foundation for architecture frameworks that are suitable for the development of distributed AI systems still requires investigation and study. In this paper, we propose to extend the state of the art on architecture framework by providing a mathematical model for system architectures, which is scalable and supports co-evolution of different aspects for example of an AI system. Based on Design Science Research, this study starts by identifying the challenges with architectural frameworks. Then, we derive from the identified challenges four rules and we formulate them by exploiting concepts from category theory. We show how compositional thinking can provide rules for the creation and management of architectural frameworks for complex systems, for example distributed systems with AI. The aim of the paper is not to provide viewpoints or architecture models specific to AI systems, but instead to provide guidelines based on a mathematical formulation on how a consistent framework can be built up with existing, or newly created, viewpoints. To put in practice and test the approach, the identified and formulated rules are applied to derive an architectural framework for the EU Horizon 2020 project ``Very efficient deep learning in the IoT" (VEDLIoT) in the form of a case study.

In this paper, we develop new methods for analyzing high-dimensional tensor datasets. A tensor factor model describes a high-dimensional dataset as a sum of a low-rank component and an idiosyncratic noise, generalizing traditional factor models for panel data. We propose an estimation algorithm, called tensor principal component analysis (PCA), which generalizes the traditional PCA applicable to panel data. The algorithm involves unfolding the tensor into a sequence of matrices along different dimensions and applying PCA to the unfolded matrices. We provide theoretical results on the consistency and asymptotic distribution for tensor PCA estimator of loadings and factors. The algorithm demonstrates good performance in Mote Carlo experiments and is applied to sorted portfolios.

Neuromorphic systems require user-friendly software to support the design and optimization of experiments. In this work, we address this need by presenting our development of a machine learning-based modeling framework for the BrainScaleS-2 neuromorphic system. This work represents an improvement over previous efforts, which either focused on the matrix-multiplication mode of BrainScaleS-2 or lacked full automation. Our framework, called hxtorch.snn, enables the hardware-in-the-loop training of spiking neural networks within PyTorch, including support for auto differentiation in a fully-automated hardware experiment workflow. In addition, hxtorch.snn facilitates seamless transitions between emulating on hardware and simulating in software. We demonstrate the capabilities of hxtorch.snn on a classification task using the Yin-Yang dataset employing a gradient-based approach with surrogate gradients and densely sampled membrane observations from the BrainScaleS-2 hardware system.