基于变压器的模型的出现，机器翻译已经快速发展。这些模型没有内置的明确的语言结构，但是它们仍然可以通过参与相关令牌隐式学习结构化的关系。我们假设通过明确赋予变形金刚具有结构性偏见，可以使这种结构学习变得更加健壮，我们研究了两种在这种偏见中构建的方法。一种方法，即TP变换器，可以增强传统的变压器体系结构，包括代表结构的附加组件。第二种方法通过将数据分割为形态令牌化来灌输数据级别的结构。我们测试了这些方法从英语翻译成土耳其语和Inuktitut的形态丰富的语言，并考虑自动指标和人类评估。我们发现，这两种方法中每种方法都允许网络实现更好的性能，但是此改进取决于数据集的大小。总而言之，结构编码方法使变压器更具样本效率，从而使它们能够从少量数据中表现得更好。

在本文中，我们报告了使用运动传感器对复杂人类活动分类的分层深度学习模型。与用于基于事件的活动识别的传统人类活动识别（HAR）模型相反，例如阶跃计数，秋季检测和手势识别，这种新的深度学习模型，我们称为魅力（复杂的人类活动识别模型） ，旨在识别高级人类活动，这些活动由非确定性序列中的多个不同的低级活动组成，例如餐食准备，家务和日常工作。魅力不仅优于最先进的监督学习方法，以平均准确性和F1分数来识别高级活动的识别，而且还自动学习识别低级活动，例如操纵手势和运动模式，没有此类活动的任何明确标签。这为使用可穿戴的传感器开辟了新的人机互动（HMI）方式的新途径，用户可以选择将自动化任务与高级活动相关联，例如控制家庭自动化（例如机器人真空吸尘器，灯光，灯光和恒温器）或在正确的时间介绍上下文相关信息（例如，提醒，状态更新和天气/新闻报道）。此外，仅使用高级活动标签进行培训时，学习低级用户活动的能力可能会为半监督的学习HAR任务铺平道路。

将机器人部署在现实世界中的机器人（例如家庭和灵活的制造线路）中，要求机器人按需任务。线性时间逻辑（LTL）是一种广泛使用的规范语言，具有组成语法，自然会在任务中引起共同点。但是，大多数先前关于使用LTL规范的强化学习的研究都独立治疗了每个新公式。我们提出了LTL-Transfer，这是一种新颖的算法，通过将培训任务的政策分割为便携式过渡性的技能，能够满足各种各样的LTL LTL规范，同时尊重安全性批判性约束，从而使跨任务的子policy重复使用。我们在Minecraft启发的领域中进行的实验表明，LTL转移能够满足500个看不见的任务中90％以上的能力，同时仅培训50个任务规格，并且从不违反安全限制。我们还在家庭环境中将LTL转移部署在四倍的移动操纵器上，以显示其以零拍的方式转移到许多获取和交付任务的能力。

框架已开始出现，以对提供沉浸式，直观的接口提供沉浸式，直观的界面的虚拟，增强和混合现实（VAM）技术来促进人机互动。然而，这些框架未能捕获VAM-HRI的生长子场的关键特性，并且由于连续尺度而难以持续应用。这项工作通过创建用于组织VAM-HRI系统（TOKC）的关键特征来构建这些先前的框架。 Tokcs离散地分离出现在先前作品中使用的连续尺度，以获得更一致的分类，并增加与机器人的内部模型，锚点位置，可操纵性和系统的软件相关的额外特征。为了展示工具的能力，TOKCS应用于来自第四届VAM-HRI车间的十篇论文，并检查了关键趋势和外卖。这些趋势突出了TOKCS的表现能力，同时还帮助框架更新的趋势和VAM-HRI研究的未来工作建议。

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.