The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safe and accurate navigation of a needle through living tissue to an intra-tissue target is currently often challenging or infeasible due to the presence of anatomical obstacles in the tissue, high levels of uncertainty, and natural tissue motion (e.g., due to breathing). Medical robots capable of automating needle-based procedures in vivo have the potential to overcome these challenges and enable an enhanced level of patient care and safety. In this paper, we show the first medical robot that autonomously navigates a needle inside living tissue around anatomical obstacles to an intra-tissue target. Our system leverages an aiming device and a laser-patterned highly flexible steerable needle, a type of needle capable of maneuvering along curvilinear trajectories to avoid obstacles. The autonomous robot accounts for anatomical obstacles and uncertainty in living tissue/needle interaction with replanning and control and accounts for respiratory motion by defining safe insertion time windows during the breathing cycle. We apply the system to lung biopsy, which is critical in the diagnosis of lung cancer, the leading cause of cancer-related death in the United States. We demonstrate successful performance of our system in multiple in vivo porcine studies and also demonstrate that our approach leveraging autonomous needle steering outperforms a standard manual clinical technique for lung nodule access.

扬声器在彼此保持一致的过程中建立了融洽的关系。在指导域材料的同时，已经证明了与教师的融洽关系，以促进学习。过去关于教育领域的词汇一致性的工作都在量化对齐方式的措施和与代理对齐的相互作用的类型中都遭受了限制。在本文中，我们采用基于数据驱动的共享表达式概念（可能由多个单词组成）的对齐措施，并比较一对一的人类机器人（H-R）相互作用的对齐方式与协作人类人类的H-R部分中的对齐方式-Orobot（H-H-R）相互作用。我们发现，H-R设置中的学生与H-H-R设置相比，与可教的机器人保持一致，并且词汇一致性和融洽关系之间的关系比以前的理论和经验工作所预测的要复杂。

统计能力是对假设检验的优点/强度的度量。正式地，如果存在真实的效果，则是检测效果的概率。因此，需要优化统计能力作为假设检验的某些参数的函数。但是，对于大多数假设检验，统计功率的显式功能形式是这些参数的函数是未知的，但是使用模拟实验可以计算给定值集值的统计功率。这些模拟实验通常在计算上很昂贵。因此，使用模拟开发整个统计功率歧管可能非常耗时。由此激励，我们提出了一种基于遗传算法的新型统计功率歧管框架。对于多个线性回归$ f $检验，我们表明所提出的算法/框架与蛮力方法相比，随着电源甲骨文的查询数量大大减少，统计功率歧管的速度要快得多。我们还表明，随着遗传算法的增加，学习流形的质量会提高。

船上自治技术，如规划和调度，识别科学目标和基于内容的数据摘要，将导致令人兴奋的新空间科学任务。然而，尚未研究具有此类船上自治能力的经营任务的挑战，这是足以在使命概念中考虑的细节水平。这些自主功能需要更改当前的操作流程，实践和工具。我们制定了一个案例研究，以评估使运营商和科学家通过促进地面人员和车载算法之间的共同模型来运营自主航天器所需的变化。我们评估使运营商和科学家能够向航天器传达所需的新的操作工具和工作流程，并能够重建和解释船上和航天器状态的决定。这些工具的模型用于用户学习，了解过程和工具在实现共享理解框架方面的有效性，以及在运营商和科学家有效实现特派团科学目标的能力。

海洋正在经历前所未有的快速变化，在负责任管理所需的时空尺度上，视觉监测海洋生物群是一项艰巨的任务。由于研究界寻求基准，因此所需的数据收集的数量和速率迅速超过了我们处理和分析它们的能力。机器学习的最新进展可以对视觉数据进行快速，复杂的分析，但由于缺乏数据标准化，格式不足以及对大型标签数据集的需求，在海洋中取得了有限的成功。为了满足这一需求，我们构建了Fathomnet，这是一个开源图像数据库，该数据库标准化和汇总了经过精心策划的标记数据。 Fathomnet已被海洋动物，水下设备，碎片和其他概念的现有标志性和非偶像图像所播种，并允许分布式数据源的未来贡献。我们展示了如何使用Fathomnet数据在其他机构视频上训练和部署模型，以减少注释工作，并在与机器人车辆集成时启用自动跟踪水下概念。随着Fathomnet继续增长并结合了社区的更多标记数据，我们可以加速视觉数据以实现健康且可持续的全球海洋。

Robust detection and tracking of objects is crucial for the deployment of autonomous vehicle technology. Image based benchmark datasets have driven development in computer vision tasks such as object detection, tracking and segmentation of agents in the environment. Most autonomous vehicles, however, carry a combination of cameras and range sensors such as lidar and radar. As machine learning based methods for detection and tracking become more prevalent, there is a need to train and evaluate such methods on datasets containing range sensor data along with images. In this work we present nuTonomy scenes (nuScenes), the first dataset to carry the full autonomous vehicle sensor suite: 6 cameras, 5 radars and 1 lidar, all with full 360 degree field of view. nuScenes comprises 1000 scenes, each 20s long and fully annotated with 3D bounding boxes for 23 classes and 8 attributes. It has 7x as many annotations and 100x as many images as the pioneering KITTI dataset. We define novel 3D detection and tracking metrics. We also provide careful dataset analysis as well as baselines for lidar and image based detection and tracking. Data, development kit and more information are available online 1 .

Variational inference uses optimization, rather than integration, to approximate the marginal likelihood, and thereby the posterior, in a Bayesian model. Thanks to advances in computational scalability made in the last decade, variational inference is now the preferred choice for many high-dimensional models and large datasets. This tutorial introduces variational inference from the parametric perspective that dominates these recent developments, in contrast to the mean-field perspective commonly found in other introductory texts.

Knowledge graphs (KG) have served as the key component of various natural language processing applications. Commonsense knowledge graphs (CKG) are a special type of KG, where entities and relations are composed of free-form text. However, previous works in KG completion and CKG completion suffer from long-tail relations and newly-added relations which do not have many know triples for training. In light of this, few-shot KG completion (FKGC), which requires the strengths of graph representation learning and few-shot learning, has been proposed to challenge the problem of limited annotated data. In this paper, we comprehensively survey previous attempts on such tasks in the form of a series of methods and applications. Specifically, we first introduce FKGC challenges, commonly used KGs, and CKGs. Then we systematically categorize and summarize existing works in terms of the type of KGs and the methods. Finally, we present applications of FKGC models on prediction tasks in different areas and share our thoughts on future research directions of FKGC.

Few Shot Instance Segmentation (FSIS) requires models to detect and segment novel classes with limited several support examples. In this work, we explore a simple yet unified solution for FSIS as well as its incremental variants, and introduce a new framework named Reference Twice (RefT) to fully explore the relationship between support/query features based on a Transformer-like framework. Our key insights are two folds: Firstly, with the aid of support masks, we can generate dynamic class centers more appropriately to re-weight query features. Secondly, we find that support object queries have already encoded key factors after base training. In this way, the query features can be enhanced twice from two aspects, i.e., feature-level and instance-level. In particular, we firstly design a mask-based dynamic weighting module to enhance support features and then propose to link object queries for better calibration via cross-attention. After the above steps, the novel classes can be improved significantly over our strong baseline. Additionally, our new framework can be easily extended to incremental FSIS with minor modification. When benchmarking results on the COCO dataset for FSIS, gFSIS, and iFSIS settings, our method achieves a competitive performance compared to existing approaches across different shots, e.g., we boost nAP by noticeable +8.2/+9.4 over the current state-of-the-art FSIS method for 10/30-shot. We further demonstrate the superiority of our approach on Few Shot Object Detection. Code and model will be available.

Unsupervised domain adaptation (UDA) for semantic segmentation is a promising task freeing people from heavy annotation work. However, domain discrepancies in low-level image statistics and high-level contexts compromise the segmentation performance over the target domain. A key idea to tackle this problem is to perform both image-level and feature-level adaptation jointly. Unfortunately, there is a lack of such unified approaches for UDA tasks in the existing literature. This paper proposes a novel UDA pipeline for semantic segmentation that unifies image-level and feature-level adaptation. Concretely, for image-level domain shifts, we propose a global photometric alignment module and a global texture alignment module that align images in the source and target domains in terms of image-level properties. For feature-level domain shifts, we perform global manifold alignment by projecting pixel features from both domains onto the feature manifold of the source domain; and we further regularize category centers in the source domain through a category-oriented triplet loss and perform target domain consistency regularization over augmented target domain images. Experimental results demonstrate that our pipeline significantly outperforms previous methods. In the commonly tested GTA5$\rightarrow$Cityscapes task, our proposed method using Deeplab V3+ as the backbone surpasses previous SOTA by 8%, achieving 58.2% in mIoU.