标签噪声在大型现实世界数据集中很常见，其存在会损害深神网络的训练过程。尽管几项工作集中在解决此问题的培训策略上，但很少有研究评估数据增强作为培训深神经网络的设计选择。在这项工作中，我们分析了使用不同数据增强的模型鲁棒性及其在嘈杂标签的存在下对培训的改进。我们评估了数据集MNIST，CIFAR-10，CIFAR-100和现实世界数据集Clothing1M的最新和经典数据增强策略，具有不同级别的合成噪声。我们使用精度度量评估方法。结果表明，与基线相比，适当的数据增强可以大大提高模型的稳健性，可将相对最佳测试准确性的177.84％提高到177.84％的相对最佳测试准确性，而无需增强，并且随着绝对值增加了6％，而该基线的绝对值增加了6％最先进的Dividemix培训策略。

深度神经网络模型对有限的标签噪声非常强大，但是它们在高噪声率问题中记住嘈杂标签的能力仍然是一个空旷的问题。最具竞争力的嘈杂标签学习算法依赖于一个2阶段的过程，其中包括无监督的学习，将培训样本分类为清洁或嘈杂，然后是半监督的学习，将经验仿生风险（EVR）最小化，该学习使用标记的集合制成的集合。样品被归类为干净，并提供了一个未标记的样品，该样品被分类为嘈杂。在本文中，我们假设这种2阶段嘈杂标签的学习方法的概括取决于无监督分类器的精度以及训练设置的大小以最大程度地减少EVR。我们从经验上验证了这两个假设，并提出了新的2阶段嘈杂标签训练算法longRemix。我们在嘈杂的标签基准CIFAR-10，CIFAR-100，Webvision，Clotsing1m和Food101-N上测试Longremix。结果表明，我们的Longremix比竞争方法更好，尤其是在高标签噪声问题中。此外，我们的方法在大多数数据集中都能达到最先进的性能。该代码可在https://github.com/filipe-research/longremix上获得。

深度学习模型的培训通常需要大量的注释数据，以实现有效的收敛和泛化。然而，获得高质量的注释是一种借鉴和昂贵的过程，因为需要专家放射科学家进行标签任务。在医学图像分析中的半监督学习的研究是至关重要的，因为获得未标记的图像的昂贵比以获得专家放射科医师标记的图像更便宜。基本上，半监督方法利用大量未标记的数据来实现比仅使用小组标记图像更好的训练收敛和泛化。在本文中，我们提出了自我监督的平均教师进行半监督（S $ ^ 2 $ MTS $ ^ 2 $）学习，将自我监督的卑鄙教师预训练与半监督微调相结合。 S $ ^ 2 $ MTS $ ^ 2 $的主要创新是基于联合对比学习的自我监督的平均教师预培训，它使用无限数量的正查询和关键特征来改善平均值 - 老师代表。然后使用具有半监督学习的指数移动平均教师框架进行微调。我们从胸部X-ray14和Chexpert的多标签分类问题上验证了S $ ^ 2 $ MTS $ ^ 2 $，以及iC2018的多级分类，在那里我们表明它优于前一个SOTA半监督的学习方法通过大幅度。

The recent increase in public and academic interest in preserving biodiversity has led to the growth of the field of conservation technology. This field involves designing and constructing tools that utilize technology to aid in the conservation of wildlife. In this article, we will use case studies to demonstrate the importance of designing conservation tools with human-wildlife interaction in mind and provide a framework for creating successful tools. These case studies include a range of complexities, from simple cat collars to machine learning and game theory methodologies. Our goal is to introduce and inform current and future researchers in the field of conservation technology and provide references for educating the next generation of conservation technologists. Conservation technology not only has the potential to benefit biodiversity but also has broader impacts on fields such as sustainability and environmental protection. By using innovative technologies to address conservation challenges, we can find more effective and efficient solutions to protect and preserve our planet's resources.

A Digital Twin (DT) is a simulation of a physical system that provides information to make decisions that add economic, social or commercial value. The behaviour of a physical system changes over time, a DT must therefore be continually updated with data from the physical systems to reflect its changing behaviour. For resource-constrained systems, updating a DT is non-trivial because of challenges such as on-board learning and the off-board data transfer. This paper presents a framework for updating data-driven DTs of resource-constrained systems geared towards system health monitoring. The proposed solution consists of: (1) an on-board system running a light-weight DT allowing the prioritisation and parsimonious transfer of data generated by the physical system; and (2) off-board robust updating of the DT and detection of anomalous behaviours. Two case studies are considered using a production gas turbine engine system to demonstrate the digital representation accuracy for real-world, time-varying physical systems.

We consider infinite horizon Markov decision processes (MDPs) with fast-slow structure, meaning that certain parts of the state space move "fast" (and in a sense, are more influential) while other parts transition more "slowly." Such structure is common in real-world problems where sequential decisions need to be made at high frequencies, yet information that varies at a slower timescale also influences the optimal policy. Examples include: (1) service allocation for a multi-class queue with (slowly varying) stochastic costs, (2) a restless multi-armed bandit with an environmental state, and (3) energy demand response, where both day-ahead and real-time prices play a role in the firm's revenue. Models that fully capture these problems often result in MDPs with large state spaces and large effective time horizons (due to frequent decisions), rendering them computationally intractable. We propose an approximate dynamic programming algorithmic framework based on the idea of "freezing" the slow states, solving a set of simpler finite-horizon MDPs (the lower-level MDPs), and applying value iteration (VI) to an auxiliary MDP that transitions on a slower timescale (the upper-level MDP). We also extend the technique to a function approximation setting, where a feature-based linear architecture is used. On the theoretical side, we analyze the regret incurred by each variant of our frozen-state approach. Finally, we give empirical evidence that the frozen-state approach generates effective policies using just a fraction of the computational cost, while illustrating that simply omitting slow states from the decision modeling is often not a viable heuristic.

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.

Machine learning is the dominant approach to artificial intelligence, through which computers learn from data and experience. In the framework of supervised learning, for a computer to learn from data accurately and efficiently, some auxiliary information about the data distribution and target function should be provided to it through the learning model. This notion of auxiliary information relates to the concept of regularization in statistical learning theory. A common feature among real-world datasets is that data domains are multiscale and target functions are well-behaved and smooth. In this paper, we propose a learning model that exploits this multiscale data structure and discuss its statistical and computational benefits. The hierarchical learning model is inspired by the logical and progressive easy-to-hard learning mechanism of human beings and has interpretable levels. The model apportions computational resources according to the complexity of data instances and target functions. This property can have multiple benefits, including higher inference speed and computational savings in training a model for many users or when training is interrupted. We provide a statistical analysis of the learning mechanism using multiscale entropies and show that it can yield significantly stronger guarantees than uniform convergence bounds.

Implicit Neural Representations (INR) have recently shown to be powerful tool for high-quality video compression. However, existing works are limiting as they do not explicitly exploit the temporal redundancy in videos, leading to a long encoding time. Additionally, these methods have fixed architectures which do not scale to longer videos or higher resolutions. To address these issues, we propose NIRVANA, which treats videos as groups of frames and fits separate networks to each group performing patch-wise prediction. This design shares computation within each group, in the spatial and temporal dimensions, resulting in reduced encoding time of the video. The video representation is modeled autoregressively, with networks fit on a current group initialized using weights from the previous group's model. To further enhance efficiency, we perform quantization of the network parameters during training, requiring no post-hoc pruning or quantization. When compared with previous works on the benchmark UVG dataset, NIRVANA improves encoding quality from 37.36 to 37.70 (in terms of PSNR) and the encoding speed by 12X, while maintaining the same compression rate. In contrast to prior video INR works which struggle with larger resolution and longer videos, we show that our algorithm is highly flexible and scales naturally due to its patch-wise and autoregressive designs. Moreover, our method achieves variable bitrate compression by adapting to videos with varying inter-frame motion. NIRVANA achieves 6X decoding speed and scales well with more GPUs, making it practical for various deployment scenarios.

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.