大量网络视频的杠杆作用以及搜索的查询或周围文本（例如标题）提供了一种经济且可扩展的替代方案，可用于监督视频表示学习。然而，由于查询多义（即查询的许多可能的含义）和文本同构（即不同文本的相同句法结构），对这种弱视文的连接进行建模并不是微不足道的。在本文中，我们介绍了查询和文本之间相互校准的新设计，以增强弱监督视频表示的学习。具体而言，我们提出了双重校准网络（BCN），这些网络在新颖地融合了两个校准，以学习从文本到查询的修正案，反之亦然。从技术上讲，BCN在通过相同查询搜索的视频的所有标题上执行聚类，并将每个集群的质心作为文本原型。查询词汇直接建立在查询单词上。对文本原型/查询词汇的视频对文本/视频对话预测，然后启动文本或查询到文本校准，以估算修正案以查询或文本。我们还设计了一个选择方案来平衡两个校正。两个大规模的网络视频数据集与查询和每个视频的标题配对，新收集到弱监督视频表示的学习中，分别命名为Yovo-3M和Yovo-10m。 BCN在3M Web视频上学习的视频功能在下游任务的线性模型协议下获得了卓越的结果。更值得注意的是，BCN在较大的10m网络视频中培训，进一步的微调导致1.6％，而动力学400的TOP-1准确性获得1.8％，而在最先进的情况下，一些v2数据集的v2数据集则是1.6％。 - ART TDN和ImageNet预训练的动作网方法。源代码和数据集可在\ url {https://github.com/fuchenustc/bcn}上获得。

作为视频的独特性，运动对于开发视频理解模型至关重要。现代深度学习模型通过执行时空3D卷积来利用运动，将3D卷积分别分为空间和时间卷积，或者沿时间维度计算自我注意力。这种成功背后的隐含假设是，可以很好地汇总连续帧的特征图。然而，该假设可能并不总是对具有较大变形的地区特别存在。在本文中，我们提出了一个新的框架间注意区块的食谱，即独立框架间注意力（SIFA），它在新颖的情况下深入研究了整个框架的变形，以估计每个空间位置上的局部自我注意力。从技术上讲，SIFA通过通过两个帧之间的差来重新缩放偏移预测来重新缩放可变形设计。将每个空间位置在当前帧中作为查询，下一帧中的本地可变形邻居被视为键/值。然后，SIFA衡量查询和键之间的相似性是对加权平均时间聚集值的独立关注。我们进一步将SIFA块分别插入Convnet和Vision Transformer，以设计SIFA-NET和SIFA-TransFormer。在四个视频数据集上进行的广泛实验表明，SIFA-NET和SIFA转换器的优越性是更强的骨架。更值得注意的是，SIFA转换器在动力学400数据集上的精度为83.1％。源代码可在\ url {https://github.com/fuchenustc/sifa}中获得。

本文对我们的系统进行了概述和比较分析，该系统专为Sapien Maniskill Challenge挑战2021中的以下两个轨道而设计：无相互作用轨迹：从预采用的演示轨迹中学习政策的无相互作用轨迹目标。我们研究了这两个基于模仿学习的方法，即使用经典监督学习技术模仿观察到的行为，以及基于线之后的基于强化学习的方法。此外，通过基于变压器的网络利用对象和机器人臂的几何结构和纹理结构，以促进模仿学习。无限制轨道：在此轨道中，我们设计了一种基于启发式规则的方法（HRM）来通过将任务分解为一系列子任务来触发高质量对象操作。对于每个子任务，采用简单的基于规则的控制策略来预测可以应用于机器人臂的动作。为了简化系统的实现，所有源代码和预训练的模型均可在\ url {https://github.com/caiqi/silver-bullet-3d/}上获得。

Process monitoring and control are essential in modern industries for ensuring high quality standards and optimizing production performance. These technologies have a long history of application in production and have had numerous positive impacts, but also hold great potential when integrated with Industry 4.0 and advanced machine learning, particularly deep learning, solutions. However, in order to implement these solutions in production and enable widespread adoption, the scalability and transferability of deep learning methods have become a focus of research. While transfer learning has proven successful in many cases, particularly with computer vision and homogenous data inputs, it can be challenging to apply to heterogeneous data. Motivated by the need to transfer and standardize established processes to different, non-identical environments and by the challenge of adapting to heterogeneous data representations, this work introduces the Domain Adaptation Neural Network with Cyclic Supervision (DBACS) approach. DBACS addresses the issue of model generalization through domain adaptation, specifically for heterogeneous data, and enables the transfer and scalability of deep learning-based statistical control methods in a general manner. Additionally, the cyclic interactions between the different parts of the model enable DBACS to not only adapt to the domains, but also match them. To the best of our knowledge, DBACS is the first deep learning approach to combine adaptation and matching for heterogeneous data settings. For comparison, this work also includes subspace alignment and a multi-view learning that deals with heterogeneous representations by mapping data into correlated latent feature spaces. Finally, DBACS with its ability to adapt and match, is applied to a virtual metrology use case for an etching process run on different machine types in semiconductor manufacturing.

Dynamic treatment regimes assign personalized treatments to patients sequentially over time based on their baseline information and time-varying covariates. In mobile health applications, these covariates are typically collected at different frequencies over a long time horizon. In this paper, we propose a deep spectral Q-learning algorithm, which integrates principal component analysis (PCA) with deep Q-learning to handle the mixed frequency data. In theory, we prove that the mean return under the estimated optimal policy converges to that under the optimal one and establish its rate of convergence. The usefulness of our proposal is further illustrated via simulations and an application to a diabetes dataset.

Searching long egocentric videos with natural language queries (NLQ) has compelling applications in augmented reality and robotics, where a fluid index into everything that a person (agent) has seen before could augment human memory and surface relevant information on demand. However, the structured nature of the learning problem (free-form text query inputs, localized video temporal window outputs) and its needle-in-a-haystack nature makes it both technically challenging and expensive to supervise. We introduce Narrations-as-Queries (NaQ), a data augmentation strategy that transforms standard video-text narrations into training data for a video query localization model. Validating our idea on the Ego4D benchmark, we find it has tremendous impact in practice. NaQ improves multiple top models by substantial margins (even doubling their accuracy), and yields the very best results to date on the Ego4D NLQ challenge, soundly outperforming all challenge winners in the CVPR and ECCV 2022 competitions and topping the current public leaderboard. Beyond achieving the state-of-the-art for NLQ, we also demonstrate unique properties of our approach such as gains on long-tail object queries, and the ability to perform zero-shot and few-shot NLQ.

Energy storage resources must consider both price uncertainties and their physical operating characteristics when participating in wholesale electricity markets. This is a challenging problem as electricity prices are highly volatile, and energy storage has efficiency losses, power, and energy constraints. This paper presents a novel, versatile, and transferable approach combining model-based optimization with a convolutional long short-term memory network for energy storage to respond to or bid into wholesale electricity markets. We apply transfer learning to the ConvLSTM network to quickly adapt the trained bidding model to new market environments. We test our proposed approach using historical prices from New York State, showing it achieves state-of-the-art results, achieving between 70% to near 90% profit ratio compared to perfect foresight cases, in both price response and wholesale market bidding setting with various energy storage durations. We also test a transfer learning approach by pre-training the bidding model using New York data and applying it to arbitrage in Queensland, Australia. The result shows transfer learning achieves exceptional arbitrage profitability with as little as three days of local training data, demonstrating its significant advantage over training from scratch in scenarios with very limited data availability.

Surgical robot automation has attracted increasing research interest over the past decade, expecting its huge potential to benefit surgeons, nurses and patients. Recently, the learning paradigm of embodied AI has demonstrated promising ability to learn good control policies for various complex tasks, where embodied AI simulators play an essential role to facilitate relevant researchers. However, existing open-sourced simulators for surgical robot are still not sufficiently supporting human interactions through physical input devices, which further limits effective investigations on how human demonstrations would affect policy learning. In this paper, we study human-in-the-loop embodied intelligence with a new interactive simulation platform for surgical robot learning. Specifically, we establish our platform based on our previously released SurRoL simulator with several new features co-developed to allow high-quality human interaction via an input device. With these, we further propose to collect human demonstrations and imitate the action patterns to achieve more effective policy learning. We showcase the improvement of our simulation environment with the designed new features and tasks, and validate state-of-the-art reinforcement learning algorithms using the interactive environment. Promising results are obtained, with which we hope to pave the way for future research on surgical embodied intelligence. Our platform is released and will be continuously updated in the website: https://med-air.github.io/SurRoL/

We propose Hierarchical ProtoPNet: an interpretable network that explains its reasoning process by considering the hierarchical relationship between classes. Different from previous methods that explain their reasoning process by dissecting the input image and finding the prototypical parts responsible for the classification, we propose to explain the reasoning process for video action classification by dissecting the input video frames on multiple levels of the class hierarchy. The explanations leverage the hierarchy to deal with uncertainty, akin to human reasoning: When we observe water and human activity, but no definitive action it can be recognized as the water sports parent class. Only after observing a person swimming can we definitively refine it to the swimming action. Experiments on ActivityNet and UCF-101 show performance improvements while providing multi-level explanations.

The purpose of this work was to tackle practical issues which arise when using a tendon-driven robotic manipulator with a long, passive, flexible proximal section in medical applications. A separable robot which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. A control input which resolves the redundancy in the kinematics and a physical interpretation of this redundancy are provided. The effect of a static change in the proximal section angle on bending angle error was explored under four testing conditions for a sinusoidal input. Bending angle error increased for increasing proximal section angle for all testing conditions with an average error reduction of 41.48% for retension, 4.28% for hysteresis, and 52.35% for re-tension + hysteresis compensation relative to the baseline case. Two major sources of error in tracking the bending angle were identified: time delay from hysteresis and DC offset from the proximal section angle. Examination of these error sources revealed that the simple hysteresis compensation was most effective for removing time delay and re-tension compensation for removing DC offset, which was the primary source of increasing error. The re-tension compensation was also tested for dynamic changes in the proximal section and reduced error in the final configuration of the tip by 89.14% relative to the baseline case.