机器学习在加强和加速寻求新基本物理学方面发挥着至关重要的作用。我们审查了新物理学的机器学习方法和应用中，在地面高能量物理实验的背景下，包括大型强子撞机，罕见的事件搜索和中微生实验。虽然机器学习在这些领域拥有悠久的历史，但深入学习革命（2010年代初）就研究的范围和雄心而产生了定性转变。这些现代化的机器学习发展是本综述的重点。

Merging satellite products and ground-based measurements is often required for obtaining precipitation datasets that simultaneously cover large regions with high density and are more accurate than pure satellite precipitation products. Machine and statistical learning regression algorithms are regularly utilized in this endeavour. At the same time, tree-based ensemble algorithms for regression are adopted in various fields for solving algorithmic problems with high accuracy and low computational cost. The latter can constitute a crucial factor for selecting algorithms for satellite precipitation product correction at the daily and finer time scales, where the size of the datasets is particularly large. Still, information on which tree-based ensemble algorithm to select in such a case for the contiguous United States (US) is missing from the literature. In this work, we conduct an extensive comparison between three tree-based ensemble algorithms, specifically random forests, gradient boosting machines (gbm) and extreme gradient boosting (XGBoost), in the context of interest. We use daily data from the PERSIANN (Precipitation Estimation from Remotely Sensed Information using Artificial Neural Networks) and the IMERG (Integrated Multi-satellitE Retrievals for GPM) gridded datasets. We also use earth-observed precipitation data from the Global Historical Climatology Network daily (GHCNd) database. The experiments refer to the entire contiguous US and additionally include the application of the linear regression algorithm for benchmarking purposes. The results suggest that XGBoost is the best-performing tree-based ensemble algorithm among those compared. They also suggest that IMERG is more useful than PERSIANN in the context investigated.

Many, if not most, systems of interest in science are naturally described as nonlinear dynamical systems (DS). Empirically, we commonly access these systems through time series measurements, where often we have time series from different types of data modalities simultaneously. For instance, we may have event counts in addition to some continuous signal. While by now there are many powerful machine learning (ML) tools for integrating different data modalities into predictive models, this has rarely been approached so far from the perspective of uncovering the underlying, data-generating DS (aka DS reconstruction). Recently, sparse teacher forcing (TF) has been suggested as an efficient control-theoretic method for dealing with exploding loss gradients when training ML models on chaotic DS. Here we incorporate this idea into a novel recurrent neural network (RNN) training framework for DS reconstruction based on multimodal variational autoencoders (MVAE). The forcing signal for the RNN is generated by the MVAE which integrates different types of simultaneously given time series data into a joint latent code optimal for DS reconstruction. We show that this training method achieves significantly better reconstructions on multimodal datasets generated from chaotic DS benchmarks than various alternative methods.

Quantifying motion in 3D is important for studying the behavior of humans and other animals, but manual pose annotations are expensive and time-consuming to obtain. Self-supervised keypoint discovery is a promising strategy for estimating 3D poses without annotations. However, current keypoint discovery approaches commonly process single 2D views and do not operate in the 3D space. We propose a new method to perform self-supervised keypoint discovery in 3D from multi-view videos of behaving agents, without any keypoint or bounding box supervision in 2D or 3D. Our method uses an encoder-decoder architecture with a 3D volumetric heatmap, trained to reconstruct spatiotemporal differences across multiple views, in addition to joint length constraints on a learned 3D skeleton of the subject. In this way, we discover keypoints without requiring manual supervision in videos of humans and rats, demonstrating the potential of 3D keypoint discovery for studying behavior.

We present hierarchical policy blending as optimal transport (HiPBOT). This hierarchical framework adapts the weights of low-level reactive expert policies, adding a look-ahead planning layer on the parameter space of a product of expert policies and agents. Our high-level planner realizes a policy blending via unbalanced optimal transport, consolidating the scaling of underlying Riemannian motion policies, effectively adjusting their Riemannian matrix, and deciding over the priorities between experts and agents, guaranteeing safety and task success. Our experimental results in a range of application scenarios from low-dimensional navigation to high-dimensional whole-body control showcase the efficacy and efficiency of HiPBOT, which outperforms state-of-the-art baselines that either perform probabilistic inference or define a tree structure of experts, paving the way for new applications of optimal transport to robot control. More material at https://sites.google.com/view/hipobot

安全是每个机器人平台的关键特性：任何控制政策始终遵守执行器限制，并避免与环境和人类发生冲突。在加强学习中，安全对于探索环境而不会造成任何损害更为基础。尽管有许多针对安全勘探问题的建议解决方案，但只有少数可以处理现实世界的复杂性。本文介绍了一种安全探索的新公式，用于强化各种机器人任务。我们的方法适用于广泛的机器人平台，即使在通过探索约束歧管的切线空间从数据中学到的复杂碰撞约束下也可以执行安全。我们提出的方法在模拟的高维和动态任务中实现了最先进的表现，同时避免与环境发生冲突。我们在Tiago ++机器人上展示了安全的现实部署，在操纵和人类机器人交互任务中取得了显着的性能。

机器学习模型的预测和预测应采用概率分布的形式，旨在增加传达给最终用户的信息的数量。尽管在学术界和行业中对机器学习模型的概率预测和预测的应用变得越来越频繁，但在整个领域的整体视野下，相关的概念和方法尚未正式化和结构化。在这里，我们通过机器学习算法以及相关的指标（一致的评分功能和适当的评分规则）回顾了预测不确定性估计的主题，以评估概率预测。该评论涵盖了从引入早期统计（基于贝叶斯统计或分位数回归）的早期统计（线性回归和时间序列模型）到最近的机器学习算法（包括位置，比例和形状的广义添加剂模型，随机森林，增强的概括模型）的时间段。和深度学习算法）本质上更灵活。对该领域进度的审查，加快了我们对如何开发针对用户需求量身定制的新算法的理解，因为最新进步是基于应用于更复杂算法的一些基本概念。我们通过对材料进行分类并讨论成为研究热门话题的挑战来结束。

多目标高维运动优化问题在机器人技术中无处不在，并且信息丰富的梯度受益。为此，我们要求所有成本函数都可以微分。我们建议学习任务空间，数据驱动的成本功能作为扩散模型。扩散模型代表表达性的多模式分布，并在整个空间中表现出适当的梯度。我们通过将学习的成本功能与单个目标功能中的其他潜在学到的或手工调整的成本相结合，并通过梯度下降共同优化所有这些属性来优化运动。我们在一组复杂的掌握和运动计划问题中展示了联合优化的好处，并与将掌握的掌握选择与运动优化相提并论相比。

通过偶然反馈促进探索性运动可以积极影响婴儿期运动的发展。我们正在进行的工作装备通过使用小型空中机器人来开发机器人辅助的应急学习环境。本文研究了空中机器人及其相关的运动控制器是否可以用于为我们的目的实现高效且高度响应的机器人飞行。从视频中提取了婴儿踢动力学数据，并用空中机器人用于模拟和物理实验。评估了两个实践控制器的功效：线性PID和一个非线性几何控制器。通过平方平方误差（评估与输入婴儿腿轨迹信号的总体偏差）和动态时间扭曲算法（以量化信号同步），对机器人匹配婴儿踢轨迹的能力进行了定性和定量评估。结果表明，原则上可以跟踪使用小型空中机器人的婴儿踢轨迹，并确定提高跟踪质量所需的进一步发展领域。

从单个图像中识别3D中的场景和对象是计算机视觉的长期目标，该目标具有机器人技术和AR/VR的应用。对于2D识别，大型数据集和可扩展解决方案已导致前所未有的进步。在3D中，现有的基准尺寸很小，并且方法专门研究几个对象类别和特定域，例如城市驾驶场景。在2D识别的成功中，我们通过引入一个称为Omni3d的大型基准来重新审视3D对象检测的任务。 OMNI3D重新排列并结合了现有的数据集，导致234K图像与超过300万个实例和97个类别相结合。由于相机内在的差异以及场景和对象类型的丰富多样性，因此3d检测到了这种规模的检测具有挑战性。我们提出了一个称为Cube R-CNN的模型，旨在以统一的方法跨相机和场景类型概括。我们表明，Cube R-CNN在较大的Omni3D和现有基准测试方面都优于先前的作品。最后，我们证明OMNI3D是一个用于3D对象识别的功能强大的数据集，表明它可以改善单数据库性能，并可以通过预训练在新的较小数据集上加速学习。