自我监督的学习方法克服了构建功能更高的AI的关键瓶颈：标记数据的可用性有限。但是，自我监督架构的缺点之一是，他们所学的表示形式是隐式的，很难提取有关编码世界状态的有意义的信息，例如在深度图中编码的视觉场景的3D结构。此外，在视觉域中，这种表示形式很少受到对下游任务至关重要的评估，例如自动驾驶汽车的愿景。本文中，我们提出了一个框架，用于评估在深度感知背景下照明不变性的视觉表示。我们开发了一种新的基于预测性编码的架构和一种混合监督/自我监督的学习方法。我们提出了一种扩展预测编码方法的新型体系结构：预测性的横向自下而上和自上而下的编码器 - 编码器网络（PRELUDENET），该网络明确地学习了从视频帧中推断和预测深度。在预曲线中，编码器的预测编码层堆栈以自我监督的方式进行训练，而预测解码器则以监督的方式进行培训，以推断或预测深度。我们在新的合成数据集上评估了模型的鲁棒性，在该数据集中，可以在参数上调整照明条件（例如整体照明和阴影的效果），同时使世界所有其他方面保持恒定。 preludenet既可以达到竞争深度推理性能，又可以实现下一个帧预测准确性。我们还展示了这种新的网络体系结构如何与混合的全面监督/自我监督学习方法相结合，在上述性能和不变性之间达到平衡与照明变化之间的平衡。评估视觉表示的建议框架可以扩展到不同的任务域和不变性测试。

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.

We present Muse, a text-to-image Transformer model that achieves state-of-the-art image generation performance while being significantly more efficient than diffusion or autoregressive models. Muse is trained on a masked modeling task in discrete token space: given the text embedding extracted from a pre-trained large language model (LLM), Muse is trained to predict randomly masked image tokens. Compared to pixel-space diffusion models, such as Imagen and DALL-E 2, Muse is significantly more efficient due to the use of discrete tokens and requiring fewer sampling iterations; compared to autoregressive models, such as Parti, Muse is more efficient due to the use of parallel decoding. The use of a pre-trained LLM enables fine-grained language understanding, translating to high-fidelity image generation and the understanding of visual concepts such as objects, their spatial relationships, pose, cardinality etc. Our 900M parameter model achieves a new SOTA on CC3M, with an FID score of 6.06. The Muse 3B parameter model achieves an FID of 7.88 on zero-shot COCO evaluation, along with a CLIP score of 0.32. Muse also directly enables a number of image editing applications without the need to fine-tune or invert the model: inpainting, outpainting, and mask-free editing. More results are available at https://muse-model.github.io

Optical coherence tomography (OCT) captures cross-sectional data and is used for the screening, monitoring, and treatment planning of retinal diseases. Technological developments to increase the speed of acquisition often results in systems with a narrower spectral bandwidth, and hence a lower axial resolution. Traditionally, image-processing-based techniques have been utilized to reconstruct subsampled OCT data and more recently, deep-learning-based methods have been explored. In this study, we simulate reduced axial scan (A-scan) resolution by Gaussian windowing in the spectral domain and investigate the use of a learning-based approach for image feature reconstruction. In anticipation of the reduced resolution that accompanies wide-field OCT systems, we build upon super-resolution techniques to explore methods to better aid clinicians in their decision-making to improve patient outcomes, by reconstructing lost features using a pixel-to-pixel approach with an altered super-resolution generative adversarial network (SRGAN) architecture.

Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On the contrary, for multi-link systems, the natural system dynamics might even work against the actual goal. With the introduction of variable stiffness actuators, this problem has been partially addressed. With a suitable optimal control strategy, the approximate decoupling of the motor from the link can be achieved to maximize the energy transfer into the distal link prior to launch. However, such continuous stiffness variation is complex and typically leads to oscillatory swing-up motions instead of clear launch sequences. To circumvent this issue, we investigate decoupling for speed maximization with a dedicated novel actuator concept denoted Bi-Stiffness Actuation. With this, it is possible to fully decouple the link from the joint mechanism by a switch-and-hold clutch and simultaneously keep the elastic energy stored. We show that with this novel paradigm, it is not only possible to reach the same optimal performance as with power-equivalent variable stiffness actuation, but even directly control the energy transfer timing. This is a major step forward compared to previous optimal control approaches, which rely on optimizing the full time-series control input.

Diabetic Retinopathy (DR) is a leading cause of vision loss in the world, and early DR detection is necessary to prevent vision loss and support an appropriate treatment. In this work, we leverage interactive machine learning and introduce a joint learning framework, termed DRG-Net, to effectively learn both disease grading and multi-lesion segmentation. Our DRG-Net consists of two modules: (i) DRG-AI-System to classify DR Grading, localize lesion areas, and provide visual explanations; (ii) DRG-Expert-Interaction to receive feedback from user-expert and improve the DRG-AI-System. To deal with sparse data, we utilize transfer learning mechanisms to extract invariant feature representations by using Wasserstein distance and adversarial learning-based entropy minimization. Besides, we propose a novel attention strategy at both low- and high-level features to automatically select the most significant lesion information and provide explainable properties. In terms of human interaction, we further develop DRG-Net as a tool that enables expert users to correct the system's predictions, which may then be used to update the system as a whole. Moreover, thanks to the attention mechanism and loss functions constraint between lesion features and classification features, our approach can be robust given a certain level of noise in the feedback of users. We have benchmarked DRG-Net on the two largest DR datasets, i.e., IDRID and FGADR, and compared it to various state-of-the-art deep learning networks. In addition to outperforming other SOTA approaches, DRG-Net is effectively updated using user feedback, even in a weakly-supervised manner.

In this work a novel recommender system (RS) for Tourism is presented. The RS is context aware as is now the rule in the state-of-the-art for recommender systems and works on top of a tourism ontology which is used to group the different items being offered. The presented RS mixes different types of recommenders creating an ensemble which changes on the basis of the RS's maturity. Starting from simple content-based recommendations and iteratively adding popularity, demographic and collaborative filtering methods as rating density and user cardinality increases. The result is a RS that mutates during its lifetime and uses a tourism ontology and natural language processing (NLP) to correctly bin the items to specific item categories and meta categories in the ontology. This item classification facilitates the association between user preferences and items, as well as allowing to better classify and group the items being offered, which in turn is particularly useful for context-aware filtering.

Neural compression offers a domain-agnostic approach to creating codecs for lossy or lossless compression via deep generative models. For sequence compression, however, most deep sequence models have costs that scale with the sequence length rather than the sequence complexity. In this work, we instead treat data sequences as observations from an underlying continuous-time process and learn how to efficiently discretize while retaining information about the full sequence. As a consequence of decoupling sequential information from its temporal discretization, our approach allows for greater compression rates and smaller computational complexity. Moreover, the continuous-time approach naturally allows us to decode at different time intervals. We empirically verify our approach on multiple domains involving compression of video and motion capture sequences, showing that our approaches can automatically achieve reductions in bit rates by learning how to discretize.

Three main points: 1. Data Science (DS) will be increasingly important to heliophysics; 2. Methods of heliophysics science discovery will continually evolve, requiring the use of learning technologies [e.g., machine learning (ML)] that are applied rigorously and that are capable of supporting discovery; and 3. To grow with the pace of data, technology, and workforce changes, heliophysics requires a new approach to the representation of knowledge.

In the Earth's magnetosphere, there are fewer than a dozen dedicated probes beyond low-Earth orbit making in-situ observations at any given time. As a result, we poorly understand its global structure and evolution, the mechanisms of its main activity processes, magnetic storms, and substorms. New Artificial Intelligence (AI) methods, including machine learning, data mining, and data assimilation, as well as new AI-enabled missions will need to be developed to meet this Sparse Data challenge.