本文提出了一种新颖的方法，该方法支持自然语言语音说明，以指导训练自动驾驶汽车时进行深度强化学习（DRL）算法。DRL方法是自动驾驶汽车（AV）代理的流行方法。但是，大多数现有的方法都是样本和时间的，并且缺乏与人类专家的自然通信渠道。在本文中，新的人类驾驶员如何从人类教练那里学习，激励我们研究人类在循环学习的新方法，并为代理商学习更自然和平易近人的培训界面。我们建议将自然语言语音说明（NLI）纳入基于模型的深度强化学习以训练自动驾驶汽车。我们与Carla模拟器中的一些最先进的DRL方法一起评估了所提出的方法。结果表明，NLI可以帮助缓解训练过程，并大大提高代理商的学习速度。

本文介绍了寻求信息（是）任务，概念和算法的信息重新分类。拟议的分类系统提供了新的维度，以研究寻求任务和方法的信息。新尺寸包括搜索迭代，搜索目标类型和程序的数量，以实现这些目标。寻求任务的信息沿着这些尺寸呼叫合适的计算解决方案的差异。然后，该文章评论了符合每个新类别的机器学习解决方案。该论文结束了对系统的评估活动进行了审查。

Accurate path following is challenging for autonomous robots operating in uncertain environments. Adaptive and predictive control strategies are crucial for a nonlinear robotic system to achieve high-performance path following control. In this paper, we propose a novel learning-based predictive control scheme that couples a high-level model predictive path following controller (MPFC) with a low-level learning-based feedback linearization controller (LB-FBLC) for nonlinear systems under uncertain disturbances. The low-level LB-FBLC utilizes Gaussian Processes to learn the uncertain environmental disturbances online and tracks the reference state accurately with a probabilistic stability guarantee. Meanwhile, the high-level MPFC exploits the linearized system model augmented with a virtual linear path dynamics model to optimize the evolution of path reference targets, and provides the reference states and controls for the low-level LB-FBLC. Simulation results illustrate the effectiveness of the proposed control strategy on a quadrotor path following task under unknown wind disturbances.

U-shaped networks are widely used in various medical image tasks, such as segmentation, restoration and reconstruction, but most of them usually rely on centralized learning and thus ignore privacy issues. To address the privacy concerns, federated learning (FL) and split learning (SL) have attracted increasing attention. However, it is hard for both FL and SL to balance the local computational cost, model privacy and parallel training simultaneously. To achieve this goal, in this paper, we propose Robust Split Federated Learning (RoS-FL) for U-shaped medical image networks, which is a novel hybrid learning paradigm of FL and SL. Previous works cannot preserve the data privacy, including the input, model parameters, label and output simultaneously. To effectively deal with all of them, we design a novel splitting method for U-shaped medical image networks, which splits the network into three parts hosted by different parties. Besides, the distributed learning methods usually suffer from a drift between local and global models caused by data heterogeneity. Based on this consideration, we propose a dynamic weight correction strategy (\textbf{DWCS}) to stabilize the training process and avoid model drift. Specifically, a weight correction loss is designed to quantify the drift between the models from two adjacent communication rounds. By minimizing this loss, a correction model is obtained. Then we treat the weighted sum of correction model and final round models as the result. The effectiveness of the proposed RoS-FL is supported by extensive experimental results on different tasks. Related codes will be released at https://github.com/Zi-YuanYang/RoS-FL.

In the field of antibody engineering, an essential task is to design a novel antibody whose paratopes bind to a specific antigen with correct epitopes. Understanding antibody structure and its paratope can facilitate a mechanistic understanding of its function. Therefore, antibody structure prediction from its sequence alone has always been a highly valuable problem for de novo antibody design. AlphaFold2, a breakthrough in the field of structural biology, provides a solution to predict protein structure based on protein sequences and computationally expensive coevolutionary multiple sequence alignments (MSAs). However, the computational efficiency and undesirable prediction accuracy of antibodies, especially on the complementarity-determining regions (CDRs) of antibodies limit their applications in the industrially high-throughput drug design. To learn an informative representation of antibodies, we employed a deep antibody language model (ALM) on curated sequences from the observed antibody space database via a transformer model. We also developed a novel model named xTrimoABFold to predict antibody structure from antibody sequence based on the pretrained ALM as well as efficient evoformers and structural modules. The model was trained end-to-end on the antibody structures in PDB by minimizing the ensemble loss of domain-specific focal loss on CDR and the frame-aligned point loss. xTrimoABFold outperforms AlphaFold2 and other protein language model based SOTAs, e.g., OmegaFold, HelixFold-Single, and IgFold with a large significant margin (30+\% improvement on RMSD) while performing 151 times faster than AlphaFold2. To the best of our knowledge, xTrimoABFold achieved state-of-the-art antibody structure prediction. Its improvement in both accuracy and efficiency makes it a valuable tool for de novo antibody design and could make further improvements in immuno-theory.

In spite of machine learning's rapid growth, its engineering support is scattered in many forms, and tends to favor certain engineering stages, stakeholders, and evaluation preferences. We envision a capability-based framework, which uses fine-grained specifications for ML model behaviors to unite existing efforts towards better ML engineering. We use concrete scenarios (model design, debugging, and maintenance) to articulate capabilities' broad applications across various different dimensions, and their impact on building safer, more generalizable and more trustworthy models that reflect human needs. Through preliminary experiments, we show capabilities' potential for reflecting model generalizability, which can provide guidance for ML engineering process. We discuss challenges and opportunities for capabilities' integration into ML engineering.

Image restoration tasks have achieved tremendous performance improvements with the rapid advancement of deep neural networks. However, most prevalent deep learning models perform inference statically, ignoring that different images have varying restoration difficulties and lightly degraded images can be well restored by slimmer subnetworks. To this end, we propose a new solution pipeline dubbed ClassPruning that utilizes networks with different capabilities to process images with varying restoration difficulties. In particular, we use a lightweight classifier to identify the image restoration difficulty, and then the sparse subnetworks with different capabilities can be sampled based on predicted difficulty by performing dynamic N:M fine-grained structured pruning on base restoration networks. We further propose a novel training strategy along with two additional loss terms to stabilize training and improve performance. Experiments demonstrate that ClassPruning can help existing methods save approximately 40% FLOPs while maintaining performance.

异常识别高度取决于对象与场景之间的关系，因为相同/不同场景中的不同/相同对象动作可能导致各种程度的正态性和异常。因此，对象场景关系实际上在异常检测中起着至关重要的作用，但在以前的工作中探讨了不足。在本文中，我们提出了一个时空关系学习（STRL）框架来解决视频异常检测任务。首先，考虑到对象的动态特征以及场景区域，我们构建了一个时空自动编码器（STAE），以共同利用代表学习的空间和时间演化模式。为了获得更好的图案提取，在STAE模块中设计了两个解码分支，即通过直接预测下一个帧来捕获空间提示的外观分支，以及一个运动分支，重点是通过光流预测对动态进行建模。然后，为了很好地融合对象场所关系，设计了一个关系学习（RL）模块来通过引入知识图嵌入方法来分析和总结正常关系。在此过程中具体来说，通过共同建模对象/场景特征和优化的对象场所关系图来衡量对象场景关系的合理性。在三个公共数据集上进行了广泛的实验，而对最新方法的优越性能证明了我们方法的有效性。

Dimage Dehazing是低级视觉中的一个活跃主题，并且随着深度学习的快速发展，已经提出了许多图像去悬式网络。尽管这些网络的管道效果很好，但改善图像飞行性能的关键机制尚不清楚。因此，我们不针对带有精美模块的飞行网络。相反，我们对流行的U-NET进行了最小的修改，以获得紧凑的飞行网络。具体而言，我们将U-NET中的卷积块与门控机构，使用选择性内核进行融合，并跳过连接，并调用所得的U-NET变体Gunet。结果，由于开销大大减少，Gunet优于多个图像脱掩的数据集上的最新方法。最后，我们通过广泛的消融研究来验证这些关键设计为图像去除网络的性能增益。

3D人类的姿势和形状估计（又称“人网恢复”）取得了实质性进展。研究人员主要关注新算法的发展，而对涉及的其他关键因素的关注较少。这可能会导致最佳基线，从而阻碍对新设计方法的公平和忠实的评估。为了解决这个问题，这项工作从算法以外的三个探索性观点中提出了首次全面的基准测试研究。 1）数据集。对31个数据集的分析揭示了数据样本的不同影响：具有关键属性的数据集（即多样化的姿势，形状，相机特征，骨干特征）更有效。高质量数据集的战略选择和组合可以显着提高模型性能。 2）骨干。从CNN到变压器的10个骨干的实验表明，从接近任务中学到的知识很容易转移到人网状恢复中。 3）培训策略。正确的增强技术和损失设计至关重要。通过上述发现，我们在具有相对简单的模型的3DPW测试集上实现了47.3 mm的PA-MPJPE。更重要的是，我们为算法的公平比较提供了强大的基准，以及将来建立有效培训配置的建议。代码库可在http://github.com/smplbody/hmr-benchmarks上获得