我们为具有大量集群的高维数据提出了一种简单有效的聚类方法。我们的算法通过评估具有集群中心的子集的DataPoints的距离来实现高性能。我们的贡献比K-Means的贡献大大效率，因为它不需要全部比较数据点和群集。我们表明我们近似的最佳解决方案与确切的解决方案相同。然而，与最先进的群集提取这些集群，我们的方法在提取这些集群方面具有更高的效率。我们将我们的近似与一系列标准化聚类任务的精确k均值和替代近似方法进行比较。为了评估，我们考虑算法复杂性，包括收敛的操作数，以及结果的稳定性。

使用动态视觉传感器的基于事件的感测是在低功耗视觉应用中获得牵引力。尖峰神经网络与基于事件的数据的稀疏性质良好，并在低功率神经胸壁上进行部署。作为一个新生的领域，尖刺神经网络到潜在恶意的对抗性攻击的敏感性迄今为止受到重视很少。在这项工作中，我们展示了白盒对抗攻击算法如何适应基于事件的视觉数据的离散和稀疏性，以及尖刺神经网络的连续时间设置。我们在N-Mnist和IBM手势上测试我们的方法神经胸视觉数据集，并显示对逆势扰动来实现高成功率，通过注入相对少量的适当放置的事件。我们还首次验证这些扰动的有效性直接对神经族硬件。最后，我们讨论了所产生的扰动和可能的未来方向的性质。

Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity, especially for solving unexpected problems. A main challenge in teleoperation consists of providing enough feedback to the human operator for situation awareness and thus create full immersion, as well as offering the operator suitable control interfaces to achieve efficient and robust task fulfillment. We present a bimanual telemanipulation system consisting of an anthropomorphic avatar robot and an operator station providing force and haptic feedback to the human operator. The avatar arms are controlled in Cartesian space with a direct mapping of the operator movements. The measured forces and torques on the avatar side are haptically displayed to the operator. We developed a predictive avatar model for limit avoidance which runs on the operator side, ensuring low latency. The system was successfully evaluated during the ANA Avatar XPRIZE competition semifinals. In addition, we performed in lab experiments and carried out a small user study with mostly untrained operators.

The ability to convert reciprocating, i.e., alternating, actuation into rotary motion using linkages is hindered fundamentally by their poor torque transmission capability around kinematic singularity configurations. Here, we harness the elastic potential energy of a linear spring attached to the coupler link of four-bar mechanisms to manipulate force transmission around the kinematic singularities. We developed a theoretical model to explore the parameter space for proper force transmission in slider-crank and rocker-crank four-bar kinematics. Finally, we verified the proposed model and methodology by building and testing a macro-scale prototype of a slider-crank mechanism. We expect this approach to enable the development of small-scale rotary engines and robotic devices with closed kinematic chains dealing with serial kinematic singularities, such as linkages and parallel manipulators.

Neural network (NN) potentials promise highly accurate molecular dynamics (MD) simulations within the computational complexity of classical MD force fields. However, when applied outside their training domain, NN potential predictions can be inaccurate, increasing the need for Uncertainty Quantification (UQ). Bayesian modeling provides the mathematical framework for UQ, but classical Bayesian methods based on Markov chain Monte Carlo (MCMC) are computationally intractable for NN potentials. By training graph NN potentials for coarse-grained systems of liquid water and alanine dipeptide, we demonstrate here that scalable Bayesian UQ via stochastic gradient MCMC (SG-MCMC) yields reliable uncertainty estimates for MD observables. We show that cold posteriors can reduce the required training data size and that for reliable UQ, multiple Markov chains are needed. Additionally, we find that SG-MCMC and the Deep Ensemble method achieve comparable results, despite shorter training and less hyperparameter tuning of the latter. We show that both methods can capture aleatoric and epistemic uncertainty reliably, but not systematic uncertainty, which needs to be minimized by adequate modeling to obtain accurate credible intervals for MD observables. Our results represent a step towards accurate UQ that is of vital importance for trustworthy NN potential-based MD simulations required for decision-making in practice.

Fake news detection has become a research area that goes way beyond a purely academic interest as it has direct implications on our society as a whole. Recent advances have primarily focused on textbased approaches. However, it has become clear that to be effective one needs to incorporate additional, contextual information such as spreading behaviour of news articles and user interaction patterns on social media. We propose to construct heterogeneous social context graphs around news articles and reformulate the problem as a graph classification task. Exploring the incorporation of different types of information (to get an idea as to what level of social context is most effective) and using different graph neural network architectures indicates that this approach is highly effective with robust results on a common benchmark dataset.

Choosing which properties of the data to use as input to multivariate decision algorithms -- a.k.a. feature selection -- is an important step in solving any problem with machine learning. While there is a clear trend towards training sophisticated deep networks on large numbers of relatively unprocessed inputs (so-called automated feature engineering), for many tasks in physics, sets of theoretically well-motivated and well-understood features already exist. Working with such features can bring many benefits, including greater interpretability, reduced training and run time, and enhanced stability and robustness. We develop a new feature selection method based on Distance Correlation (DisCo), and demonstrate its effectiveness on the tasks of boosted top- and $W$-tagging. Using our method to select features from a set of over 7,000 energy flow polynomials, we show that we can match the performance of much deeper architectures, by using only ten features and two orders-of-magnitude fewer model parameters.

深度学习算法的最新进展为解决许多医学图像分析问题带来了重大好处。培训深度学习模型通常需要具有专家标记注释的大型数据集。但是，获取专家标记的注释不仅昂贵，而且主观，容易出错，并且观察者内部变异性会引入标签。由于解剖学的模棱两可，使用深度学习模型来细分医学图像时，这尤其是一个问题。基于图像的医学诊断工具使用经过不正确分段标签训练的深度学习模型可以导致错误的诊断和治疗建议。与单评论注释相比，多评价者注释可能更适合于使用小型培训集的深度学习模型进行训练。本文的目的是开发和评估一种基于MRI中病变特征的多评价者注释和解剖学知识来生成概率标签的方法，以及一种使用概率的标签使用归一化活动性损失作为A的病变特征的解剖学知识，以训练分割模型”。耐噪声损失的功能。通过将17个膝盖MRI扫描的二进制基础真理进行比较，以评估该模型，以用于临床分割和检测骨髓病变（BML）。该方法与二进制跨透镜损失函数相比，该方法成功提高了精度14，召回22和骰子得分8％。总体而言，这项工作的结果表明，使用软标签的拟议归一化主动损失成功地减轻了嘈杂标签的影响。

标准化流是可易处理的密度模型，可以近似复杂的目标分布，例如物理系统的玻尔兹曼分布。但是，当前的训练流量要么具有寻求模式的行为，要么使用昂贵的MCMC模拟事先生成的目标样本，要么使用具有很高差异的随机损失。为了避免这些问题，我们以退火重要性采样（AIS）增强流量，并最大程度地减少覆盖$ \ alpha $ -divergence的质量，并使用$ \ alpha = 2 $，从而最大程度地减少了重要性的重量差异。我们的方法是流动性Bootstrap（Fab），使用AIS在流动较差的目标区域中生成样品，从而促进了新模式的发现。我们以AIS的最小差异分布来定位，以通过重要性抽样来估计$ \ alpha $ -Divergence。我们还使用优先的缓冲区来存储和重复使用AIS样本。这两个功能显着提高了Fab的性能。我们将FAB应用于复杂的多模式目标，并表明我们可以在以前的方法失败的情况下非常准确地近似它们。据我们所知，我们是第一个仅使用非均衡目标密度学习丙氨酸二肽分子的玻璃体分布，而无需通过分子动力学（MD）模拟生成的样品：FAB与通过最大可能性训练更好的效果，而不是通过最大可能性产生的结果。在MD样品上使用100倍的目标评估。在重新获得重要权重的样品后，我们获得了与地面真相几乎相同的二面角的无偏直方图。

低压网络中分布式能源的渗透不断增加，这将最终用户从消费者转变为生产者。但是，由于零售和网络服务提供的监管分离，智能电表数据的不完整智能电表的推出和缺乏智能电表数据，这使主动分配网络管理变得困难。此外，分销网络运营商通常无法访问实时智能电表数据，这会带来额外的挑战。由于缺乏更好的解决方案，他们使用毯子屋顶太阳能出口限制，从而导致次优结果。为了解决这个问题，我们设计了一个有条件的生成对抗网络（CGAN）的模型来预测家庭太阳能产生和电力需求，这是用于在不确定性下用于计算公平操作信封的机会约束最佳功率流的输入。