最近，深度学习模型从脑成像数据中诊断神经精神疾病的应用已越来越关注。但是，实际上，基于操作磁共振成像数据探索大脑功能连通性的相互作用对于研究精神疾病至关重要。由于注意力缺陷和多动症（ADHD）是一种在早期很难诊断的一种慢性疾病，因此使用机器学习模型在危急状况之前治疗患者有必要提高此类疾病的诊断准确性。在这项研究中，我们利用了医学成像数据中的大脑功能连接性与模型特征的动力学，这可以提取正常对照（NC）和ADHD之间的大脑功能相互作用的差异。为了满足这一要求，我们使用贝叶斯连接点更改点模型，使用局部二进制编码方法和内核分层极端学习机来检测大脑动力学，以分类功能。为了验证我们的模型，我们在几个现实世界的儿童数据集上尝试了它，与最新模型相比，我们的结果达到了较高的分类率。

我们提出了一种使用条件生成对抗网络（CGANS）在机器人关节空间和潜在空间之间转换的新方法，以进行无碰撞路径计划，该方法仅捕获以障碍物图来捕获关节空间的无碰撞区域。操纵机器人臂时，很方便地生成多个合理的轨迹进行进一步选择。此外，出于安全原因，有必要生成轨迹，以避免与机器人本身或周围环境发生碰撞。在提出的方法中，可以通过将开始和目标状态与此生成的潜在空间中的任意线段连接起来和目标状态来产生各种轨迹。我们的方法提供了此无碰撞潜在空间，此后，任何使用任何优化条件的计划者都可以使用任何计划器来生成最合适的路径。我们通过模拟和实际的UR5E 6-DOF机器人臂成功验证了这种方法。我们确认可以根据优化条件的选择生成不同的轨迹。

This study demonstrates the feasibility of point cloud-based proactive link quality prediction for millimeter-wave (mmWave) communications. Image-based methods to quantitatively and deterministically predict future received signal strength using machine learning from time series of depth images to mitigate the human body line-of-sight (LOS) path blockage in mmWave communications have been proposed. However, image-based methods have been limited in applicable environments because camera images may contain private information. Thus, this study demonstrates the feasibility of using point clouds obtained from light detection and ranging (LiDAR) for the mmWave link quality prediction. Point clouds represent three-dimensional (3D) spaces as a set of points and are sparser and less likely to contain sensitive information than camera images. Additionally, point clouds provide 3D position and motion information, which is necessary for understanding the radio propagation environment involving pedestrians. This study designs the mmWave link quality prediction method and conducts two experimental evaluations using different types of point clouds obtained from LiDAR and depth cameras, as well as different numerical indicators of link quality, received signal strength and throughput. Based on these experiments, our proposed method can predict future large attenuation of mmWave link quality due to LOS blockage by human bodies, therefore our point cloud-based method can be an alternative to image-based methods.

The task of out-of-distribution (OOD) detection is vital to realize safe and reliable operation for real-world applications. After the failure of likelihood-based detection in high dimensions had been shown, approaches based on the \emph{typical set} have been attracting attention; however, they still have not achieved satisfactory performance. Beginning by presenting the failure case of the typicality-based approach, we propose a new reconstruction error-based approach that employs normalizing flow (NF). We further introduce a typicality-based penalty, and by incorporating it into the reconstruction error in NF, we propose a new OOD detection method, penalized reconstruction error (PRE). Because the PRE detects test inputs that lie off the in-distribution manifold, it effectively detects adversarial examples as well as OOD examples. We show the effectiveness of our method through the evaluation using natural image datasets, CIFAR-10, TinyImageNet, and ILSVRC2012.

A practical issue of edge AI systems is that data distributions of trained dataset and deployed environment may differ due to noise and environmental changes over time. Such a phenomenon is known as a concept drift, and this gap degrades the performance of edge AI systems and may introduce system failures. To address this gap, a retraining of neural network models triggered by concept drift detection is a practical approach. However, since available compute resources are strictly limited in edge devices, in this paper we propose a lightweight concept drift detection method in cooperation with a recently proposed on-device learning technique of neural networks. In this case, both the neural network retraining and the proposed concept drift detection are done by sequential computation only to reduce computation cost and memory utilization. Evaluation results of the proposed approach shows that while the accuracy is decreased by 3.8%-4.3% compared to existing batch-based detection methods, it decreases the memory size by 88.9%-96.4% and the execution time by 1.3%-83.8%. As a result, the combination of the neural network retraining and the proposed concept drift detection method is demonstrated on Raspberry Pi Pico that has 264kB memory.

Recent years have seen progress beyond domain-specific sound separation for speech or music towards universal sound separation for arbitrary sounds. Prior work on universal sound separation has investigated separating a target sound out of an audio mixture given a text query. Such text-queried sound separation systems provide a natural and scalable interface for specifying arbitrary target sounds. However, supervised text-queried sound separation systems require costly labeled audio-text pairs for training. Moreover, the audio provided in existing datasets is often recorded in a controlled environment, causing a considerable generalization gap to noisy audio in the wild. In this work, we aim to approach text-queried universal sound separation by using only unlabeled data. We propose to leverage the visual modality as a bridge to learn the desired audio-textual correspondence. The proposed CLIPSep model first encodes the input query into a query vector using the contrastive language-image pretraining (CLIP) model, and the query vector is then used to condition an audio separation model to separate out the target sound. While the model is trained on image-audio pairs extracted from unlabeled videos, at test time we can instead query the model with text inputs in a zero-shot setting, thanks to the joint language-image embedding learned by the CLIP model. Further, videos in the wild often contain off-screen sounds and background noise that may hinder the model from learning the desired audio-textual correspondence. To address this problem, we further propose an approach called noise invariant training for training a query-based sound separation model on noisy data. Experimental results show that the proposed models successfully learn text-queried universal sound separation using only noisy unlabeled videos, even achieving competitive performance against a supervised model in some settings.

Owing to the widespread adoption of the Internet of Things, a vast amount of sensor information is being acquired in real time. Accordingly, the communication cost of data from edge devices is increasing. Compressed sensing (CS), a data compression method that can be used on edge devices, has been attracting attention as a method to reduce communication costs. In CS, estimating the appropriate compression ratio is important. There is a method to adaptively estimate the compression ratio for the acquired data using reinforcement learning. However, the computational costs associated with existing reinforcement learning methods that can be utilized on edges are expensive. In this study, we developed an efficient reinforcement learning method for edge devices, referred to as the actor--critic online sequential extreme learning machine (AC-OSELM), and a system to compress data by estimating an appropriate compression ratio on the edge using AC-OSELM. The performance of the proposed method in estimating the compression ratio is evaluated by comparing it with other reinforcement learning methods for edge devices. The experimental results show that AC-OSELM achieved the same or better compression performance and faster compression ratio estimation than the existing methods.

IR models using a pretrained language model significantly outperform lexical approaches like BM25. In particular, SPLADE, which encodes texts to sparse vectors, is an effective model for practical use because it shows robustness to out-of-domain datasets. However, SPLADE still struggles with exact matching of low-frequency words in training data. In addition, domain shifts in vocabulary and word frequencies deteriorate the IR performance of SPLADE. Because supervision data are scarce in the target domain, addressing the domain shifts without supervision data is necessary. This paper proposes an unsupervised domain adaptation method by filling vocabulary and word-frequency gaps. First, we expand a vocabulary and execute continual pretraining with a masked language model on a corpus of the target domain. Then, we multiply SPLADE-encoded sparse vectors by inverse document frequency weights to consider the importance of documents with lowfrequency words. We conducted experiments using our method on datasets with a large vocabulary gap from a source domain. We show that our method outperforms the present stateof-the-art domain adaptation method. In addition, our method achieves state-of-the-art results, combined with BM25.

To ensure the safety of railroad operations, it is important to monitor and forecast track geometry irregularities. A higher safety requires forecasting with a higher spatiotemporal frequency. For forecasting with a high spatiotemporal frequency, it is necessary to capture spatial correlations. Additionally, track geometry irregularities are influenced by multiple exogenous factors. In this study, we propose a method to forecast one type of track geometry irregularity, vertical alignment, by incorporating spatial and exogenous factor calculations. The proposed method embeds exogenous factors and captures spatiotemporal correlations using a convolutional long short-term memory (ConvLSTM). In the experiment, we compared the proposed method with other methods in terms of the forecasting performance. Additionally, we conducted an ablation study on exogenous factors to examine their contribution to the forecasting performance. The results reveal that spatial calculations and maintenance record data improve the forecasting of the vertical alignment.

Embodied Instruction Following (EIF) studies how mobile manipulator robots should be controlled to accomplish long-horizon tasks specified by natural language instructions. While most research on EIF are conducted in simulators, the ultimate goal of the field is to deploy the agents in real life. As such, it is important to minimize the data cost required for training an agent, to help the transition from sim to real. However, many studies only focus on the performance and overlook the data cost -- modules that require separate training on extra data are often introduced without a consideration on deployability. In this work, we propose FILM++ which extends the existing work FILM with modifications that do not require extra data. While all data-driven modules are kept constant, FILM++ more than doubles FILM's performance. Furthermore, we propose Prompter, which replaces FILM++'s semantic search module with language model prompting. Unlike FILM++'s implementation that requires training on extra sets of data, no training is needed for our prompting based implementation while achieving better or at least comparable performance. Prompter achieves 42.64% and 45.72% on the ALFRED benchmark with high-level instructions only and with step-by-step instructions, respectively, outperforming the previous state of the art by 6.57% and 10.31%.