我们提出了一个大规模的真实世界和干净的图像对数据集，以及一种从图像中降低降解的方法，从图像中降低了降解。由于没有用于降低的现实世界数据集，因此当前的最新方法依赖于合成数据，因此受SIM2REAL域间隙的限制。此外，由于没有真实的配对数据集，严格的评估仍然是一个挑战。我们通过通过对非鼻子变化的细致控制收集第一个真实的配对数据集来填补这一空白。我们的数据集对各种现实世界的雨水现象（例如雨条和雨水积累）进行了配对的培训和定量评估。为了学习对雨现象不变的代表，我们提出了一个深层神经网络，该网络通过最大程度地减少雨水和干净图像之间的雨水不变损失来重建基础场景。广泛的实验表明，所提出的数据集使现有的DERAINER受益，我们的模型可以在各种条件下对真实雨水图像的最先进方法优于最先进的方法。

State-of-the-art causal discovery methods usually assume that the observational data is complete. However, the missing data problem is pervasive in many practical scenarios such as clinical trials, economics, and biology. One straightforward way to address the missing data problem is first to impute the data using off-the-shelf imputation methods and then apply existing causal discovery methods. However, such a two-step method may suffer from suboptimality, as the imputation algorithm may introduce bias for modeling the underlying data distribution. In this paper, we develop a general method, which we call MissDAG, to perform causal discovery from data with incomplete observations. Focusing mainly on the assumptions of ignorable missingness and the identifiable additive noise models (ANMs), MissDAG maximizes the expected likelihood of the visible part of observations under the expectation-maximization (EM) framework. In the E-step, in cases where computing the posterior distributions of parameters in closed-form is not feasible, Monte Carlo EM is leveraged to approximate the likelihood. In the M-step, MissDAG leverages the density transformation to model the noise distributions with simpler and specific formulations by virtue of the ANMs and uses a likelihood-based causal discovery algorithm with directed acyclic graph constraint. We demonstrate the flexibility of MissDAG for incorporating various causal discovery algorithms and its efficacy through extensive simulations and real data experiments.

农民常规施用氮气（N）肥料以增加作物产量。目前，农民经常在某些位置或时间点上过度应用N肥料，因为它们没有高分辨率作物N状态数据。 N用效率可以很低，剩下的N损失环境，导致生产成本高，环境污染。准确和及时估计作物中的N状况至关重要，从而提高种植系统的经济和环境可持续性。基于组织分析的常规方法在实验室中估算植物中的N个状态是耗时和破坏性的。遥感和机器学习的最新进展表明了以非破坏性方式解决上述挑战的承诺。我们提出了一种新的深度学习框架：一种基于频道空间关注的视觉变压器（CSVT），用于估计从麦田中从UAV收集的大图像的作物N状态。与现有的作品不同，所提出的CSVT引入了通道注意力块（CAB）和空间交互块（SIB），其允许捕获来自UAV数字空中图像的空间和通道功能的非线性特性，以获得准确的N状态预测在小麦作物。此外，由于获得标记的数据是耗时且昂贵的，因此引入了本地到全局自我监督的学习，以预先培训CSVT，具有广泛的未标记数据。建议的CSVT与最先进的模型进行了比较，在测试和独立数据集上进行测试和验证。该方法实现了高精度（0.96），具有良好的普遍性和对小麦N状况估算的再现性。

We consider the task of text generation in language models with constraints specified in natural language. To this end, we first create a challenging benchmark Cognac that provides as input to the model a topic with example text, along with a constraint on text to be avoided. Unlike prior work, our benchmark contains knowledge-intensive constraints sourced from databases like Wordnet and Wikidata, which allows for straightforward evaluation while striking a balance between broad attribute-level and narrow lexical-level controls. We find that even state-of-the-art language models like GPT-3 fail often on this task, and propose a solution to leverage a language model's own internal knowledge to guide generation. Our method, called CognacGen, first queries the language model to generate guidance terms for a specified topic or constraint, and uses the guidance to modify the model's token generation probabilities. We propose three forms of guidance (binary verifier, top-k tokens, textual example), and employ prefix-tuning approaches to distill the guidance to tackle diverse natural language constraints. Through extensive empirical evaluations, we demonstrate that CognacGen can successfully generalize to unseen instructions and outperform competitive baselines in generating constraint conforming text.

We test grip strength and shock absorption properties of various granular material in granular jamming robotic components. The granular material comprises a range of natural, manufactured, and 3D printed material encompassing a wide range of shapes, sizes, and Shore hardness. Two main experiments are considered, both representing compelling use cases for granular jamming in soft robotics. The first experiment measures grip strength (retention force measured in Newtons) when we fill a latex balloon with the chosen grain type and use it as a granular jamming gripper to pick up a range of test objects. The second experiment measures shock absorption properties recorded by an Inertial Measurement Unit which is suspended in an envelope of granular material and dropped from a set height. Our results highlight a range of shape, size and softness effects, including that grain deformability is a key determinant of grip strength, and interestingly, that larger grain sizes in 3D printed grains create better shock absorbing materials.

Granular jamming has recently become popular in soft robotics with widespread applications including industrial gripping, surgical robotics and haptics. Previous work has investigated the use of various techniques that exploit the nature of granular physics to improve jamming performance, however this is generally underrepresented in the literature compared to its potential impact. We present the first research that exploits vibration-based fluidisation actively (e.g., during a grip) to elicit bespoke performance from granular jamming grippers. We augment a conventional universal gripper with a computer-controllled audio exciter, which is attached to the gripper via a 3D printed mount, and build an automated test rig to allow large-scale data collection to explore the effects of active vibration. We show that vibration in soft jamming grippers can improve holding strength. In a series of studies, we show that frequency and amplitude of the waveforms are key determinants to performance, and that jamming performance is also dependent on temporal properties of the induced waveform. We hope to encourage further study focused on active vibrational control of jamming in soft robotics to improve performance and increase diversity of potential applications.

Fruit harvesting has recently experienced a shift towards soft grippers that possess compliance, adaptability, and delicacy. In this context, pneumatic grippers are popular, due to provision of high deformability and compliance, however they typically possess limited grip strength. Jamming possesses strong grip capability, however has limited deformability and often requires the object to be pushed onto a surface to attain a grip. This paper describes a hybrid gripper combining pneumatics (for deformation) and jamming (for grip strength). Our gripper utilises a torus (donut) structure with two chambers controlled by pneumatic and vacuum pressure respectively, to conform around a target object. The gripper displays good adaptability, exploiting pneumatics to mould to the shape of the target object where jamming can be successfully harnessed to grip. The main contribution of the paper is design, fabrication, and characterisation of the first hybrid gripper that can use granular jamming in free space, achieving significantly larger retention forces compared to pure pneumatics. We test our gripper on a range of different sizes and shapes, as well as picking a broad range of real fruit.

Human operators in human-robot teams are commonly perceived to be critical for mission success. To explore the direct and perceived impact of operator input on task success and team performance, 16 real-world missions (10 hrs) were conducted based on the DARPA Subterranean Challenge. These missions were to deploy a heterogeneous team of robots for a search task to locate and identify artifacts such as climbing rope, drills and mannequins representing human survivors. Two conditions were evaluated: human operators that could control the robot team with state-of-the-art autonomy (Human-Robot Team) compared to autonomous missions without human operator input (Robot-Autonomy). Human-Robot Teams were often in directed autonomy mode (70% of mission time), found more items, traversed more distance, covered more unique ground, and had a higher time between safety-related events. Human-Robot Teams were faster at finding the first artifact, but slower to respond to information from the robot team. In routine conditions, scores were comparable for artifacts, distance, and coverage. Reasons for intervention included creating waypoints to prioritise high-yield areas, and to navigate through error-prone spaces. After observing robot autonomy, operators reported increases in robot competency and trust, but that robot behaviour was not always transparent and understandable, even after high mission performance.

This paper describes important considerations and challenges associated with online reinforcement-learning based waveform selection for target identification in frequency modulated continuous wave (FMCW) automotive radar systems. We present a novel learning approach based on satisficing Thompson sampling, which quickly identifies a waveform expected to yield satisfactory classification performance. We demonstrate through measurement-level simulations that effective waveform selection strategies can be quickly learned, even in cases where the radar must select from a large catalog of candidate waveforms. The radar learns to adaptively select a bandwidth for appropriate resolution and a slow-time unimodular code for interference mitigation in the scene of interest by optimizing an expected classification metric.

Laser-plasma physics has developed rapidly over the past few decades as lasers have become both more powerful and more widely available. Early experimental and numerical research in this field was dominated by single-shot experiments with limited parameter exploration. However, recent technological improvements make it possible to gather data for hundreds or thousands of different settings in both experiments and simulations. This has sparked interest in using advanced techniques from mathematics, statistics and computer science to deal with, and benefit from, big data. At the same time, sophisticated modeling techniques also provide new ways for researchers to deal effectively with situation where still only sparse data are available. This paper aims to present an overview of relevant machine learning methods with focus on applicability to laser-plasma physics and its important sub-fields of laser-plasma acceleration and inertial confinement fusion.