在这项工作中，我们解决了由三个腔室驱动的软仿生执行器的运动计划的逆动力学问题。由于其内在的柔软性，软仿生致动器已应用于许多应用中。尽管可以得出数学模型来描述该执行器的逆动力学，但捕获材料和系统的非线性和不确定性仍然不准确。此外，如此复杂的模型是耗时的，因此在实时控制单元中应用不容易。因此，在该领域开发一种无模型方法可能是一个新想法。为了克服这些内在问题，我们提出了一个后传播（BP）神经网络，学习在三维空间中移动的软仿生执行器的逆动力学。在使用样品数据进行训练之后，BP神经网络模型可以代表操纵器尖端位置与施加到腔室的压力之间的关系。所提出的算法比分析模型更精确。结果表明，相对于总执行器长度，相对平均误差为2.46％，可以实现所需的末端位置。

In many applications, heterogeneous treatment effects on a censored response variable are of primary interest, and it is natural to evaluate the effects at different quantiles (e.g., median). The large number of potential effect modifiers, the unknown structure of the treatment effects, and the presence of right censoring pose significant challenges. In this paper, we develop a hybrid forest approach called Hybrid Censored Quantile Regression Forest (HCQRF) to assess the heterogeneous effects varying with high-dimensional variables. The hybrid estimation approach takes advantage of the random forests and the censored quantile regression. We propose a doubly-weighted estimation procedure that consists of a redistribution-of-mass weight to handle censoring and an adaptive nearest neighbor weight derived from the forest to handle high-dimensional effect functions. We propose a variable importance decomposition to measure the impact of a variable on the treatment effect function. Extensive simulation studies demonstrate the efficacy and stability of HCQRF. The result of the simulation study also convinces us of the effectiveness of the variable importance decomposition. We apply HCQRF to a clinical trial of colorectal cancer. We achieve insightful estimations of the treatment effect and meaningful variable importance results. The result of the variable importance also confirms the necessity of the decomposition.

已经证明了现代自动驾驶感知系统在处理互补输入之类的利用图像时，已被证明可以改善互补投入。在孤立中，已发现2D图像非常容易受到对抗性攻击的影响。然而，有有限的研究与图像特征融合的多模态模型的对抗鲁棒性。此外，现有的作品不考虑跨输入方式一致的物理上可实现的扰动。在本文中，我们通过将对抗物体放在主车辆的顶部上展示多传感器检测的实际敏感性。我们专注于身体上可实现的和输入 - 不可行的攻击，因为它们是在实践中执行的可行性，并且表明单个通用对手可以隐藏来自最先进的多模态探测器的不同主机。我们的实验表明，成功的攻击主要是由易于损坏的图像特征引起的。此外，我们发现，在将图像特征中的现代传感器融合方法中，对抗攻击可以利用投影过程来在3D中跨越区域产生误报。朝着更强大的多模态感知系统，我们表明，具有特征剥夺的对抗训练可以显着提高对这种攻击的鲁棒性。然而，我们发现标准的对抗性防御仍然努力防止由3D LIDAR点和2D像素之间不准确的关联引起的误报。

Knowledge graphs (KG) have served as the key component of various natural language processing applications. Commonsense knowledge graphs (CKG) are a special type of KG, where entities and relations are composed of free-form text. However, previous works in KG completion and CKG completion suffer from long-tail relations and newly-added relations which do not have many know triples for training. In light of this, few-shot KG completion (FKGC), which requires the strengths of graph representation learning and few-shot learning, has been proposed to challenge the problem of limited annotated data. In this paper, we comprehensively survey previous attempts on such tasks in the form of a series of methods and applications. Specifically, we first introduce FKGC challenges, commonly used KGs, and CKGs. Then we systematically categorize and summarize existing works in terms of the type of KGs and the methods. Finally, we present applications of FKGC models on prediction tasks in different areas and share our thoughts on future research directions of FKGC.

Unsupervised domain adaptation (UDA) for semantic segmentation is a promising task freeing people from heavy annotation work. However, domain discrepancies in low-level image statistics and high-level contexts compromise the segmentation performance over the target domain. A key idea to tackle this problem is to perform both image-level and feature-level adaptation jointly. Unfortunately, there is a lack of such unified approaches for UDA tasks in the existing literature. This paper proposes a novel UDA pipeline for semantic segmentation that unifies image-level and feature-level adaptation. Concretely, for image-level domain shifts, we propose a global photometric alignment module and a global texture alignment module that align images in the source and target domains in terms of image-level properties. For feature-level domain shifts, we perform global manifold alignment by projecting pixel features from both domains onto the feature manifold of the source domain; and we further regularize category centers in the source domain through a category-oriented triplet loss and perform target domain consistency regularization over augmented target domain images. Experimental results demonstrate that our pipeline significantly outperforms previous methods. In the commonly tested GTA5$\rightarrow$Cityscapes task, our proposed method using Deeplab V3+ as the backbone surpasses previous SOTA by 8%, achieving 58.2% in mIoU.

Given the increasingly intricate forms of partial differential equations (PDEs) in physics and related fields, computationally solving PDEs without analytic solutions inevitably suffers from the trade-off between accuracy and efficiency. Recent advances in neural operators, a kind of mesh-independent neural-network-based PDE solvers, have suggested the dawn of overcoming this challenge. In this emerging direction, Koopman neural operator (KNO) is a representative demonstration and outperforms other state-of-the-art alternatives in terms of accuracy and efficiency. Here we present KoopmanLab, a self-contained and user-friendly PyTorch module of the Koopman neural operator family for solving partial differential equations. Beyond the original version of KNO, we develop multiple new variants of KNO based on different neural network architectures to improve the general applicability of our module. These variants are validated by mesh-independent and long-term prediction experiments implemented on representative PDEs (e.g., the Navier-Stokes equation and the Bateman-Burgers equation) and ERA5 (i.e., one of the largest high-resolution data sets of global-scale climate fields). These demonstrations suggest the potential of KoopmanLab to be considered in diverse applications of partial differential equations.

Different people speak with diverse personalized speaking styles. Although existing one-shot talking head methods have made significant progress in lip sync, natural facial expressions, and stable head motions, they still cannot generate diverse speaking styles in the final talking head videos. To tackle this problem, we propose a one-shot style-controllable talking face generation framework. In a nutshell, we aim to attain a speaking style from an arbitrary reference speaking video and then drive the one-shot portrait to speak with the reference speaking style and another piece of audio. Specifically, we first develop a style encoder to extract dynamic facial motion patterns of a style reference video and then encode them into a style code. Afterward, we introduce a style-controllable decoder to synthesize stylized facial animations from the speech content and style code. In order to integrate the reference speaking style into generated videos, we design a style-aware adaptive transformer, which enables the encoded style code to adjust the weights of the feed-forward layers accordingly. Thanks to the style-aware adaptation mechanism, the reference speaking style can be better embedded into synthesized videos during decoding. Extensive experiments demonstrate that our method is capable of generating talking head videos with diverse speaking styles from only one portrait image and an audio clip while achieving authentic visual effects. Project Page: https://github.com/FuxiVirtualHuman/styletalk.

Transformer has achieved impressive successes for various computer vision tasks. However, most of existing studies require to pretrain the Transformer backbone on a large-scale labeled dataset (e.g., ImageNet) for achieving satisfactory performance, which is usually unavailable for medical images. Additionally, due to the gap between medical and natural images, the improvement generated by the ImageNet pretrained weights significantly degrades while transferring the weights to medical image processing tasks. In this paper, we propose Bootstrap Own Latent of Transformer (BOLT), a self-supervised learning approach specifically for medical image classification with the Transformer backbone. Our BOLT consists of two networks, namely online and target branches, for self-supervised representation learning. Concretely, the online network is trained to predict the target network representation of the same patch embedding tokens with a different perturbation. To maximally excavate the impact of Transformer from limited medical data, we propose an auxiliary difficulty ranking task. The Transformer is enforced to identify which branch (i.e., online/target) is processing the more difficult perturbed tokens. Overall, the Transformer endeavours itself to distill the transformation-invariant features from the perturbed tokens to simultaneously achieve difficulty measurement and maintain the consistency of self-supervised representations. The proposed BOLT is evaluated on three medical image processing tasks, i.e., skin lesion classification, knee fatigue fracture grading and diabetic retinopathy grading. The experimental results validate the superiority of our BOLT for medical image classification, compared to ImageNet pretrained weights and state-of-the-art self-supervised learning approaches.

Nearest-Neighbor (NN) classification has been proven as a simple and effective approach for few-shot learning. The query data can be classified efficiently by finding the nearest support class based on features extracted by pretrained deep models. However, NN-based methods are sensitive to the data distribution and may produce false prediction if the samples in the support set happen to lie around the distribution boundary of different classes. To solve this issue, we present P3DC-Shot, an improved nearest-neighbor based few-shot classification method empowered by prior-driven data calibration. Inspired by the distribution calibration technique which utilizes the distribution or statistics of the base classes to calibrate the data for few-shot tasks, we propose a novel discrete data calibration operation which is more suitable for NN-based few-shot classification. Specifically, we treat the prototypes representing each base class as priors and calibrate each support data based on its similarity to different base prototypes. Then, we perform NN classification using these discretely calibrated support data. Results from extensive experiments on various datasets show our efficient non-learning based method can outperform or at least comparable to SOTA methods which need additional learning steps.

In this paper, we investigate the joint device activity and data detection in massive machine-type communications (mMTC) with a one-phase non-coherent scheme, where data bits are embedded in the pilot sequences and the base station simultaneously detects active devices and their embedded data bits without explicit channel estimation. Due to the correlated sparsity pattern introduced by the non-coherent transmission scheme, the traditional approximate message passing (AMP) algorithm cannot achieve satisfactory performance. Therefore, we propose a deep learning (DL) modified AMP network (DL-mAMPnet) that enhances the detection performance by effectively exploiting the pilot activity correlation. The DL-mAMPnet is constructed by unfolding the AMP algorithm into a feedforward neural network, which combines the principled mathematical model of the AMP algorithm with the powerful learning capability, thereby benefiting from the advantages of both techniques. Trainable parameters are introduced in the DL-mAMPnet to approximate the correlated sparsity pattern and the large-scale fading coefficient. Moreover, a refinement module is designed to further advance the performance by utilizing the spatial feature caused by the correlated sparsity pattern. Simulation results demonstrate that the proposed DL-mAMPnet can significantly outperform traditional algorithms in terms of the symbol error rate performance.