最近的一些研究表明，使用额外的分配数据可能会导致高水平的对抗性鲁棒性。但是，不能保证始终可以为所选数据集获得足够的额外数据。在本文中，我们提出了一种有偏见的多域对抗训练（BIAMAT）方法，该方法可以使用公开可用的辅助数据集诱导训练数据放大，而无需在主要和辅助数据集之间进行类分配匹配。提出的方法可以通过多域学习利用辅助数据集来实现主数据集上的对抗性鲁棒性。具体而言，可以通过使用Biamat的应用来实现对鲁棒和非鲁棒特征的数据扩增，如通过理论和经验分析所证明的。此外，我们证明，尽管由于辅助和主要数据之间的分布差异，现有方法容易受到负转移的影响，但提出的方法使神经网络能够通过应用程序通过应用程序来成功处理域差异来灵活地利用各种图像数据集来进行对抗训练基于置信的选择策略。预先训练的模型和代码可在：\ url {https://github.com/saehyung-lee/biamat}中获得。

全向多旋转器具有脱钩的转换和旋转运动的有利的可操作性，可以极大地取代传统的多电气运动能力。这样的可操作性需要全向多旋转器，才能经常改变推力振幅甚至方向，这是转子从转子自身动态引起的沉降时间的容易产生的。此外，在存在转子动力学的情况下，全向多动物在跟踪控制的稳定性尚未得到解决。为了解决此问题，我们提出了一个几何跟踪控制器，该控制器考虑了转子动力学。我们表明，所提出的控制器几乎呈指数稳定的误差动力学的零平衡。在模拟中验证了控制器的跟踪性能和稳定性。此外，已经执行了具有全向多动物的单轴力实验，以确认所提出的控制器在减轻现实世界中转子的沉降时间方面的性能。

具有集群潜在空间的生成对抗网络（GANS）可以以完全无监督的方式执行条件生成。在现实世界中，未标记数据的突出属性可能是不平衡的。但是，现有的大多数无监督的条件GAN不能正确地将这些数据的群集属于它们的潜在空间，因为它们假设属性的均匀分布。为了解决这个问题，我们理论上派生的斯坦潜在优化，提供了在连续潜在空间中之前的高斯混合物的潜在分布参数的重新传播参数的梯度估计。在结构上，我们引入了编码器网络和新颖的无监督条件对比丢失，以确保从单个混合组件生成的数据表示单个属性。我们确认，即使在没有属性信息的情况下。此外，我们证明可以使用少量探测数据来操纵所学习的属性。

几个数据增强方法部署了未标记的分配（UID）数据，以弥合神经网络的培训和推理之间的差距。然而，这些方法在UID数据的可用性方面具有明确的限制和伪标签上的算法的依赖性。在此，我们提出了一种数据增强方法，通过使用缺乏上述问题的分发（OOD）数据来改善对抗和标准学习的泛化。我们展示了如何在理论上使用每个学习场景中的数据来改进泛化，并通过Cifar-10，CiFar-100和ImageNet的子集进行化学理论分析。结果表明，即使在似乎与人类角度几乎没有相关的图像数据中也是不希望的特征。我们还通过与其他数据增强方法进行比较，介绍了所提出的方法的优点，这些方法可以在没有UID数据的情况下使用。此外，我们证明该方法可以进一步改善现有的最先进的对抗培训。

The 3D-aware image synthesis focuses on conserving spatial consistency besides generating high-resolution images with fine details. Recently, Neural Radiance Field (NeRF) has been introduced for synthesizing novel views with low computational cost and superior performance. While several works investigate a generative NeRF and show remarkable achievement, they cannot handle conditional and continuous feature manipulation in the generation procedure. In this work, we introduce a novel model, called Class-Continuous Conditional Generative NeRF ($\text{C}^{3}$G-NeRF), which can synthesize conditionally manipulated photorealistic 3D-consistent images by projecting conditional features to the generator and the discriminator. The proposed $\text{C}^{3}$G-NeRF is evaluated with three image datasets, AFHQ, CelebA, and Cars. As a result, our model shows strong 3D-consistency with fine details and smooth interpolation in conditional feature manipulation. For instance, $\text{C}^{3}$G-NeRF exhibits a Fr\'echet Inception Distance (FID) of 7.64 in 3D-aware face image synthesis with a $\text{128}^{2}$ resolution. Additionally, we provide FIDs of generated 3D-aware images of each class of the datasets as it is possible to synthesize class-conditional images with $\text{C}^{3}$G-NeRF.

Cellular automata (CA) captivate researchers due to teh emergent, complex individualized behavior that simple global rules of interaction enact. Recent advances in the field have combined CA with convolutional neural networks to achieve self-regenerating images. This new branch of CA is called neural cellular automata [1]. The goal of this project is to use the idea of idea of neural cellular automata to grow prediction machines. We place many different convolutional neural networks in a grid. Each conv net cell outputs a prediction of what the next state will be, and minimizes predictive error. Cells received their neighbors' colors and fitnesses as input. Each cell's fitness score described how accurate its predictions were. Cells could also move to explore their environment and some stochasticity was applied to movement.

There is a dramatic shortage of skilled labor for modern vineyards. The Vinum project is developing a mobile robotic solution to autonomously navigate through vineyards for winter grapevine pruning. This necessitates an autonomous navigation stack for the robot pruning a vineyard. The Vinum project is using the quadruped robot HyQReal. This paper introduces an architecture for a quadruped robot to autonomously move through a vineyard by identifying and approaching grapevines for pruning. The higher level control is a state machine switching between searching for destination positions, autonomously navigating towards those locations, and stopping for the robot to complete a task. The destination points are determined by identifying grapevine trunks using instance segmentation from a Mask Region-Based Convolutional Neural Network (Mask-RCNN). These detections are sent through a filter to avoid redundancy and remove noisy detections. The combination of these features is the basis for the proposed architecture.

Feature selection helps reduce data acquisition costs in ML, but the standard approach is to train models with static feature subsets. Here, we consider the dynamic feature selection (DFS) problem where a model sequentially queries features based on the presently available information. DFS is often addressed with reinforcement learning (RL), but we explore a simpler approach of greedily selecting features based on their conditional mutual information. This method is theoretically appealing but requires oracle access to the data distribution, so we develop a learning approach based on amortized optimization. The proposed method is shown to recover the greedy policy when trained to optimality and outperforms numerous existing feature selection methods in our experiments, thus validating it as a simple but powerful approach for this problem.

In this paper, we learn a diffusion model to generate 3D data on a scene-scale. Specifically, our model crafts a 3D scene consisting of multiple objects, while recent diffusion research has focused on a single object. To realize our goal, we represent a scene with discrete class labels, i.e., categorical distribution, to assign multiple objects into semantic categories. Thus, we extend discrete diffusion models to learn scene-scale categorical distributions. In addition, we validate that a latent diffusion model can reduce computation costs for training and deploying. To the best of our knowledge, our work is the first to apply discrete and latent diffusion for 3D categorical data on a scene-scale. We further propose to perform semantic scene completion (SSC) by learning a conditional distribution using our diffusion model, where the condition is a partial observation in a sparse point cloud. In experiments, we empirically show that our diffusion models not only generate reasonable scenes, but also perform the scene completion task better than a discriminative model. Our code and models are available at https://github.com/zoomin-lee/scene-scale-diffusion

We introduce a new tool for stochastic convex optimization (SCO): a Reweighted Stochastic Query (ReSQue) estimator for the gradient of a function convolved with a (Gaussian) probability density. Combining ReSQue with recent advances in ball oracle acceleration [CJJJLST20, ACJJS21], we develop algorithms achieving state-of-the-art complexities for SCO in parallel and private settings. For a SCO objective constrained to the unit ball in $\mathbb{R}^d$, we obtain the following results (up to polylogarithmic factors). We give a parallel algorithm obtaining optimization error $\epsilon_{\text{opt}}$ with $d^{1/3}\epsilon_{\text{opt}}^{-2/3}$ gradient oracle query depth and $d^{1/3}\epsilon_{\text{opt}}^{-2/3} + \epsilon_{\text{opt}}^{-2}$ gradient queries in total, assuming access to a bounded-variance stochastic gradient estimator. For $\epsilon_{\text{opt}} \in [d^{-1}, d^{-1/4}]$, our algorithm matches the state-of-the-art oracle depth of [BJLLS19] while maintaining the optimal total work of stochastic gradient descent. We give an $(\epsilon_{\text{dp}}, \delta)$-differentially private algorithm which, given $n$ samples of Lipschitz loss functions, obtains near-optimal optimization error and makes $\min(n, n^2\epsilon_{\text{dp}}^2 d^{-1}) + \min(n^{4/3}\epsilon_{\text{dp}}^{1/3}, (nd)^{2/3}\epsilon_{\text{dp}}^{-1})$ queries to the gradients of these functions. In the regime $d \le n \epsilon_{\text{dp}}^{2}$, where privacy comes at no cost in terms of the optimal loss up to constants, our algorithm uses $n + (nd)^{2/3}\epsilon_{\text{dp}}^{-1}$ queries and improves recent advancements of [KLL21, AFKT21]. In the moderately low-dimensional setting $d \le \sqrt n \epsilon_{\text{dp}}^{3/2}$, our query complexity is near-linear.