圆角焊接是该行业中最广泛类型的焊接之一，仍然通过接触手动或自动进行。本文旨在描述具有U和L形结构的非接触式圆角焊接机器人的在线编程系统，这响应了第四工业革命的需求。在本文中，作者提出了一种在线机器人编程方法，其消除了传统上在机器人焊接中执行的不必要步骤，使得操作者仅执行三个步骤来完成焊接任务。首先，选择焊接件。然后，进入焊接参数。最后，它将自动生成的程序发送到机器人。该系统最终设法在比比较方法更有效的准备时间中使用所提出的方法进行圆角焊接任务。为此，除了六个轴工业机器人手臂之外，还使用了与其他系统相比使用减少数量的组件，例如结构化光3D相机，两个计算机和集中器。系统的操作复杂性尽可能减少。据作者所知，没有能够执行圆角焊接过程的在线机器人编程系统的科学或商业证据，简化了该过程，使其对操作员完全透明，并在行业4.0范例中陷入框架。它的商业潜力主要在于一种能够适应任何工业圆角焊接工作和任何可以容纳它的支架的柔性系统中的简单和低成本。

这项工作提供了可靠的nids（R-nids），一种新的机器学习方法（ML）的网络入侵检测系统（NIDS），允许ML模型在集成数据集上工作，从不同数据集中具有不同信息的学习过程。因此，R-NIDS针对更强大的模型的设计，比传统方法更好地概括。我们还提出了一个名为UNK21的新数据集。它是由三个最着名的网络数据集（UGR'16，USNW-NB15和NLS-KDD）构建，每个网络环境收集，使用不同的特征和类，通过使用数据聚合方法R-nids。在r-nids之后，在这项工作中，我们建议基于文献中的三个最常见的数据集的信息来构建两个着名的ML模型（一个线性和非线性的一个），用于NIDS评估中的三个，集成在UNK21中的那些。所提出的方法优惠展示了作为NIDS解决方案训练的两种ML模型的结果可以从这种方法中受益，在新提议的UNK21数据集上培训时能够更好地概括。此外，这些结果用统计工具仔细分析了对我们的结论提供了高度信心的统计工具。

Spacecraft pose estimation is a key task to enable space missions in which two spacecrafts must navigate around each other. Current state-of-the-art algorithms for pose estimation employ data-driven techniques. However, there is an absence of real training data for spacecraft imaged in space conditions due to the costs and difficulties associated with the space environment. This has motivated the introduction of 3D data simulators, solving the issue of data availability but introducing a large gap between the training (source) and test (target) domains. We explore a method that incorporates 3D structure into the spacecraft pose estimation pipeline to provide robustness to intensity domain shift and we present an algorithm for unsupervised domain adaptation with robust pseudo-labelling. Our solution has ranked second in the two categories of the 2021 Pose Estimation Challenge organised by the European Space Agency and the Stanford University, achieving the lowest average error over the two categories.

Petrov-Galerkin formulations with optimal test functions allow for the stabilization of finite element simulations. In particular, given a discrete trial space, the optimal test space induces a numerical scheme delivering the best approximation in terms of a problem-dependent energy norm. This ideal approach has two shortcomings: first, we need to explicitly know the set of optimal test functions; and second, the optimal test functions may have large supports inducing expensive dense linear systems. Nevertheless, parametric families of PDEs are an example where it is worth investing some (offline) computational effort to obtain stabilized linear systems that can be solved efficiently, for a given set of parameters, in an online stage. Therefore, as a remedy for the first shortcoming, we explicitly compute (offline) a function mapping any PDE-parameter, to the matrix of coefficients of optimal test functions (in a basis expansion) associated with that PDE-parameter. Next, as a remedy for the second shortcoming, we use the low-rank approximation to hierarchically compress the (non-square) matrix of coefficients of optimal test functions. In order to accelerate this process, we train a neural network to learn a critical bottleneck of the compression algorithm (for a given set of PDE-parameters). When solving online the resulting (compressed) Petrov-Galerkin formulation, we employ a GMRES iterative solver with inexpensive matrix-vector multiplications thanks to the low-rank features of the compressed matrix. We perform experiments showing that the full online procedure as fast as the original (unstable) Galerkin approach. In other words, we get the stabilization with hierarchical matrices and neural networks practically for free. We illustrate our findings by means of 2D Eriksson-Johnson and Hemholtz model problems.

To alleviate the problem of structured databases' limited coverage, recent task-oriented dialogue systems incorporate external unstructured knowledge to guide the generation of system responses. However, these usually use word or sentence level similarities to detect the relevant knowledge context, which only partially capture the topical level relevance. In this paper, we examine how to better integrate topical information in knowledge grounded task-oriented dialogue and propose ``Topic-Aware Response Generation'' (TARG), an end-to-end response generation model. TARG incorporates multiple topic-aware attention mechanisms to derive the importance weighting scheme over dialogue utterances and external knowledge sources towards a better understanding of the dialogue history. Experimental results indicate that TARG achieves state-of-the-art performance in knowledge selection and response generation, outperforming previous state-of-the-art by 3.2, 3.6, and 4.2 points in EM, F1 and BLEU-4 respectively on Doc2Dial, and performing comparably with previous work on DSTC9; both being knowledge-grounded task-oriented dialogue datasets.

Video provides us with the spatio-temporal consistency needed for visual learning. Recent approaches have utilized this signal to learn correspondence estimation from close-by frame pairs. However, by only relying on close-by frame pairs, those approaches miss out on the richer long-range consistency between distant overlapping frames. To address this, we propose a self-supervised approach for correspondence estimation that learns from multiview consistency in short RGB-D video sequences. Our approach combines pairwise correspondence estimation and registration with a novel SE(3) transformation synchronization algorithm. Our key insight is that self-supervised multiview registration allows us to obtain correspondences over longer time frames; increasing both the diversity and difficulty of sampled pairs. We evaluate our approach on indoor scenes for correspondence estimation and RGB-D pointcloud registration and find that we perform on-par with supervised approaches.

In this work we propose a novel token-based training strategy that improves Transformer-Transducer (T-T) based speaker change detection (SCD) performance. The conventional T-T based SCD model loss optimizes all output tokens equally. Due to the sparsity of the speaker changes in the training data, the conventional T-T based SCD model loss leads to sub-optimal detection accuracy. To mitigate this issue, we use a customized edit-distance algorithm to estimate the token-level SCD false accept (FA) and false reject (FR) rates during training and optimize model parameters to minimize a weighted combination of the FA and FR, focusing the model on accurately predicting speaker changes. We also propose a set of evaluation metrics that align better with commercial use cases. Experiments on a group of challenging real-world datasets show that the proposed training method can significantly improve the overall performance of the SCD model with the same number of parameters.

Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered allows them to reach areas inaccessible to surface vessels and to collect data more closely to the seafloor, regardless of the water depth. However, their navigation autonomy remains bounded by the accuracy of their dead reckoning (DR) estimate of their global position, severely limited in the absence of a priori maps of the area and GPS signal. Global localization systems equivalent to the later exists for the underwater domain, such as LBL or USBL. However they involve expensive external infrastructure and their reliability decreases with the distance to the AUV, making them unsuitable for deep sea surveys.

In this work, we estimate the depth in which domestic waste are located in space from a mobile robot in outdoor scenarios. As we are doing this calculus on a broad range of space (0.3 - 6.0 m), we use RGB-D camera and LiDAR fusion. With this aim and range, we compare several methods such as average, nearest, median and center point, applied to those which are inside a reduced or non-reduced Bounding Box (BB). These BB are obtained from segmentation and detection methods which are representative of these techniques like Yolact, SOLO, You Only Look Once (YOLO)v5, YOLOv6 and YOLOv7. Results shown that, applying a detection method with the average technique and a reduction of BB of 40%, returns the same output as segmenting the object and applying the average method. Indeed, the detection method is faster and lighter in comparison with the segmentation one. The committed median error in the conducted experiments was 0.0298 ${\pm}$ 0.0544 m.

Obtaining photorealistic reconstructions of objects from sparse views is inherently ambiguous and can only be achieved by learning suitable reconstruction priors. Earlier works on sparse rigid object reconstruction successfully learned such priors from large datasets such as CO3D. In this paper, we extend this approach to dynamic objects. We use cats and dogs as a representative example and introduce Common Pets in 3D (CoP3D), a collection of crowd-sourced videos showing around 4,200 distinct pets. CoP3D is one of the first large-scale datasets for benchmarking non-rigid 3D reconstruction "in the wild". We also propose Tracker-NeRF, a method for learning 4D reconstruction from our dataset. At test time, given a small number of video frames of an unseen object, Tracker-NeRF predicts the trajectories of its 3D points and generates new views, interpolating viewpoint and time. Results on CoP3D reveal significantly better non-rigid new-view synthesis performance than existing baselines.