简介：通过人工视觉，移动应用能够实时识别蔬菜物种。然而，现有物种识别应用程序不考虑各种流行和本地（智利）物种，这导致错误的物种预测。本研究介绍了智利物种数据集的开发和实现给移动应用的优化分类模型。方法：通过将捕获的若干物种的图片放在一起，并通过在在线可用的其他数据集中选择可获得的一些图片来构建数据集。使用卷积神经网络以开发图像预测模型。通过执行敏感性分析，通过k折交叉验证和使用不同的超参数，优化器，卷积层和学习率进行验证，验证网络，以便识别和选择最佳模型，然后将它们放在一起分类模型。结果：最终数据集比46种，包括智利的本土物种，流行和异国情调，6120次训练图片和655次检测照片。最好的模型在移动应用程序上实现，获得了相对于该组测试的95％的正确预测率。结论：本研究开发的应用程序能够通过高度准确度进行分类物种，具体取决于人工视野的领域，它还可以显示与分类物种相关的相关信息。

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.

How would you fairly evaluate two multi-object tracking algorithms (i.e. trackers), each one employing a different object detector? Detectors keep improving, thus trackers can make less effort to estimate object states over time. Is it then fair to compare a new tracker employing a new detector with another tracker using an old detector? In this paper, we propose a novel performance measure, named Tracking Effort Measure (TEM), to evaluate trackers that use different detectors. TEM estimates the improvement that the tracker does with respect to its input data (i.e. detections) at frame level (intra-frame complexity) and sequence level (inter-frame complexity). We evaluate TEM over well-known datasets, four trackers and eight detection sets. Results show that, unlike conventional tracking evaluation measures, TEM can quantify the effort done by the tracker with a reduced correlation on the input detections. Its implementation is publicly available online at https://github.com/vpulab/MOT-evaluation.

Reinforcement learning is a machine learning approach based on behavioral psychology. It is focused on learning agents that can acquire knowledge and learn to carry out new tasks by interacting with the environment. However, a problem occurs when reinforcement learning is used in critical contexts where the users of the system need to have more information and reliability for the actions executed by an agent. In this regard, explainable reinforcement learning seeks to provide to an agent in training with methods in order to explain its behavior in such a way that users with no experience in machine learning could understand the agent's behavior. One of these is the memory-based explainable reinforcement learning method that is used to compute probabilities of success for each state-action pair using an episodic memory. In this work, we propose to make use of the memory-based explainable reinforcement learning method in a hierarchical environment composed of sub-tasks that need to be first addressed to solve a more complex task. The end goal is to verify if it is possible to provide to the agent the ability to explain its actions in the global task as well as in the sub-tasks. The results obtained showed that it is possible to use the memory-based method in hierarchical environments with high-level tasks and compute the probabilities of success to be used as a basis for explaining the agent's behavior.

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.

Large language models (LLMs) have been shown to be able to perform new tasks based on a few demonstrations or natural language instructions. While these capabilities have led to widespread adoption, most LLMs are developed by resource-rich organizations and are frequently kept from the public. As a step towards democratizing this powerful technology, we present BLOOM, a 176B-parameter open-access language model designed and built thanks to a collaboration of hundreds of researchers. BLOOM is a decoder-only Transformer language model that was trained on the ROOTS corpus, a dataset comprising hundreds of sources in 46 natural and 13 programming languages (59 in total). We find that BLOOM achieves competitive performance on a wide variety of benchmarks, with stronger results after undergoing multitask prompted finetuning. To facilitate future research and applications using LLMs, we publicly release our models and code under the Responsible AI License.