Generalisation to unseen contexts remains a challenge for embodied navigation agents. In the context of semantic audio-visual navigation (SAVi) tasks, the notion of generalisation should include both generalising to unseen indoor visual scenes as well as generalising to unheard sounding objects. However, previous SAVi task definitions do not include evaluation conditions on truly novel sounding objects, resorting instead to evaluating agents on unheard sound clips of known objects; meanwhile, previous SAVi methods do not include explicit mechanisms for incorporating domain knowledge about object and region semantics. These weaknesses limit the development and assessment of models' abilities to generalise their learned experience. In this work, we introduce the use of knowledge-driven scene priors in the semantic audio-visual embodied navigation task: we combine semantic information from our novel knowledge graph that encodes object-region relations, spatial knowledge from dual Graph Encoder Networks, and background knowledge from a series of pre-training tasks -- all within a reinforcement learning framework for audio-visual navigation. We also define a new audio-visual navigation sub-task, where agents are evaluated on novel sounding objects, as opposed to unheard clips of known objects. We show improvements over strong baselines in generalisation to unseen regions and novel sounding objects, within the Habitat-Matterport3D simulation environment, under the SoundSpaces task.

随着跨领域的机器人在共享环境中开始与人类合作，使他们能够推理人类意图的算法对于实现安全的相互作用很重要。在我们的工作中，我们通过预测动态环境中的轨迹的问题来研究人类的意图。我们探索导航准则相对严格定义但在其物理环境中没有明确标记的域。我们假设在这些领域内，代理人倾向于表现出短期运动模式，这些模式揭示了与代理人的一般方向，中间目标和运动规则相关的上下文信息，例如社会行为。从这种直觉中，我们提出了社交模式，这是一种复发，多模式轨迹预测的算法，该预测利用运动模式来编码上述上下文。我们的方法通过学习预测短期运动模式来指导长期的轨迹预测。然后，它从模式中提取次目标信息，并将其汇总为社会环境。我们评估了跨三个领域的方法：人类人群，体育中的人类和码头领空中的载人飞机，以实现最先进的表现。

This paper tackles the challenging problem of automating code updates to fix deprecated API usages of open source libraries by analyzing their release notes. Our system employs a three-tier architecture: first, a web crawler service retrieves deprecation documentation from the web; then a specially built parser processes those text documents into tree-structured representations; finally, a client IDE plugin locates and fixes identified deprecated usages of libraries in a given codebase. The focus of this paper in particular is the parsing component. We introduce a novel transition-based parser in two variants: based on a classical feature engineered classifier and a neural tree encoder. To confirm the effectiveness of our method, we gathered and labeled a set of 426 API deprecations from 7 well-known Python data science libraries, and demonstrated our approach decisively outperforms a non-trivial neural machine translation baseline.

Generative Adversarial Networks (GANs) were introduced by Goodfellow in 2014, and since then have become popular for constructing generative artificial intelligence models. However, the drawbacks of such networks are numerous, like their longer training times, their sensitivity to hyperparameter tuning, several types of loss and optimization functions and other difficulties like mode collapse. Current applications of GANs include generating photo-realistic human faces, animals and objects. However, I wanted to explore the artistic ability of GANs in more detail, by using existing models and learning from them. This dissertation covers the basics of neural networks and works its way up to the particular aspects of GANs, together with experimentation and modification of existing available models, from least complex to most. The intention is to see if state of the art GANs (specifically StyleGAN2) can generate album art covers and if it is possible to tailor them by genre. This was attempted by first familiarizing myself with 3 existing GANs architectures, including the state of the art StyleGAN2. The StyleGAN2 code was used to train a model with a dataset containing 80K album cover images, then used to style images by picking curated images and mixing their styles.

Graph learning problems are typically approached by focusing on learning the topology of a single graph when signals from all nodes are available. However, many contemporary setups involve multiple related networks and, moreover, it is often the case that only a subset of nodes is observed while the rest remain hidden. Motivated by this, we propose a joint graph learning method that takes into account the presence of hidden (latent) variables. Intuitively, the presence of the hidden nodes renders the inference task ill-posed and challenging to solve, so we overcome this detrimental influence by harnessing the similarity of the estimated graphs. To that end, we assume that the observed signals are drawn from a Gaussian Markov random field with latent variables and we carefully model the graph similarity among hidden (latent) nodes. Then, we exploit the structure resulting from the previous considerations to propose a convex optimization problem that solves the joint graph learning task by providing a regularized maximum likelihood estimator. Finally, we compare the proposed algorithm with different baselines and evaluate its performance over synthetic and real-world graphs.

我们考虑了从节点观测值估算多个网络拓扑的问题，其中假定这些网络是从相同（未知）随机图模型中绘制的。我们采用图形作为我们的随机图模型，这是一个非参数模型，可以从中绘制出潜在不同大小的图形。图形子的多功能性使我们能够解决关节推理问题，即使对于要恢复的图形包含不同数量的节点并且缺乏整个图形的精确比对的情况。我们的解决方案是基于将最大似然惩罚与Graphon估计方案结合在一起，可用于增强现有网络推理方法。通过引入嘈杂图抽样信息的强大方法，进一步增强了所提出的联合网络和图形估计。我们通过将其性能与合成和实际数据集中的竞争方法进行比较来验证我们提出的方法。

在过去的十年中，图上的信号处理已成为一个非常活跃的研究领域。具体而言，使用从图形上构建的框架（例如图上的小波）在统计或深度学习中的应用数量显着增加。我们特别考虑通过数据驱动的小波紧密框架方法在图表上进行信号的情况。这种自适应方法基于使用Stein的无偏风险估计校准的阈值，该阈值适合于紧密框架表示。我们可以使用Chebyshev-Jackson多项式近似值将其扩展到大图，从而可以快速计算小波系数，而无需计算laplacian特征性组成。但是，紧密框架的过度本质将白噪声转化为相关的噪声。结果，转换噪声的协方差出现在确定的差异项中，因此需要计算和存储框架，从而导致大图的不切实际计算。为了估计这种协方差，我们基于零均值和单位方差随机变量的快速转换制定和分析蒙特卡洛策略。这种新的数据驱动的denoisisy方法可以在差异隐私中发现自然应用。从真实和模拟数据的大小变化图上进行了全面的性能分析。

用非侵入性方法评估建筑物的结构是一个重要问题。可能的方法之一是使用Georadar通过分析从扫描获得的数据来检查墙壁结构。我们提出了一种数据驱动的方法，以评估壁从其GPR雷克拉姆斯的材料组成。为了生成培训数据，我们使用GPRMAX对扫描过程进行建模。使用仿真数据，我们使用卷积神经网络来预测每层墙壁的厚度和介电性能。我们评估了受过训练的模型的概括能力，这些模型对从真实建筑物收集的数据进行了评估。

我们提出了一种基于配对构造的模型组件的广义添加剂模型，并以预测为主要目的。该模型组件的设计使我们的模型可以捕获响应协变量之间关系中潜在的复杂相互作用效应。此外，我们的模型不需要连续协变量的离散化，因此适用于许多此类协变量的问题。此外，我们设计了一种受梯度增强启发的拟合算法，以及通过对模型空间和近似值的限制来加快时间对比计算的限制，用于模型选择和模型选择的有效程序。除了我们的模型在更高维度中成为现实的选择绝对必要外，这些技术还可以作为设计有效模型选择算法的其他类型的Copula回归模型的基础。我们已经在模拟研究中探索了我们方法的特征，特别是将其与自然替代方案进行比较，例如逻辑回归，经典增强模型和受到惩罚的逻辑回归。我们还展示了我们在威斯康星州乳腺癌数据集和波士顿住房数据集上的方法。结果表明，即使离散协变量的比例很高，我们的方法的预测性能要么比其他方法更好或可比其他方法媲美。

数十年来，源自人类活动的海洋碎片一直在海洋，湖泊和河流等水下环境中积累。由于无法理解散布的确切机制，因此难以评估废物的程度，类型和数量，从而对海洋环境和人类健康产生了未知的后果。因此，用于检测和映射海洋碎片的方法对于洞悉污染动力学至关重要，而污染动态又可以用来有效地计划和执行物理去除。使用配备了水下高光谱成像仪（UHI）和立体声相机的自动驾驶水下车辆（AUV），在挪威卑尔根贝尔根的庇护海湾商店Lungegaardsvann中自主检测，映射和量化了海洋碎片。