In this paper, we propose a novel variable-length estimation approach for shape sensing of extensible soft robots utilizing fiber Bragg gratings (FBGs). Shape reconstruction from FBG sensors has been increasingly developed for soft robots, while the narrow stretching range of FBG fiber makes it difficult to acquire accurate sensing results for extensible robots. Towards this limitation, we newly introduce an FBG-based length sensor by leveraging a rigid curved channel, through which FBGs are allowed to slide within the robot following its body extension/compression, hence we can search and match the FBGs with specific constant curvature in the fiber to determine the effective length. From the fusion with the above measurements, a model-free filtering technique is accordingly presented for simultaneous calibration of a variable-length model and temporally continuous length estimation of the robot, enabling its accurate shape sensing using solely FBGs. The performances of the proposed method have been experimentally evaluated on an extensible soft robot equipped with an FBG fiber in both free and unstructured environments. The results concerning dynamic accuracy and robustness of length estimation and shape sensing demonstrate the effectiveness of our approach.

在本文中，我们提出了一种新颖的，通用的数据驱动方法，用于伺服控制连续机器人的3-D形状，并嵌入了纤维bragg光栅（FBG）传感器。 3D形状感知和控制技术的发展对于连续机器人在手术干预中自主执行任务至关重要。但是，由于连续机器人的非线性特性，主要难度在于它们的建模，尤其是对于具有可变刚度的软机器人。为了解决这个问题，我们通过利用FBG形状反馈和神经网络（NNS）提出了一个新的健壮自适应控制器，该反馈和神经网络（NNS）可以在线估算连续机器人的未知模型，并说明了意外的干扰以及NN近似错误，该错误表现出适应性行为对适应性行为呈现没有先验数据探索的未建模系统。基于新的复合适应算法，Lyapunov理论证明了具有NNS学习参数的闭环系统的渐近收敛。为了验证所提出的方法，我们通过使用两个连续机器人进行了一项全面的实验研究，这些连续机器人都与多核FBG集成，包括机器人辅助结肠镜和多部分可扩展的软操纵剂。结果表明，在各种非结构化环境以及幻影实验中，我们的控制器的可行性，适应性和优越性。

Knowledge base completion (KBC) aims to predict the missing links in knowledge graphs. Previous KBC tasks and approaches mainly focus on the setting where all test entities and relations have appeared in the training set. However, there has been limited research on the zero-shot KBC settings, where we need to deal with unseen entities and relations that emerge in a constantly growing knowledge base. In this work, we systematically examine different possible scenarios of zero-shot KBC and develop a comprehensive benchmark, ZeroKBC, that covers these scenarios with diverse types of knowledge sources. Our systematic analysis reveals several missing yet important zero-shot KBC settings. Experimental results show that canonical and state-of-the-art KBC systems cannot achieve satisfactory performance on this challenging benchmark. By analyzing the strength and weaknesses of these systems on solving ZeroKBC, we further present several important observations and promising future directions.

Table of contents (ToC) extraction aims to extract headings of different levels in documents to better understand the outline of the contents, which can be widely used for document understanding and information retrieval. Existing works often use hand-crafted features and predefined rule-based functions to detect headings and resolve the hierarchical relationship between headings. Both the benchmark and research based on deep learning are still limited. Accordingly, in this paper, we first introduce a standard dataset, HierDoc, including image samples from 650 documents of scientific papers with their content labels. Then we propose a novel end-to-end model by using the multimodal tree decoder (MTD) for ToC as a benchmark for HierDoc. The MTD model is mainly composed of three parts, namely encoder, classifier, and decoder. The encoder fuses the multimodality features of vision, text, and layout information for each entity of the document. Then the classifier recognizes and selects the heading entities. Next, to parse the hierarchical relationship between the heading entities, a tree-structured decoder is designed. To evaluate the performance, both the metric of tree-edit-distance similarity (TEDS) and F1-Measure are adopted. Finally, our MTD approach achieves an average TEDS of 87.2% and an average F1-Measure of 88.1% on the test set of HierDoc. The code and dataset will be released at: https://github.com/Pengfei-Hu/MTD.

本文提出了一项新的统计分析，旨在解释自然语言处理（NLP）中训练技术的最新成就。我们证明，当预训练任务的类（例如，蒙版语言模型任务中的不同单词）的类别足够多样化，从某种意义上说，最后一个线性层的最小奇异值在预训练中（表示为$ \ \ \ \ \ Tilde {\ nu} $）很大，然后预训练可以显着提高下游任务的样本效率。特别是，我们显示转移学习过量风险享受$ o \ left（\ frac {1} {\ tilde {\ nu} \ sqrt {n}} \ right）$ rate，与$ o \ left相比（\）标准监督学习中的frac {1} {\ sqrt {m}} \ right）$ rate。在这里，$ n $是预训练数据的数量，$ m $是下游任务中的数据数，通常是$ n \ gg m $。我们的证明依赖于矢量形式的rademacher复杂性链规则来拆卸复合函数类别和修改的自我符合条件。这些技术可能具有独立的兴趣。

在本文中，我们提出了与IEEE计算机协会在CVPR 2022上同时与IEEE计算机协会研讨会同时举行的多手术检测挑战。我们的多手术检测挑战旨在检测自动图像操作，包括但不限于图像编辑，图像合成，图像合成，图像，图像，图像，图像合成，图像，图像编辑一代，图像Photoshop等。我们的挑战吸引了来自世界各地的674支团队，约有2000个有效的结果提交数量。我们邀请了前十支球队为挑战提供解决方案，其中三支球队在大结局中获得了奖项。在本文中，我们介绍了前三名团队的解决方案，以增强图像伪造检测领域的研究工作。

Domain generalization (DG) is the challenging and topical problem of learning models that generalize to novel testing domains with different statistics than a set of known training domains. The simple approach of aggregating data from all source domains and training a single deep neural network end-to-end on all the data provides a surprisingly strong baseline that surpasses many prior published methods. In this paper we build on this strong baseline by designing an episodic training procedure that trains a single deep network in a way that exposes it to the domain shift that characterises a novel domain at runtime. Specifically, we decompose a deep network into feature extractor and classifier components, and then train each component by simulating it interacting with a partner who is badly tuned for the current domain. This makes both components more robust, ultimately leading to our networks producing state-of-the-art performance on three DG benchmarks. Furthermore, we consider the pervasive workflow of using an ImageNet trained CNN as a fixed feature extractor for downstream recognition tasks. Using the Visual Decathlon benchmark, we demonstrate that our episodic-DG training improves the performance of such a general purpose feature extractor by explicitly training a feature for robustness to novel problems. This shows that DG training can benefit standard practice in computer vision.

Benefiting from the intrinsic supervision information exploitation capability, contrastive learning has achieved promising performance in the field of deep graph clustering recently. However, we observe that two drawbacks of the positive and negative sample construction mechanisms limit the performance of existing algorithms from further improvement. 1) The quality of positive samples heavily depends on the carefully designed data augmentations, while inappropriate data augmentations would easily lead to the semantic drift and indiscriminative positive samples. 2) The constructed negative samples are not reliable for ignoring important clustering information. To solve these problems, we propose a Cluster-guided Contrastive deep Graph Clustering network (CCGC) by mining the intrinsic supervision information in the high-confidence clustering results. Specifically, instead of conducting complex node or edge perturbation, we construct two views of the graph by designing special Siamese encoders whose weights are not shared between the sibling sub-networks. Then, guided by the high-confidence clustering information, we carefully select and construct the positive samples from the same high-confidence cluster in two views. Moreover, to construct semantic meaningful negative sample pairs, we regard the centers of different high-confidence clusters as negative samples, thus improving the discriminative capability and reliability of the constructed sample pairs. Lastly, we design an objective function to pull close the samples from the same cluster while pushing away those from other clusters by maximizing and minimizing the cross-view cosine similarity between positive and negative samples. Extensive experimental results on six datasets demonstrate the effectiveness of CCGC compared with the existing state-of-the-art algorithms.

As one of the prevalent methods to achieve automation systems, Imitation Learning (IL) presents a promising performance in a wide range of domains. However, despite the considerable improvement in policy performance, the corresponding research on the explainability of IL models is still limited. Inspired by the recent approaches in explainable artificial intelligence methods, we proposed a model-agnostic explaining framework for IL models called R2RISE. R2RISE aims to explain the overall policy performance with respect to the frames in demonstrations. It iteratively retrains the black-box IL model from the randomized masked demonstrations and uses the conventional evaluation outcome environment returns as the coefficient to build an importance map. We also conducted experiments to investigate three major questions concerning frames' importance equality, the effectiveness of the importance map, and connections between importance maps from different IL models. The result shows that R2RISE successfully distinguishes important frames from the demonstrations.

Text clustering and topic extraction are two important tasks in text mining. Usually, these two tasks are performed separately. For topic extraction to facilitate clustering, we can first project texts into a topic space and then perform a clustering algorithm to obtain clusters. To promote topic extraction by clustering, we can first obtain clusters with a clustering algorithm and then extract cluster-specific topics. However, this naive strategy ignores the fact that text clustering and topic extraction are strongly correlated and follow a chicken-and-egg relationship. Performing them separately fails to make them mutually benefit each other to achieve the best overall performance. In this paper, we propose an unsupervised text clustering and topic extraction framework (ClusTop) which integrates text clustering and topic extraction into a unified framework and can achieve high-quality clustering result and extract topics from each cluster simultaneously. Our framework includes four components: enhanced language model training, dimensionality reduction, clustering and topic extraction, where the enhanced language model can be viewed as a bridge between clustering and topic extraction. On one hand, it provides text embeddings with a strong cluster structure which facilitates effective text clustering; on the other hand, it pays high attention on the topic related words for topic extraction because of its self-attention architecture. Moreover, the training of enhanced language model is unsupervised. Experiments on two datasets demonstrate the effectiveness of our framework and provide benchmarks for different model combinations in this framework.