许多图像处理网络在整个输入图像上应用一组静态卷积核，这是自然图像的次优，因为它们通常由异质视觉模式组成。最近在分类，分割和图像恢复方面的工作已经证明，动态核优于局部图像统计数据的静态内核。然而，这些工作经常采用每像素卷积核，这引入了高存储器和计算成本。为了在没有显着开销的情况下实现空间变化的处理，我们呈现\ TextBF {Malle} Chable \ TextBF {CONV} olution（\ textbf {malleconv}），作为动态卷积的有效变体。 \我们的权重由能够在特定空间位置产生内容相关的输出的有效预测器网络动态地产生。与以前的作品不同，\我们从输入生成一组更小的空间变化内核，这会扩大网络的接收领域，并显着降低计算和内存成本。然后通过具有最小内存开销的高效切片和-Conver操作员将这些内核应用于全分辨率的特征映射。我们进一步使用MalleConv建立了高效的去噪网络，被创建为\ textbf {mallenet}。它实现了高质量的结果，没有非常深的架构，例如，它是8.91 $ \ times $的速度快于最好的去噪算法（Swinir），同时保持类似的性能。我们还表明，添加到标准的基于卷积的骨干的单个\我们可以贡献显着降低计算成本或以相似的成本提高图像质量。项目页面：https://yifanjiang.net/malleconv.html

This paper expounds the design and control of a new Variable Stiffness Series Elastic Actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimise the stiffness modulation characteristics and power density of the actuator. The proposed VSSEA possesses the following features: i) no limitation in the work-range of output link, ii) a wide range of stiffness modulation (~20Nm/rad to ~1KNm/rad), iii) low-energy-cost stiffness modulation at equilibrium and non-equilibrium positions, iv) compact design and high torque density (~36Nm/kg), and v) high-speed stiffness modulation (~3000Nm/rad/s). Such features can help boost the safety and performance of many advanced robotic systems, e.g., a cobot that physically interacts with unstructured environments and an exoskeleton that provides physical assistance to human users. These features can also enable us to utilise variable stiffness property to attain various regulation and trajectory tracking control tasks only by employing conventional controllers, eliminating the need for synthesising complex motion control systems in compliant actuation. To this end, it is experimentally demonstrated that the proposed VSSEA is capable of precisely tracking desired position and force control references through the use of conventional Proportional-Integral-Derivative (PID) controllers.

Targeted syntactic evaluations of language models ask whether models show stable preferences for syntactically acceptable content over minimal-pair unacceptable inputs. Most targeted syntactic evaluation datasets ask models to make these judgements with just a single context-free sentence as input. This does not match language models' training regime, in which input sentences are always highly contextualized by the surrounding corpus. This mismatch raises an important question: how robust are models' syntactic judgements in different contexts? In this paper, we investigate the stability of language models' performance on targeted syntactic evaluations as we vary properties of the input context: the length of the context, the types of syntactic phenomena it contains, and whether or not there are violations of grammaticality. We find that model judgements are generally robust when placed in randomly sampled linguistic contexts. However, they are substantially unstable for contexts containing syntactic structures matching those in the critical test content. Among all tested models (GPT-2 and five variants of OPT), we significantly improve models' judgements by providing contexts with matching syntactic structures, and conversely significantly worsen them using unacceptable contexts with matching but violated syntactic structures. This effect is amplified by the length of the context, except for unrelated inputs. We show that these changes in model performance are not explainable by simple features matching the context and the test inputs, such as lexical overlap and dependency overlap. This sensitivity to highly specific syntactic features of the context can only be explained by the models' implicit in-context learning abilities.

Humans form mental images of 3D scenes to support counterfactual imagination, planning, and motor control. Our abilities to predict the appearance and affordance of the scene from previously unobserved viewpoints aid us in performing manipulation tasks (e.g., 6-DoF kitting) with a level of ease that is currently out of reach for existing robot learning frameworks. In this work, we aim to build artificial systems that can analogously plan actions on top of imagined images. To this end, we introduce Mental Imagery for Robotic Affordances (MIRA), an action reasoning framework that optimizes actions with novel-view synthesis and affordance prediction in the loop. Given a set of 2D RGB images, MIRA builds a consistent 3D scene representation, through which we synthesize novel orthographic views amenable to pixel-wise affordances prediction for action optimization. We illustrate how this optimization process enables us to generalize to unseen out-of-plane rotations for 6-DoF robotic manipulation tasks given a limited number of demonstrations, paving the way toward machines that autonomously learn to understand the world around them for planning actions.

Score based approaches to sampling have shown much success as a generative algorithm to produce new samples from a target density given a pool of initial samples. In this work, we consider if we have no initial samples from the target density, but rather $0^{th}$ and $1^{st}$ order oracle access to the log likelihood. Such problems may arise in Bayesian posterior sampling, or in approximate minimization of non-convex functions. Using this knowledge alone, we propose a Monte Carlo method to estimate the score empirically as a particular expectation of a random variable. Using this estimator, we can then run a discrete version of the backward flow SDE to produce samples from the target density. This approach has the benefit of not relying on a pool of initial samples from the target density, and it does not rely on a neural network or other black box model to estimate the score.

Neural information retrieval (IR) systems have progressed rapidly in recent years, in large part due to the release of publicly available benchmarking tasks. Unfortunately, some dimensions of this progress are illusory: the majority of the popular IR benchmarks today focus exclusively on downstream task accuracy and thus conceal the costs incurred by systems that trade away efficiency for quality. Latency, hardware cost, and other efficiency considerations are paramount to the deployment of IR systems in user-facing settings. We propose that IR benchmarks structure their evaluation methodology to include not only metrics of accuracy, but also efficiency considerations such as a query latency and the corresponding cost budget for a reproducible hardware setting. For the popular IR benchmarks MS MARCO and XOR-TyDi, we show how the best choice of IR system varies according to how these efficiency considerations are chosen and weighed. We hope that future benchmarks will adopt these guidelines toward more holistic IR evaluation.

White matter bundle segmentation is a cornerstone of modern tractography to study the brain's structural connectivity in domains such as neurological disorders, neurosurgery, and aging. In this study, we present FIESTA (FIber gEneration and bundle Segmentation in Tractography using Autoencoders), a reliable and robust, fully automated, and easily semi-automatically calibrated pipeline based on deep autoencoders that can dissect and fully populate WM bundles. Our framework allows the transition from one anatomical bundle definition to another with marginal calibrating time. This pipeline is built upon FINTA, CINTA, and GESTA methods that demonstrated how autoencoders can be used successfully for streamline filtering, bundling, and streamline generation in tractography. Our proposed method improves bundling coverage by recovering hard-to-track bundles with generative sampling through the latent space seeding of the subject bundle and the atlas bundle. A latent space of streamlines is learned using autoencoder-based modeling combined with contrastive learning. Using an atlas of bundles in standard space (MNI), our proposed method segments new tractograms using the autoencoder latent distance between each tractogram streamline and its closest neighbor bundle in the atlas of bundles. Intra-subject bundle reliability is improved by recovering hard-to-track streamlines, using the autoencoder to generate new streamlines that increase each bundle's spatial coverage while remaining anatomically meaningful. Results show that our method is more reliable than state-of-the-art automated virtual dissection methods such as RecoBundles, RecoBundlesX, TractSeg, White Matter Analysis and XTRACT. Overall, these results show that our framework improves the practicality and usability of current state-of-the-art bundling framework

We present the CUNI-Bergamot submission for the WMT22 General translation task. We compete in English$\rightarrow$Czech direction. Our submission further explores block backtranslation techniques. Compared to the previous work, we measure performance in terms of COMET score and named entities translation accuracy. We evaluate performance of MBR decoding compared to traditional mixed backtranslation training and we show a possible synergy when using both of the techniques simultaneously. The results show that both approaches are effective means of improving translation quality and they yield even better results when combined.

An effective aggregation of node features into a graph-level representation via readout functions is an essential step in numerous learning tasks involving graph neural networks. Typically, readouts are simple and non-adaptive functions designed such that the resulting hypothesis space is permutation invariant. Prior work on deep sets indicates that such readouts might require complex node embeddings that can be difficult to learn via standard neighborhood aggregation schemes. Motivated by this, we investigate the potential of adaptive readouts given by neural networks that do not necessarily give rise to permutation invariant hypothesis spaces. We argue that in some problems such as binding affinity prediction where molecules are typically presented in a canonical form it might be possible to relax the constraints on permutation invariance of the hypothesis space and learn a more effective model of the affinity by employing an adaptive readout function. Our empirical results demonstrate the effectiveness of neural readouts on more than 40 datasets spanning different domains and graph characteristics. Moreover, we observe a consistent improvement over standard readouts (i.e., sum, max, and mean) relative to the number of neighborhood aggregation iterations and different convolutional operators.

Despite the rapid progress of open-domain generation-based conversational agents, most deployed systems treat dialogue contexts as single-turns, while systems dealing with multi-turn contexts are less studied. There is a lack of a reliable metric for evaluating multi-turn modelling, as well as an effective solution for improving it. In this paper, we focus on an essential component of multi-turn generation-based conversational agents: context attention distribution, i.e. how systems distribute their attention on dialogue's context. For evaluation of this component, We introduce a novel attention-mechanism-based metric: DAS ratio. To improve performance on this component, we propose an optimization strategy that employs self-contained distractions. Our experiments on the Ubuntu chatlogs dataset show that models with comparable perplexity can be distinguished by their ability on context attention distribution. Our proposed optimization strategy improves both non-hierarchical and hierarchical models on the proposed metric by about 10% from baselines.