由于过去几十年中获得的大量技术改进，因此可以使用机器人车进行水下勘探。这项工作描述了用于基于水下车辆的动态定位系统的开发。采用的方法是使用Lyapunov稳定性理论开发的，并通过基于神经网络的算法增强了不确定性和干扰补偿。通过数值模拟评估所提出的控制方案的性能。

自动语音识别（ASR）是一个复杂和具有挑战性的任务。近年来，该地区出现了重大进展。特别是对于巴西葡萄牙语（BP）语言，在2020年的下半年，有大约376小时的公众可供ASR任务。在2021年初发布新数据集，这个数字增加到574小时。但是，现有资源由仅包含读取和准备的演讲的Audios组成。缺少数据集包括自发性语音，这在不同的ASR应用中是必不可少的。本文介绍了Coraa（注释Audios语料库）V1。使用290.77小时，在包含验证对（音频转录）的BP中ASR的公共可用数据集。科拉还含有欧洲葡萄牙音像（4.69小时）。我们还提供了一个基于Wav2VEC 2.0 XLSR-53的公共ASR模型，并通过CoraA进行微调。我们的模型在CoraA测试集中实现了24.18％的单词误差率，并且在常见的语音测试集上为20.08％。测量字符错误率时，我们分别获得11.02％和6.34％，分别为CoraA和常见声音。 Coraa Corpora在自发言论中与BP中的改进ASR模型进行了组装，并激励年轻研究人员开始研究葡萄牙语的ASR。所有Corpora都在CC By-NC-ND 4.0许可证下公开提供Https://github.com/nilc-nlp/coraa。

Many challenging reinforcement learning (RL) problems require designing a distribution of tasks that can be applied to train effective policies. This distribution of tasks can be specified by the curriculum. A curriculum is meant to improve the results of learning and accelerate it. We introduce Success Induced Task Prioritization (SITP), a framework for automatic curriculum learning, where a task sequence is created based on the success rate of each task. In this setting, each task is an algorithmically created environment instance with a unique configuration. The algorithm selects the order of tasks that provide the fastest learning for agents. The probability of selecting any of the tasks for the next stage of learning is determined by evaluating its performance score in previous stages. Experiments were carried out in the Partially Observable Grid Environment for Multiple Agents (POGEMA) and Procgen benchmark. We demonstrate that SITP matches or surpasses the results of other curriculum design methods. Our method can be implemented with handful of minor modifications to any standard RL framework and provides useful prioritization with minimal computational overhead.

This paper presents a solution to the GenChal 2022 shared task dedicated to feedback comment generation for writing learning. In terms of this task given a text with an error and a span of the error, a system generates an explanatory note that helps the writer (language learner) to improve their writing skills. Our solution is based on fine-tuning the T5 model on the initial dataset augmented according to syntactical dependencies of the words located within indicated error span. The solution of our team "nigula" obtained second place according to manual evaluation by the organizers.

The task of reconstructing 3D human motion has wideranging applications. The gold standard Motion capture (MoCap) systems are accurate but inaccessible to the general public due to their cost, hardware and space constraints. In contrast, monocular human mesh recovery (HMR) methods are much more accessible than MoCap as they take single-view videos as inputs. Replacing the multi-view Mo- Cap systems with a monocular HMR method would break the current barriers to collecting accurate 3D motion thus making exciting applications like motion analysis and motiondriven animation accessible to the general public. However, performance of existing HMR methods degrade when the video contains challenging and dynamic motion that is not in existing MoCap datasets used for training. This reduces its appeal as dynamic motion is frequently the target in 3D motion recovery in the aforementioned applications. Our study aims to bridge the gap between monocular HMR and multi-view MoCap systems by leveraging information shared across multiple video instances of the same action. We introduce the Neural Motion (NeMo) field. It is optimized to represent the underlying 3D motions across a set of videos of the same action. Empirically, we show that NeMo can recover 3D motion in sports using videos from the Penn Action dataset, where NeMo outperforms existing HMR methods in terms of 2D keypoint detection. To further validate NeMo using 3D metrics, we collected a small MoCap dataset mimicking actions in Penn Action,and show that NeMo achieves better 3D reconstruction compared to various baselines.

Model calibration, which is concerned with how frequently the model predicts correctly, not only plays a vital part in statistical model design, but also has substantial practical applications, such as optimal decision-making in the real world. However, it has been discovered that modern deep neural networks are generally poorly calibrated due to the overestimation (or underestimation) of predictive confidence, which is closely related to overfitting. In this paper, we propose Annealing Double-Head, a simple-to-implement but highly effective architecture for calibrating the DNN during training. To be precise, we construct an additional calibration head-a shallow neural network that typically has one latent layer-on top of the last latent layer in the normal model to map the logits to the aligned confidence. Furthermore, a simple Annealing technique that dynamically scales the logits by calibration head in training procedure is developed to improve its performance. Under both the in-distribution and distributional shift circumstances, we exhaustively evaluate our Annealing Double-Head architecture on multiple pairs of contemporary DNN architectures and vision and speech datasets. We demonstrate that our method achieves state-of-the-art model calibration performance without post-processing while simultaneously providing comparable predictive accuracy in comparison to other recently proposed calibration methods on a range of learning tasks.

Dense prediction tasks such as segmentation and detection of pathological entities hold crucial clinical value in the digital pathology workflow. However, obtaining dense annotations on large cohorts is usually tedious and expensive. Contrastive learning (CL) is thus often employed to leverage large volumes of unlabeled data to pre-train the backbone network. To boost CL for dense prediction, some studies have proposed variations of dense matching objectives in pre-training. However, our analysis shows that employing existing dense matching strategies on histopathology images enforces invariance among incorrect pairs of dense features and, thus, is imprecise. To address this, we propose a precise location-based matching mechanism that utilizes the overlapping information between geometric transformations to precisely match regions in two augmentations. Extensive experiments on two pretraining datasets (TCGA-BRCA, NCT-CRC-HE) and three downstream datasets (GlaS, CRAG, BCSS) highlight the superiority of our method in semantic and instance segmentation tasks. Our method outperforms previous dense matching methods by up to 7.2 % in average precision for detection and 5.6 % in average precision for instance segmentation tasks. Additionally, by using our matching mechanism in the three popular contrastive learning frameworks, MoCo-v2, VICRegL and ConCL, the average precision in detection is improved by 0.7 % to 5.2 % and the average precision in segmentation is improved by 0.7 % to 4.0 %, demonstrating its generalizability.

Modal verbs, such as "can", "may", and "must", are commonly used in daily communication to convey the speaker's perspective related to the likelihood and/or mode of the proposition. They can differ greatly in meaning depending on how they're used and the context of a sentence (e.g. "They 'must' help each other out." vs. "They 'must' have helped each other out.") Despite their practical importance in natural language understanding, linguists have yet to agree on a single, prominent framework for the categorization of modal verb senses. This lack of agreement stems from high degrees of flexibility and polysemy from the modal verbs, making it more difficult for researchers to incorporate insights from this family of words into their work. This work presents Moverb dataset, which consists of 27,240 annotations of modal verb senses over 4,540 utterances containing one or more sentences from social conversations. Each utterance is annotated by three annotators using two different theoretical frameworks (i.e., Quirk and Palmer) of modal verb senses. We observe that both frameworks have similar inter-annotator agreements, despite having different numbers of sense types (8 for Quirk and 3 for Palmer). With the RoBERTa-based classifiers fine-tuned on \dataset, we achieve F1 scores of 82.2 and 78.3 on Quirk and Palmer, respectively, showing that modal verb sense disambiguation is not a trivial task. Our dataset will be publicly available with our final version.

Relation extraction (RE) is a sub-discipline of information extraction (IE) which focuses on the prediction of a relational predicate from a natural-language input unit (such as a sentence, a clause, or even a short paragraph consisting of multiple sentences and/or clauses). Together with named-entity recognition (NER) and disambiguation (NED), RE forms the basis for many advanced IE tasks such as knowledge-base (KB) population and verification. In this work, we explore how recent approaches for open information extraction (OpenIE) may help to improve the task of RE by encoding structured information about the sentences' principal units, such as subjects, objects, verbal phrases, and adverbials, into various forms of vectorized (and hence unstructured) representations of the sentences. Our main conjecture is that the decomposition of long and possibly convoluted sentences into multiple smaller clauses via OpenIE even helps to fine-tune context-sensitive language models such as BERT (and its plethora of variants) for RE. Our experiments over two annotated corpora, KnowledgeNet and FewRel, demonstrate the improved accuracy of our enriched models compared to existing RE approaches. Our best results reach 92% and 71% of F1 score for KnowledgeNet and FewRel, respectively, proving the effectiveness of our approach on competitive benchmarks.

Voice assistants are deployed widely and provide useful functionality. However, recent work has shown that commercial systems like Amazon Alexa and Google Home are vulnerable to voice-based confusion attacks that exploit design issues. We propose a systems-oriented defense against this class of attacks and demonstrate its functionality for Amazon Alexa. We ensure that only the skills a user intends execute in response to voice commands. Our key insight is that we can interpret a user's intentions by analyzing their activity on counterpart systems of the web and smartphones. For example, the Lyft ride-sharing Alexa skill has an Android app and a website. Our work shows how information from counterpart apps can help reduce dis-ambiguities in the skill invocation process. We build SkilIFence, a browser extension that existing voice assistant users can install to ensure that only legitimate skills run in response to their commands. Using real user data from MTurk (N = 116) and experimental trials involving synthetic and organic speech, we show that SkillFence provides a balance between usability and security by securing 90.83% of skills that a user will need with a False acceptance rate of 19.83%.