我们介绍了AAM-GYM，这是一种高级空气流动性（AAM）的研发测试。 AAM有可能通过利用新型飞机（例如电动垂直起飞和降落（EVTOL）飞机）和新的高级人工智能（AI）算法来减少地面交通和排放来彻底改变旅行。 AI算法的验证需要代表性的AAM场景，以及快速的仿真测试以评估其性能。到目前为止，AAM还没有这样的测试床可以为政府，工业或学术界的个人提供一个共同的研究平台。麻省理工学院林肯实验室已经开发了AAM-GYM来解决这一差距，通过提供一个生态系统来开发，训练和验证各种AAM用例的新型AI算法。在本文中，我们使用AAM-GYM来研究AAM用例，AAM走廊中的分离保证的两种增强学习算法的性能。根据AAM-GYM提供的一系列指标，证明了两种算法的性能，显示了测试床对AAM研究的实用性。

Unsupervised object discovery aims to localize objects in images, while removing the dependence on annotations required by most deep learning-based methods. To address this problem, we propose a fully unsupervised, bottom-up approach, for multiple objects discovery. The proposed approach is a two-stage framework. First, instances of object parts are segmented by using the intra-image similarity between self-supervised local features. The second step merges and filters the object parts to form complete object instances. The latter is performed by two CNN models that capture semantic information on objects from the entire dataset. We demonstrate that the pseudo-labels generated by our method provide a better precision-recall trade-off than existing single and multiple objects discovery methods. In particular, we provide state-of-the-art results for both unsupervised class-agnostic object detection and unsupervised image segmentation.

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to enable humanoid robots to operate in unstructured real-world environments. Reinforcement learning (RL) has traditionally imposed enormous interaction data requirements for optimizing such complex control problems. We introduce a new framework that leverages recent advances in GPU-based simulation along with the strength of imitation learning in guiding policy search towards promising behaviors to make RL training feasible in these domains. To this end, we present an immersive virtual reality teleoperation interface designed for interactive human-like manipulation on contact rich tasks and a suite of manipulation environments inspired by tasks of daily living. Finally, we demonstrate the complementary strengths of massively parallel RL and imitation learning, yielding robust and natural behaviors. Videos of trained policies, our source code, and the collected demonstration datasets are available at https://maltemosbach.github.io/interactive_ human_like_manipulation/.

We present a data-driven framework to automate the vectorization and machine interpretation of 2D engineering part drawings. In industrial settings, most manufacturing engineers still rely on manual reads to identify the topological and manufacturing requirements from drawings submitted by designers. The interpretation process is laborious and time-consuming, which severely inhibits the efficiency of part quotation and manufacturing tasks. While recent advances in image-based computer vision methods have demonstrated great potential in interpreting natural images through semantic segmentation approaches, the application of such methods in parsing engineering technical drawings into semantically accurate components remains a significant challenge. The severe pixel sparsity in engineering drawings also restricts the effective featurization of image-based data-driven methods. To overcome these challenges, we propose a deep learning based framework that predicts the semantic type of each vectorized component. Taking a raster image as input, we vectorize all components through thinning, stroke tracing, and cubic bezier fitting. Then a graph of such components is generated based on the connectivity between the components. Finally, a graph convolutional neural network is trained on this graph data to identify the semantic type of each component. We test our framework in the context of semantic segmentation of text, dimension and, contour components in engineering drawings. Results show that our method yields the best performance compared to recent image, and graph-based segmentation methods.

In this study, to address the current high earlydetection miss rate of colorectal cancer (CRC) polyps, we explore the potentials of utilizing transfer learning and machine learning (ML) classifiers to precisely and sensitively classify the type of CRC polyps. Instead of using the common colonoscopic images, we applied three different ML algorithms on the 3D textural image outputs of a unique vision-based surface tactile sensor (VS-TS). To collect realistic textural images of CRC polyps for training the utilized ML classifiers and evaluating their performance, we first designed and additively manufactured 48 types of realistic polyp phantoms with different hardness, type, and textures. Next, the performance of the used three ML algorithms in classifying the type of fabricated polyps was quantitatively evaluated using various statistical metrics.

In this paper, to address the sensitivity and durability trade-off of Vision-based Tactile Sensor (VTSs), we introduce a hyper-sensitive and high-fidelity VTS called HySenSe. We demonstrate that by solely changing one step during the fabrication of the gel layer of the GelSight sensor (as the most well-known VTS), we can substantially improve its sensitivity and durability. Our experimental results clearly demonstrate the outperformance of the HySenSe compared with a similar GelSight sensor in detecting textural details of various objects under identical experimental conditions and low interaction forces (<= 1.5 N).

抗微生物抗性（AMR）是日益增长的公共卫生威胁，估计每年造成超过1000万人死亡，在现状预测下，到2050年，全球经济损失了100万亿美元。这些损失主要是由于治疗失败的发病率和死亡率增加，医疗程序中的AMR感染以及归因于AMR的生活质量损失所致。已经提出了许多干预措施来控制AMR的发展并减轻其传播带来的风险。本文回顾了细菌AMR管理和控制的关键方面，这些方面可以利用人工智能，机器学习以及数学和统计建模等数据技术，这些领域在本世纪已经快速发展。尽管数据技术已成为生物医学研究的组成部分，但它们对AMR管理的影响仍然很小。我们概述了使用数据技术来打击AMR，详细介绍了四个互补类别的最新进展：监视，预防，诊断和治疗。我们在生物医学研究，临床实践和“一个健康”背景下使用数据技术提供了有关当前AMR控制方法的概述。我们讨论了数据技术的潜在影响和挑战在高收入和中等收入国家中面临的实施，并建议将这些技术更容易地整合到医疗保健和公共卫生中所需的具体行动，并建议使用具体的行动部门。

随机梯度下降（SGD）是现代机器学习（ML）系统的基石。尽管具有其计算效率，但SGD仍需要随机数据访问，这些数据访问在依赖块可调地理的二级存储的系统中实现效率低下，例如HDD和SSD，例如TensorFlow/Pytorch和DB ML系统，而不是大文件。为了解决这种阻抗不匹配，已经提出了各种数据改组策略，以平衡SGD的收敛速率（有利于随机性）及其I/O性能（有利于顺序访问）。在本文中，我们首先对现有数据改组策略进行系统的实证研究，该研究表明，所有现有策略都有改进的空间 - 它们都在I/O性能或融合率方面受苦。考虑到这一点，我们提出了一种简单但新颖的分层数据改组策略Corgipile。与现有的策略相比，Corgipile避免了完整的数据洗牌，同时保持SGD的可比收敛速度，就好像执行了完整的混音一样。我们对Corgipile的融合行为提供了非平凡的理论分析。我们通过在新的CorgipileDataSet API中设计新的平行/分布式洗牌操作员来进一步将Corgipile整合到Pytorch中。我们还通过介绍具有优化的三个新的物理运营商，将Corgipile集成到PostgreSQL中。我们的实验结果表明，Corgipile可以与全面的SGD达到可比的收敛速率，以实现深度学习和广义线性模型。对于ImageNet数据集的深度学习模型，Corgipile比带有完整数据洗牌的Pytorch快1.5倍。对于具有线性模型的INDB ML，在HDD和SSD上，Corgipile的Corgipile比两个最先进的IN-DB ML系统（Apache Madlib和Bismarck）快1.6 x-12.8倍。

在本文中，我们在贝叶斯神经网络中展示了一种用于在线（顺序）推断的新算法，并显示其适用于解决上下文强盗问题的适用性。关键的想法是将扩展的卡尔曼滤波器（在每个时间步地上局部化的似然函数与参数的（学习或随机）的低维仿射子空间组合;使用子空间使我们能够将我们的算法扩展到具有$ \ SIM 1M $参数的模型。虽然大多数其他神经匪徒方法需要存储整个过去的数据集，以避免“灾难性忘记”的问题，我们的方法使用恒定的内存。这是可能的，因为我们代表了模型中所有参数的不确定性，而不仅仅是最终的线性层。我们在“Deep Bayesian Bandit摊牌”基准和Mnist和推荐系统上显示出良好的结果。

最近的作品表明，卷积神经网络（CNN）架构具有朝向较低频率的光谱偏压，这已经针对在之前（DIP）框架中的深度图像中的各种图像恢复任务而被利用。归纳偏置的益处网络施加在DIP框架中取决于架构。因此，研究人员研究了如何自动化搜索来确定最佳性能的模型。然而，常见的神经结构搜索（NAS）技术是资源和时间密集的。此外，最佳性能的模型是针对整个图像的整个数据集而不是为每个图像独立地确定，这将是非常昂贵的。在这项工作中，我们首先表明DIP框架中的最佳神经结构是依赖于图像的。然后利用这种洞察力，我们提出了一种特定于DIP框架的图像特定的NAS策略，其需要比典型的NAS方法大得多，有效地实现特定于图像的NA。对于给定的图像，噪声被馈送到大量未训练的CNN，并且它们的输出的功率谱密度（PSD）与使用各种度量的损坏图像进行比较。基于此，选择并培训了一个小型的图像特定架构，以重建损坏的图像。在这种队列中，选择重建最接近重建图像的平均值的模型作为最终模型。我们向拟议的战略证明（1）证明其在NAS数据集上的表现效果，该数据集包括来自特定搜索空间（2）的500多种模型，在特定的搜索空间（2）上进行了广泛的图像去噪，染色和超级分辨率任务。我们的实验表明，图像特定度量可以将搜索空间减少到小型模型队列，其中最佳模型优于电流NAS用于图像恢复的方法。