最近的四型车辆超越了常规设计，更加强调可折叠和可重构的身体。但是，最新的状态仍然着重于此类设计的机械可行性，在配置切换过程中有关车辆的跟踪性能的讨论有限。在本文中，我们提出了一个完整的控制和计划框架，用于在配置切换过程中进行态度跟踪并遏制任何基于开关的干扰，这可能导致违反安全限制并导致崩溃。控制框架包括一个具有估计器的形态感知自适应控制器，以说明参数变化和最小值轨迹计划器，以在切换时实现稳定的飞行。态度跟踪的稳定性分析是通过采用开关系统理论和仿真结果来验证了拟议的框架，该框架是通过通道通过通道的可折叠四极管飞行的框架。

Automation in farming processes is a growing field of research in both academia and industries. A considerable amount of work has been put into this field to develop systems robust enough for farming. Terrace farming, in particular, provides a varying set of challenges, including robust stair climbing methods and stable navigation in unstructured terrains. We propose the design of a novel autonomous terrace farming robot, Aarohi, that can effectively climb steep terraces of considerable heights and execute several farming operations. The design optimisation strategy for the overall mechanical structure is elucidated. Further, the embedded and software architecture along with fail-safe strategies are presented for a working prototype. Algorithms for autonomous traversal over the terrace steps using the scissor lift mechanism and performing various farming operations have also been discussed. The adaptability of the design to specific operational requirements and modular farm tools allow Aarohi to be customised for a wide variety of use cases.

Active learning with strong and weak labelers considers a practical setting where we have access to both costly but accurate strong labelers and inaccurate but cheap predictions provided by weak labelers. We study this problem in the streaming setting, where decisions must be taken \textit{online}. We design a novel algorithmic template, Weak Labeler Active Cover (WL-AC), that is able to robustly leverage the lower quality weak labelers to reduce the query complexity while retaining the desired level of accuracy. Prior active learning algorithms with access to weak labelers learn a difference classifier which predicts where the weak labels differ from strong labelers; this requires the strong assumption of realizability of the difference classifier (Zhang and Chaudhuri,2015). WL-AC bypasses this \textit{realizability} assumption and thus is applicable to many real-world scenarios such as random corrupted weak labels and high dimensional family of difference classifiers (\textit{e.g.,} deep neural nets). Moreover, WL-AC cleverly trades off evaluating the quality with full exploitation of weak labelers, which allows to convert any active learning strategy to one that can leverage weak labelers. We provide an instantiation of this template that achieves the optimal query complexity for any given weak labeler, without knowing its accuracy a-priori. Empirically, we propose an instantiation of the WL-AC template that can be efficiently implemented for large-scale models (\textit{e.g}., deep neural nets) and show its effectiveness on the corrupted-MNIST dataset by significantly reducing the number of labels while keeping the same accuracy as in passive learning.

强化学习（RL）是一种机器学习范式，自主代理人通过与基础环境进行互动来学会做出最佳决策顺序。 RL引导的工作流在解开电子设计自动化问题中所证明的诺言鼓励硬件安全研究人员利用自动RL代理来解决特定领域的问题。从硬件安全性的角度来看，这种自主代理人可以在未知的对抗环境中产生最佳动作。另一方面，综合电路供应链的持续全球化迫使芯片制造成为离岸，不信任的实体，从而增加了对硬件安全性的担忧。此外，未知的对抗环境和增加的设计复杂性使后卫在检测攻击者（又称硬件木马）进行的微妙修改方面具有挑战性。在此简介中，我们概述了RL代理在检测硬件Trojans时的开发，这是最具挑战性的硬件安全问题之一。此外，我们概述了潜在的机会，并提出了应用RL解决硬件安全问题的挑战。

在综合电路制造过程中插入的隐形硬件木马（HTS）可以绕过关键基础架构的安全性。尽管研究人员提出了许多检测HTS的技术，但存在一些局限性，包括：（i）成功率低，（ii）高算法复杂性，以及（iii）大量的测试模式。此外，先前检测技术最相关的缺点源于不正确的评估方法，即，他们假设对手会随机插入HTS。这种不适当的对抗性假设使检测技术能够声称高HT检测准确性，从而导致“错误的安全感”。不幸的是，据我们所知，尽管关于检测在制造过程中插入的HTS的研究多了十年，但仍未进行对HT检测技术进行系统评估的协调努力。在本文中，我们扮演着现实的对手的角色，并通过使用加固学习（RL）开发自动化，可扩展和实用的攻击框架，质疑HT检测技术的功效。损耗逃避了两个HT检测类别的八种检测技术，展示了其不可知论行为。与随机插入的HTS相比，消耗量达到$ 47 \ times $ $ $ 47 \ times $ and $ 211 \ times $的平均攻击成功率。我们通过评估从广泛使用的学术套房到较大的设计（例如开源MIPS和MOR1KX处理器）到AES和AE AE和GPS模块等较大的设计，从而证明了损耗的逃避能力。此外，我们通过两个案例研究（特权升级和杀死开关）对MOR1KX处理器展示了损耗生成的HTS的影响。我们设想我们的工作以及发布的HT基准和模型，促进了更好的HT检测技术的发展。

在集成电路中插入硬件木马（HTS）是一个有害威胁。由于在罕见触发条件下激活HTS，因此使用随机逻辑模拟检测它们是不可行的。在这项工作中，我们设计了一个加固学习（RL）代理，该学习代理绕过指数搜索空间并返回最小的模式集，最有可能检测到HTS。各种基准测试的实验结果证明了我们的RL代理的功效和可扩展性，与国家相比，在维持或改善覆盖范围（$ 95.75 \％$）的同时，所需的测试模式数量显着降低（$ 169 \ times $）（$ 169 \ times $）（$ 169 \ times $）（$ 169 \ times $）（$ 95.75 \％$）。 - 艺术技术。

当NLP模型从一个时间段进行文本数据培训并从另一个时间进行测试或部署或部署时，产生的时间未对准可能会降低结束任务性能。在这项工作中，我们在不同域名（社交媒体，科学论文，新闻和评论和评论）和时间（跨越五年或更长时间）的时间内建立了八个不同的任务套件，以量化时间未对准的影响。我们的研究专注于普遍存在的环境，其中佩戴的模型可选择通过持续的域特异性预测来改编，然后是特定于任务的FineTuning。我们在多个域中建立了一套任务，以研究现代NLP系统中的时间错位。我们发现对任务性能的时间不对准而不是先前报告的更强烈影响。我们还发现，虽然通过续预先训练的时间适应可以帮助，但与目标时间段中的数据上的任务特定的FineTuning相比，这些收益很小。我们的研究结果激励了提高NLP模型的时间稳健性的持续研究。

这篇研究论文提出了COVID-19监测和响应系统，以确定医院患者的数量激增以及关键设备（如东南亚国家的呼吸机），以了解医疗机构的负担。这可以通过资源计划措施来帮助这些地区的当局，以将资源重定向到模型确定的地区。由于缺乏有关医院患者涌入的公开可用数据，或者这些国家可能面临的设备，ICU单元或医院病床的短缺，我们利用Twitter数据来收集此信息。该方法为印度的各州提供了准确的结果，我们正在努力验证其余国家的模型，以便它可以作为当局监控医院负担的可靠工具。

The research community has increasing interest in autonomous driving research, despite the resource intensity of obtaining representative real world data. Existing selfdriving datasets are limited in the scale and variation of the environments they capture, even though generalization within and between operating regions is crucial to the overall viability of the technology. In an effort to help align the research community's contributions with real-world selfdriving problems, we introduce a new large-scale, high quality, diverse dataset. Our new dataset consists of 1150 scenes that each span 20 seconds, consisting of well synchronized and calibrated high quality LiDAR and camera data captured across a range of urban and suburban geographies. It is 15x more diverse than the largest cam-era+LiDAR dataset available based on our proposed geographical coverage metric. We exhaustively annotated this data with 2D (camera image) and 3D (LiDAR) bounding boxes, with consistent identifiers across frames. Finally, we provide strong baselines for 2D as well as 3D detection and tracking tasks. We further study the effects of dataset size and generalization across geographies on 3D detection methods. Find data, code and more up-to-date information at http://www.waymo.com/open.