目的：我们提出了一个正式的框架，用于使用统一的运动原始图（MPS）作为基本手术动作来建模手术任务，以实现不同数据集的更客观的标记和聚集，并培训通用模型，以实现手术动作识别。方法：我们使用我们的框架来创建上下文和运动原始骨料外科手术集（指南针），包括来自三个公共可用数据集（拼图，桌子，桌子和Rosma）的六个干燥LAB手术任务标签。提出了标记手术环境和自动转换为MPS的方法。我们提出了一项任务（Loto）交叉验证方法，以评估模型概括为看不见的任务的能力。结果：我们的上下文标签方法达到了众包的共识标签与专家外科医生之间的几乎完美的一致性。对MPS的任务进行分割，可以生成单独的左右笔录，并显着改善Loto的性能。我们发现，如果对具有相同上下文的任务和/或来自同一数据集的任务进行了培训，则MP细分模型的性能最佳。结论：所提出的框架可以基于上下文和细粒度的MPS对外科数据进行高质量的标记。使用MPS对外科手术任务进行建模可以使不同数据集的汇总用于训练动作识别模型，这些模型可以比在手势级别训练的模型更好地概括地看不见的任务。意义：我们的正式框架和汇总数据集可以支持用于手术过程分析，技能评估，错误检测和自治的模型和算法的开发。

背景技术分析运动和视频数据可以帮助识别可能的错误动作，导致机器人辅助手术中的次优外科医生性能和安全关键事件。方法开发针对识别任务和手势的刽子手和程序错误的标题，并评估从拼图数据集中缝合和针传递任务的干燥实验室演示。我们通过标记视频数据来表征示范的错误部分，以及在运动数据上使用分发相似性分析和轨迹平均来识别区分错误手势的参数。结果刽子手误差频率因任务和手势而异，与技能水平相关。每个手势中的一些主要误差模式通过分析特定误差的运动参数来区分。程序错误可能导致性能分数降低，并增加了演示时间，但也取决于手术方式。结论本研究提供了对依赖于上下文错误的见解，这些错误可用于设计自动化错误检测机制并改善培训和技能评估。

Deep neural networks (DNNs) are found to be vulnerable to adversarial attacks, and various methods have been proposed for the defense. Among these methods, adversarial training has been drawing increasing attention because of its simplicity and effectiveness. However, the performance of the adversarial training is greatly limited by the architectures of target DNNs, which often makes the resulting DNNs with poor accuracy and unsatisfactory robustness. To address this problem, we propose DSARA to automatically search for the neural architectures that are accurate and robust after adversarial training. In particular, we design a novel cell-based search space specially for adversarial training, which improves the accuracy and the robustness upper bound of the searched architectures by carefully designing the placement of the cells and the proportional relationship of the filter numbers. Then we propose a two-stage search strategy to search for both accurate and robust neural architectures. At the first stage, the architecture parameters are optimized to minimize the adversarial loss, which makes full use of the effectiveness of the adversarial training in enhancing the robustness. At the second stage, the architecture parameters are optimized to minimize both the natural loss and the adversarial loss utilizing the proposed multi-objective adversarial training method, so that the searched neural architectures are both accurate and robust. We evaluate the proposed algorithm under natural data and various adversarial attacks, which reveals the superiority of the proposed method in terms of both accurate and robust architectures. We also conclude that accurate and robust neural architectures tend to deploy very different structures near the input and the output, which has great practical significance on both hand-crafting and automatically designing of accurate and robust neural architectures.

Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of tactile sensors makes them a perfect match for haptic feedback applications. In this paper, we propose a contact force estimation method using the vision-based tactile sensor DIGIT, and apply it to a position-force teleoperation architecture for force feedback. The force estimation is done by building a depth map for DIGIT gel surface deformation measurement and applying a regression algorithm on estimated depth data and ground truth force data to get the depth-force relationship. The experiment is performed by constructing a grasping force feedback system with a haptic device as a leader robot and a parallel robot gripper as a follower robot, where the DIGIT sensor is attached to the tip of the robot gripper to estimate the contact force. The preliminary results show the capability of using the low-cost vision-based sensor for force feedback applications.

Recently, evolutionary multitasking (EMT) has been successfully used in the field of high-dimensional classification. However, the generation of multiple tasks in the existing EMT-based feature selection (FS) methods is relatively simple, using only the Relief-F method to collect related features with similar importance into one task, which cannot provide more diversified tasks for knowledge transfer. Thus, this paper devises a new EMT algorithm for FS in high-dimensional classification, which first adopts different filtering methods to produce multiple tasks and then modifies a competitive swarm optimizer to efficiently solve these related tasks via knowledge transfer. First, a diversified multiple task generation method is designed based on multiple filtering methods, which generates several relevant low-dimensional FS tasks by eliminating irrelevant features. In this way, useful knowledge for solving simple and relevant tasks can be transferred to simplify and speed up the solution of the original high-dimensional FS task. Then, a competitive swarm optimizer is modified to simultaneously solve these relevant FS tasks by transferring useful knowledge among them. Numerous empirical results demonstrate that the proposed EMT-based FS method can obtain a better feature subset than several state-of-the-art FS methods on eighteen high-dimensional datasets.

Despite recent progress in Natural Language Understanding (NLU), the creation of multilingual NLU systems remains a challenge. It is common to have NLU systems limited to a subset of languages due to lack of available data. They also often vary widely in performance. We launch a three-phase approach to address the limitations in NLU and help propel NLU technology to new heights. We release a 52 language dataset called the Multilingual Amazon SLU resource package (SLURP) for Slot-filling, Intent classification, and Virtual assistant Evaluation, or MASSIVE, in an effort to address parallel data availability for voice assistants. We organize the Massively Multilingual NLU 2022 Challenge to provide a competitive environment and push the state-of-the art in the transferability of models into other languages. Finally, we host the first Massively Multilingual NLU workshop which brings these components together. The MMNLU workshop seeks to advance the science behind multilingual NLU by providing a platform for the presentation of new research in the field and connecting teams working on this research direction. This paper summarizes the dataset, workshop and the competition and the findings of each phase.

We present hierarchical policy blending as optimal transport (HiPBOT). This hierarchical framework adapts the weights of low-level reactive expert policies, adding a look-ahead planning layer on the parameter space of a product of expert policies and agents. Our high-level planner realizes a policy blending via unbalanced optimal transport, consolidating the scaling of underlying Riemannian motion policies, effectively adjusting their Riemannian matrix, and deciding over the priorities between experts and agents, guaranteeing safety and task success. Our experimental results in a range of application scenarios from low-dimensional navigation to high-dimensional whole-body control showcase the efficacy and efficiency of HiPBOT, which outperforms state-of-the-art baselines that either perform probabilistic inference or define a tree structure of experts, paving the way for new applications of optimal transport to robot control. More material at https://sites.google.com/view/hipobot

事实证明，基于得分的生成建模（SGM）是对有限维空间建模密度的非常有效的方法。在这项工作中，我们建议将这种方法扩展到在功能空间上学习生成模型。为此，我们代表光谱空间中的功能数据，以将过程的随机部分与其时空部分解离。然后，我们使用有限尺寸SGM从其随机组件中采样了尺寸降低技术。我们证明了我们的方法对各种多模式数据集进行建模的有效性。

解释视觉场景的含义不仅需要识别其成分对象，还需要对象相互关系的丰富语义表征。在这里，我们通过将现代计算技术应用于复杂自然场景引起的人类脑反应的大规模7T fMRI数据集，研究视觉语义转换的神经机制。使用通过将语言深度学习模型应用于人类生成的场景描述获得的语义嵌入，我们确定了编码语义场景描述的大脑区域的广泛分布网络。重要的是，这些语义嵌入比传统对象类别标签更好地解释了这些区域的活动。此外，尽管参与者没有积极从事语义任务，但它们还是活动的有效预测指标，这表明Visuo-Semantic转换是默认的视觉方式。为了支持这种观点，我们表明，可以直接通过大脑活动模式直接将场景字幕的高度精确重建。最后，经过语义嵌入训练的经常性卷积神经网络进一步超过了语义嵌入在预测大脑活动时的语义嵌入，从而提供了大脑视觉语义转换的机械模型。这些实验和计算结果在一起表明，将视觉输入转换为丰富的语义场景描述可能是视觉系统的核心目标，并且将重点放在这一新目标上可能会导致改进人类大脑中视觉信息处理的模型。

网络体系结构设计的持续进步导致了各种具有挑战性的计算机视觉任务的深入学习取得的显着成就。同时，神经体系结构搜索（NAS）的开发提供了有前途的方法来自动化网络体系结构的设计，从而获得较低的预测错误。最近，深入学习的新兴应用程序方案提高了考虑多个设计标准的网络体系结构的更高需求：参数/浮点操作的数量以及推理延迟等。从优化的角度来看，涉及多个设计标准的NAS任务是本质上多目标优化问题。因此，采用进化的多目标优化（EMO）算法来解决它们是合理的。尽管如此，仍然存在一个明显的差距，将相关研究沿着这一途径限制：一方面，从优化的角度出发，缺乏NAS任务的一般问题。另一方面，在NAS任务上对EMO算法进行基准评估存在挑战。弥合差距：（i）我们将NAS任务制定为一般的多目标优化问题，并从优化的角度分析复杂特征； （ii）我们提出了一条端到端管道，称为$ \ texttt {evoxbench} $，以生成Emo算法的基准测试问题，以有效运行 - 无需GPU或Pytorch/tensorflow； （iii）我们实例化了两个测试套件，全面涵盖了两个数据集，七个搜索空间和三个硬件设备，最多涉及八个目标。基于上述内容，我们使用六种代表性的EMO算法验证了提出的测试套件，并提供了一些经验分析。 $ \ texttt {evoxBench} $的代码可从$ \ href {https://github.com/emi-group/evoxbench} {\ rm {there}} $。