尽管最近在手动和对象数据集中进行了准确的3D注释做出了努力，但3D手和对象重建仍然存在差距。现有作品利用接触地图来完善不准确的手动姿势构成估计，并在给定的对象模型中生成grasps。但是，它们需要明确的3D监督，因此很少可用，因此仅限于受限的设置，例如，热摄像机观察到操纵物体上剩下的残留热量。在本文中，我们提出了一个新颖的半监督框架，使我们能够从单眼图像中学习接触。具体而言，我们利用大规模数据集中的视觉和几何一致性约束来在半监督学习中生成伪标记，并提出一个有效的基于图形的网络来推断联系。我们的半监督学习框架对接受“有限”注释的数据培训的现有监督学习方法取得了良好的改进。值得注意的是，与常用的基于点网的方法相比，我们所提出的模型能够以不到网络参数和内存访问成本的一半以下的一半获得卓越的结果。我们显示出使用触点图的好处，该触点图规则手动相互作用以产生更准确的重建。我们进一步证明，使用伪标签的培训可以将联系地图估计扩展到域外对象，并在多个数据集中更好地概括。

由于其灵活，安全，表现特性，Edge Computing彻底改变了移动和无线网络世界的世界。最近，我们目睹了越来越多的利用，使得更加努力部署机器学习（ML）技术，例如联邦学习（FL）。与传统的分布式机器学习（ML）相比，FL被宣告以提高通信效率。原始FL假定中央聚合服务器，以聚合本地优化的参数，可能会带来可靠性和延迟问题。在本文中，我们对策略进行了深入的研究，以通过基于当前参与者和/或可用资源进行动态选择的飞行主服务器来替换这一中央服务器。具体来说，我们比较不同的指标来选择该飞行主机并评估共识算法以执行选择。我们的结果表明，使用我们的飞行大师FL框架的运行时显着减少了与我们的EDGEAI测试的测量结果和使用操作边缘测试的Real 5G网络进行的测量结果相比。

考虑到不完美的预测器，我们在测试时间下利用其他功能来改善所做的预测，而不会再培训并且没有知识的预测功能。如果培训标签或数据是专有的，限制或不再可用的话，则出现这种情况，或者如果培训本身非常昂贵。我们假设额外的功能如果他们对潜在的完美预测器表现出强烈的统计依赖性，则很有用。然后，我们经验估计和加强初始嘈杂预测因子与通过歧管去噪的附加特征之间的统计依赖性。作为一个例子，我们表明这种方法导致现实世界的视觉属性排名的改进。项目网页：http：//www.jamespkin.com/tupi

为了纠正PET成像中的呼吸运动，构建了一种可解释和无监督的深度学习技术。对网络进行了训练，以预测不同呼吸幅度范围的两个宠物框架之间的光流。训练有素的模型将不同的回顾性宠物图像对齐，提供了最终图像，其计数统计量与非门控图像相似，但没有模糊的效果。 Flownet-PET应用于拟人化数字幻影数据，该数据提供了设计强大指标以量化校正的可能性。当比较预测的光流与地面真相时，发现中值绝对误差小于像素和切片宽度。通过与没有运动的图像进行比较，并计算肿瘤的联合（IOU）以及在应用校正之前和之后NO-MOTION肿瘤体积内的封闭活性和变异系数（COV）进行比较。网络提供的平均相对改进分别为IOU，总活动和COV的64％，89％和75％。 Fownet-Pet获得了与常规回顾相结合方法相似的结果，但仅需要扫描持续时间的六分之一。代码和数据已公开可用（https://github.com/teaghan/flownet_pet）。

我们为3D点云提出了一种自我监督的胶囊架构。我们通过置换等级的注意力计算对象的胶囊分解，并通过用对随机旋转对象的对进行自我监督处理。我们的主要思想是将注意力掩码汇总为语义关键点，并使用这些来监督满足胶囊不变性/设备的分解。这不仅能够培训语义一致的分解，而且还允许我们学习一个能够以对客观的推理的规范化操作。培训我们的神经网络，我们既不需要分类标签也没有手动对齐训练数据集。然而，通过以自我监督方式学习以对象形式的表示，我们的方法在3D点云重建，规范化和无监督的分类上表现出最先进的。

In both terrestrial and marine ecology, physical tagging is a frequently used method to study population dynamics and behavior. However, such tagging techniques are increasingly being replaced by individual re-identification using image analysis. This paper introduces a contrastive learning-based model for identifying individuals. The model uses the first parts of the Inception v3 network, supported by a projection head, and we use contrastive learning to find similar or dissimilar image pairs from a collection of uniform photographs. We apply this technique for corkwing wrasse, Symphodus melops, an ecologically and commercially important fish species. Photos are taken during repeated catches of the same individuals from a wild population, where the intervals between individual sightings might range from a few days to several years. Our model achieves a one-shot accuracy of 0.35, a 5-shot accuracy of 0.56, and a 100-shot accuracy of 0.88, on our dataset.

According to the rapid development of drone technologies, drones are widely used in many applications including military domains. In this paper, a novel situation-aware DRL- based autonomous nonlinear drone mobility control algorithm in cyber-physical loitering munition applications. On the battlefield, the design of DRL-based autonomous control algorithm is not straightforward because real-world data gathering is generally not available. Therefore, the approach in this paper is that cyber-physical virtual environment is constructed with Unity environment. Based on the virtual cyber-physical battlefield scenarios, a DRL-based automated nonlinear drone mobility control algorithm can be designed, evaluated, and visualized. Moreover, many obstacles exist which is harmful for linear trajectory control in real-world battlefield scenarios. Thus, our proposed autonomous nonlinear drone mobility control algorithm utilizes situation-aware components those are implemented with a Raycast function in Unity virtual scenarios. Based on the gathered situation-aware information, the drone can autonomously and nonlinearly adjust its trajectory during flight. Therefore, this approach is obviously beneficial for avoiding obstacles in obstacle-deployed battlefields. Our visualization-based performance evaluation shows that the proposed algorithm is superior from the other linear mobility control algorithms.

In robotics and computer vision communities, extensive studies have been widely conducted regarding surveillance tasks, including human detection, tracking, and motion recognition with a camera. Additionally, deep learning algorithms are widely utilized in the aforementioned tasks as in other computer vision tasks. Existing public datasets are insufficient to develop learning-based methods that handle various surveillance for outdoor and extreme situations such as harsh weather and low illuminance conditions. Therefore, we introduce a new large-scale outdoor surveillance dataset named eXtremely large-scale Multi-modAl Sensor dataset (X-MAS) containing more than 500,000 image pairs and the first-person view data annotated by well-trained annotators. Moreover, a single pair contains multi-modal data (e.g. an IR image, an RGB image, a thermal image, a depth image, and a LiDAR scan). This is the first large-scale first-person view outdoor multi-modal dataset focusing on surveillance tasks to the best of our knowledge. We present an overview of the proposed dataset with statistics and present methods of exploiting our dataset with deep learning-based algorithms. The latest information on the dataset and our study are available at https://github.com/lge-robot-navi, and the dataset will be available for download through a server.

This paper proposes a new regularization algorithm referred to as macro-block dropout. The overfitting issue has been a difficult problem in training large neural network models. The dropout technique has proven to be simple yet very effective for regularization by preventing complex co-adaptations during training. In our work, we define a macro-block that contains a large number of units from the input to a Recurrent Neural Network (RNN). Rather than applying dropout to each unit, we apply random dropout to each macro-block. This algorithm has the effect of applying different drop out rates for each layer even if we keep a constant average dropout rate, which has better regularization effects. In our experiments using Recurrent Neural Network-Transducer (RNN-T), this algorithm shows relatively 4.30 % and 6.13 % Word Error Rates (WERs) improvement over the conventional dropout on LibriSpeech test-clean and test-other. With an Attention-based Encoder-Decoder (AED) model, this algorithm shows relatively 4.36 % and 5.85 % WERs improvement over the conventional dropout on the same test sets.

The SINDy algorithm has been successfully used to identify the governing equations of dynamical systems from time series data. In this paper, we argue that this makes SINDy a potentially useful tool for causal discovery and that existing tools for causal discovery can be used to dramatically improve the performance of SINDy as tool for robust sparse modeling and system identification. We then demonstrate empirically that augmenting the SINDy algorithm with tools from causal discovery can provides engineers with a tool for learning causally robust governing equations.