A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle independently. However, it suffers from accumulative error due to inherent noise and bias instability, especially for low-cost sensors. In our previous studies on Wheel-INS \cite{niu2021, wu2021}, we proposed to limit the error drift of the pure inertial navigation system (INS) by mounting an IMU to the wheel of the robot to take advantage of rotation modulation. However, it still drifted over a long period of time due to the lack of external correction signals. In this letter, we propose to exploit the environmental perception ability of Wheel-INS to achieve simultaneous localization and mapping (SLAM) with only one IMU. To be specific, we use the road bank angles (mirrored by the robot roll angles estimated by Wheel-INS) as terrain features to enable the loop closure with a Rao-Blackwellized particle filter. The road bank angle is sampled and stored according to the robot position in the grid maps maintained by the particles. The weights of the particles are updated according to the difference between the currently estimated roll sequence and the terrain map. Field experiments suggest the feasibility of the idea to perform SLAM in Wheel-INS using the robot roll angle estimates. In addition, the positioning accuracy is improved significantly (more than 30\%) over Wheel-INS. Source code of our implementation is publicly available (https://github.com/i2Nav-WHU/Wheel-SLAM).

The number of international benchmarking competitions is steadily increasing in various fields of machine learning (ML) research and practice. So far, however, little is known about the common practice as well as bottlenecks faced by the community in tackling the research questions posed. To shed light on the status quo of algorithm development in the specific field of biomedical imaging analysis, we designed an international survey that was issued to all participants of challenges conducted in conjunction with the IEEE ISBI 2021 and MICCAI 2021 conferences (80 competitions in total). The survey covered participants' expertise and working environments, their chosen strategies, as well as algorithm characteristics. A median of 72% challenge participants took part in the survey. According to our results, knowledge exchange was the primary incentive (70%) for participation, while the reception of prize money played only a minor role (16%). While a median of 80 working hours was spent on method development, a large portion of participants stated that they did not have enough time for method development (32%). 25% perceived the infrastructure to be a bottleneck. Overall, 94% of all solutions were deep learning-based. Of these, 84% were based on standard architectures. 43% of the respondents reported that the data samples (e.g., images) were too large to be processed at once. This was most commonly addressed by patch-based training (69%), downsampling (37%), and solving 3D analysis tasks as a series of 2D tasks. K-fold cross-validation on the training set was performed by only 37% of the participants and only 50% of the participants performed ensembling based on multiple identical models (61%) or heterogeneous models (39%). 48% of the respondents applied postprocessing steps.

Linear-quadratic regulators (LQR) are a well known and widely used tool in control theory for both linear and nonlinear dynamics. For nonlinear problems, an LQR-based controller is usually only locally viable, thus, raising the problem of estimating the region of attraction (ROA). The need for good ROA estimations becomes especially pressing for underactuated systems, as a failure of controls might lead to unsafe and unrecoverable system states. Known approaches based on optimization or sampling, while working well, might be too slow in time critical applications and are hard to verify formally. In this work, we propose a novel approach to estimate the ROA based on the analytic solutions to linear ODEs for the torque limited simple pendulum. In simulation and physical experiments, we compared our approach to a Lyapunov-sampling baseline approach and found that our approach was faster to compute, while yielding ROA estimations of similar phase space area.

Many autonomous agents, such as intelligent vehicles, are inherently required to interact with one another. Game theory provides a natural mathematical tool for robot motion planning in such interactive settings. However, tractable algorithms for such problems usually rely on a strong assumption, namely that the objectives of all players in the scene are known. To make such tools applicable for ego-centric planning with only local information, we propose an adaptive model-predictive game solver, which jointly infers other players' objectives online and computes a corresponding generalized Nash equilibrium (GNE) strategy. The adaptivity of our approach is enabled by a differentiable trajectory game solver whose gradient signal is used for maximum likelihood estimation (MLE) of opponents' objectives. This differentiability of our pipeline facilitates direct integration with other differentiable elements, such as neural networks (NNs). Furthermore, in contrast to existing solvers for cost inference in games, our method handles not only partial state observations but also general inequality constraints. In two simulated traffic scenarios, we find superior performance of our approach over both existing game-theoretic methods and non-game-theoretic model-predictive control (MPC) approaches. We also demonstrate our approach's real-time planning capabilities and robustness in two hardware experiments.

过程发现是一种技术系列，有助于从其数据足迹中理解流程。然而，随着过程随着时间的变化而变化，它们的相应模型也应导致模型不足或过度陈酿的行为。我们提出了一种发现算法，该算法将声明过程从事件流中提取为动态条件响应（DCR）图。监视流以生成过程的时间表示，后来处理以生成声明模型。我们通过定量和定性评估验证了该技术。对于定量评估，我们采用了扩展的JACCARD相似性度量，以说明声明环境中的过程变化。对于定性评估，我们展示了该技术确定的变化如何对应于现有过程中的实际变化。可以在线获得测试的技术和数据。

卫星遥感提供了一种具有成本效益的概要洪水监测的解决方案，卫星衍生的洪水图为传统上使用的数值洪水淹没模型提供了一种计算有效的替代方法。尽管卫星碰巧涵盖正在进行的洪水事件时确实提供了及时的淹没信息，但它们受其时空分辨率的限制，因为它们在各种规模上动态监测洪水演变的能力。不断改善对新卫星数据源的访问以及大数据处理功能，就此问题的数据驱动解决方案而言，已经解锁了前所未有的可能性。具体而言，来自卫星的数据融合，例如哥白尼前哨，它们具有很高的空间和低时间分辨率，以及来自NASA SMAP和GPM任务的数据，它们的空间较低，但时间较高的时间分辨率可能会导致高分辨率的洪水淹没在A处的高分辨率洪水。每日规模。在这里，使用Sentinel-1合成孔径雷达和各种水文，地形和基于土地利用的预测因子衍生出的洪水淹没图对卷积神经网络进行了训练，以预测高分辨率的洪水泛滥概率图。使用Sentinel-1和Sentinel-2衍生的洪水面罩，评估了UNET和SEGNET模型架构的性能，分别具有95％的信心间隔。精确召回曲线（PR-AUC）曲线下的区域（AUC）被用作主要评估指标，这是由于二进制洪水映射问题中类固有的不平衡性质，最佳模型提供了PR-AUC 0.85。

最近基于深度学习的医学图像注册方法实现了与传统优化算法在减少的运行时间时具有竞争力的结果。但是，深度神经网络通常需要大量标记的培训数据，并且容易受到培训和测试数据之间的领域变化。尽管基于按键的注册可以减轻典型的强度移位，但由于不同的视野，这些方法仍然遭受几何域移位。作为一种补救措施，在这项工作中，我们提出了一种用于图像注册的几何结构域适应性的新方法，将模型从标记的源调整为未标记的目标域。我们以基于按键的注册模型为基础，将用于几何特征学习的图形卷积与循环信念优化相结合，并提议通过自我增压来减少域的转移。为此，我们将模型嵌入了卑鄙的教师范式中。我们将平均教师扩展到这种情况下，通过1）调整随机增强方案和2）将学习的特征提取与可区分优化相结合。这使我们能够通过对学习学生和时间平均的教师模型的一致预测来指导未标记的目标域中的学习过程。我们评估了在两个具有挑战性的适应方案（dir-lab 4d ct to copd，copd to copd to Learn2Reg）下呼气到肺CT注册的方法。我们的方法一致地将基线模型提高了50％/47％，甚至匹配了对目标数据训练的模型的准确性。源代码可在https://github.com/multimodallearning/registration-da-mean-teacher上获得。

尽管受到监督的深度学习彻底改变了语音和音频处理，但它必须为个人任务和应用程序方案建立专业模型。同样，很难将其应用于仅可用标记数据的方言和语言。自我监督的代表学习方法承诺一个单一的通用模型，该模型将使各种各样的任务和领域受益。这种方法已显示出在自然语言处理和计算机视觉域中的成功，在减少许多下游场景所需的标签数量的同时，达到了新的性能水平。语音表示学习在三个主要类别中也经历了类似的进展：生成，对比和预测方法。其他方法依赖于多模式数据，用于预训练，将文本或视觉数据流与语音混合。尽管自我监督的语音表示仍然是一个新生的研究领域，但它与用零词汇资源的声学单词嵌入和学习密切相关，这两种资源已经进行了多年的积极研究。这篇评论介绍了自我监督的语音表示学习及其与其他研究领域的联系的方法。由于许多当前的方法仅集中在自动语音识别作为下游任务上，因此我们回顾了基准测试的最新努力，以将应用程序扩展到语音识别之外。

由于不断增长的计算要求，深度学习（DL）的能源消耗和碳足迹的增加已成为引起人们关注的原因。在这项工作中，我们关注开发医学图像分析模型（MIA）的碳足迹，其中处理了高空间分辨率的体积图像。在这项研究中，我们介绍并比较了文献中四种工具的特征，以量化DL的碳足迹。使用这些工具之一，我们估计了医学图像分割管道的碳足迹。我们选择NNU-NET作为医疗图像分割管道的代理，并在三个常见数据集上进行实验。在我们的工作中，我们希望告知MIA产生的能源成本不断增加。我们讨论了削减环境影响的简单策略，以使模型选择和培训过程更加有效。

我们在分布式框架中得出最小值测试错误，其中数据被分成多个机器，并且它们与中央机器的通信仅限于$ b $位。我们研究了高斯白噪声下的$ d $ - 和无限维信号检测问题。我们还得出达到理论下限的分布式测试算法。我们的结果表明，分布式测试受到从根本上不同的现象，这些现象在分布式估计中未观察到。在我们的发现中，我们表明，可以访问共享随机性的测试协议在某些制度中的性能比不进行的测试协议可以更好地表现。我们还观察到，即使仅使用单个本地计算机上可用的信息，一致的非参数分布式测试始终是可能的，即使只有$ 1 $的通信和相应的测试优于最佳本地测试。此外，我们还得出了自适应非参数分布测试策略和相应的理论下限。