在本文中，我们介绍了一个高质量的大规模基准数据集，用于英语 - 越南语音翻译，其中有508音频小时，由331k的三胞胎组成（句子长度的音频，英语源笔录句，越南人目标subtitle句子）。我们还使用强基础进行了经验实验，发现传统的“级联”方法仍然优于现代“端到端”方法。据我们所知，这是第一个大规模的英语 - 越南语音翻译研究。我们希望我们的公开数据集和研究都可以作为未来研究和英语语音翻译应用的起点。我们的数据集可从https://github.com/vinairesearch/phost获得

最近的人工智能（AI）算法已在各种医学分类任务上实现了放射科医生级的性能。但是，只有少数研究涉及CXR扫描异常发现的定位，这对于向放射学家解释图像级分类至关重要。我们在本文中介绍了一个名为Vindr-CXR的可解释的深度学习系统，该系统可以将CXR扫描分类为多种胸部疾病，同时将大多数类型的关键发现本地化在图像上。 Vindr-CXR接受了51,485次CXR扫描的培训，并通过放射科医生提供的边界盒注释进行了培训。它表现出与经验丰富的放射科医生相当的表现，可以在3,000张CXR扫描的回顾性验证集上对6种常见的胸部疾病进行分类，而在接收器操作特征曲线（AUROC）下的平均面积为0.967（95％置信区间[CI]：0.958---------0.958------- 0.975）。 VINDR-CXR在独立患者队列中也得到了外部验证，并显示出其稳健性。对于具有14种类型病变的本地化任务，我们的自由响应接收器操作特征（FROC）分析表明，VINDR-CXR以每扫描确定的1.0假阳性病变的速率达到80.2％的敏感性。还进行了一项前瞻性研究，以衡量VINDR-CXR在协助六名经验丰富的放射科医生方面的临床影响。结果表明，当用作诊断工具时，提出的系统显着改善了放射科医生本身之间的一致性，平均Fleiss的Kappa的同意增加了1.5％。我们还观察到，在放射科医生咨询了Vindr-CXR的建议之后，在平均Cohen的Kappa中，它们和系统之间的一致性显着增加了3.3％。

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.

Mixtures of regression are a powerful class of models for regression learning with respect to a highly uncertain and heterogeneous response variable of interest. In addition to being a rich predictive model for the response given some covariates, the parameters in this model class provide useful information about the heterogeneity in the data population, which is represented by the conditional distributions for the response given the covariates associated with a number of distinct but latent subpopulations. In this paper, we investigate conditions of strong identifiability, rates of convergence for conditional density and parameter estimation, and the Bayesian posterior contraction behavior arising in finite mixture of regression models, under exact-fitted and over-fitted settings and when the number of components is unknown. This theory is applicable to common choices of link functions and families of conditional distributions employed by practitioners. We provide simulation studies and data illustrations, which shed some light on the parameter learning behavior found in several popular regression mixture models reported in the literature.

Protein structure prediction is a fundamental problem in computational molecular biology. Classical algorithms such as ab-initio or threading as well as many learning methods have been proposed to solve this challenging problem. However, most reinforcement learning methods tend to model the state-action pairs as discrete objects. In this paper, we develop a reinforcement learning (RL) framework in a continuous setting and based on a stochastic parametrized Hamiltonian version of the Pontryagin maximum principle (PMP) to solve the side-chain packing and protein-folding problem. For special cases our formulation can be reduced to previous work where the optimal folding trajectories are trained using an explicit use of Langevin dynamics. Optimal continuous stochastic Hamiltonian dynamics folding pathways can be derived with use of different models of molecular energetics and force fields. In our RL implementation we adopt a soft actor-critic methodology however we can replace this other RL training based on A2C, A3C or PPO.

The introduction of high-quality image generation models, particularly the StyleGAN family, provides a powerful tool to synthesize and manipulate images. However, existing models are built upon high-quality (HQ) data as desired outputs, making them unfit for in-the-wild low-quality (LQ) images, which are common inputs for manipulation. In this work, we bridge this gap by proposing a novel GAN structure that allows for generating images with controllable quality. The network can synthesize various image degradation and restore the sharp image via a quality control code. Our proposed QC-StyleGAN can directly edit LQ images without altering their quality by applying GAN inversion and manipulation techniques. It also provides for free an image restoration solution that can handle various degradations, including noise, blur, compression artifacts, and their mixtures. Finally, we demonstrate numerous other applications such as image degradation synthesis, transfer, and interpolation.

Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a difficult problem in robotics since its solution for a given target pose is not unique. Moreover, choosing the optimal IK solution with respect to application-specific demands helps to improve the robustness and to increase the success rate when driving the manipulator from its current configuration towards a desired pose. This is necessary, especially in high-dynamic tasks like catching objects in mid-flights. To compute a suitable target configuration in the joint space for a given target pose in the trajectory planning context, various factors such as travel time or manipulability must be considered. However, these factors increase the complexity of the overall problem which impedes real-time implementation. In this paper, a real-time framework to compute the analytical inverse kinematics of a redundant robot is presented. To this end, the analytical IK of the redundant manipulator is parameterized by so-called redundancy parameters, which are combined with a target pose to yield a unique IK solution. Most existing works in the literature either try to approximate the direct mapping from the desired pose of the manipulator to the solution of the IK or cluster the entire workspace to find IK solutions. In contrast, the proposed framework directly learns these redundancy parameters by using a neural network (NN) that provides the optimal IK solution with respect to the manipulability and the closeness to the current robot configuration. Monte Carlo simulations show the effectiveness of the proposed approach which is accurate and real-time capable ($\approx$ \SI{32}{\micro\second}) on the KUKA LBR iiwa 14 R820.

Despite their popularity in deep learning and machine learning in general, the theoretical properties of adaptive optimizers such as Adagrad, RMSProp, Adam or AdamW are not yet fully understood. In this paper, we develop a novel framework to study the stability and generalization of these optimization methods. Based on this framework, we show provable guarantees about such properties that depend heavily on a single parameter $\beta_2$. Our empirical experiments support our claims and provide practical insights into the stability and generalization properties of adaptive optimization methods.

By utilizing only depth information, the paper introduces a novel but efficient local planning approach that enhances not only computational efficiency but also planning performances for memoryless local planners. The sampling is first proposed to be based on the depth data which can identify and eliminate a specific type of in-collision trajectories in the sampled motion primitive library. More specifically, all the obscured primitives' endpoints are found through querying the depth values and excluded from the sampled set, which can significantly reduce the computational workload required in collision checking. On the other hand, we furthermore propose a steering mechanism also based on the depth information to effectively prevent an autonomous vehicle from getting stuck when facing a large convex obstacle, providing a higher level of autonomy for a planning system. Our steering technique is theoretically proved to be complete in scenarios of convex obstacles. To evaluate effectiveness of the proposed DEpth based both Sampling and Steering (DESS) methods, we implemented them in the synthetic environments where a quadrotor was simulated flying through a cluttered region with multiple size-different obstacles. The obtained results demonstrate that the proposed approach can considerably decrease computing time in local planners, where more trajectories can be evaluated while the best path with much lower cost can be found. More importantly, the success rates calculated by the fact that the robot successfully navigated to the destinations in different testing scenarios are always higher than 99.6% on average.

语义分割是开发医学图像诊断系统的重要任务。但是，构建注释的医疗数据集很昂贵。因此，在这种情况下，半监督方法很重要。在半监督学习中，标签的质量在模型性能中起着至关重要的作用。在这项工作中，我们提出了一种新的伪标签策略，可提高用于培训学生网络的伪标签的质量。我们遵循多阶段的半监督训练方法，该方法在标记的数据集上训练教师模型，然后使用训练有素的老师将伪标签渲染用于学生培训。通过这样做，伪标签将被更新，并且随着培训的进度更加精确。上一个和我们的方法之间的关键区别在于，我们在学生培训过程中更新教师模型。因此，在学生培训过程中，提高了伪标签的质量。我们还提出了一种简单但有效的策略，以使用动量模型来提高伪标签的质量 - 训练过程中原始模型的慢复制版本。通过应用动量模型与学生培训期间的重新渲染伪标签相结合，我们在五个数据集中平均达到了84.1％的骰子分数（即Kvarsir，CVC-ClinicdB，Etis-laribpolypdb，cvc-colondb，cvc-colondb，cvc-colondb和cvc-300）和CVC-300）只有20％的数据集用作标记数据。我们的结果超过了3％的共同实践，甚至在某些数据集中取得了完全监督的结果。我们的源代码和预培训模型可在https://github.com/sun-asterisk-research/online学习SSL上找到