通过腿部机器人在具有挑战性的环境上进行本地导航的通用方法需要路径计划，路径跟随和运动，这通常需要机动控制策略，以准确跟踪指挥速度。但是，通过将导航问题分解为这些子任务，我们限制了机器人的功能，因为各个任务不考虑完整的解决方案空间。在这项工作中，我们建议通过深入强化学习来训练端到端政策来解决完整的问题。机器人不必在提供的时间内到达目标位置，而不是不断跟踪预算的路径。该任务的成功仅在情节结束时进行评估，这意味着该策略不需要尽快到达目标。可以免费选择其路径和运动步态。以这种方式培训政策可以打开更多可能的解决方案，这使机器人能够学习更多复杂的行为。我们比较我们的速度跟踪方法，并表明任务奖励的时间依赖性对于成功学习这些新行为至关重要。最后，我们证明了在真正的四足动物机器人上成功部署政策。机器人能够跨越具有挑战性的地形，这是以前无法实现的，同时使用更节能的步态并达到更高的成功率。

用快速自动驾驶汽车导航越野，取决于强大的感知系统，该系统与不可传输的地形区分开来。通常，这取决于语义理解，该语义理解基于人类专家注释的图像的监督学习。这需要对人类时间进行大量投资，假定正确的专家分类，并且小细节可能导致错误分类。为了应对这些挑战，我们提出了一种方法，可以以一种自我监督的方式从过去的车辆体验中预测高风险的地形。首先，我们开发了一种将车辆轨迹投射到前摄像头图像中的工具。其次，在地形的3D表示中的遮挡被过滤掉。第三，在蒙面车辆轨迹区域训练的自动编码器根据重建误差确定低风险和高风险地形。我们通过两种型号和不同的瓶颈评估了我们的方法，并使用了两个不同的训练站点和四轮越野车。与来自类似地形的两个独立的语义标签的独立测试集比较，表明能够将地面作为低风险和植被为高风险，精度为81.1％和85.1％。

用于移动操作的机器人平台需要满足许多对许多现实世界应用的两个矛盾要求：需要紧凑的基础才能通过混乱的室内环境导航，而支撑需要足够大以防止翻滚或小费，尤其是在快速操纵期间有效载荷或与环境有力互动的操作。本文提出了一种新颖的机器人设计，该设计通过多功能足迹来满足这两种要求。当操纵重物时，它可以将其足迹重新配置为狭窄的配置。此外，其三角形配置可通过防止支撑开关来在不平坦的地面上进行高精度任务。提出了一种模型预测控制策略，该策略统一计划和控制，以同时导航，重新配置和操纵。它将任务空间目标转换为新机器人的全身运动计划。提出的设计已通过硬件原型进行了广泛的测试。足迹重新配置几乎可以完全消除操纵引起的振动。控制策略在实验室实验和现实世界的施工任务中被证明有效。

Neural networks are increasingly applied in safety critical domains, their verification thus is gaining importance. A large class of recent algorithms for proving input-output relations of feed-forward neural networks are based on linear relaxations and symbolic interval propagation. However, due to variable dependencies, the approximations deteriorate with increasing depth of the network. In this paper we present DPNeurifyFV, a novel branch-and-bound solver for ReLU networks with low dimensional input-space that is based on symbolic interval propagation with fresh variables and input-splitting. A new heuristic for choosing the fresh variables allows to ameliorate the dependency problem, while our novel splitting heuristic, in combination with several other improvements, speeds up the branch-and-bound procedure. We evaluate our approach on the airborne collision avoidance networks ACAS Xu and demonstrate runtime improvements compared to state-of-the-art tools.

With the ever-growing popularity of the field of NLP, the demand for datasets in low resourced-languages follows suit. Following a previously established framework, in this paper, we present the UNER dataset, a multilingual and hierarchical parallel corpus annotated for named-entities. We describe in detail the developed procedure necessary to create this type of dataset in any language available on Wikipedia with DBpedia information. The three-step procedure extracts entities from Wikipedia articles, links them to DBpedia, and maps the DBpedia sets of classes to the UNER labels. This is followed by a post-processing procedure that significantly increases the number of identified entities in the final results. The paper concludes with a statistical and qualitative analysis of the resulting dataset.

This article presents the application of the Universal Named Entity framework to generate automatically annotated corpora. By using a workflow that extracts Wikipedia data and meta-data and DBpedia information, we generated an English dataset which is described and evaluated. Furthermore, we conducted a set of experiments to improve the annotations in terms of precision, recall, and F1-measure. The final dataset is available and the established workflow can be applied to any language with existing Wikipedia and DBpedia. As part of future research, we intend to continue improving the annotation process and extend it to other languages.

This paper presents a cross-lingual sentiment analysis of news articles using zero-shot and few-shot learning. The study aims to classify the Croatian news articles with positive, negative, and neutral sentiments using the Slovene dataset. The system is based on a trilingual BERT-based model trained in three languages: English, Slovene, Croatian. The paper analyses different setups using datasets in two languages and proposes a simple multi-task model to perform sentiment classification. The evaluation is performed using the few-shot and zero-shot scenarios in single-task and multi-task experiments for Croatian and Slovene.

S-boxes are an important primitive that help cryptographic algorithms to be resilient against various attacks. The resilience against specific attacks can be connected with a certain property of an S-box, and the better the property value, the more secure the algorithm. One example of such a property is called boomerang uniformity, which helps to be resilient against boomerang attacks. How to construct S-boxes with good boomerang uniformity is not always clear. There are algebraic techniques that can result in good boomerang uniformity, but the results are still rare. In this work, we explore the evolution of S-boxes with good values of boomerang uniformity. We consider three different encodings and five S-box sizes. For sizes $4\times 4$ and $5\times 5$, we manage to obtain optimal solutions. For $6\times 6$, we obtain optimal boomerang uniformity for the non-APN function. For larger sizes, the results indicate the problem to be very difficult (even more difficult than evolving differential uniformity, which can be considered a well-researched problem).

Predicting the political polarity of news headlines is a challenging task that becomes even more challenging in a multilingual setting with low-resource languages. To deal with this, we propose to utilise the Inferential Commonsense Knowledge via a Translate-Retrieve-Translate strategy to introduce a learning framework. To begin with, we use the method of translation and retrieval to acquire the inferential knowledge in the target language. We then employ an attention mechanism to emphasise important inferences. We finally integrate the attended inferences into a multilingual pre-trained language model for the task of bias prediction. To evaluate the effectiveness of our framework, we present a dataset of over 62.6K multilingual news headlines in five European languages annotated with their respective political polarities. We evaluate several state-of-the-art multilingual pre-trained language models since their performance tends to vary across languages (low/high resource). Evaluation results demonstrate that our proposed framework is effective regardless of the models employed. Overall, the best performing model trained with only headlines show 0.90 accuracy and F1, and 0.83 jaccard score. With attended knowledge in our framework, the same model show an increase in 2.2% accuracy and F1, and 3.6% jaccard score. Extending our experiments to individual languages reveals that the models we analyze for Slovenian perform significantly worse than other languages in our dataset. To investigate this, we assess the effect of translation quality on prediction performance. It indicates that the disparity in performance is most likely due to poor translation quality. We release our dataset and scripts at: https://github.com/Swati17293/KG-Multi-Bias for future research. Our framework has the potential to benefit journalists, social scientists, news producers, and consumers.

Road-safety inspection is an indispensable instrument for reducing road-accident fatalities contributed to road infrastructure. Recent work formalizes road-safety assessment in terms of carefully selected risk factors that are also known as road-safety attributes. In current practice, these attributes are manually annotated in geo-referenced monocular video for each road segment. We propose to reduce dependency on tedious human labor by automating recognition with a two-stage neural architecture. The first stage predicts more than forty road-safety attributes by observing a local spatio-temporal context. Our design leverages an efficient convolutional pipeline, which benefits from pre-training on semantic segmentation of street scenes. The second stage enhances predictions through sequential integration across a larger temporal window. Our design leverages per-attribute instances of a lightweight bidirectional LSTM architecture. Both stages alleviate extreme class imbalance by incorporating a multi-task variant of recall-based dynamic loss weighting. We perform experiments on the iRAP-BH dataset, which involves fully labeled geo-referenced video along 2,300 km of public roads in Bosnia and Herzegovina. We also validate our approach by comparing it with the related work on two road-scene classification datasets from the literature: Honda Scenes and FM3m. Experimental evaluation confirms the value of our contributions on all three datasets.