本文提出了一个模型预测控制（MPC）框架，以实现MIT类人体上的动态步态。除了适应脚步位置和在线时机外，该建议的方法还可以理解高度，接触扳手，躯干旋转，运动学限制和谈判不均匀的地形。具体而言，线性MPC（LMPC）通过与当前的脚步位置进行线性线性线性线性来优化所需的脚步位置。低级任务空间控制器跟踪从LMPC的预测状态和控制轨迹，以利用全身动力学。最后，采用自适应步态频率方案来修改步进频率并增强步行控制器的鲁棒性。 LMPC和任务空间控制都可以作为二次程序（QP）有效地求解，因此适用于实时应用程序。模拟研究中，MIT类人动物遍历波场并从冲动性干扰中恢复为拟议方法恢复。

用多腿机器人的动态跳跃在规划和控制方面提出了一个具有挑战性的问题。制定跳转优化以允许快速在线执行难;有效地使用这种能够生成长地平轨迹的能力进一步复杂化问题。在这项工作中，我们提出了一种新的分层规划框架来解决这个问题。我们首先制定了一个实时的轨道轨迹优化，用于执行全向跳跃。然后，我们将该优化的结果嵌入到低维跳转可行性分类器中。该分类器由高级策划器利用，以产生动态可行的路径，并且对硬件轨迹实现中的可变性也很稳健。我们在迷你猎豹视觉上部署我们的框架，展示了机器人的生成和执行可靠的目标导向路径，这些路径涉及前进，横向和旋转跳跃到比机器人的标称臀部高度高1.35倍。通过全向跳跃计划的能力极大地扩展了机器人相对于限制跳跃到矢状或前平面的规划者的移动性。

Extracting complex structures from grid-based data is a common key step in automated medical image analysis. The conventional solution to recovering tree-structured geometries typically involves computing the minimal cost path through intermediate representations derived from segmentation masks. However, this methodology has significant limitations in the context of projective imaging of tree-structured 3D anatomical data such as coronary arteries, since there are often overlapping branches in the 2D projection. In this work, we propose a novel approach to predicting tree connectivity structure which reformulates the task as an optimization problem over individual steps of a recursive process. We design and train a two-stage model which leverages the UNet and Transformer architectures and introduces an image-based prompting technique. Our proposed method achieves compelling results on a pair of synthetic datasets, and outperforms a shortest-path baseline.

There are multiple scales of abstraction from which we can describe the same image, depending on whether we are focusing on fine-grained details or a more global attribute of the image. In brain mapping, learning to automatically parse images to build representations of both small-scale features (e.g., the presence of cells or blood vessels) and global properties of an image (e.g., which brain region the image comes from) is a crucial and open challenge. However, most existing datasets and benchmarks for neuroanatomy consider only a single downstream task at a time. To bridge this gap, we introduce a new dataset, annotations, and multiple downstream tasks that provide diverse ways to readout information about brain structure and architecture from the same image. Our multi-task neuroimaging benchmark (MTNeuro) is built on volumetric, micrometer-resolution X-ray microtomography images spanning a large thalamocortical section of mouse brain, encompassing multiple cortical and subcortical regions. We generated a number of different prediction challenges and evaluated several supervised and self-supervised models for brain-region prediction and pixel-level semantic segmentation of microstructures. Our experiments not only highlight the rich heterogeneity of this dataset, but also provide insights into how self-supervised approaches can be used to learn representations that capture multiple attributes of a single image and perform well on a variety of downstream tasks. Datasets, code, and pre-trained baseline models are provided at: https://mtneuro.github.io/ .

Cohn and Umans proposed a framework for developing fast matrix multiplication algorithms based on the embedding computation in certain groups algebras. In subsequent work with Kleinberg and Szegedy, they connected this to the search for combinatorial objects called strong uniquely solvable puzzles (strong USPs). We begin a systematic computer-aided search for these objects. We develop and implement constraint-based algorithms build on reductions to $\mathrm{SAT}$ and $\mathrm{IP}$ to verify that puzzles are strong USPs, and to search for large strong USPs. We produce tight bounds on the maximum size of a strong USP for width $k \le 5$, construct puzzles of small width that are larger than previous work, and improve the upper bounds on strong USP size for $k \le 12$. Although our work only deals with puzzles of small-constant width, the strong USPs we find imply matrix multiplication algorithms that run in $O(n^\omega)$ time with exponent $\omega \le 2.66$. While our algorithms do not beat the fastest algorithms, our work provides evidence and, perhaps, a path to finding families of strong USPs that imply matrix multiplication algorithms that are more efficient than those currently known.

Agile robotics presents a difficult challenge with robots moving at high speeds requiring precise and low-latency sensing and control. Creating agile motion that accomplishes the task at hand while being safe to execute is a key requirement for agile robots to gain human trust. This requires designing new approaches that are flexible and maintain knowledge over world constraints. In this paper, we consider the problem of building a flexible and adaptive controller for a challenging agile mobile manipulation task of hitting ground strokes on a wheelchair tennis robot. We propose and evaluate an extension to work done on learning striking behaviors using a probabilistic movement primitive (ProMP) framework by (1) demonstrating the safe execution of learned primitives on an agile mobile manipulator setup, and (2) proposing an online primitive refinement procedure that utilizes evaluative feedback from humans on the executed trajectories.

Curating datasets for object segmentation is a difficult task. With the advent of large-scale pre-trained generative models, conditional image generation has been given a significant boost in result quality and ease of use. In this paper, we present a novel method that enables the generation of general foreground-background segmentation models from simple textual descriptions, without requiring segmentation labels. We leverage and explore pre-trained latent diffusion models, to automatically generate weak segmentation masks for concepts and objects. The masks are then used to fine-tune the diffusion model on an inpainting task, which enables fine-grained removal of the object, while at the same time providing a synthetic foreground and background dataset. We demonstrate that using this method beats previous methods in both discriminative and generative performance and closes the gap with fully supervised training while requiring no pixel-wise object labels. We show results on the task of segmenting four different objects (humans, dogs, cars, birds).

Artificial Intelligence (AI) has become commonplace to solve routine everyday tasks. Because of the exponential growth in medical imaging data volume and complexity, the workload on radiologists is steadily increasing. We project that the gap between the number of imaging exams and the number of expert radiologist readers required to cover this increase will continue to expand, consequently introducing a demand for AI-based tools that improve the efficiency with which radiologists can comfortably interpret these exams. AI has been shown to improve efficiency in medical-image generation, processing, and interpretation, and a variety of such AI models have been developed across research labs worldwide. However, very few of these, if any, find their way into routine clinical use, a discrepancy that reflects the divide between AI research and successful AI translation. To address the barrier to clinical deployment, we have formed MONAI Consortium, an open-source community which is building standards for AI deployment in healthcare institutions, and developing tools and infrastructure to facilitate their implementation. This report represents several years of weekly discussions and hands-on problem solving experience by groups of industry experts and clinicians in the MONAI Consortium. We identify barriers between AI-model development in research labs and subsequent clinical deployment and propose solutions. Our report provides guidance on processes which take an imaging AI model from development to clinical implementation in a healthcare institution. We discuss various AI integration points in a clinical Radiology workflow. We also present a taxonomy of Radiology AI use-cases. Through this report, we intend to educate the stakeholders in healthcare and AI (AI researchers, radiologists, imaging informaticists, and regulators) about cross-disciplinary challenges and possible solutions.

Automated cellular instance segmentation is a process utilized for accelerating biological research for the past two decades, and recent advancements have produced higher quality results with less effort from the biologist. Most current endeavors focus on completely cutting the researcher out of the picture by generating highly generalized models. However, these models invariably fail when faced with novel data, distributed differently than the ones used for training. Rather than approaching the problem with methods that presume the availability of large amounts of target data and computing power for retraining, in this work we address the even greater challenge of designing an approach that requires minimal amounts of new annotated data as well as training time. We do so by designing specialized contrastive losses that leverage the few annotated samples very efficiently. A large set of results show that 3 to 5 annotations lead to models with accuracy that: 1) significantly mitigate the covariate shift effects; 2) matches or surpasses other adaptation methods; 3) even approaches methods that have been fully retrained on the target distribution. The adaptation training is only a few minutes, paving a path towards a balance between model performance, computing requirements and expert-level annotation needs.

Neural compression offers a domain-agnostic approach to creating codecs for lossy or lossless compression via deep generative models. For sequence compression, however, most deep sequence models have costs that scale with the sequence length rather than the sequence complexity. In this work, we instead treat data sequences as observations from an underlying continuous-time process and learn how to efficiently discretize while retaining information about the full sequence. As a consequence of decoupling sequential information from its temporal discretization, our approach allows for greater compression rates and smaller computational complexity. Moreover, the continuous-time approach naturally allows us to decode at different time intervals. We empirically verify our approach on multiple domains involving compression of video and motion capture sequences, showing that our approaches can automatically achieve reductions in bit rates by learning how to discretize.