重用最初对不同数据训练的模型重用以提高下游任务性能是普遍的做法。尤其是在计算机视觉域中，已成功用于各种任务。在这项工作中，我们研究了转移学习对细分问题的影响，是可以用编码器decoder架构来解决的细分分类问题。我们发现，转移学习解码器不能帮助下游细分任务，而转移学习编码器确实是有益的。我们证明，解码器的预估量权重可能会产生更快的收敛性，但是它们不能改善整体模型性能，因为人们可以通过随机初始化的解码器获得等效的结果。但是，我们表明，重复使用在细分或重建任务上训练的编码器权重比重复对分类任务训练的编码器权重相比，更有效。这一发现暗示，使用ImageNet预言的编码器解决下游分割问题是次优的。我们还提出了一种具有多个自我重建任务的对比自我监督的方法，该方法提供了适合在没有分割标签的情况下在分割问题中转移学习的编码器。

转移学习已成为减轻医疗分类任务中缺乏标记数据的标准做法。虽然FineEning使用受监督的想象佩尔预押的下游任务预磨损的功能是简单的，并且在许多作品中进行了广泛的调查，但对自我监督预测的有用性很少有研究。在本文中，我们评估了通过从三种自我监督技术（SIMCLR，SWAV和DINO）对所选医疗分类任务的三种自我监控技术（SIMCLRR，SWAV和DINO）初始化的模型的性能来评估想象成自我监督的可转换性。所选择的任务涵盖Sentinel腋窝淋巴结图像中的肿瘤检测，眼底图像中的糖尿病视网膜病变分类以及胸部X射线图像中的多种病理条件分类。我们展示了自我监督的佩戴模型产生比其监督对应物更丰富的嵌入式，这鉴于线性评估和FineTuning均有益处下游任务。例如，考虑到在织物上的数据的线性评估，我们在糖尿病视网膜病变分类任务中看到高达14.79％的提高，肿瘤分类任务中的5.4％，肺炎中的7.03％AUC检测和9.4％的AUC在胸部X射线的病理条件下检测。此外，我们将动态视觉元嵌入（DVME）引入端到端的转移学习方法，融合来自多种型号的佩尔净化的嵌入物。我们表明，与使用单个掠过的模型方法相比，DVME获得的集体表示导致所选任务的性能的显着改进，并且可以推广到预磨料模型的任何组合。

With the advent of Neural Style Transfer (NST), stylizing an image has become quite popular. A convenient way for extending stylization techniques to videos is by applying them on a per-frame basis. However, such per-frame application usually lacks temporal-consistency expressed by undesirable flickering artifacts. Most of the existing approaches for enforcing temporal-consistency suffers from one or more of the following drawbacks. They (1) are only suitable for a limited range of stylization techniques, (2) can only be applied in an offline fashion requiring the complete video as input, (3) cannot provide consistency for the task of stylization, or (4) do not provide interactive consistency-control. Note that existing consistent video-filtering approaches aim to completely remove flickering artifacts and thus do not respect any specific consistency-control aspect. For stylization tasks, however, consistency-control is an essential requirement where a certain amount of flickering can add to the artistic look and feel. Moreover, making this control interactive is paramount from a usability perspective. To achieve the above requirements, we propose an approach that can stylize video streams while providing interactive consistency-control. Apart from stylization, our approach also supports various other image processing filters. For achieving interactive performance, we develop a lite optical-flow network that operates at 80 Frames per second (FPS) on desktop systems with sufficient accuracy. We show that the final consistent video-output using our flow network is comparable to that being obtained using state-of-the-art optical-flow network. Further, we employ an adaptive combination of local and global consistent features and enable interactive selection between the two. By objective and subjective evaluation, we show that our method is superior to state-of-the-art approaches.

Vision transformers have emerged as powerful tools for many computer vision tasks. It has been shown that their features and class tokens can be used for salient object segmentation. However, the properties of segmentation transformers remain largely unstudied. In this work we conduct an in-depth study of the spatial attentions of different backbone layers of semantic segmentation transformers and uncover interesting properties. The spatial attentions of a patch intersecting with an object tend to concentrate within the object, whereas the attentions of larger, more uniform image areas rather follow a diffusive behavior. In other words, vision transformers trained to segment a fixed set of object classes generalize to objects well beyond this set. We exploit this by extracting heatmaps that can be used to segment unknown objects within diverse backgrounds, such as obstacles in traffic scenes. Our method is training-free and its computational overhead negligible. We use off-the-shelf transformers trained for street-scene segmentation to process other scene types.

The problem of generating an optimal coalition structure for a given coalition game of rational agents is to find a partition that maximizes their social welfare and is known to be NP-hard. This paper proposes GCS-Q, a novel quantum-supported solution for Induced Subgraph Games (ISGs) in coalition structure generation. GCS-Q starts by considering the grand coalition as initial coalition structure and proceeds by iteratively splitting the coalitions into two nonempty subsets to obtain a coalition structure with a higher coalition value. In particular, given an $n$-agent ISG, the GCS-Q solves the optimal split problem $\mathcal{O} (n)$ times using a quantum annealing device, exploring $\mathcal{O}(2^n)$ partitions at each step. We show that GCS-Q outperforms the currently best classical solvers with its runtime in the order of $n^2$ and an expected worst-case approximation ratio of $93\%$ on standard benchmark datasets.

Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any torque-commanded robotic manipulator. The proposed controller implements Cartesian impedance control to track a desired end-effector pose. Additionally, joint impedance is projected in the nullspace of the Cartesian robot motion to track a desired robot joint configuration without perturbing the Cartesian motion of the robot. The proposed implementation also allows the robot to apply desired forces and torques to its environment. Several safety features such as filtering, rate limiting, and saturation are included in the proposed implementation. The core functionalities are in a re-usable base library and a Robot Operating System (ROS) ros_control integration is provided on top of that. The implementation was tested with the KUKA LBR iiwa robot and the Franka Emika Robot (Panda) both in simulation and with the physical robots.

Active learning as a paradigm in deep learning is especially important in applications involving intricate perception tasks such as object detection where labels are difficult and expensive to acquire. Development of active learning methods in such fields is highly computationally expensive and time consuming which obstructs the progression of research and leads to a lack of comparability between methods. In this work, we propose and investigate a sandbox setup for rapid development and transparent evaluation of active learning in deep object detection. Our experiments with commonly used configurations of datasets and detection architectures found in the literature show that results obtained in our sandbox environment are representative of results on standard configurations. The total compute time to obtain results and assess the learning behavior can thereby be reduced by factors of up to 14 when comparing with Pascal VOC and up to 32 when comparing with BDD100k. This allows for testing and evaluating data acquisition and labeling strategies in under half a day and contributes to the transparency and development speed in the field of active learning for object detection.

Using robots in educational contexts has already shown to be beneficial for a student's learning and social behaviour. For levitating them to the next level of providing more effective and human-like tutoring, the ability to adapt to the user and to express proactivity is fundamental. By acting proactively, intelligent robotic tutors anticipate possible situations where problems for the student may arise and act in advance for preventing negative outcomes. Still, the decisions of when and how to behave proactively are open questions. Therefore, this paper deals with the investigation of how the student's cognitive-affective states can be used by a robotic tutor for triggering proactive tutoring dialogue. In doing so, it is aimed to improve the learning experience. For this reason, a concept learning task scenario was observed where a robotic assistant proactively helped when negative user states were detected. In a learning task, the user's states of frustration and confusion were deemed to have negative effects on the outcome of the task and were used to trigger proactive behaviour. In an empirical user study with 40 undergraduate and doctoral students, we studied whether the initiation of proactive behaviour after the detection of signs of confusion and frustration improves the student's concentration and trust in the agent. Additionally, we investigated which level of proactive dialogue is useful for promoting the student's concentration and trust. The results show that high proactive behaviour harms trust, especially when triggered during negative cognitive-affective states but contributes to keeping the student focused on the task when triggered in these states. Based on our study results, we further discuss future steps for improving the proactive assistance of robotic tutoring systems.

Self-training has been shown to be helpful in addressing data scarcity for many domains, including vision, speech, and language. Specifically, self-training, or pseudo-labeling, labels unsupervised data and adds that to the training pool. In this work, we investigate and use pseudo-labeling for a recently proposed novel setup: joint transcription and translation of speech, which suffers from an absence of sufficient data resources. We show that under such data-deficient circumstances, the unlabeled data can significantly vary in domain from the supervised data, which results in pseudo-label quality degradation. We investigate two categories of remedies that require no additional supervision and target the domain mismatch: pseudo-label filtering and data augmentation. We show that pseudo-label analysis and processing as such results in additional gains on top of the vanilla pseudo-labeling setup resulting in total improvements of up to 0.6% absolute WER and 2.2 BLEU points.

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from novel viewpoints. Unlike existing approaches which use 3D input directly or indirectly, our method requires only machine-generated 2D panoptic segmentation masks inferred from a pre-trained network. Our core contribution is a panoptic lifting scheme based on a neural field representation that generates a unified and multi-view consistent, 3D panoptic representation of the scene. To account for inconsistencies of 2D instance identifiers across views, we solve a linear assignment with a cost based on the model's current predictions and the machine-generated segmentation masks, thus enabling us to lift 2D instances to 3D in a consistent way. We further propose and ablate contributions that make our method more robust to noisy, machine-generated labels, including test-time augmentations for confidence estimates, segment consistency loss, bounded segmentation fields, and gradient stopping. Experimental results validate our approach on the challenging Hypersim, Replica, and ScanNet datasets, improving by 8.4, 13.8, and 10.6% in scene-level PQ over state of the art.