Spatial perception is a key task in several robotics applications. In general, it involves the nonlinear estimation of hidden variables that represent the state of the robot/environment. However, in the presence of outliers the standard nonlinear least squared formulation results in poor estimates. Several methods have been considered in the literature to improve the reliability of the estimation process. Most methods are based on heuristics since guaranteed global robust estimation is not generally practical due to high computational costs. Recently general purpose robust estimation heuristics have been proposed that leverage existing non-minimal solvers available for the outlier-free formulations without the need for an initial guess. In this work, we propose two similar heuristics backed by Bayesian theory. We evaluate these heuristics in practical scenarios to demonstrate their merits in different applications including 3D point cloud registration, mesh registration and pose graph optimization.

Low-rank and sparse decomposition based methods find their use in many applications involving background modeling such as clutter suppression and object tracking. While Robust Principal Component Analysis (RPCA) has achieved great success in performing this task, it can take hundreds of iterations to converge and its performance decreases in the presence of different phenomena such as occlusion, jitter and fast motion. The recently proposed deep unfolded networks, on the other hand, have demonstrated better accuracy and improved convergence over both their iterative equivalents as well as over other neural network architectures. In this work, we propose a novel deep unfolded spatiotemporal RPCA (DUST-RPCA) network, which explicitly takes advantage of the spatial and temporal continuity in the low-rank component. Our experimental results on the moving MNIST dataset indicate that DUST-RPCA gives better accuracy when compared with the existing state of the art deep unfolded RPCA networks.

心血管疾病是世界各地最常见的死亡原因。为了检测和治疗心脏相关的疾病，需要连续血压（BP）监测以及许多其他参数。为此目的开发了几种侵入性和非侵入性方法。用于持续监测BP的医院中使用的大多数现有方法是侵入性的。相反，基于袖带的BP监测方法，可以预测收缩压（SBP）和舒张压（DBP），不能用于连续监测。几项研究试图从非侵​​入性可收集信号（例如光学肌谱（PPG）和心电图（ECG））预测BP，其可用于连续监测。在这项研究中，我们探讨了自动化器在PPG和ECG信号中预测BP的适用性。在12,000岁的MIMIC-II数据集中进行了调查，发现了一个非常浅的一维AutoEncoder可以提取相关功能，以预测与最先进的SBP和DBP在非常大的数据集上的性能。从模拟-II数据集的一部分的独立测试分别为SBP和DBP提供了2.333和0.713的MAE。在40个主题的外部数据集上，模型在MIMIC-II数据集上培训，分别为SBP和DBP提供2.728和1.166的MAE。对于这种情况来说，结果达到了英国高血压协会（BHS）A级并超越了目前文学的研究。

近年来，基于生理信号的认证表现出伟大的承诺，因为其固有的对抗伪造的鲁棒性。心电图（ECG）信号是最广泛研究的生物关像，也在这方面获得了最高的关注。已经证明，许多研究通过分析来自不同人的ECG信号，可以识别它们，可接受的准确性。在这项工作中，我们展示了EDITH，EDITH是一种基于深入的ECG生物识别认证系统的框架。此外，我们假设并证明暹罗架构可以在典型的距离指标上使用，以提高性能。我们使用4个常用的数据集进行了评估了伊迪丝，并使用少量节拍表现优于先前的工作。 Edith使用仅单一的心跳（精度为96-99.75％）进行竞争性，并且可以通过融合多个节拍（从3到6个节拍的100％精度）进一步提高。此外，所提出的暹罗架构管理以将身份验证等错误率（eer）降低至1.29％。具有现实世界实验数据的Edith的有限案例研究还表明其作为实际认证系统的潜力。

心血管疾病是死亡率最严重的原因之一，每年在世界各地遭受沉重的生命。对血压的持续监测似乎是最可行的选择，但这需要一个侵入性的过程，带来了几层复杂性。这激发了我们开发一种通过使用光杀解功能图（PPG）信号的非侵入性方法来预测连续动脉血压（ABP）波形的方法。此外，我们探索了深度学习的优势，因为它可以通过使手工制作的功能计算无关紧要，这将使我们无法坚持理想形状的PPG信号，这是现有方法的缺点。因此，我们提出了一种基于深度学习的方法PPG2ABP，该方法可以从输入PPG信号中预测连续的ABP波形，平均绝对误差为4.604 mmHg，可保留一致的形状，大小和相位。但是，PPG2ABP的更惊人的成功事实证明，来自预测的ABP波形的DBP，MAP和SBP的计算值超过了几个指标下的现有作品，尽管没有明确培训PPG2ABP。

Diabetic Retinopathy (DR) is considered one of the primary concerns due to its effect on vision loss among most people with diabetes globally. The severity of DR is mostly comprehended manually by ophthalmologists from fundus photography-based retina images. This paper deals with an automated understanding of the severity stages of DR. In the literature, researchers have focused on this automation using traditional machine learning-based algorithms and convolutional architectures. However, the past works hardly focused on essential parts of the retinal image to improve the model performance. In this paper, we adopt transformer-based learning models to capture the crucial features of retinal images to understand DR severity better. We work with ensembling image transformers, where we adopt four models, namely ViT (Vision Transformer), BEiT (Bidirectional Encoder representation for image Transformer), CaiT (Class-Attention in Image Transformers), and DeiT (Data efficient image Transformers), to infer the degree of DR severity from fundus photographs. For experiments, we used the publicly available APTOS-2019 blindness detection dataset, where the performances of the transformer-based models were quite encouraging.

This paper presents our solutions for the MediaEval 2022 task on DisasterMM. The task is composed of two subtasks, namely (i) Relevance Classification of Twitter Posts (RCTP), and (ii) Location Extraction from Twitter Texts (LETT). The RCTP subtask aims at differentiating flood-related and non-relevant social posts while LETT is a Named Entity Recognition (NER) task and aims at the extraction of location information from the text. For RCTP, we proposed four different solutions based on BERT, RoBERTa, Distil BERT, and ALBERT obtaining an F1-score of 0.7934, 0.7970, 0.7613, and 0.7924, respectively. For LETT, we used three models namely BERT, RoBERTa, and Distil BERTA obtaining an F1-score of 0.6256, 0.6744, and 0.6723, respectively.

Objective: Despite numerous studies proposed for audio restoration in the literature, most of them focus on an isolated restoration problem such as denoising or dereverberation, ignoring other artifacts. Moreover, assuming a noisy or reverberant environment with limited number of fixed signal-to-distortion ratio (SDR) levels is a common practice. However, real-world audio is often corrupted by a blend of artifacts such as reverberation, sensor noise, and background audio mixture with varying types, severities, and duration. In this study, we propose a novel approach for blind restoration of real-world audio signals by Operational Generative Adversarial Networks (Op-GANs) with temporal and spectral objective metrics to enhance the quality of restored audio signal regardless of the type and severity of each artifact corrupting it. Methods: 1D Operational-GANs are used with generative neuron model optimized for blind restoration of any corrupted audio signal. Results: The proposed approach has been evaluated extensively over the benchmark TIMIT-RAR (speech) and GTZAN-RAR (non-speech) datasets corrupted with a random blend of artifacts each with a random severity to mimic real-world audio signals. Average SDR improvements of over 7.2 dB and 4.9 dB are achieved, respectively, which are substantial when compared with the baseline methods. Significance: This is a pioneer study in blind audio restoration with the unique capability of direct (time-domain) restoration of real-world audio whilst achieving an unprecedented level of performance for a wide SDR range and artifact types. Conclusion: 1D Op-GANs can achieve robust and computationally effective real-world audio restoration with significantly improved performance. The source codes and the generated real-world audio datasets are shared publicly with the research community in a dedicated GitHub repository1.

Uncertainty quantification is crucial to inverse problems, as it could provide decision-makers with valuable information about the inversion results. For example, seismic inversion is a notoriously ill-posed inverse problem due to the band-limited and noisy nature of seismic data. It is therefore of paramount importance to quantify the uncertainties associated to the inversion process to ease the subsequent interpretation and decision making processes. Within this framework of reference, sampling from a target posterior provides a fundamental approach to quantifying the uncertainty in seismic inversion. However, selecting appropriate prior information in a probabilistic inversion is crucial, yet non-trivial, as it influences the ability of a sampling-based inference in providing geological realism in the posterior samples. To overcome such limitations, we present a regularized variational inference framework that performs posterior inference by implicitly regularizing the Kullback-Leibler divergence loss with a CNN-based denoiser by means of the Plug-and-Play methods. We call this new algorithm Plug-and-Play Stein Variational Gradient Descent (PnP-SVGD) and demonstrate its ability in producing high-resolution, trustworthy samples representative of the subsurface structures, which we argue could be used for post-inference tasks such as reservoir modelling and history matching. To validate the proposed method, numerical tests are performed on both synthetic and field post-stack seismic data.

In recent years distributional reinforcement learning has produced many state of the art results. Increasingly sample efficient Distributional algorithms for the discrete action domain have been developed over time that vary primarily in the way they parameterize their approximations of value distributions, and how they quantify the differences between those distributions. In this work we transfer three of the most well-known and successful of those algorithms (QR-DQN, IQN and FQF) to the continuous action domain by extending two powerful actor-critic algorithms (TD3 and SAC) with distributional critics. We investigate whether the relative performance of the methods for the discrete action space translates to the continuous case. To that end we compare them empirically on the pybullet implementations of a set of continuous control tasks. Our results indicate qualitative invariance regarding the number and placement of distributional atoms in the deterministic, continuous action setting.