受约束运动控制的最新进展使其成为在具有挑战性的任务中使用任意几何形状控制机器人的有吸引力的策略。当前大多数作品都假定机器人运动模型足够精确，可以完成手头的任务。但是，随着机器人应用的需求和安全要求的增加，需要在线补偿运动学不准确的控制器。我们提出了基于二次编程的自适应约束运动控制策略，该策略使用部分或完整的任务空间测量来补偿在线校准错误。与最先进的运动学控制策略相比，我们的方法在实验中得到了验证。

Early recognition of clinical deterioration (CD) has vital importance in patients' survival from exacerbation or death. Electronic health records (EHRs) data have been widely employed in Early Warning Scores (EWS) to measure CD risk in hospitalized patients. Recently, EHRs data have been utilized in Machine Learning (ML) models to predict mortality and CD. The ML models have shown superior performance in CD prediction compared to EWS. Since EHRs data are structured and tabular, conventional ML models are generally applied to them, and less effort is put into evaluating the artificial neural network's performance on EHRs data. Thus, in this article, an extremely boosted neural network (XBNet) is used to predict CD, and its performance is compared to eXtreme Gradient Boosting (XGBoost) and random forest (RF) models. For this purpose, 103,105 samples from thirteen Brazilian hospitals are used to generate the models. Moreover, the principal component analysis (PCA) is employed to verify whether it can improve the adopted models' performance. The performance of ML models and Modified Early Warning Score (MEWS), an EWS candidate, are evaluated in CD prediction regarding the accuracy, precision, recall, F1-score, and geometric mean (G-mean) metrics in a 10-fold cross-validation approach. According to the experiments, the XGBoost model obtained the best results in predicting CD among Brazilian hospitals' data.

Traffic forecasting is an important application of spatiotemporal series prediction. Among different methods, graph neural networks have achieved so far the most promising results, learning relations between graph nodes then becomes a crucial task. However, improvement space is very limited when these relations are learned in a node-to-node manner. The challenge stems from (1) obscure temporal dependencies between different stations, (2) difficulties in defining variables beyond the node level, and (3) no ready-made method to validate the learned relations. To confront these challenges, we define legitimate traffic causal variables to discover the causal relation inside the traffic network, which is carefully checked with statistic tools and case analysis. We then present a novel model named Graph Spatial-Temporal Network Based on Causal Insight (GT-CausIn), where prior learned causal information is integrated with graph diffusion layers and temporal convolutional network (TCN) layers. Experiments are carried out on two real-world traffic datasets: PEMS-BAY and METR-LA, which show that GT-CausIn significantly outperforms the state-of-the-art models on mid-term and long-term prediction.

Graph learning problems are typically approached by focusing on learning the topology of a single graph when signals from all nodes are available. However, many contemporary setups involve multiple related networks and, moreover, it is often the case that only a subset of nodes is observed while the rest remain hidden. Motivated by this, we propose a joint graph learning method that takes into account the presence of hidden (latent) variables. Intuitively, the presence of the hidden nodes renders the inference task ill-posed and challenging to solve, so we overcome this detrimental influence by harnessing the similarity of the estimated graphs. To that end, we assume that the observed signals are drawn from a Gaussian Markov random field with latent variables and we carefully model the graph similarity among hidden (latent) nodes. Then, we exploit the structure resulting from the previous considerations to propose a convex optimization problem that solves the joint graph learning task by providing a regularized maximum likelihood estimator. Finally, we compare the proposed algorithm with different baselines and evaluate its performance over synthetic and real-world graphs.

自从人类文明的早期阶段以来已知的石榴石在现代技术中发现了重要的应用，包括磁性限制，Spintronics，锂电池等。绝大多数实验性的石榴石是氧化物，而探索（实验或理论）在其余的探索中是氧化物化学空间的范围受到限制。一个关键问题是石榴石结构具有较大的原始单位单元格，需要大量的计算资源。为了对新石榴石的完整化学空间进行全面搜索，我们将图形神经网络中的最新进展与高通量计算结合在一起。我们应用机器学习模型来在系统密度功能的计算之前识别电势（meta-）稳定的石榴石系统以验证预测。通过这种方式，我们发现了600多个三元石榴石，距凸壳以下的凸壳距离低于100〜MEV/ATOM，具有各种物理和化学性质。这包括硫化物，氮化物和卤化物石榴石。为此，我们分析电子结构，并讨论电子带隙和电荷平衡的值之间的联系。

恶意软件是对计算机系统的主要威胁，并对网络安全构成了许多挑战。有针对性的威胁（例如勒索软件）每年造成数百万美元的损失。恶意软件感染的不断增加一直激励流行抗病毒（AV）制定专用的检测策略，其中包括精心制作的机器学习（ML）管道。但是，恶意软件开发人员不断地将样品的功能更改为绕过检测。恶意软件样品的这种恒定演变导致数据分布（即概念漂移）直接影响ML模型检测率，这是大多数文献工作中未考虑的。在这项工作中，我们评估了两个Android数据集的概念漂移对恶意软件分类器的影响：DREBIN（约130k应用程序）和Androzoo（约350K应用程序）的子集。我们使用这些数据集训练自适应随机森林（ARF）分类器以及随机梯度下降（SGD）分类器。我们还使用其Virustotal提交时间戳订购了所有数据集样品，然后使用两种算法（Word2Vec和tf-idf）从其文本属性中提取功能。然后，我们进行了实验，以比较两个特征提取器，分类器以及四个漂移检测器（DDM，EDDM，ADWIN和KSWIN），以确定真实环境的最佳方法。最后，我们比较一些减轻概念漂移的可能方法，并提出了一种新的数据流管道，该管道同时更新分类器和特征提取器。为此，我们通过（i）对9年来收集的恶意软件样本进行了纵向评估（2009- 2018年），（ii）审查概念漂移检测算法以证明其普遍性，（iii）比较不同的ML方法来减轻此问题，（iv）提出了超过文献方法的ML数据流管道。

Semi-parametric models, which augment generation with retrieval, have led to impressive results in language modeling and machine translation, due to their ability to retrieve fine-grained information from a datastore of examples. One of the most prominent approaches, $k$NN-MT, exhibits strong domain adaptation capabilities by retrieving tokens from domain-specific datastores \citep{khandelwal2020nearest}. However, $k$NN-MT requires an expensive retrieval operation for every single generated token, leading to a very low decoding speed (around 8 times slower than a parametric model). In this paper, we introduce a \textit{chunk-based} $k$NN-MT model which retrieves chunks of tokens from the datastore, instead of a single token. We propose several strategies for incorporating the retrieved chunks into the generation process, and for selecting the steps at which the model needs to search for neighbors in the datastore. Experiments on machine translation in two settings, static and ``on-the-fly'' domain adaptation, show that the chunk-based $k$NN-MT model leads to significant speed-ups (up to 4 times) with only a small drop in translation quality.

自行车共享系统（BSSS）作为创新的运输服务。鉴于这些系统致力于通过促进环境和经济可持续性以及改善人口的生活质量，这些系统致力于消除当前全球担忧的许多担忧，确保BSS的正常运作至关重要。良好的用户过渡模式知识是对服务的质量和可操作性的决定性贡献。类似的和不平衡的用户的过渡模式导致这些系统遭受自行车不平衡，从长远来看，导致客户损失很大。自行车重新平衡的策略变得重要，以解决这个问题，为此，自行车交通预测至关重要，因为它允许更有效地运行并提前做出反应。在这项工作中，我们提出了一种基于图形神经网络嵌入的自行车TRIPS预测因子，考虑到站分组，气象条件，地理距离和旅行模式。我们在纽约市BSS（CITIBIKE）数据中评估了我们的方法，并将其与四个基线进行比较，包括非聚类方法。为了解决我们的问题的特殊性，我们开发了自适应转换约束聚类加（ADATC +）算法，消除了以前的工作的缺点。我们的实验证据证据细胞化（88％的准确性，而无需聚类83％），哪种聚类技术最适合这个问题。对于ADATC +，链路预测任务的准确性总是较高，而不是基于基准群集方法，而当网站相同，虽然在升级网络时不会降低性能，但在训练有素的模型中不匹配。

我们表明，在随机林的培训过程下面，不仅存在众所周知的和几乎计算的释放速度超出袋点估计，而且还有一个路径来计算概念误差的置信区间要求再培训森林或任何形式的数据分裂。除了施工中涉及的低计算成本外，通过模拟显示这种置信区间，以在训练样本大小方面具有良好的覆盖率和适当的收缩速度。

使用环境模型和值函数，代理可以通过向不同长度展开模型来构造状态值的许多估计，并使用其值函数引导。我们的关键识别是，人们可以将这组价值估计视为一类合奏，我们称之为\ eNPH {隐式值合奏}（IVE）。因此，这些估计之间的差异可用作代理人的认知不确定性的代理;我们将此信号术语\ EMPH {Model-Value不一致}或\ EMPH {自给智而不一致。与先前的工作不同，该工作估计通过培训许多模型和/或价值函数的集合来估计不确定性，这种方法只需要在大多数基于模型的加强学习算法中学习的单一模型和价值函数。我们在单板和函数近似设置中提供了从像素的表格和函数近似设置中的经验证据是有用的（i）作为探索的信号，（ii）在分发班次下安全地行动，（iii），用于使用基于价值的规划模型。