在多机器人应用程序中，对大状态空间的推断通常可以分为较小的重叠子问题，然后可以在状态的“单独”子集上并行解决。为此，开发了因子图分散数据融合（FG-DDF）框架，以分析和利用异质贝叶斯分散融合问题的有条件独立性，其中机器人在不同的本地重叠随机状态上更新和融合PDF。这允许机器人有效地使用较小的概率模型和稀疏消息传递到较大的全局关节状态PDF的相关局部部分，同时考虑了机器人之间的数据依赖性。尽管先前的工作需要限制有关网络连接性和模型线性性的假设，但本文放宽了这些假设，以验证FG-DDF在更一般的环境中的适用性和鲁棒性。我们制定了一个新的异质融合规则，该规则将概括均匀的协方差相交算法，并在通信删除下使用非线性运动/观察模型在多机器人跟踪和本地化方案中测试它。仿真和线性硬件实验表明，实际上，FG-DDF在这些更实用的操作条件下继续提供一致的过滤估计，同时将计算和通信成本降低了95％以上，从而实现了可扩展现实世界中的多项式的设计 - 机器人系统。

为了在现实世界中安全可靠的部署，自主代理必须引起人类用户的适当信任。建立信任的一种方法是让代理评估和传达自己执行给定任务的能力。能力取决于影响代理的不确定性，使得准确的不确定性量化对于能力评估至关重要。在这项工作中，我们展示了如何使用深层生成模型的集合来量化代理商的态度和认知不确定性，当预测任务结果作为能力评估的一部分。

Recent advances in upper limb prostheses have led to significant improvements in the number of movements provided by the robotic limb. However, the method for controlling multiple degrees of freedom via user-generated signals remains challenging. To address this issue, various machine learning controllers have been developed to better predict movement intent. As these controllers become more intelligent and take on more autonomy in the system, the traditional approach of representing the human-machine interface as a human controlling a tool becomes limiting. One possible approach to improve the understanding of these interfaces is to model them as collaborative, multi-agent systems through the lens of joint action. The field of joint action has been commonly applied to two human partners who are trying to work jointly together to achieve a task, such as singing or moving a table together, by effecting coordinated change in their shared environment. In this work, we compare different prosthesis controllers (proportional electromyography with sequential switching, pattern recognition, and adaptive switching) in terms of how they present the hallmarks of joint action. The results of the comparison lead to a new perspective for understanding how existing myoelectric systems relate to each other, along with recommendations for how to improve these systems by increasing the collaborative communication between each partner.

The number of international benchmarking competitions is steadily increasing in various fields of machine learning (ML) research and practice. So far, however, little is known about the common practice as well as bottlenecks faced by the community in tackling the research questions posed. To shed light on the status quo of algorithm development in the specific field of biomedical imaging analysis, we designed an international survey that was issued to all participants of challenges conducted in conjunction with the IEEE ISBI 2021 and MICCAI 2021 conferences (80 competitions in total). The survey covered participants' expertise and working environments, their chosen strategies, as well as algorithm characteristics. A median of 72% challenge participants took part in the survey. According to our results, knowledge exchange was the primary incentive (70%) for participation, while the reception of prize money played only a minor role (16%). While a median of 80 working hours was spent on method development, a large portion of participants stated that they did not have enough time for method development (32%). 25% perceived the infrastructure to be a bottleneck. Overall, 94% of all solutions were deep learning-based. Of these, 84% were based on standard architectures. 43% of the respondents reported that the data samples (e.g., images) were too large to be processed at once. This was most commonly addressed by patch-based training (69%), downsampling (37%), and solving 3D analysis tasks as a series of 2D tasks. K-fold cross-validation on the training set was performed by only 37% of the participants and only 50% of the participants performed ensembling based on multiple identical models (61%) or heterogeneous models (39%). 48% of the respondents applied postprocessing steps.

Federated learning (FL) enables the building of robust and generalizable AI models by leveraging diverse datasets from multiple collaborators without centralizing the data. We created NVIDIA FLARE as an open-source software development kit (SDK) to make it easier for data scientists to use FL in their research and real-world applications. The SDK includes solutions for state-of-the-art FL algorithms and federated machine learning approaches, which facilitate building workflows for distributed learning across enterprises and enable platform developers to create a secure, privacy-preserving offering for multiparty collaboration utilizing homomorphic encryption or differential privacy. The SDK is a lightweight, flexible, and scalable Python package, and allows researchers to bring their data science workflows implemented in any training libraries (PyTorch, TensorFlow, XGBoost, or even NumPy) and apply them in real-world FL settings. This paper introduces the key design principles of FLARE and illustrates some use cases (e.g., COVID analysis) with customizable FL workflows that implement different privacy-preserving algorithms. Code is available at https://github.com/NVIDIA/NVFlare.

作物疾病是对粮食安全的主要威胁，其快速识别对于防止产量损失很重要。由于缺乏必要的基础设施，因此很难迅速识别这些疾病。计算机视觉的最新进展和智能手机渗透的渗透为智能手机辅助疾病识别铺平了道路。大多数植物疾病在植物的叶面结构上留下了特定的文物。这项研究于2020年在巴基斯坦拉合尔工程技术大学计算机科学与工程系进行，以检查基于叶片的植物疾病识别。这项研究为叶面疾病鉴定提供了基于神经网络的深度解决方案，并纳入了图像质量评估，以选择执行识别所需质量的图像，并将其命名为农业病理学家（AGRO PATH）。新手摄影师的捕获图像可能包含噪音，缺乏结构和模糊，从而导致诊断失败或不准确。此外，Agropath模型具有99.42％的叶面疾病鉴定精度。拟议的添加对于在农业领域的叶面疾病鉴定的应用特别有用。

在不确定性下的自动机器人决策中，必须考虑剥削和探索可用选项之间的权衡。如果可以利用与选项相关的次要信息，则此类决策问题通常可以作为上下文多臂强盗（CMAB）提出。在这项研究中，我们采用主动推断，该推断近年来在神经科学领域进行了积极研究，作为CMAB的替代行动选择策略。与常规的行动选择策略不同，在计算与决策代理人的概率模型相关的预期自由能（EFE）时，可以严格评估每种选项的不确定性，这是从自由能原理中得出的。我们专门解决了使用分类观察可能性函数的情况，因此EFE值在分析上是棘手的。我们介绍了基于变异和拉普拉斯近似值计算EFE的新近似方法。广泛的仿真研究结果表明，与其他策略相比，主动推断通常需要迭代率要少得多，以识别最佳选择并普遍实现累积累积的遗憾，以相对较低的额外计算成本。

人类活动识别（HAR）是使用有效的机器学习（ML）方法将传感器数据解释为人类运动的问题。 HAR系统依靠来自不受信任的用户的数据，使他们容易受到数据中毒攻击的影响。在中毒攻击中，攻击者操纵传感器读数以污染训练集，从而误导了har以产生错误的结果。本文介绍了针对HAR系统的标签翻转数据中毒攻击的设计，在数据收集阶段，传感器读数的标签发生了恶意更改。由于传感环境中的噪音和不确定性，这种攻击对识别系统构成了严重威胁。此外，当将活动识别模型部署在安全至关重要的应用中时，标记翻转攻击的脆弱性是危险的。本文阐明了如何通过基于智能手机的传感器数据收集应用程序在实践中进行攻击。据我们所知，这是一项较早的研究工作，它通过标签翻转中毒探索了攻击HAR模型。我们实施了提出的攻击并根据以下机器学习算法进行活动识别模型进行测试：多层感知器，决策树，随机森林和XGBoost。最后，我们评估了针对拟议攻击的基于K-Nearest邻居（KNN）的防御机制的有效性。

在本文中，我们得出了一种新方法来确定数据集的共享特征，通过采用联合非负矩阵分解并分析所得因素化。我们的方法使用两个数据集矩阵的联合分解$ x_1，x_2 $中的非负矩阵$ x_1 = as_1 = as_1，x_2 = as_2 $得出一个相似的度量，以确定$ x_1的共享基础的良好，x_1，x_2 $近似于每个dataset。我们还提出了基于此方法和学习分解的数据集距离度量。我们的方法能够成功地在图像和文本数据集中成功身份差异。潜在的应用包括分类，检测窃或其他操纵以及数据集之间的学习关系。

果树的休眠修剪是维持树木健康和确保高质量果实的重要任务。由于劳动力的可用性降低，修剪是机器人自动化的主要候选者。但是，修剪也代表了机器人的独特困难问题，需要在可变照明条件下以及在复杂的，高度非结构化的环境中进行感知，修剪点的确定和操纵。在本文中，我们介绍了一种用于修剪甜樱桃树的系统（在平面树建筑中，称为直立的果实分支配置），该系统整合了我们先前关于感知和操纵的工作的各种子系统。最终的系统能够完全自主运行，并且需要对环境的最低控制。我们通过在甜蜜的樱桃果园中进行现场试验来验证系统的性能，最终取得了58％的削减速度。尽管不完全稳健，并且需要改善吞吐量，但我们的系统是第一个在果树上运行的系统，并代表了将来可以改进的有用的基础平台。