对极端事件的风险评估需要准确估算超出历史观察范围的高分位数。当风险取决于观察到的预测因子的值时，回归技术用于在预测器空间中插值。我们提出的EQRN模型将来自神经网络和极值理论的工具结合到能够在存在复杂预测依赖性的情况下外推的方法中。神经网络自然可以在数据中融合其他结构。我们开发了EQRN的经常性版本，该版本能够在时间序列中捕获复杂的顺序依赖性。我们将这种方法应用于瑞士AARE集水区中洪水风险的预测。它利用从时空和时间上的多个协变量中利用信息，以提供对回报水平和超出概率的一日预测。该输出从传统的极值分析中补充了静态返回水平，并且预测能够适应不断变化的气候中经历的分配变化。我们的模型可以帮助当局更有效地管理洪水，并通过预警系统最大程度地减少其灾难性影响。

图形神经网络（GNNS）在许多图形挖掘任务中取得了巨大的成功，这些任务从消息传递策略中受益，该策略融合了局部结构和节点特征，从而为更好的图表表示学习。尽管GNN成功，并且与其他类型的深神经网络相似，但发现GNN容易受到图形结构和节点特征的不明显扰动。已经提出了许多对抗性攻击，以披露在不同的扰动策略下创建对抗性例子的GNN的脆弱性。但是，GNNS对成功后门攻击的脆弱性直到最近才显示。在本文中，我们披露了陷阱攻击，这是可转移的图形后门攻击。核心攻击原则是用基于扰动的触发器毒化训练数据集，这可以导致有效且可转移的后门攻击。图形的扰动触发是通过通过替代模型的基于梯度的得分矩阵在图形结构上执行扰动动作来生成的。与先前的作品相比，陷阱攻击在几种方面有所不同：i）利用替代图卷积网络（GCN）模型来生成基于黑盒的后门攻击的扰动触发器； ii）它产生了没有固定模式的样品特异性扰动触发器； iii）在使用锻造中毒训练数据集训练时，在GNN的背景下，攻击转移到了不同​​的GNN模型中。通过对四个现实世界数据集进行广泛的评估，我们证明了陷阱攻击使用四个现实世界数据集在四个不同流行的GNN中构建可转移的后门的有效性

有效的决策涉及将过去的经验和相关上下文信息与新型情况联系起来。在深入的强化学习中，主导范式是代理商摊销信息，通过训练损失的梯度下降来帮助决策进入其网络权重。在这里，我们采用了一种替代方法，其中代理可以利用大规模上下文敏感的数据库查找来支持其参数计算。这使代理商可以直接以端到端的方式学习，以利用相关信息来告知其输出。此外，代理可以通过简单地扩大检索数据集来了解新信息，而无需再进行重新培训。我们在GO中研究这种方法，这是一款具有挑战性的游戏，庞大的组合状态空间特权对与过去的体验进行了直接匹配。我们利用快速，大约最近的邻居技术来从数千万的专家示范状态中检索相关数据。参与此信息为简单地将这些示范作为训练轨迹而言，可以显着提高预测准确性和游戏性能，从而使大规模检索在加强学习剂中的价值提供了令人信服的演示。

脑转移性疾病的治疗决策依赖于主要器官位点的知识，目前用活组织检查和组织学进行。在这里，我们开发了一种具有全脑MRI数据的准确非侵入性数字组织学的新型深度学习方法。我们的IRB批准的单网回顾性研究由患者（n = 1,399）组成，提及MRI治疗规划和伽马刀放射牢房超过19年。对比增强的T1加权和T2加权流体减毒的反转恢复脑MRI考试（n = 1,582）被预处理，并输入肿瘤细分，模态转移和主要部位分类的建议深度学习工作流程为五个课程之一（肺，乳腺，黑色素瘤，肾等）。十倍的交叉验证产生的总体AUC为0.947（95％CI：0.938,0.955），肺类AUC，0.899（95％CI：0.884,0.915），乳房类AUC为0.990（95％CI：0.983,0.997） ，黑色素瘤ACAC为0.882（95％CI：0.858,0.906），肾类AUC为0.870（95％CI：0.823,0.918），以及0.885的其他AUC（95％CI：0.843,0.949）。这些数据确定全脑成像特征是判别的，以便准确诊断恶性肿瘤的主要器官位点。我们的端到端深度射出方法具有巨大的分类来自全脑MRI图像的转移性肿瘤类型。进一步的细化可以提供一种无价的临床工具，以加快对精密治疗和改进的结果的原发性癌症现场鉴定。

常见的策略梯度方法依赖于代理函数序列的最大化。近年来，已经提出了许多这样的代理功能，大多数没有强烈的理论担保，导致TRPO，PPO或MPO等算法。我们而不是设计另一个代理函数，而是根据功能镜中的函数提出一般框架（FMA-PG），这导致了整个代理功能。我们构建了使策略改进保证能够担保的代理功能，这是由最现有的代理职能共享的属性。至关重要，无论政策参数化的选择如何，这些保证都会持有。此外，FMA-PG的特定实例化恢复了重要的实施启发式（例如，使用前向VS反向KL发散），导致TRPO的变体具有额外的理想性质。通过对简单强盗问题的实验，我们评估FMA-PG实例化的算法。拟议的框架还提出了一种改进的PPO变体，其鲁棒性和效率我们在Mujoco套件上证明。

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/ .

The purpose of this work was to tackle practical issues which arise when using a tendon-driven robotic manipulator with a long, passive, flexible proximal section in medical applications. A separable robot which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. A control input which resolves the redundancy in the kinematics and a physical interpretation of this redundancy are provided. The effect of a static change in the proximal section angle on bending angle error was explored under four testing conditions for a sinusoidal input. Bending angle error increased for increasing proximal section angle for all testing conditions with an average error reduction of 41.48% for retension, 4.28% for hysteresis, and 52.35% for re-tension + hysteresis compensation relative to the baseline case. Two major sources of error in tracking the bending angle were identified: time delay from hysteresis and DC offset from the proximal section angle. Examination of these error sources revealed that the simple hysteresis compensation was most effective for removing time delay and re-tension compensation for removing DC offset, which was the primary source of increasing error. The re-tension compensation was also tested for dynamic changes in the proximal section and reduced error in the final configuration of the tip by 89.14% relative to the baseline case.

Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On the contrary, for multi-link systems, the natural system dynamics might even work against the actual goal. With the introduction of variable stiffness actuators, this problem has been partially addressed. With a suitable optimal control strategy, the approximate decoupling of the motor from the link can be achieved to maximize the energy transfer into the distal link prior to launch. However, such continuous stiffness variation is complex and typically leads to oscillatory swing-up motions instead of clear launch sequences. To circumvent this issue, we investigate decoupling for speed maximization with a dedicated novel actuator concept denoted Bi-Stiffness Actuation. With this, it is possible to fully decouple the link from the joint mechanism by a switch-and-hold clutch and simultaneously keep the elastic energy stored. We show that with this novel paradigm, it is not only possible to reach the same optimal performance as with power-equivalent variable stiffness actuation, but even directly control the energy transfer timing. This is a major step forward compared to previous optimal control approaches, which rely on optimizing the full time-series control input.

The previous fine-grained datasets mainly focus on classification and are often captured in a controlled setup, with the camera focusing on the objects. We introduce the first Fine-Grained Vehicle Detection (FGVD) dataset in the wild, captured from a moving camera mounted on a car. It contains 5502 scene images with 210 unique fine-grained labels of multiple vehicle types organized in a three-level hierarchy. While previous classification datasets also include makes for different kinds of cars, the FGVD dataset introduces new class labels for categorizing two-wheelers, autorickshaws, and trucks. The FGVD dataset is challenging as it has vehicles in complex traffic scenarios with intra-class and inter-class variations in types, scale, pose, occlusion, and lighting conditions. The current object detectors like yolov5 and faster RCNN perform poorly on our dataset due to a lack of hierarchical modeling. Along with providing baseline results for existing object detectors on FGVD Dataset, we also present the results of a combination of an existing detector and the recent Hierarchical Residual Network (HRN) classifier for the FGVD task. Finally, we show that FGVD vehicle images are the most challenging to classify among the fine-grained datasets.

The task of reconstructing 3D human motion has wideranging applications. The gold standard Motion capture (MoCap) systems are accurate but inaccessible to the general public due to their cost, hardware and space constraints. In contrast, monocular human mesh recovery (HMR) methods are much more accessible than MoCap as they take single-view videos as inputs. Replacing the multi-view Mo- Cap systems with a monocular HMR method would break the current barriers to collecting accurate 3D motion thus making exciting applications like motion analysis and motiondriven animation accessible to the general public. However, performance of existing HMR methods degrade when the video contains challenging and dynamic motion that is not in existing MoCap datasets used for training. This reduces its appeal as dynamic motion is frequently the target in 3D motion recovery in the aforementioned applications. Our study aims to bridge the gap between monocular HMR and multi-view MoCap systems by leveraging information shared across multiple video instances of the same action. We introduce the Neural Motion (NeMo) field. It is optimized to represent the underlying 3D motions across a set of videos of the same action. Empirically, we show that NeMo can recover 3D motion in sports using videos from the Penn Action dataset, where NeMo outperforms existing HMR methods in terms of 2D keypoint detection. To further validate NeMo using 3D metrics, we collected a small MoCap dataset mimicking actions in Penn Action,and show that NeMo achieves better 3D reconstruction compared to various baselines.