机器人车使用成本图来规划无碰撞路径。与地图中的每个单元相关的成本表示感知的环境信息，这些信息通常是在经过几次反复试验后手动确定的。在越野环境中，由于存在几种类型的功能，将与每个功能相关的成本值进行手工制作是挑战。此外，不同手工制作的成本值可以导致相同环境的不同路径，而不可取的环境。在本文中，我们解决了从感知的稳健车辆路径计划中学习成本图值的问题。我们使用深度学习方法提出了一个名为“骆驼”的新颖框架，该方法通过演示来学习参数，从而为路径规划提供适应性和强大的成本图。骆驼已接受过多模式数据集的培训，例如Rellis-3D。骆驼的评估是在越野场景模拟器（MAV）和IISER-B校园的现场数据上进行的。我们还在地面流动站上执行了骆驼的现实实施。结果表明，在非结构化的地形上没有碰撞的情况下，车辆的灵活而强大的运动。

随着迷你无人机在平民工作领域变得越来越有用，他们需要在混乱的环境中安全操作的方法的需求正在增长，尤其是对于固定翼无人机而言，由于它们无法遵循停止执行的执行方法。本文提出了初步研究，以设计一种基于人工电位场算法中使用的排斥力的改善的定义，以设计一种反应性碰撞算法，以允许在杂乱无章的动态环境中可行且安全的固定翼无人机导航。我们在多种情况下提出了改进定义的模拟结果，我们还讨论了未来的研究以改善这些结果。

我们提出了一种基于新型的深神经网络（DNN）近似结构，以学习测量的估计值。我们详细介绍了能够培训DNN的算法。 DNN估计器仅在通过通信网络收到的情况下使用测量值。测量值是通过网络作为数据包传达的，以估算器未知的速率传达。数据包可能会掉落，需要重新传播。当他们穿越网络路径时，他们可能会遭受等待延误。估计的工作通常假设对测量系统的动态模型的了解，这可能在实践中无法使用。 DNN估计器不假设动态系统模型或通信网络的知识。它不需要其他作品经常使用的测量历史记录。在线性和非线性动态系统的模拟中，DNN估计器的平均估计误差明显小于常用时变的卡尔曼滤波器和无气体的卡尔曼滤波器的平均估计误差明显小。 DNN不必为不同的通信网络设置单独培训。由于测量源和估计器之间不完美的时间同步而导致的网络延迟估计估计的错误是可靠的。最后但并非最不重要的一点是，我们的模拟阐明了导致估计误差较低的更新速率。

Three main points: 1. Data Science (DS) will be increasingly important to heliophysics; 2. Methods of heliophysics science discovery will continually evolve, requiring the use of learning technologies [e.g., machine learning (ML)] that are applied rigorously and that are capable of supporting discovery; and 3. To grow with the pace of data, technology, and workforce changes, heliophysics requires a new approach to the representation of knowledge.

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.

Some recent pieces of work in the Machine Learning (ML) literature have demonstrated the usefulness of assessing which observations are hardest to have their label predicted accurately. By identifying such instances, one may inspect whether they have any quality issues that should be addressed. Learning strategies based on the difficulty level of the observations can also be devised. This paper presents a set of meta-features that aim at characterizing which instances of a dataset are hardest to have their label predicted accurately and why they are so, aka instance hardness measures. Both classification and regression problems are considered. Synthetic datasets with different levels of complexity are built and analyzed. A Python package containing all implementations is also provided.

Multi-agent artificial intelligence research promises a path to develop intelligent technologies that are more human-like and more human-compatible than those produced by "solipsistic" approaches, which do not consider interactions between agents. Melting Pot is a research tool developed to facilitate work on multi-agent artificial intelligence, and provides an evaluation protocol that measures generalization to novel social partners in a set of canonical test scenarios. Each scenario pairs a physical environment (a "substrate") with a reference set of co-players (a "background population"), to create a social situation with substantial interdependence between the individuals involved. For instance, some scenarios were inspired by institutional-economics-based accounts of natural resource management and public-good-provision dilemmas. Others were inspired by considerations from evolutionary biology, game theory, and artificial life. Melting Pot aims to cover a maximally diverse set of interdependencies and incentives. It includes the commonly-studied extreme cases of perfectly-competitive (zero-sum) motivations and perfectly-cooperative (shared-reward) motivations, but does not stop with them. As in real-life, a clear majority of scenarios in Melting Pot have mixed incentives. They are neither purely competitive nor purely cooperative and thus demand successful agents be able to navigate the resulting ambiguity. Here we describe Melting Pot 2.0, which revises and expands on Melting Pot. We also introduce support for scenarios with asymmetric roles, and explain how to integrate them into the evaluation protocol. This report also contains: (1) details of all substrates and scenarios; (2) a complete description of all baseline algorithms and results. Our intention is for it to serve as a reference for researchers using Melting Pot 2.0.

This paper shows the implementation of reinforcement learning (RL) in commercial flowsheet simulator software (Aspen Plus V12) for designing and optimising a distillation sequence. The aim of the SAC agent was to separate a hydrocarbon mixture in its individual components by utilising distillation. While doing so it tries to maximise the profit produced by the distillation sequence. All actions of the agent were set by the SAC agent in Python and communicated in Aspen Plus via an API. Here the distillation column was simulated by use of the build-in RADFRAC column. With this a connection was established for data transfer between Python and Aspen and the agent succeeded to show learning behaviour, while increasing profit. Although results were generated, the use of Aspen was slow (190 hours) and Aspen was found unsuitable for parallelisation. This makes that Aspen is incompatible for solving RL problems. Code and thesis are available at https://github.com/lollcat/Aspen-RL

当植物天然产物与药物共容纳时，就会发生药代动力学天然产物 - 药物相互作用（NPDIS）。了解NPDI的机制是防止不良事件的关键。我们构建了一个知识图框架NP-KG，作为迈向药代动力学NPDIS的计算发现的一步。 NP-KG是一个具有生物医学本体论，链接数据和科学文献的全文，由表型知识翻译框架和语义关系提取系统，SEMREP和集成网络和动态推理组成的构建的科学文献的全文。通过路径搜索和元路径发现对药代动力学绿茶和kratom-prug相互作用的案例研究评估NP-KG，以确定与地面真实数据相比的一致性和矛盾信息。完全集成的NP-KG由745,512个节点和7,249,576个边缘组成。 NP-KG的评估导致了一致（绿茶的38.98％，kratom的50％），矛盾（绿茶的15.25％，21.43％，Kratom的21.43％），同等和矛盾的（15.25％）（21.43％，21.43％，21.43％ kratom）信息。几种声称的NPDI的潜在药代动力学机制，包括绿茶 - 茶氧化烯，绿茶 - 纳多洛尔，Kratom-Midazolam，Kratom-Quetiapine和Kratom-Venlafaxine相互作用，与已出版的文献一致。 NP-KG是第一个将生物医学本体论与专注于天然产品的科学文献的全文相结合的公斤。我们证明了NP-KG在鉴定涉及酶，转运蛋白和药物的药代动力学相互作用的应用。我们设想NP-KG将有助于改善人机合作，以指导研究人员将来对药代动力学NPDIS进行研究。 NP-KG框架可在https://doi.org/10.5281/zenodo.6814507和https://github.com/sanyabt/np-kg上公开获得。

肺癌是癌症相关死亡率的主要原因。尽管新技术（例如图像分割）对于改善检测和较早诊断至关重要，但治疗该疾病仍然存在重大挑战。特别是，尽管治愈性分辨率增加，但许多术后患者仍会出现复发性病变。因此，非常需要预后工具，可以更准确地预测患者复发的风险。在本文中，我们探讨了卷积神经网络（CNN）在术前计算机断层扫描（CT）图像中存在的分割和复发风险预测。首先，随着医学图像分割的最新进展扩展，剩余的U-NET用于本地化和表征每个结节。然后，确定的肿瘤将传递给第二个CNN进行复发风险预测。该系统的最终结果是通过随机的森林分类器产生的，该分类器合成具有临床属性的第二个网络的预测。分割阶段使用LIDC-IDRI数据集，并获得70.3％的骰子得分。复发风险阶段使用了国家癌症研究所的NLST数据集，并获得了73.0％的AUC。我们提出的框架表明，首先，自动结节分割方法可以概括地为各种多任务系统提供管道，其次，深度学习和图像处理具有改善当前预后工具的潜力。据我们所知，这是第一个完全自动化的细分和复发风险预测系统。