人类机器人相互作用（HRI）对于在日常生活中广泛使用机器人至关重要。机器人最终将能够通过有效的社会互动来履行人类文明的各种职责。创建直接且易于理解的界面，以与机器人开始在个人工作区中扩散时与机器人互动至关重要。通常，与模拟机器人的交互显示在屏幕上。虚拟现实（VR）是一个更具吸引力的替代方法，它为视觉提示提供了更像现实世界中看到的线索。在这项研究中，我们介绍了Jubileo，这是一种机器人的动画面孔，并使用人类机器人社会互动领域的各种研究和应用开发工具。Jubileo Project不仅提供功能齐全的开源物理机器人。它还提供了一个全面的框架，可以通过VR接口进行操作，从而为HRI应用程序测试带来沉浸式环境，并明显更好地部署速度。

Despite the impact of psychiatric disorders on clinical health, early-stage diagnosis remains a challenge. Machine learning studies have shown that classifiers tend to be overly narrow in the diagnosis prediction task. The overlap between conditions leads to high heterogeneity among participants that is not adequately captured by classification models. To address this issue, normative approaches have surged as an alternative method. By using a generative model to learn the distribution of healthy brain data patterns, we can identify the presence of pathologies as deviations or outliers from the distribution learned by the model. In particular, deep generative models showed great results as normative models to identify neurological lesions in the brain. However, unlike most neurological lesions, psychiatric disorders present subtle changes widespread in several brain regions, making these alterations challenging to identify. In this work, we evaluate the performance of transformer-based normative models to detect subtle brain changes expressed in adolescents and young adults. We trained our model on 3D MRI scans of neurotypical individuals (N=1,765). Then, we obtained the likelihood of neurotypical controls and psychiatric patients with early-stage schizophrenia from an independent dataset (N=93) from the Human Connectome Project. Using the predicted likelihood of the scans as a proxy for a normative score, we obtained an AUROC of 0.82 when assessing the difference between controls and individuals with early-stage schizophrenia. Our approach surpassed recent normative methods based on brain age and Gaussian Process, showing the promising use of deep generative models to help in individualised analyses.

深度神经网络在医学图像分析中带来了显着突破。但是，由于其渴望数据的性质，医学成像项目中适度的数据集大小可能会阻碍其全部潜力。生成合成数据提供了一种有希望的替代方案，可以补充培训数据集并进行更大范围的医学图像研究。最近，扩散模型通过产生逼真的合成图像引起了计算机视觉社区的注意。在这项研究中，我们使用潜在扩散模型探索从高分辨率3D脑图像中生成合成图像。我们使用来自英国生物银行数据集的T1W MRI图像（n = 31,740）来训练我们的模型，以了解脑图像的概率分布，该脑图像以协变量为基础，例如年龄，性别和大脑结构量。我们发现我们的模型创建了现实的数据，并且可以使用条件变量有效地控制数据生成。除此之外，我们创建了一个带有100,000次脑图像的合成数据集，并使科学界公开使用。

深层生成模型已成为检测数据中任意异常的有前途的工具，并分配了手动标记的必要性。最近，自回旋变压器在医学成像中取得了最先进的性能。但是，这些模型仍然具有一些内在的弱点，例如需要将图像建模为1D序列，在采样过程中误差的积累以及与变压器相关的显着推理时间。去核扩散概率模型是一类非自动回旋生成模型，最近显示出可以在计算机视觉中产生出色的样品（超过生成的对抗网络），并实现与变压器具有竞争力同时具有快速推理时间的对数可能性。扩散模型可以应用于自动编码器学到的潜在表示，使其易于扩展，并适用于高维数据（例如医学图像）的出色候选者。在这里，我们提出了一种基于扩散模型的方法，以检测和分段脑成像中的异常。通过在健康数据上训练模型，然后探索其在马尔可夫链上的扩散和反向步骤，我们可以识别潜在空间中的异常区域，因此可以确定像素空间中的异常情况。我们的扩散模型与一系列具有2D CT和MRI数据的实验相比，具有竞争性能，涉及合成和实际病理病变，推理时间大大减少，从而使它们的用法在临床上可行。

Context-aware decision support in the operating room can foster surgical safety and efficiency by leveraging real-time feedback from surgical workflow analysis. Most existing works recognize surgical activities at a coarse-grained level, such as phases, steps or events, leaving out fine-grained interaction details about the surgical activity; yet those are needed for more helpful AI assistance in the operating room. Recognizing surgical actions as triplets of <instrument, verb, target> combination delivers comprehensive details about the activities taking place in surgical videos. This paper presents CholecTriplet2021: an endoscopic vision challenge organized at MICCAI 2021 for the recognition of surgical action triplets in laparoscopic videos. The challenge granted private access to the large-scale CholecT50 dataset, which is annotated with action triplet information. In this paper, we present the challenge setup and assessment of the state-of-the-art deep learning methods proposed by the participants during the challenge. A total of 4 baseline methods from the challenge organizers and 19 new deep learning algorithms by competing teams are presented to recognize surgical action triplets directly from surgical videos, achieving mean average precision (mAP) ranging from 4.2% to 38.1%. This study also analyzes the significance of the results obtained by the presented approaches, performs a thorough methodological comparison between them, in-depth result analysis, and proposes a novel ensemble method for enhanced recognition. Our analysis shows that surgical workflow analysis is not yet solved, and also highlights interesting directions for future research on fine-grained surgical activity recognition which is of utmost importance for the development of AI in surgery.

注意机制对研究界提出了重大兴趣，因为他们承诺改善神经网络架构的表现。但是，在任何特定的问题中，我们仍然缺乏主要的方法来选择导致保证改进的具体机制和超参数。最近，已经提出了自我关注并广泛用于变压器 - 类似的架构中，导致某些应用中的重大突破。在这项工作中，我们专注于两种形式的注意机制：注意模块和自我关注。注意模块用于重新重量每个层输入张量的特征。不同的模块具有不同的方法，可以在完全连接或卷积层中执行此重复。研究的注意力模型是完全模块化的，在这项工作中，它们将与流行的Reset架构一起使用。自我关注，最初在自然语言处理领域提出，可以将所有项目与输入序列中的所有项目相关联。自我关注在计算机视觉中越来越受欢迎，其中有时与卷积层相结合，尽管最近的一些架构与卷曲完全消失。在这项工作中，我们研究并执行了在特定计算机视觉任务中许多不同关注机制的客观的比较，在广泛使用的皮肤癌MNIST数据集中的样本分类。结果表明，关注模块有时会改善卷积神经网络架构的性能，也是这种改进虽然明显且统计学意义，但在不同的环境中并不一致。另一方面，通过自我关注机制获得的结果表明了一致和显着的改进，即使在具有减少数量的参数的架构中，也可以实现最佳结果。

圆角焊接是该行业中最广泛类型的焊接之一，仍然通过接触手动或自动进行。本文旨在描述具有U和L形结构的非接触式圆角焊接机器人的在线编程系统，这响应了第四工业革命的需求。在本文中，作者提出了一种在线机器人编程方法，其消除了传统上在机器人焊接中执行的不必要步骤，使得操作者仅执行三个步骤来完成焊接任务。首先，选择焊接件。然后，进入焊接参数。最后，它将自动生成的程序发送到机器人。该系统最终设法在比比较方法更有效的准备时间中使用所提出的方法进行圆角焊接任务。为此，除了六个轴工业机器人手臂之外，还使用了与其他系统相比使用减少数量的组件，例如结构化光3D相机，两个计算机和集中器。系统的操作复杂性尽可能减少。据作者所知，没有能够执行圆角焊接过程的在线机器人编程系统的科学或商业证据，简化了该过程，使其对操作员完全透明，并在行业4.0范例中陷入框架。它的商业潜力主要在于一种能够适应任何工业圆角焊接工作和任何可以容纳它的支架的柔性系统中的简单和低成本。

推断基于实验观察的随机模型的参数是科学方法的核心。特别具有挑战性的设置是当模型强烈不确定时，即当不同的参数集产生相同的观察时。这在许多实际情况下出现，例如在推断无线电源的距离和功率时（是源关闭和弱或远远强，且强大且强大？）或估计电生理实验的放大器增益和底层脑活动。在这项工作中，我们通过利用由辅助观察集共享全局参数传达的附加信息来阐明这种不确定性的新方法。我们的方法基于对贝叶斯分层模型的标准化流程扩展了基于仿真的推断（SBI）的最新进展。我们通过模拟和实际EEG数据将其应用于可用于分析解决方案的激励示例，以便将其验证我们的提案，然后将其从计算神经科学逆变众所周知的非线性模型。

While the brain connectivity network can inform the understanding and diagnosis of developmental dyslexia, its cause-effect relationships have not yet enough been examined. Employing electroencephalography signals and band-limited white noise stimulus at 4.8 Hz (prosodic-syllabic frequency), we measure the phase Granger causalities among channels to identify differences between dyslexic learners and controls, thereby proposing a method to calculate directional connectivity. As causal relationships run in both directions, we explore three scenarios, namely channels' activity as sources, as sinks, and in total. Our proposed method can be used for both classification and exploratory analysis. In all scenarios, we find confirmation of the established right-lateralized Theta sampling network anomaly, in line with the temporal sampling framework's assumption of oscillatory differences in the Theta and Gamma bands. Further, we show that this anomaly primarily occurs in the causal relationships of channels acting as sinks, where it is significantly more pronounced than when only total activity is observed. In the sink scenario, our classifier obtains 0.84 and 0.88 accuracy and 0.87 and 0.93 AUC for the Theta and Gamma bands, respectively.

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/ .