许多应用需要机器人通过具有大障碍的地形，例如自动驾驶，搜救和救援和外星探索。虽然机器人在避免稀疏障碍时已经出色，但它们仍然在扭转杂乱的障碍物中挣扎。灵感来自蟑螂的使用和响应具有不同方式的障碍物的障碍物，以跨越不同刚度的草地梁，在这里，我们开发了一种能够进行环境力传感的简约机器人的物理模型，向前推进两个光束以模拟和理解杂乱障碍的遍历。像刚度和偏转位置一样的光束属性可以从测量的嘈杂的梁接触力估计，其富力地随着感测时间而增加。使用这些估计，模型预测了使用势能障碍定义的遍历定义的成本，并使用它来规划和控制机器人以产生并跟踪以最小成本横穿轨迹。在遇到僵硬的光束时，模拟机器人从更昂贵的音高模式转换为更昂贵的滚动模式到遍历。当遇到脆弱的光束时，它选择推动横梁，而不是避免光束的能量成本。最后，我们开发了一个物理机器人并证明了估计方法的有用性。

机器人在遍历搜索和救援等重要应用程序所需的杂乱型大障碍时仍然差。相比之下，动物在这样做，通常使用与障碍物的直接物理相互作用而不是避免它们。在这里，为了了解杂乱的障碍遍历的动态，我们开发了一种简约的随机动力学模拟，灵感来自我们最近的昆虫横穿草地梁的研究。 2-D型系统由前向自行式圆形机车组成，在摩擦水平平面上平移，其具有横向随机力，并与形成栅极的两个相邻的水平梁相互作用。我们发现横向概率随着推进力单调地增加，但首先增加随机力幅度。对于具有不同刚度的不对称光束，横向朝向较强的光束的侧面更可能。这些观察结果符合潜在的能源景观方法的预期。此外，我们以晶格配置延伸单个栅极以形成一个大的杂乱的障碍物。使用从单门仿真获得的输入 - 输出概率图，应用了Markov链蒙特卡罗方法以预测遍历遍历。该方法在预测障碍物场内的主体的最终位置的统计分布时实现了高精度，同时节省了10 ^ 5的计算时间。

In this paper, we propose a novel technique, namely INVALIDATOR, to automatically assess the correctness of APR-generated patches via semantic and syntactic reasoning. INVALIDATOR reasons about program semantic via program invariants while it also captures program syntax via language semantic learned from large code corpus using the pre-trained language model. Given a buggy program and the developer-patched program, INVALIDATOR infers likely invariants on both programs. Then, INVALIDATOR determines that a APR-generated patch overfits if: (1) it violates correct specifications or (2) maintains errors behaviors of the original buggy program. In case our approach fails to determine an overfitting patch based on invariants, INVALIDATOR utilizes a trained model from labeled patches to assess patch correctness based on program syntax. The benefit of INVALIDATOR is three-fold. First, INVALIDATOR is able to leverage both semantic and syntactic reasoning to enhance its discriminant capability. Second, INVALIDATOR does not require new test cases to be generated but instead only relies on the current test suite and uses invariant inference to generalize the behaviors of a program. Third, INVALIDATOR is fully automated. We have conducted our experiments on a dataset of 885 patches generated on real-world programs in Defects4J. Experiment results show that INVALIDATOR correctly classified 79% overfitting patches, accounting for 23% more overfitting patches being detected by the best baseline. INVALIDATOR also substantially outperforms the best baselines by 14% and 19% in terms of Accuracy and F-Measure, respectively.

Fine-grained classification and counting of bone marrow erythroid cells are vital for evaluating the health status and formulating therapeutic schedules for leukemia or hematopathy. Due to the subtle visual differences between different types of erythroid cells, it is challenging to apply existing image-based deep learning models for fine-grained erythroid cell classification. Moreover, there is no large open-source datasets on erythroid cells to support the model training. In this paper, we introduce BMEC (Bone Morrow Erythroid Cells), the first large fine-grained image dataset of erythroid cells, to facilitate more deep learning research on erythroid cells. BMEC contains 5,666 images of individual erythroid cells, each of which is extracted from the bone marrow erythroid cell smears and professionally annotated to one of the four types of erythroid cells. To distinguish the erythroid cells, one key indicator is the cell shape which is closely related to the cell growth and maturation. Therefore, we design a novel shape-aware image classification network for fine-grained erythroid cell classification. The shape feature is extracted from the shape mask image and aggregated to the raw image feature with a shape attention module. With the shape-attended image feature, our network achieved superior classification performance (81.12\% top-1 accuracy) on the BMEC dataset comparing to the baseline methods. Ablation studies also demonstrate the effectiveness of incorporating the shape information for the fine-grained cell classification. To further verify the generalizability of our method, we tested our network on two additional public white blood cells (WBC) datasets and the results show our shape-aware method can generally outperform recent state-of-the-art works on classifying the WBC. The code and BMEC dataset can be found on https://github.com/wangye8899/BMEC.

In recent years, graph representation learning has achieved remarkable success while suffering from low-quality data problems. As a mature technology to improve data quality in computer vision, data augmentation has also attracted increasing attention in graph domain. For promoting the development of this emerging research direction, in this survey, we comprehensively review and summarize the existing graph data augmentation (GDAug) techniques. Specifically, we first summarize a variety of feasible taxonomies, and then classify existing GDAug studies based on fine-grained graph elements. Furthermore, for each type of GDAug technique, we formalize the general definition, discuss the technical details, and give schematic illustration. In addition, we also summarize common performance metrics and specific design metrics for constructing a GDAug evaluation system. Finally, we summarize the applications of GDAug from both data and model levels, as well as future directions.

Speech-centric machine learning systems have revolutionized many leading domains ranging from transportation and healthcare to education and defense, profoundly changing how people live, work, and interact with each other. However, recent studies have demonstrated that many speech-centric ML systems may need to be considered more trustworthy for broader deployment. Specifically, concerns over privacy breaches, discriminating performance, and vulnerability to adversarial attacks have all been discovered in ML research fields. In order to address the above challenges and risks, a significant number of efforts have been made to ensure these ML systems are trustworthy, especially private, safe, and fair. In this paper, we conduct the first comprehensive survey on speech-centric trustworthy ML topics related to privacy, safety, and fairness. In addition to serving as a summary report for the research community, we point out several promising future research directions to inspire the researchers who wish to explore further in this area.

Recently, evolutionary multitasking (EMT) has been successfully used in the field of high-dimensional classification. However, the generation of multiple tasks in the existing EMT-based feature selection (FS) methods is relatively simple, using only the Relief-F method to collect related features with similar importance into one task, which cannot provide more diversified tasks for knowledge transfer. Thus, this paper devises a new EMT algorithm for FS in high-dimensional classification, which first adopts different filtering methods to produce multiple tasks and then modifies a competitive swarm optimizer to efficiently solve these related tasks via knowledge transfer. First, a diversified multiple task generation method is designed based on multiple filtering methods, which generates several relevant low-dimensional FS tasks by eliminating irrelevant features. In this way, useful knowledge for solving simple and relevant tasks can be transferred to simplify and speed up the solution of the original high-dimensional FS task. Then, a competitive swarm optimizer is modified to simultaneously solve these relevant FS tasks by transferring useful knowledge among them. Numerous empirical results demonstrate that the proposed EMT-based FS method can obtain a better feature subset than several state-of-the-art FS methods on eighteen high-dimensional datasets.

Spatio-temporal modeling as a canonical task of multivariate time series forecasting has been a significant research topic in AI community. To address the underlying heterogeneity and non-stationarity implied in the graph streams, in this study, we propose Spatio-Temporal Meta-Graph Learning as a novel Graph Structure Learning mechanism on spatio-temporal data. Specifically, we implement this idea into Meta-Graph Convolutional Recurrent Network (MegaCRN) by plugging the Meta-Graph Learner powered by a Meta-Node Bank into GCRN encoder-decoder. We conduct a comprehensive evaluation on two benchmark datasets (METR-LA and PEMS-BAY) and a large-scale spatio-temporal dataset that contains a variaty of non-stationary phenomena. Our model outperformed the state-of-the-arts to a large degree on all three datasets (over 27% MAE and 34% RMSE). Besides, through a series of qualitative evaluations, we demonstrate that our model can explicitly disentangle locations and time slots with different patterns and be robustly adaptive to different anomalous situations. Codes and datasets are available at https://github.com/deepkashiwa20/MegaCRN.

ProtoPNet and its follow-up variants (ProtoPNets) have attracted broad research interest for their intrinsic interpretability from prototypes and comparable accuracy to non-interpretable counterparts. However, it has been recently found that the interpretability of prototypes can be corrupted due to the semantic gap between similarity in latent space and that in input space. In this work, we make the first attempt to quantitatively evaluate the interpretability of prototype-based explanations, rather than solely qualitative evaluations by some visualization examples, which can be easily misled by cherry picks. To this end, we propose two evaluation metrics, termed consistency score and stability score, to evaluate the explanation consistency cross images and the explanation robustness against perturbations, both of which are essential for explanations taken into practice. Furthermore, we propose a shallow-deep feature alignment (SDFA) module and a score aggregation (SA) module to improve the interpretability of prototypes. We conduct systematical evaluation experiments and substantial discussions to uncover the interpretability of existing ProtoPNets. Experiments demonstrate that our method achieves significantly superior performance to the state-of-the-arts, under both the conventional qualitative evaluations and the proposed quantitative evaluations, in both accuracy and interpretability. Codes are available at https://github.com/hqhQAQ/EvalProtoPNet.

Accurate spatial-temporal traffic flow forecasting is essential for helping traffic managers to take control measures and drivers to choose the optimal travel routes. Recently, graph convolutional networks (GCNs) have been widely used in traffic flow prediction owing to their powerful ability to capture spatial-temporal dependencies. The design of the spatial-temporal graph adjacency matrix is a key to the success of GCNs, and it is still an open question. This paper proposes reconstructing the binary adjacency matrix via tensor decomposition, and a traffic flow forecasting method is proposed. First, we reformulate the spatial-temporal fusion graph adjacency matrix into a three-way adjacency tensor. Then, we reconstructed the adjacency tensor via Tucker decomposition, wherein more informative and global spatial-temporal dependencies are encoded. Finally, a Spatial-temporal Synchronous Graph Convolutional module for localized spatial-temporal correlations learning and a Dilated Convolution module for global correlations learning are assembled to aggregate and learn the comprehensive spatial-temporal dependencies of the road network. Experimental results on four open-access datasets demonstrate that the proposed model outperforms state-of-the-art approaches in terms of the prediction performance and computational cost.