最近的一些研究表明，使用额外的分配数据可能会导致高水平的对抗性鲁棒性。但是，不能保证始终可以为所选数据集获得足够的额外数据。在本文中，我们提出了一种有偏见的多域对抗训练（BIAMAT）方法，该方法可以使用公开可用的辅助数据集诱导训练数据放大，而无需在主要和辅助数据集之间进行类分配匹配。提出的方法可以通过多域学习利用辅助数据集来实现主数据集上的对抗性鲁棒性。具体而言，可以通过使用Biamat的应用来实现对鲁棒和非鲁棒特征的数据扩增，如通过理论和经验分析所证明的。此外，我们证明，尽管由于辅助和主要数据之间的分布差异，现有方法容易受到负转移的影响，但提出的方法使神经网络能够通过应用程序通过应用程序来成功处理域差异来灵活地利用各种图像数据集来进行对抗训练基于置信的选择策略。预先训练的模型和代码可在：\ url {https://github.com/saehyung-lee/biamat}中获得。

最近的研究表明，基于梯度匹配的数据集综合或数据集凝结（DC），当应用于数据有效的学习任务时，方法可以实现最先进的性能。但是，在这项研究中，我们证明，当任务 - 核定信息构成培训数据集的重要组成部分时，现有的DC方法比随机选择方法的性能更糟。我们将其归因于缺乏与课堂梯度匹配策略所产生的类对比信号的参与。为了解决此问题，我们通过修改损耗函数以使DC方法有效地捕获类之间的差异来提出与对比度信号（DCC）的数据集凝结。此外，我们通过跟踪内核速度来分析训练动力学的新损失函数。此外，我们引入了双层热身策略，以稳定优化。我们的实验结果表明，尽管现有方法对细粒度的图像分类任务无效，但所提出的方法可以成功地为相同任务生成信息合成数据集。此外，我们证明所提出的方法甚至在基准数据集（例如SVHN，CIFAR-10和CIFAR-100）上也优于基准。最后，我们通过将其应用于持续学习任务来证明该方法的高度适用性。

几个数据增强方法部署了未标记的分配（UID）数据，以弥合神经网络的培训和推理之间的差距。然而，这些方法在UID数据的可用性方面具有明确的限制和伪标签上的算法的依赖性。在此，我们提出了一种数据增强方法，通过使用缺乏上述问题的分发（OOD）数据来改善对抗和标准学习的泛化。我们展示了如何在理论上使用每个学习场景中的数据来改进泛化，并通过Cifar-10，CiFar-100和ImageNet的子集进行化学理论分析。结果表明，即使在似乎与人类角度几乎没有相关的图像数据中也是不希望的特征。我们还通过与其他数据增强方法进行比较，介绍了所提出的方法的优点，这些方法可以在没有UID数据的情况下使用。此外，我们证明该方法可以进一步改善现有的最先进的对抗培训。

The 3D-aware image synthesis focuses on conserving spatial consistency besides generating high-resolution images with fine details. Recently, Neural Radiance Field (NeRF) has been introduced for synthesizing novel views with low computational cost and superior performance. While several works investigate a generative NeRF and show remarkable achievement, they cannot handle conditional and continuous feature manipulation in the generation procedure. In this work, we introduce a novel model, called Class-Continuous Conditional Generative NeRF ($\text{C}^{3}$G-NeRF), which can synthesize conditionally manipulated photorealistic 3D-consistent images by projecting conditional features to the generator and the discriminator. The proposed $\text{C}^{3}$G-NeRF is evaluated with three image datasets, AFHQ, CelebA, and Cars. As a result, our model shows strong 3D-consistency with fine details and smooth interpolation in conditional feature manipulation. For instance, $\text{C}^{3}$G-NeRF exhibits a Fr\'echet Inception Distance (FID) of 7.64 in 3D-aware face image synthesis with a $\text{128}^{2}$ resolution. Additionally, we provide FIDs of generated 3D-aware images of each class of the datasets as it is possible to synthesize class-conditional images with $\text{C}^{3}$G-NeRF.

Cellular automata (CA) captivate researchers due to teh emergent, complex individualized behavior that simple global rules of interaction enact. Recent advances in the field have combined CA with convolutional neural networks to achieve self-regenerating images. This new branch of CA is called neural cellular automata [1]. The goal of this project is to use the idea of idea of neural cellular automata to grow prediction machines. We place many different convolutional neural networks in a grid. Each conv net cell outputs a prediction of what the next state will be, and minimizes predictive error. Cells received their neighbors' colors and fitnesses as input. Each cell's fitness score described how accurate its predictions were. Cells could also move to explore their environment and some stochasticity was applied to movement.

There is a dramatic shortage of skilled labor for modern vineyards. The Vinum project is developing a mobile robotic solution to autonomously navigate through vineyards for winter grapevine pruning. This necessitates an autonomous navigation stack for the robot pruning a vineyard. The Vinum project is using the quadruped robot HyQReal. This paper introduces an architecture for a quadruped robot to autonomously move through a vineyard by identifying and approaching grapevines for pruning. The higher level control is a state machine switching between searching for destination positions, autonomously navigating towards those locations, and stopping for the robot to complete a task. The destination points are determined by identifying grapevine trunks using instance segmentation from a Mask Region-Based Convolutional Neural Network (Mask-RCNN). These detections are sent through a filter to avoid redundancy and remove noisy detections. The combination of these features is the basis for the proposed architecture.

Feature selection helps reduce data acquisition costs in ML, but the standard approach is to train models with static feature subsets. Here, we consider the dynamic feature selection (DFS) problem where a model sequentially queries features based on the presently available information. DFS is often addressed with reinforcement learning (RL), but we explore a simpler approach of greedily selecting features based on their conditional mutual information. This method is theoretically appealing but requires oracle access to the data distribution, so we develop a learning approach based on amortized optimization. The proposed method is shown to recover the greedy policy when trained to optimality and outperforms numerous existing feature selection methods in our experiments, thus validating it as a simple but powerful approach for this problem.

In this paper, we learn a diffusion model to generate 3D data on a scene-scale. Specifically, our model crafts a 3D scene consisting of multiple objects, while recent diffusion research has focused on a single object. To realize our goal, we represent a scene with discrete class labels, i.e., categorical distribution, to assign multiple objects into semantic categories. Thus, we extend discrete diffusion models to learn scene-scale categorical distributions. In addition, we validate that a latent diffusion model can reduce computation costs for training and deploying. To the best of our knowledge, our work is the first to apply discrete and latent diffusion for 3D categorical data on a scene-scale. We further propose to perform semantic scene completion (SSC) by learning a conditional distribution using our diffusion model, where the condition is a partial observation in a sparse point cloud. In experiments, we empirically show that our diffusion models not only generate reasonable scenes, but also perform the scene completion task better than a discriminative model. Our code and models are available at https://github.com/zoomin-lee/scene-scale-diffusion

We introduce a new tool for stochastic convex optimization (SCO): a Reweighted Stochastic Query (ReSQue) estimator for the gradient of a function convolved with a (Gaussian) probability density. Combining ReSQue with recent advances in ball oracle acceleration [CJJJLST20, ACJJS21], we develop algorithms achieving state-of-the-art complexities for SCO in parallel and private settings. For a SCO objective constrained to the unit ball in $\mathbb{R}^d$, we obtain the following results (up to polylogarithmic factors). We give a parallel algorithm obtaining optimization error $\epsilon_{\text{opt}}$ with $d^{1/3}\epsilon_{\text{opt}}^{-2/3}$ gradient oracle query depth and $d^{1/3}\epsilon_{\text{opt}}^{-2/3} + \epsilon_{\text{opt}}^{-2}$ gradient queries in total, assuming access to a bounded-variance stochastic gradient estimator. For $\epsilon_{\text{opt}} \in [d^{-1}, d^{-1/4}]$, our algorithm matches the state-of-the-art oracle depth of [BJLLS19] while maintaining the optimal total work of stochastic gradient descent. We give an $(\epsilon_{\text{dp}}, \delta)$-differentially private algorithm which, given $n$ samples of Lipschitz loss functions, obtains near-optimal optimization error and makes $\min(n, n^2\epsilon_{\text{dp}}^2 d^{-1}) + \min(n^{4/3}\epsilon_{\text{dp}}^{1/3}, (nd)^{2/3}\epsilon_{\text{dp}}^{-1})$ queries to the gradients of these functions. In the regime $d \le n \epsilon_{\text{dp}}^{2}$, where privacy comes at no cost in terms of the optimal loss up to constants, our algorithm uses $n + (nd)^{2/3}\epsilon_{\text{dp}}^{-1}$ queries and improves recent advancements of [KLL21, AFKT21]. In the moderately low-dimensional setting $d \le \sqrt n \epsilon_{\text{dp}}^{3/2}$, our query complexity is near-linear.

We propose a new causal inference framework to learn causal effects from multiple, decentralized data sources in a federated setting. We introduce an adaptive transfer algorithm that learns the similarities among the data sources by utilizing Random Fourier Features to disentangle the loss function into multiple components, each of which is associated with a data source. The data sources may have different distributions; the causal effects are independently and systematically incorporated. The proposed method estimates the similarities among the sources through transfer coefficients, and hence requiring no prior information about the similarity measures. The heterogeneous causal effects can be estimated with no sharing of the raw training data among the sources, thus minimizing the risk of privacy leak. We also provide minimax lower bounds to assess the quality of the parameters learned from the disparate sources. The proposed method is empirically shown to outperform the baselines on decentralized data sources with dissimilar distributions.