自动机器人群的主要任务之一是共同决定最佳可用选项。实现需要在现实世界环境中可能不会总是可用的代理商之间的高质量沟通。在本文中，我们介绍了沟通受限的集体决策问题，其中环境的某些领域限制了代理人通过降低成功率或阻止沟通渠道进行沟通的能力。我们提出了一种分散的算法，用于绘制机器人群的环境特征，并在不知道通信环境的情况下改善沟通有限环境中的集体决策。我们的结果表明，让集体意识到通信环境可以在存在沟通限制的情况下提高收敛速度，而不会牺牲准确性的速度至少3倍。

在无人车的领域，自主机器人群体承诺将提高效率和集体自主权。这些群体将来将如何运作，以及尚未充分定义这些沟通要求和运营界限。与11位专业的无人车运营商和设计师进行了研讨会，目的是确定用于开发和测试机器人群的用例。专家定义了三个方案，然后编译以生产一个用例，概述与高度自主群合作时的情况，目标，代理，通信要求和操作阶段。我们的编译用例均适用于研究人员，设计师和制造商，以测试和量身定制其设计管道，以适应人类互动的一些关键问题。应用程序的示例包括告知模拟开发，构成进一步设计研讨会的基础，并确定人类运营商与群体之间可能出现的信任问题。

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.

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features into a single objective. If they try to do both at once from input designed to teach the full reward function, it is easy to end up with a representation that contains spurious correlations in the data, which fails to generalize to new settings. Instead, our ultimate goal is to enable robots to identify and isolate the causal features that people actually care about and use when they represent states and behavior. Our idea is that we can tune into this representation by asking users what behaviors they consider similar: behaviors will be similar if the features that matter are similar, even if low-level behavior is different; conversely, behaviors will be different if even one of the features that matter differs. This, in turn, is what enables the robot to disambiguate between what needs to go into the representation versus what is spurious, as well as what aspects of behavior can be compressed together versus not. The notion of learning representations based on similarity has a nice parallel in contrastive learning, a self-supervised representation learning technique that maps visually similar data points to similar embeddings, where similarity is defined by a designer through data augmentation heuristics. By contrast, in order to learn the representations that people use, so we can learn their preferences and objectives, we use their definition of similarity. In simulation as well as in a user study, we show that learning through such similarity queries leads to representations that, while far from perfect, are indeed more generalizable than self-supervised and task-input alternatives.

The latent space of autoencoders has been improved for clustering image data by jointly learning a t-distributed embedding with a clustering algorithm inspired by the neighborhood embedding concept proposed for data visualization. However, multivariate tabular data pose different challenges in representation learning than image data, where traditional machine learning is often superior to deep tabular data learning. In this paper, we address the challenges of learning tabular data in contrast to image data and present a novel Gaussian Cluster Embedding in Autoencoder Latent Space (G-CEALS) algorithm by replacing t-distributions with multivariate Gaussian clusters. Unlike current methods, the proposed approach independently defines the Gaussian embedding and the target cluster distribution to accommodate any clustering algorithm in representation learning. A trained G-CEALS model extracts a quality embedding for unseen test data. Based on the embedding clustering accuracy, the average rank of the proposed G-CEALS method is 1.4 (0.7), which is superior to all eight baseline clustering and cluster embedding methods on seven tabular data sets. This paper shows one of the first algorithms to jointly learn embedding and clustering to improve multivariate tabular data representation in downstream clustering.

An unbiased scene graph generation (SGG) algorithm referred to as Skew Class-balanced Re-weighting (SCR) is proposed for considering the unbiased predicate prediction caused by the long-tailed distribution. The prior works focus mainly on alleviating the deteriorating performances of the minority predicate predictions, showing drastic dropping recall scores, i.e., losing the majority predicate performances. It has not yet correctly analyzed the trade-off between majority and minority predicate performances in the limited SGG datasets. In this paper, to alleviate the issue, the Skew Class-balanced Re-weighting (SCR) loss function is considered for the unbiased SGG models. Leveraged by the skewness of biased predicate predictions, the SCR estimates the target predicate weight coefficient and then re-weights more to the biased predicates for better trading-off between the majority predicates and the minority ones. Extensive experiments conducted on the standard Visual Genome dataset and Open Image V4 \& V6 show the performances and generality of the SCR with the traditional SGG models.

In this paper we discuss the theory used in the design of an open source lightmorphic signatures analysis toolkit (LSAT). In addition to providing a core functionality, the software package enables specific optimizations with its modular and customizable design. To promote its usage and inspire future contributions, LSAT is publicly available. By using a self-supervised neural network and augmented machine learning algorithms, LSAT provides an easy-to-use interface with ample documentation. The experiments demonstrate that LSAT improves the otherwise tedious and error-prone tasks of translating lightmorphic associated data into usable spectrograms, enhanced with parameter tuning and performance analysis. With the provided mathematical functions, LSAT validates the nonlinearity encountered in the data conversion process while ensuring suitability of the forecasting algorithms.

Detecting abrupt changes in data distribution is one of the most significant tasks in streaming data analysis. Although many unsupervised Change-Point Detection (CPD) methods have been proposed recently to identify those changes, they still suffer from missing subtle changes, poor scalability, or/and sensitive to noise points. To meet these challenges, we are the first to generalise the CPD problem as a special case of the Change-Interval Detection (CID) problem. Then we propose a CID method, named iCID, based on a recent Isolation Distributional Kernel (IDK). iCID identifies the change interval if there is a high dissimilarity score between two non-homogeneous temporal adjacent intervals. The data-dependent property and finite feature map of IDK enabled iCID to efficiently identify various types of change points in data streams with the tolerance of noise points. Moreover, the proposed online and offline versions of iCID have the ability to optimise key parameter settings. The effectiveness and efficiency of iCID have been systematically verified on both synthetic and real-world datasets.

Artificial Intelligence (AI) has become commonplace to solve routine everyday tasks. Because of the exponential growth in medical imaging data volume and complexity, the workload on radiologists is steadily increasing. We project that the gap between the number of imaging exams and the number of expert radiologist readers required to cover this increase will continue to expand, consequently introducing a demand for AI-based tools that improve the efficiency with which radiologists can comfortably interpret these exams. AI has been shown to improve efficiency in medical-image generation, processing, and interpretation, and a variety of such AI models have been developed across research labs worldwide. However, very few of these, if any, find their way into routine clinical use, a discrepancy that reflects the divide between AI research and successful AI translation. To address the barrier to clinical deployment, we have formed MONAI Consortium, an open-source community which is building standards for AI deployment in healthcare institutions, and developing tools and infrastructure to facilitate their implementation. This report represents several years of weekly discussions and hands-on problem solving experience by groups of industry experts and clinicians in the MONAI Consortium. We identify barriers between AI-model development in research labs and subsequent clinical deployment and propose solutions. Our report provides guidance on processes which take an imaging AI model from development to clinical implementation in a healthcare institution. We discuss various AI integration points in a clinical Radiology workflow. We also present a taxonomy of Radiology AI use-cases. Through this report, we intend to educate the stakeholders in healthcare and AI (AI researchers, radiologists, imaging informaticists, and regulators) about cross-disciplinary challenges and possible solutions.

Deep learning methods in the literature are invariably benchmarked on image data sets and then assumed to work on all data problems. Unfortunately, architectures designed for image learning are often not ready or optimal for non-image data without considering data-specific learning requirements. In this paper, we take a data-centric view to argue that deep image embedding clustering methods are not equally effective on heterogeneous tabular data sets. This paper performs one of the first studies on deep embedding clustering of seven tabular data sets using six state-of-the-art baseline methods proposed for image data sets. Our results reveal that the traditional clustering of tabular data ranks second out of eight methods and is superior to most deep embedding clustering baselines. Our observation is in line with the recent literature that traditional machine learning of tabular data is still a competitive approach against deep learning. Although surprising to many deep learning researchers, traditional clustering methods can be competitive baselines for tabular data, and outperforming these baselines remains a challenge for deep embedding clustering. Therefore, deep learning methods for image learning may not be fair or suitable baselines for tabular data without considering data-specific contrasts and learning requirements.