使用3D神经字段的几何形状，颜色和语义的关节表示使得能够使用手持式RGB-D传感器实时地重建场景的超稀疏交互来精确密集标记。我们的ILABEL系统不需要培训数据，但可以比在大型培训的图像数据集上培训的标准方法更准确地标记场景。此外，它以“开放式”方式工作，使用用户在飞行中定义语义类。 Ilabel的潜在模型是一款从头开始培训的多层的感知者（MLP），以实时地学习联合神经场景表示。场景模型是实时更新和可视化的，允许用户对焦相互作用以实现高效标记。可以将房间或类似的场景精确标记为10+语义类别，只需几十点击即可。定量标签精度使用点击次数强烈缩放，并迅速超越标准的预培训语义分段方法。我们还展示了一个分层标签变体。

We propose a distributionally robust return-risk model for Markov decision processes (MDPs) under risk and reward ambiguity. The proposed model optimizes the weighted average of mean and percentile performances, and it covers the distributionally robust MDPs and the distributionally robust chance-constrained MDPs (both under reward ambiguity) as special cases. By considering that the unknown reward distribution lies in a Wasserstein ambiguity set, we derive the tractable reformulation for our model. In particular, we show that that the return-risk model can also account for risk from uncertain transition kernel when one only seeks deterministic policies, and that a distributionally robust MDP under the percentile criterion can be reformulated as its nominal counterpart at an adjusted risk level. A scalable first-order algorithm is designed to solve large-scale problems, and we demonstrate the advantages of our proposed model and algorithm through numerical experiments.

In the future, service robots are expected to be able to operate autonomously for long periods of time without human intervention. Many work striving for this goal have been emerging with the development of robotics, both hardware and software. Today we believe that an important underpinning of long-term robot autonomy is the ability of robots to learn on site and on-the-fly, especially when they are deployed in changing environments or need to traverse different environments. In this paper, we examine the problem of long-term autonomy from the perspective of robot learning, especially in an online way, and discuss in tandem its premise "data" and the subsequent "deployment".

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.

Remaining Useful Life (RUL) estimation plays a critical role in Prognostics and Health Management (PHM). Traditional machine health maintenance systems are often costly, requiring sufficient prior expertise, and are difficult to fit into highly complex and changing industrial scenarios. With the widespread deployment of sensors on industrial equipment, building the Industrial Internet of Things (IIoT) to interconnect these devices has become an inexorable trend in the development of the digital factory. Using the device's real-time operational data collected by IIoT to get the estimated RUL through the RUL prediction algorithm, the PHM system can develop proactive maintenance measures for the device, thus, reducing maintenance costs and decreasing failure times during operation. This paper carries out research into the remaining useful life prediction model for multi-sensor devices in the IIoT scenario. We investigated the mainstream RUL prediction models and summarized the basic steps of RUL prediction modeling in this scenario. On this basis, a data-driven approach for RUL estimation is proposed in this paper. It employs a Multi-Head Attention Mechanism to fuse the multi-dimensional time-series data output from multiple sensors, in which the attention on features is used to capture the interactions between features and attention on sequences is used to learn the weights of time steps. Then, the Long Short-Term Memory Network is applied to learn the features of time series. We evaluate the proposed model on two benchmark datasets (C-MAPSS and PHM08), and the results demonstrate that it outperforms the state-of-art models. Moreover, through the interpretability of the multi-head attention mechanism, the proposed model can provide a preliminary explanation of engine degradation. Therefore, this approach is promising for predictive maintenance in IIoT scenarios.

In this paper, we propose a novel variable-length estimation approach for shape sensing of extensible soft robots utilizing fiber Bragg gratings (FBGs). Shape reconstruction from FBG sensors has been increasingly developed for soft robots, while the narrow stretching range of FBG fiber makes it difficult to acquire accurate sensing results for extensible robots. Towards this limitation, we newly introduce an FBG-based length sensor by leveraging a rigid curved channel, through which FBGs are allowed to slide within the robot following its body extension/compression, hence we can search and match the FBGs with specific constant curvature in the fiber to determine the effective length. From the fusion with the above measurements, a model-free filtering technique is accordingly presented for simultaneous calibration of a variable-length model and temporally continuous length estimation of the robot, enabling its accurate shape sensing using solely FBGs. The performances of the proposed method have been experimentally evaluated on an extensible soft robot equipped with an FBG fiber in both free and unstructured environments. The results concerning dynamic accuracy and robustness of length estimation and shape sensing demonstrate the effectiveness of our approach.

Cyber intrusion attacks that compromise the users' critical and sensitive data are escalating in volume and intensity, especially with the growing connections between our daily life and the Internet. The large volume and high complexity of such intrusion attacks have impeded the effectiveness of most traditional defence techniques. While at the same time, the remarkable performance of the machine learning methods, especially deep learning, in computer vision, had garnered research interests from the cyber security community to further enhance and automate intrusion detections. However, the expensive data labeling and limitation of anomalous data make it challenging to train an intrusion detector in a fully supervised manner. Therefore, intrusion detection based on unsupervised anomaly detection is an important feature too. In this paper, we propose a three-stage deep learning anomaly detection based network intrusion attack detection framework. The framework comprises an integration of unsupervised (K-means clustering), semi-supervised (GANomaly) and supervised learning (CNN) algorithms. We then evaluated and showed the performance of our implemented framework on three benchmark datasets: NSL-KDD, CIC-IDS2018, and TON_IoT.

Kernels on graphs have had limited options for node-level problems. To address this, we present a novel, generalized kernel for graphs with node feature data for semi-supervised learning. The kernel is derived from a regularization framework by treating the graph and feature data as two Hilbert spaces. We also show how numerous kernel-based models on graphs are instances of our design. A kernel defined this way has transductive properties, and this leads to improved ability to learn on fewer training points, as well as better handling of highly non-Euclidean data. We demonstrate these advantages using synthetic data where the distribution of the whole graph can inform the pattern of the labels. Finally, by utilizing a flexible polynomial of the graph Laplacian within the kernel, the model also performed effectively in semi-supervised classification on graphs of various levels of homophily.

Recognizing useful named entities plays a vital role in medical information processing, which helps drive the development of medical area research. Deep learning methods have achieved good results in medical named entity recognition (NER). However, we find that existing methods face great challenges when dealing with the nested named entities. In this work, we propose a novel method, referred to as ASAC, to solve the dilemma caused by the nested phenomenon, in which the core idea is to model the dependency between different categories of entity recognition. The proposed method contains two key modules: the adaptive shared (AS) part and the attentive conditional random field (ACRF) module. The former part automatically assigns adaptive weights across each task to achieve optimal recognition accuracy in the multi-layer network. The latter module employs the attention operation to model the dependency between different entities. In this way, our model could learn better entity representations by capturing the implicit distinctions and relationships between different categories of entities. Extensive experiments on public datasets verify the effectiveness of our method. Besides, we also perform ablation analyses to deeply understand our methods.

We explore the capability of plain Vision Transformers (ViTs) for semantic segmentation and propose the SegVit. Previous ViT-based segmentation networks usually learn a pixel-level representation from the output of the ViT. Differently, we make use of the fundamental component -- attention mechanism, to generate masks for semantic segmentation. Specifically, we propose the Attention-to-Mask (ATM) module, in which the similarity maps between a set of learnable class tokens and the spatial feature maps are transferred to the segmentation masks. Experiments show that our proposed SegVit using the ATM module outperforms its counterparts using the plain ViT backbone on the ADE20K dataset and achieves new state-of-the-art performance on COCO-Stuff-10K and PASCAL-Context datasets. Furthermore, to reduce the computational cost of the ViT backbone, we propose query-based down-sampling (QD) and query-based up-sampling (QU) to build a Shrunk structure. With the proposed Shrunk structure, the model can save up to $40\%$ computations while maintaining competitive performance.