Figure 1: We introduce datasets for 3D tracking and motion forecasting with rich maps for autonomous driving. Our 3D tracking dataset contains sequences of LiDAR measurements, 360 • RGB video, front-facing stereo (middle-right), and 6-dof localization. All sequences are aligned with maps containing lane center lines (magenta), driveable region (orange), and ground height. Sequences are annotated with 3D cuboid tracks (green). A wider map view is shown in the bottom-right.

This report summarizes the 3rd International Verification of Neural Networks Competition (VNN-COMP 2022), held as a part of the 5th Workshop on Formal Methods for ML-Enabled Autonomous Systems (FoMLAS), which was collocated with the 34th International Conference on Computer-Aided Verification (CAV). VNN-COMP is held annually to facilitate the fair and objective comparison of state-of-the-art neural network verification tools, encourage the standardization of tool interfaces, and bring together the neural network verification community. To this end, standardized formats for networks (ONNX) and specification (VNN-LIB) were defined, tools were evaluated on equal-cost hardware (using an automatic evaluation pipeline based on AWS instances), and tool parameters were chosen by the participants before the final test sets were made public. In the 2022 iteration, 11 teams participated on a diverse set of 12 scored benchmarks. This report summarizes the rules, benchmarks, participating tools, results, and lessons learned from this iteration of this competition.

Machine learning models are increasingly deployed for critical decision-making tasks, making it important to verify that they do not contain gender or racial biases picked up from training data. Typical approaches to achieve fairness revolve around efforts to clean or curate training data, with post-hoc statistical evaluation of the fairness of the model on evaluation data. In contrast, we propose techniques to \emph{prove} fairness using recently developed formal methods that verify properties of neural network models.Beyond the strength of guarantee implied by a formal proof, our methods have the advantage that we do not need explicit training or evaluation data (which is often proprietary) in order to analyze a given trained model. In experiments on two familiar datasets in the fairness literature (COMPAS and ADULTS), we show that through proper training, we can reduce unfairness by an average of 65.4\% at a cost of less than 1\% in AUC score.

本文提出了一种基于内核的自适应过滤器，该过滤器适用于以全双工（FD）模式运行的收发器中的数字域自身解雇取消（SIC）。在FD中，同时传输和接收信号的好处是以强大的自我干扰（SI）的价格出现。在这项工作中，我们主要有兴趣使用自适应滤波器（即自适应滤波器）在函数的再现核Hilbert Space（RKHS）中抑制SI。将投影概念作为功能强大的工具，APSM用于建模并因此删除SI。提供了低复杂性和快速跟踪算法，利用了平行投影以及RKHS中的内核技巧。在实际测量数据上评估所提出的方法的性能。与已知的流行基准相比，该方法说明了所提出的自适应滤波器的良好性能。他们证明，基于内核的算法达到了有利的数字SIC水平，同时借助了使用的自适应滤波方法，在丰富和非线性功能空间内实现基于平行的计算实现。

在潜在的强盗问题中，学习者可以访问奖励分布，并且 - 对于非平稳的变体 - 环境的过渡模型。奖励分布在手臂和未知的潜在状态下进行条件。目的是利用奖励历史来识别潜在状态，从而使未来的武器选择最佳。潜在的匪徒设置将自己适用于许多实际应用，例如推荐人和决策支持系统，其中丰富的数据允许在线学习的环境模型的离线估算仍然是关键组成部分。在这种情况下，以前的解决方案始终根据代理商对国家的信念选择最高的奖励组，而不是明确考虑信息收集臂的价值。这种信息收集的武器不一定会提供最高的奖励，因此永远不会选择始终选择最高奖励武器的代理商选择。在本文中，我们提出了一种潜在土匪信息收集的方法。鉴于特殊的奖励结构和过渡矩阵，我们表明，鉴于代理商对国家的信念，选择最好的手臂会产生更高的遗憾。此外，我们表明，通过仔细选择武器，我们可以改善对国家分布的估计，从而通过将来通过更好的手臂选择来降低累积后悔。我们在合成和现实世界数据集上评估了我们的方法，显示出对最新方法的遗憾显着改善。

我们提出了一种新的方法，可以通过具有relu，sigmoid或双曲线切线激活功能的神经网络有效地计算图像的紧密非凸面。特别是，我们通过多项式近似来抽象每个神经元的输入输出关系，该近似是使用多项式界定的基于设定的方式进行评估的。我们提出的方法特别适合于对神经网络控制系统的可及性分析，因为多项式地位型能够捕获两者中的非共鸣性，通过神经网络以及可触及的集合。与各种基准系统上的其他最新方法相比，我们证明了方法的卓越性能。

基于生成对抗神经网络（GAN）的神经声码器由于其快速推理速度和轻量级网络而被广泛使用，同时产生了高质量的语音波形。由于感知上重要的语音成分主要集中在低频频段中，因此大多数基于GAN的神经声码器进行了多尺度分析，以评估降压化采样的语音波形。这种多尺度分析有助于发电机提高语音清晰度。然而，在初步实验中，我们观察到，重点放在低频频段的多尺度分析会导致意外的伪影，例如，混叠和成像伪像，这些文物降低了合成的语音波形质量。因此，在本文中，我们研究了这些伪影与基于GAN的神经声码器之间的关系，并提出了一个基于GAN的神经声码器，称为Avocodo，该机器人允许合成具有减少伪影的高保真语音。我们介绍了两种歧视者，以各种视角评估波形：协作多波段歧视者和一个子兰歧视器。我们还利用伪正常的镜像滤波器库来获得下采样的多频段波形，同时避免混音。实验结果表明，在语音和唱歌语音合成任务中，鳄梨的表现优于常规的基于GAN的神经声码器，并且可以合成无伪影的语音。尤其是，鳄梨甚至能够复制看不见的扬声器的高质量波形。

The Annals of Joseon Dynasty (AJD) contain the daily records of the Kings of Joseon, the 500-year kingdom preceding the modern nation of Korea. The Annals were originally written in an archaic Korean writing system, `Hanja', and were translated into Korean from 1968 to 1993. The resulting translation was however too literal and contained many archaic Korean words; thus, a new expert translation effort began in 2012. Since then, the records of only one king have been completed in a decade. In parallel, expert translators are working on English translation, also at a slow pace and produced only one king's records in English so far. Thus, we propose H2KE, a neural machine translation model, that translates historical documents in Hanja to more easily understandable Korean and to English. Built on top of multilingual neural machine translation, H2KE learns to translate a historical document written in Hanja, from both a full dataset of outdated Korean translation and a small dataset of more recently translated contemporary Korean and English. We compare our method against two baselines: a recent model that simultaneously learns to restore and translate Hanja historical document and a Transformer based model trained only on newly translated corpora. The experiments reveal that our method significantly outperforms the baselines in terms of BLEU scores for both contemporary Korean and English translations. We further conduct extensive human evaluation which shows that our translation is preferred over the original expert translations by both experts and non-expert Korean speakers.

商业雷达传感正在获得相关性，机器学习算法构成了使该无线电技术传播到监视或医疗保健领域的关键组成部分之一。但是，雷达数据集仍然很少，并且对于所有雷达系统，环境条件或设计参数，尚无法实现概括。因此，部署启用机器学习的雷达应用程序通常需要一定程度的微调。在这项工作中，我们考虑了使用频率调制连续波进行深入学习的人类活动分类的情况下，跨雷达配置的无监督域适应的问题。为此，我们专注于理论启发的边距差异技术，该技术在计算机视觉领域已被证明是成功的。我们的实验将此技术扩展到雷达数据，使得与相同分类问题的几乎没有的监督方法达到了可比的精度。

灵感来自HTTPS://Doi.org/10.1515/Jagi-2016-0001中呈现的“认知时间玻璃”模型，我们为开发旨在认知机器人的认知架构提出了一个新的框架。拟议框架的目的是通过鼓励和减轻合作和重复使用现有结果来缓解认知架构的发展。这是通过提出将认知架构的发展分成一系列层的框架来完成，该层可以部分地被认为是隔离的，其中一些可以与其他研究领域直接相关。最后，我们向拟议框架介绍和审查一些主题。