我们为多机器人系统应用程序提供了一个网络共模拟框架。我们需要一个模拟框架，该框架既捕获物理互动和通信方面，以有效地设计这种复杂的系统。这对于共同设计多机器人的自主逻辑和通信协议是必不可少的。提出的框架扩展了现有工具，以模拟机器人的自主权和与网络相关的方面。我们已经使用ROS/ROS2的凉亭来开发机器人和Mininet-WIFI作为网络模拟器的自治逻辑，以捕获多机器人系统的网络物理系统属性。该框架解决了通过同步移动性和时间来无缝集成两个仿真环境的需求，从而使算法轻松迁移到真实的平台。该框架支持基于容器的虚拟化，并通过解耦数据平面和控制平面来扩展通用机器人框架。

A comprehensive pharmaceutical recommendation system was designed based on the patients and drugs features extracted from Drugs.com and Druglib.com. First, data from these databases were combined, and a dataset of patients and drug information was built. Secondly, the patients and drugs were clustered, and then the recommendation was performed using different ratings provided by patients, and importantly by the knowledge obtained from patients and drug specifications, and considering drug interactions. To the best of our knowledge, we are the first group to consider patients conditions and history in the proposed approach for selecting a specific medicine appropriate for that particular user. Our approach applies artificial intelligence (AI) models for the implementation. Sentiment analysis using natural language processing approaches is employed in pre-processing along with neural network-based methods and recommender system algorithms for modeling the system. In our work, patients conditions and drugs features are used for making two models based on matrix factorization. Then we used drug interaction to filter drugs with severe or mild interactions with other drugs. We developed a deep learning model for recommending drugs by using data from 2304 patients as a training set, and then we used data from 660 patients as our validation set. After that, we used knowledge from critical information about drugs and combined the outcome of the model into a knowledge-based system with the rules obtained from constraints on taking medicine.

We introduce camouflaged data poisoning attacks, a new attack vector that arises in the context of machine unlearning and other settings when model retraining may be induced. An adversary first adds a few carefully crafted points to the training dataset such that the impact on the model's predictions is minimal. The adversary subsequently triggers a request to remove a subset of the introduced points at which point the attack is unleashed and the model's predictions are negatively affected. In particular, we consider clean-label targeted attacks (in which the goal is to cause the model to misclassify a specific test point) on datasets including CIFAR-10, Imagenette, and Imagewoof. This attack is realized by constructing camouflage datapoints that mask the effect of a poisoned dataset.

Individual-level data (microdata) that characterizes a population, is essential for studying many real-world problems. However, acquiring such data is not straightforward due to cost and privacy constraints, and access is often limited to aggregated data (macro data) sources. In this study, we examine synthetic data generation as a tool to extrapolate difficult-to-obtain high-resolution data by combining information from multiple easier-to-obtain lower-resolution data sources. In particular, we introduce a framework that uses a combination of univariate and multivariate frequency tables from a given target geographical location in combination with frequency tables from other auxiliary locations to generate synthetic microdata for individuals in the target location. Our method combines the estimation of a dependency graph and conditional probabilities from the target location with the use of a Gaussian copula to leverage the available information from the auxiliary locations. We perform extensive testing on two real-world datasets and demonstrate that our approach outperforms prior approaches in preserving the overall dependency structure of the data while also satisfying the constraints defined on the different variables.

Modern deep learning models are over-parameterized, where the optimization setup strongly affects the generalization performance. A key element of reliable optimization for these systems is the modification of the loss function. Sharpness-Aware Minimization (SAM) modifies the underlying loss function to guide descent methods towards flatter minima, which arguably have better generalization abilities. In this paper, we focus on a variant of SAM known as mSAM, which, during training, averages the updates generated by adversarial perturbations across several disjoint shards of a mini-batch. Recent work suggests that mSAM can outperform SAM in terms of test accuracy. However, a comprehensive empirical study of mSAM is missing from the literature -- previous results have mostly been limited to specific architectures and datasets. To that end, this paper presents a thorough empirical evaluation of mSAM on various tasks and datasets. We provide a flexible implementation of mSAM and compare the generalization performance of mSAM to the performance of SAM and vanilla training on different image classification and natural language processing tasks. We also conduct careful experiments to understand the computational cost of training with mSAM, its sensitivity to hyperparameters and its correlation with the flatness of the loss landscape. Our analysis reveals that mSAM yields superior generalization performance and flatter minima, compared to SAM, across a wide range of tasks without significantly increasing computational costs.

We study discrete distribution estimation under user-level local differential privacy (LDP). In user-level $\varepsilon$-LDP, each user has $m\ge1$ samples and the privacy of all $m$ samples must be preserved simultaneously. We resolve the following dilemma: While on the one hand having more samples per user should provide more information about the underlying distribution, on the other hand, guaranteeing the privacy of all $m$ samples should make the estimation task more difficult. We obtain tight bounds for this problem under almost all parameter regimes. Perhaps surprisingly, we show that in suitable parameter regimes, having $m$ samples per user is equivalent to having $m$ times more users, each with only one sample. Our results demonstrate interesting phase transitions for $m$ and the privacy parameter $\varepsilon$ in the estimation risk. Finally, connecting with recent results on shuffled DP, we show that combined with random shuffling, our algorithm leads to optimal error guarantees (up to logarithmic factors) under the central model of user-level DP in certain parameter regimes. We provide several simulations to verify our theoretical findings.

远程患者监测（RPM）系统的最新进展可以识别各种人类活动，以测量生命体征，包括浅表血管的细微运动。通过解决已知的局限性和挑战（例如预测和分类生命体征和身体运动），将人工智能（AI）应用于该领域的医疗保健领域越来越兴趣，这些局限性和挑战被认为是至关重要的任务。联合学习是一种相对较新的AI技术，旨在通过分散传统的机器学习建模来增强数据隐私。但是，传统的联合学习需要在本地客户和全球服务器上培训相同的建筑模型。由于缺乏本地模型异质性，这限制了全球模型体系结构。为了克服这一点，在本研究中提出了一个新颖的联邦学习体系结构Fedstack，该体系支持结合异构建筑客户端模型。这项工作提供了一个受保护的隐私系统，用于以分散的方法住院的住院患者，并确定最佳传感器位置。提出的体系结构被应用于从10个不同主题的移动健康传感器基准数据集中，以对12个常规活动进行分类。对单个主题数据培训了三个AI模型ANN，CNN和BISTM。联合学习体系结构应用于这些模型，以建立能够表演状态表演的本地和全球模型。本地CNN模型在每个主题数据上都优于ANN和BI-LSTM模型。与同质堆叠相比，我们提出的工作表明，当地模型的异质堆叠表现出更好的性能。这项工作为建立增强的RPM系统奠定了基础，该系统纳入了客户隐私，以帮助对急性心理健康设施中患者进行临床观察，并最终有助于防止意外死亡。

联合学习（FL）是一种机器学习范式，本地节点在培训数据保持分散时进行了协作训练中心模型。现有的FL方法通常共享模型参数或采用共同依据来解决不平衡数据分布的问题。但是，他们患有沟通瓶颈。更重要的是，他们有隐私泄漏的风险。在这项工作中，我们在FL框架中开发了一种隐私和沟通高效方法，并使用未标记的跨域公共数据进行单次离线知识蒸馏。我们提出了一个量化的和嘈杂的本地预测合奏，从经过全面训练的本地模型中，以确保更强的隐私保证而无需牺牲准确性。基于有关图像分类和文本分类任务的广泛实验，我们表明，我们的隐私方法优于基线FL算法，其精度和沟通效率都具有出色的性能。

全面监督的人类网格恢复方法是渴望数据的，由于3D规定基准数据集的可用性有限和多样性，因此具有较差的概括性。使用合成数据驱动的训练范例，已经从合成配对的2D表示（例如2D关键点和分段掩码）和3D网格中训练了模型的最新进展，其中已使用合成数据驱动的训练范例和3D网格进行了训练。但是，由于合成训练数据和实际测试数据之间的域间隙很难解决2D密集表示，因此很少探索合成密集的对应图（即IUV）。为了减轻IUV上的这个领域差距，我们提出了使用可靠但稀疏表示的互补信息（2D关键点）提出的交叉代理对齐。具体而言，初始网格估计和两个2D表示之间的比对误差将转发为回归器，并在以下网格回归中动态校正。这种适应性的交叉代理对准明确地从偏差和捕获互补信息中学习：从稀疏的表示和浓郁的浓度中的稳健性。我们对多个标准基准数据集进行了广泛的实验，并展示了竞争结果，帮助减少在人类网格估计中生产最新模型所需的注释工作。

免疫反应是一个动态过程，通过该过程，身体决定抗原是自我还是非自然。这种动态过程的状态由构成该决策过程的炎症和监管参与者的相对平衡和种群定义。免疫疗法的目的，例如因此，类风湿关节炎（RA）是为了使免疫状态偏向于监管参与者，从而在反应中关闭自身免疫性途径。尽管有几种已知的免疫疗法方法，但治疗的有效性将取决于这种干预措施如何改变该状态的演变。不幸的是，此过程不仅取决于该过程的动力学，而且是在干预时的系统状态决定的 - 这种状态在应用治疗之前很难确定即使不是不可能的状态。