In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot and a 2D slide around it. To fuse the data from these sensors, we first use an external camera as a reference to combine data from two depth cameras. A projection technique is then introduced to convert the 3D point cloud data of the cameras to its 2D correspondence. An obstacle avoidance algorithm is then developed based on the dynamic window approach. A number of experiments have been conducted to evaluate our proposed approach. The results show that the robot can effectively avoid static and dynamic obstacles of different shapes and sizes in different environments.

图形神经网络已被证明可以为各种软件工程任务产生令人印象深刻的结果。但是，现有技术仍然有两个问题：（1）长期依赖性和（2）不同的代码组件在不应该的情况下被视为平等。为了解决这些问题，我们提出了一种表示代码为层次结构（代码层次结构）的方法，其中不同的代码组件在各个粒度级别分别表示。然后，为了处理每个表示级别的表示，我们设计了一个新颖的网络体系结构Echelon，它结合了异质图形变压器网络和基于树的卷积神经网络的优势，以学习具有代码依赖性信息丰富的抽象语法树。我们还提出了一个新颖的预处理目标，称为缺失子树预测以补充我们的代码层次结构。评估结果表明，我们的方法在三个任务中大大优于其他基准：任何代码完成，代码分类和代码克隆检测。

在本文中，我们介绍了时间多解决图形神经网络（TMGNN），这是两个学会构建多尺度和多分辨率图结构的第一个体系结构，并结合了时间序列信号以捕获动态图的时间变化。我们已经将我们提出的模型应用于预测流行病和大流行病的任务，该模型是根据几个欧洲国家从实际的covid-19-19-19大流行病和水痘流行中收集的历史时间序列数据，并获得了与其他竞争性的结果相比，与其他竞争性的结果相比先前的最新时间架构和图形学习算法。我们已经表明，捕获图的多尺度和多分辨率结构对于提取本地或全球信息很重要，这些信息在理解全球流行病（例如covid-9）的动态中起着至关重要世界。我们的工作为预测和减轻未来的流行病和流行病带来了有希望的研究方向。

Diabetic Retinopathy (DR) is a leading cause of vision loss in the world, and early DR detection is necessary to prevent vision loss and support an appropriate treatment. In this work, we leverage interactive machine learning and introduce a joint learning framework, termed DRG-Net, to effectively learn both disease grading and multi-lesion segmentation. Our DRG-Net consists of two modules: (i) DRG-AI-System to classify DR Grading, localize lesion areas, and provide visual explanations; (ii) DRG-Expert-Interaction to receive feedback from user-expert and improve the DRG-AI-System. To deal with sparse data, we utilize transfer learning mechanisms to extract invariant feature representations by using Wasserstein distance and adversarial learning-based entropy minimization. Besides, we propose a novel attention strategy at both low- and high-level features to automatically select the most significant lesion information and provide explainable properties. In terms of human interaction, we further develop DRG-Net as a tool that enables expert users to correct the system's predictions, which may then be used to update the system as a whole. Moreover, thanks to the attention mechanism and loss functions constraint between lesion features and classification features, our approach can be robust given a certain level of noise in the feedback of users. We have benchmarked DRG-Net on the two largest DR datasets, i.e., IDRID and FGADR, and compared it to various state-of-the-art deep learning networks. In addition to outperforming other SOTA approaches, DRG-Net is effectively updated using user feedback, even in a weakly-supervised manner.

We introduce an approach for the answer-aware question generation problem. Instead of only relying on the capability of strong pre-trained language models, we observe that the information of answers and questions can be found in some relevant sentences in the context. Based on that, we design a model which includes two modules: a selector and a generator. The selector forces the model to more focus on relevant sentences regarding an answer to provide implicit local information. The generator generates questions by implicitly combining local information from the selector and global information from the whole context encoded by the encoder. The model is trained jointly to take advantage of latent interactions between the two modules. Experimental results on two benchmark datasets show that our model is better than strong pre-trained models for the question generation task. The code is also available (shorturl.at/lV567).

Ultrasound is progressing toward becoming an affordable and versatile solution to medical imaging. With the advent of COVID-19 global pandemic, there is a need to fully automate ultrasound imaging as it requires trained operators in close proximity to patients for long period of time. In this work, we investigate the important yet seldom-studied problem of scan target localization, under the setting of lung ultrasound imaging. We propose a purely vision-based, data driven method that incorporates learning-based computer vision techniques. We combine a human pose estimation model with a specially designed regression model to predict the lung ultrasound scan targets, and deploy multiview stereo vision to enhance the consistency of 3D target localization. While related works mostly focus on phantom experiments, we collect data from 30 human subjects for testing. Our method attains an accuracy level of 15.52 (9.47) mm for probe positioning and 4.32 (3.69){\deg} for probe orientation, with a success rate above 80% under an error threshold of 25mm for all scan targets. Moreover, our approach can serve as a general solution to other types of ultrasound modalities. The code for implementation has been released.

Collecting large-scale medical datasets with fully annotated samples for training of deep networks is prohibitively expensive, especially for 3D volume data. Recent breakthroughs in self-supervised learning (SSL) offer the ability to overcome the lack of labeled training samples by learning feature representations from unlabeled data. However, most current SSL techniques in the medical field have been designed for either 2D images or 3D volumes. In practice, this restricts the capability to fully leverage unlabeled data from numerous sources, which may include both 2D and 3D data. Additionally, the use of these pre-trained networks is constrained to downstream tasks with compatible data dimensions. In this paper, we propose a novel framework for unsupervised joint learning on 2D and 3D data modalities. Given a set of 2D images or 2D slices extracted from 3D volumes, we construct an SSL task based on a 2D contrastive clustering problem for distinct classes. The 3D volumes are exploited by computing vectored embedding at each slice and then assembling a holistic feature through deformable self-attention mechanisms in Transformer, allowing incorporating long-range dependencies between slices inside 3D volumes. These holistic features are further utilized to define a novel 3D clustering agreement-based SSL task and masking embedding prediction inspired by pre-trained language models. Experiments on downstream tasks, such as 3D brain segmentation, lung nodule detection, 3D heart structures segmentation, and abnormal chest X-ray detection, demonstrate the effectiveness of our joint 2D and 3D SSL approach. We improve plain 2D Deep-ClusterV2 and SwAV by a significant margin and also surpass various modern 2D and 3D SSL approaches.

In this paper, we present a robust and low complexity deep learning model for Remote Sensing Image Classification (RSIC), the task of identifying the scene of a remote sensing image. In particular, we firstly evaluate different low complexity and benchmark deep neural networks: MobileNetV1, MobileNetV2, NASNetMobile, and EfficientNetB0, which present the number of trainable parameters lower than 5 Million (M). After indicating best network architecture, we further improve the network performance by applying attention schemes to multiple feature maps extracted from middle layers of the network. To deal with the issue of increasing the model footprint as using attention schemes, we apply the quantization technique to satisfies the number trainable parameter of the model lower than 5 M. By conducting extensive experiments on the benchmark datasets NWPU-RESISC45, we achieve a robust and low-complexity model, which is very competitive to the state-of-the-art systems and potential for real-life applications on edge devices.

我们介绍了第一项经验研究，研究了突发性检测对意向检测和插槽填充的下游任务的影响。我们对越南人进行了这项研究，这是一种低资源语言，没有以前的研究，也没有公共数据集可用于探索。首先，我们通过手动添加上下文不满并注释它们来扩展流利的越南意图检测和插槽填充phoatis。然后，我们使用强基线进行实验进行实验，以基于预训练的语言模型，以检测和关节意图检测和插槽填充。我们发现：（i）爆发对下游意图检测和插槽填充任务的性能产生负面影响，并且（ii）在探索环境中，预先训练的多语言语言模型XLM-R有助于产生更好的意图检测和插槽比预先训练的单语言模型phobert填充表演，这与在流利性环境中通常发现的相反。

如今，随着发现的OSS漏洞的数量，开源软件（OSS）漏洞管理流程随着时间的流逝而增加。监视漏洞固定提交是防止脆弱性开发的标准过程的一部分。但是，由于可能有大量的审查，手动检测漏洞固定的犯罪是耗时的。最近，已经提出了许多技术来自动检测使用机器学习的漏洞固定提交。这些解决方案要么：（1）不使用深度学习，或（2）仅对有限的信息来源使用深度学习。本文提出了藤条，该工具利用了更丰富的信息来源，包括提交消息，代码更改和针对漏洞固定的提交分类的报告。我们的实验结果表明，在F1得分方面，沃尔维尔剂的表现优于最先进的基线。 Vulcurator工具可在https://github.com/ntgiang71096/vfdetector和https://zenodo.org/record/7034132#.yw3mn-xbzdi上公开获得。