As Artificial and Robotic Systems are increasingly deployed and relied upon for real-world applications, it is important that they exhibit the ability to continually learn and adapt in dynamically-changing environments, becoming Lifelong Learning Machines. Continual/lifelong learning (LL) involves minimizing catastrophic forgetting of old tasks while maximizing a model's capability to learn new tasks. This paper addresses the challenging lifelong reinforcement learning (L2RL) setting. Pushing the state-of-the-art forward in L2RL and making L2RL useful for practical applications requires more than developing individual L2RL algorithms; it requires making progress at the systems-level, especially research into the non-trivial problem of how to integrate multiple L2RL algorithms into a common framework. In this paper, we introduce the Lifelong Reinforcement Learning Components Framework (L2RLCF), which standardizes L2RL systems and assimilates different continual learning components (each addressing different aspects of the lifelong learning problem) into a unified system. As an instantiation of L2RLCF, we develop a standard API allowing easy integration of novel lifelong learning components. We describe a case study that demonstrates how multiple independently-developed LL components can be integrated into a single realized system. We also introduce an evaluation environment in order to measure the effect of combining various system components. Our evaluation environment employs different LL scenarios (sequences of tasks) consisting of Starcraft-2 minigames and allows for the fair, comprehensive, and quantitative comparison of different combinations of components within a challenging common evaluation environment.

对于新应用程序，例如家庭机器人，智能手机的用户个性化以及增强/虚拟现实耳机，需要实时的持续学习持续学习。但是，此设置构成了独特的挑战：嵌入式设备的内存和计算能力有限，并且在非平稳数据流进行更新时，灾难性遗忘的常规机器学习模型会遭受损失。尽管已经开发了几种在线持续学习模型，但它们对嵌入式应用程序的有效性尚未进行严格研究。在本文中，我们首先确定在线持续学习者必须满足以有效执行实时，设备学习的标准。然后，当与移动神经网络一起使用时，我们研究了几种在线连续学习方法的功效。我们衡量他们的性能，内存使用情况，计算要求以及将其推广到分类外输入的能力。

The SNMMI Artificial Intelligence (SNMMI-AI) Summit, organized by the SNMMI AI Task Force, took place in Bethesda, MD on March 21-22, 2022. It brought together various community members and stakeholders from academia, healthcare, industry, patient representatives, and government (NIH, FDA), and considered various key themes to envision and facilitate a bright future for routine, trustworthy use of AI in nuclear medicine. In what follows, essential issues, challenges, controversies and findings emphasized in the meeting are summarized.

语言模型既展示了定量的改进，又展示了新的定性功能，随着规模的增加。尽管它们具有潜在的变革性影响，但这些新能力的特征却很差。为了为未来的研究提供信息，为破坏性的新模型能力做准备，并改善社会有害的效果，至关重要的是，我们必须了解目前和近乎未来的能力和语言模型的局限性。为了应对这一挑战，我们介绍了超越模仿游戏基准（Big Bench）。 Big Bench目前由204个任务组成，由132家机构的442位作者贡献。任务主题是多样的，从语言学，儿童发展，数学，常识性推理，生物学，物理学，社会偏见，软件开发等等。 Big-Bench专注于被认为超出当前语言模型的功能的任务。我们评估了OpenAI的GPT型号，Google内部密集变压器体系结构和大型基础上的开关稀疏变压器的行为，跨越了数百万到数十亿个参数。此外，一个人类专家评估者团队执行了所有任务，以提供强大的基准。研究结果包括：模型性能和校准都随规模改善，但绝对的术语（以及与评估者的性能相比）；在模型类中的性能非常相似，尽管带有稀疏性。逐渐和预测的任务通常涉及大量知识或记忆成分，而在临界规模上表现出“突破性”行为的任务通常涉及多个步骤或组成部分或脆性指标；社交偏见通常会随着含糊不清的环境而随着规模而增加，但这可以通过提示来改善。

差异隐私（DP）提供了正式的隐私保证，以防止对手可以访问机器学习模型，从而从提取有关单个培训点的信息。最受欢迎的DP训练方法是差异私有随机梯度下降（DP-SGD），它通过在训练过程中注入噪声来实现这种保护。然而，以前的工作发现，DP-SGD通常会导致标准图像分类基准的性能显着降解。此外，一些作者假设DP-SGD在大型模型上固有地表现不佳，因为保留隐私所需的噪声规范与模型维度成正比。相反，我们证明了过度参数化模型上的DP-SGD可以比以前想象的要好得多。将仔细的超参数调整与简单技术结合起来，以确保信号传播并提高收敛速率，我们获得了新的SOTA，而没有额外数据的CIFAR-10，在81.4％的81.4％下（8，10^{ - 5}） - 使用40 -layer wide-Resnet，比以前的SOTA提高了71.7％。当对预训练的NFNET-F3进行微调时，我们在ImageNet（0.5，8*10^{ - 7}）下达到了83.8％的TOP-1精度。此外，我们还在（8，8 \ cdot 10^{ - 7}）下达到了86.7％的TOP-1精度，DP仅比当前的非私人SOTA仅4.3％。我们认为，我们的结果是缩小私人图像分类和非私有图像分类之间准确性差距的重要一步。

本文介绍了在外部应用力和时刻的6自由度刚体动态系统的二阶非线性模型的自适应识别（AID）的质量识别（AID）可观察性的长期开放问题。虽然已经报道了这种系统的植物参数的稳定方法，但据报道，稳定模型的直接自适应轨迹跟踪控制的稳定模型的直接自适应轨迹跟踪控制，这些研究已经无法分析自适应参数估计收敛到真正的工厂参数值。本文向这类系统稳定的自适应标识符报告了6-DOF植物惯性参数的均匀完全可观察性（UCO）的必要和充分条件。当满足UCO条件时，Adaptive参数估计被显示为True工厂参数值会聚。据我们所知，这是第一个据报道的植物参数UCO系统和适应性参数估算到真正参数值的融合。 We also report a numerical simulation study of this AID approach which shows that (a) the UCO condition can be met for fully-actuated plants as well as underactuated plants with the proper choice of control input and (b) convergence of adaptive parameter estimates to真正的参数值。我们猜想这种方法可以扩展到包括出现刚体植物模型的其他参数，包括用于阻力，浮力，增加质量，偏置和执行器的参数。

While the brain connectivity network can inform the understanding and diagnosis of developmental dyslexia, its cause-effect relationships have not yet enough been examined. Employing electroencephalography signals and band-limited white noise stimulus at 4.8 Hz (prosodic-syllabic frequency), we measure the phase Granger causalities among channels to identify differences between dyslexic learners and controls, thereby proposing a method to calculate directional connectivity. As causal relationships run in both directions, we explore three scenarios, namely channels' activity as sources, as sinks, and in total. Our proposed method can be used for both classification and exploratory analysis. In all scenarios, we find confirmation of the established right-lateralized Theta sampling network anomaly, in line with the temporal sampling framework's assumption of oscillatory differences in the Theta and Gamma bands. Further, we show that this anomaly primarily occurs in the causal relationships of channels acting as sinks, where it is significantly more pronounced than when only total activity is observed. In the sink scenario, our classifier obtains 0.84 and 0.88 accuracy and 0.87 and 0.93 AUC for the Theta and Gamma bands, respectively.

There are multiple scales of abstraction from which we can describe the same image, depending on whether we are focusing on fine-grained details or a more global attribute of the image. In brain mapping, learning to automatically parse images to build representations of both small-scale features (e.g., the presence of cells or blood vessels) and global properties of an image (e.g., which brain region the image comes from) is a crucial and open challenge. However, most existing datasets and benchmarks for neuroanatomy consider only a single downstream task at a time. To bridge this gap, we introduce a new dataset, annotations, and multiple downstream tasks that provide diverse ways to readout information about brain structure and architecture from the same image. Our multi-task neuroimaging benchmark (MTNeuro) is built on volumetric, micrometer-resolution X-ray microtomography images spanning a large thalamocortical section of mouse brain, encompassing multiple cortical and subcortical regions. We generated a number of different prediction challenges and evaluated several supervised and self-supervised models for brain-region prediction and pixel-level semantic segmentation of microstructures. Our experiments not only highlight the rich heterogeneity of this dataset, but also provide insights into how self-supervised approaches can be used to learn representations that capture multiple attributes of a single image and perform well on a variety of downstream tasks. Datasets, code, and pre-trained baseline models are provided at: https://mtneuro.github.io/ .

The ability to convert reciprocating, i.e., alternating, actuation into rotary motion using linkages is hindered fundamentally by their poor torque transmission capability around kinematic singularity configurations. Here, we harness the elastic potential energy of a linear spring attached to the coupler link of four-bar mechanisms to manipulate force transmission around the kinematic singularities. We developed a theoretical model to explore the parameter space for proper force transmission in slider-crank and rocker-crank four-bar kinematics. Finally, we verified the proposed model and methodology by building and testing a macro-scale prototype of a slider-crank mechanism. We expect this approach to enable the development of small-scale rotary engines and robotic devices with closed kinematic chains dealing with serial kinematic singularities, such as linkages and parallel manipulators.

This paper considers a combination of actuation tendons and measurement strings to achieve accurate shape sensing and direct kinematics of continuum robots. Assuming general string routing, a methodical Lie group formulation for the shape sensing of these robots is presented. The shape kinematics is expressed using arc-length-dependent curvature distributions parameterized by modal functions, and the Magnus expansion for Lie group integration is used to express the shape as a product of exponentials. The tendon and string length kinematic constraints are solved for the modal coefficients and the configuration space and body Jacobian are derived. The noise amplification index for the shape reconstruction problem is defined and used for optimizing the string/tendon routing paths, and a planar simulation study shows the minimal number of strings/tendons needed for accurate shape reconstruction. A torsionally stiff continuum segment is used for experimental evaluation, demonstrating mean (maximal) end-effector absolute position error of less than 2% (5%) of total length. Finally, a simulation study of a torsionally compliant segment demonstrates the approach for general deflections and string routings. We believe that the methods of this paper can benefit the design process, sensing and control of continuum and soft robots.