将从标记的源域中学习的知识传输到未经监督域适应的原始目标域（UDA）对于自主驱动系统的可扩展部署至关重要。 UDA中最先进的方法经常采用关键概念：利用来自源域（带地理）的联合监督信号和目标域（带伪标签）进行自培训。在这项工作中，我们在这方面改进并延伸。我们介绍了Conda，一种基于连接的域改性框架，用于LIDAR语义分割，：（1）构建由来自源极和目标域的细粒度交换信号组成的中间域，而不会破坏自我周围物体和背景的语义一致性。车辆; （2）利用中级领域进行自我培训。此外，为了改善源域的网络培训和中间域的自我训练，我们提出了一种抗锯齿规范器和熵聚合器，以减少混叠伪影和嘈杂的目标预测的不利影响。通过广泛的实验，我们证明，与现有技术相比，公园在减轻域间隙方面明显更有效。

Robust detection and tracking of objects is crucial for the deployment of autonomous vehicle technology. Image based benchmark datasets have driven development in computer vision tasks such as object detection, tracking and segmentation of agents in the environment. Most autonomous vehicles, however, carry a combination of cameras and range sensors such as lidar and radar. As machine learning based methods for detection and tracking become more prevalent, there is a need to train and evaluate such methods on datasets containing range sensor data along with images. In this work we present nuTonomy scenes (nuScenes), the first dataset to carry the full autonomous vehicle sensor suite: 6 cameras, 5 radars and 1 lidar, all with full 360 degree field of view. nuScenes comprises 1000 scenes, each 20s long and fully annotated with 3D bounding boxes for 23 classes and 8 attributes. It has 7x as many annotations and 100x as many images as the pioneering KITTI dataset. We define novel 3D detection and tracking metrics. We also provide careful dataset analysis as well as baselines for lidar and image based detection and tracking. Data, development kit and more information are available online 1 .

Only limited studies and superficial evaluations are available on agents' behaviors and roles within a Multi-Agent System (MAS). We simulate a MAS using Reinforcement Learning (RL) in a pursuit-evasion (a.k.a predator-prey pursuit) game, which shares task goals with target acquisition, and we create different adversarial scenarios by replacing RL-trained pursuers' policies with two distinct (non-RL) analytical strategies. Using heatmaps of agents' positions (state-space variable) over time, we are able to categorize an RL-trained evader's behaviors. The novelty of our approach entails the creation of an influential feature set that reveals underlying data regularities, which allow us to classify an agent's behavior. This classification may aid in catching the (enemy) targets by enabling us to identify and predict their behaviors, and when extended to pursuers, this approach towards identifying teammates' behavior may allow agents to coordinate more effectively.

Power dynamics in human-human communication can impact rapport-building and learning gains, but little is known about how power impacts human-agent communication. In this paper, we examine dominance behavior in utterances between middle-school students and a teachable robot as they work through math problems, as coded by Rogers and Farace's Relational Communication Control Coding Scheme (RCCCS). We hypothesize that relatively dominant students will show increased learning gains, as will students with greater dominance agreement with the robot. We also hypothesize that gender could be an indicator of difference in dominance behavior. We present a preliminary analysis of dominance characteristics in some of the transactions between robot and student. Ultimately, we hope to determine if manipulating the dominance behavior of a learning robot could support learning.

The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safe and accurate navigation of a needle through living tissue to an intra-tissue target is currently often challenging or infeasible due to the presence of anatomical obstacles in the tissue, high levels of uncertainty, and natural tissue motion (e.g., due to breathing). Medical robots capable of automating needle-based procedures in vivo have the potential to overcome these challenges and enable an enhanced level of patient care and safety. In this paper, we show the first medical robot that autonomously navigates a needle inside living tissue around anatomical obstacles to an intra-tissue target. Our system leverages an aiming device and a laser-patterned highly flexible steerable needle, a type of needle capable of maneuvering along curvilinear trajectories to avoid obstacles. The autonomous robot accounts for anatomical obstacles and uncertainty in living tissue/needle interaction with replanning and control and accounts for respiratory motion by defining safe insertion time windows during the breathing cycle. We apply the system to lung biopsy, which is critical in the diagnosis of lung cancer, the leading cause of cancer-related death in the United States. We demonstrate successful performance of our system in multiple in vivo porcine studies and also demonstrate that our approach leveraging autonomous needle steering outperforms a standard manual clinical technique for lung nodule access.

扬声器在彼此保持一致的过程中建立了融洽的关系。在指导域材料的同时，已经证明了与教师的融洽关系，以促进学习。过去关于教育领域的词汇一致性的工作都在量化对齐方式的措施和与代理对齐的相互作用的类型中都遭受了限制。在本文中，我们采用基于数据驱动的共享表达式概念（可能由多个单词组成）的对齐措施，并比较一对一的人类机器人（H-R）相互作用的对齐方式与协作人类人类的H-R部分中的对齐方式-Orobot（H-H-R）相互作用。我们发现，H-R设置中的学生与H-H-R设置相比，与可教的机器人保持一致，并且词汇一致性和融洽关系之间的关系比以前的理论和经验工作所预测的要复杂。

多发性硬化症（MS）是一种慢性进行性神经系统疾病，其特征是大脑白质病变的发展。相对于其他MRI模态，T2流体体面的反转恢复（FLAIR）脑磁共振成像（MRI）提供了MS病变的卓越可视化和表征。 MS中的纵向脑感状MRI，涉及随着时间的推移重复对患者进行成像，为临床医生提供了有用的信息，以监测疾病进展。仅在有限的应用中尝试预测未来的整个大脑MRI检查，例如在有限的应用中，例如在阿尔茨海默氏病中的健康衰老和结构性变性。在本文中，我们为MS Flair图像合成的深度学习体系结构提供了新的修改，以支持以灵活的连续方式支持纵向图像的预测。这是通过学习的转移卷积来实现的，该卷积将建模时间作为空间分布的阵列，在不同的空间位置具有可变的时间特性。因此，这种方法理论上可以对空间特定的时间依赖性大脑发育进行建模，从而支持在适当的物理位置（例如MS脑损伤部位）建模更快的生长。这种方法还支持临床医生用户定义预测考试应针对的未来。对未来成像的准确预测可以为临床医生提供潜在的患者预后，这可能有助于早期治疗和更好的预后。已经开发了四个不同的深度学习体系结构。 ISBI2015纵向MS数据集用于验证和比较我们提出的方法。结果表明，修改后的ACGAN可实现最佳性能并降低模型准确性的可变性。

统计能力是对假设检验的优点/强度的度量。正式地，如果存在真实的效果，则是检测效果的概率。因此，需要优化统计能力作为假设检验的某些参数的函数。但是，对于大多数假设检验，统计功率的显式功能形式是这些参数的函数是未知的，但是使用模拟实验可以计算给定值集值的统计功率。这些模拟实验通常在计算上很昂贵。因此，使用模拟开发整个统计功率歧管可能非常耗时。由此激励，我们提出了一种基于遗传算法的新型统计功率歧管框架。对于多个线性回归$ f $检验，我们表明所提出的算法/框架与蛮力方法相比，随着电源甲骨文的查询数量大大减少，统计功率歧管的速度要快得多。我们还表明，随着遗传算法的增加，学习流形的质量会提高。

多发性硬化症（MS）是一种慢性神经系统疾病，其特征是大脑白质病变的发展。相对于其他MRI模态，T2流体减弱的反转恢复（FLAIR）脑磁共振成像（MRI）提供了MS病变的卓越可视化和表征。 MS中的后续大脑FLAIR MRI为临床医生提供了有用的信息，以监测疾病进展。在这项研究中，我们提出了对生成对抗网络（GAN）的新颖修饰，以预测MS以固定时间间隔的MS预测未来病变特异性MRI。我们在鉴别器中使用受监督的引导注意力和扩张卷积，该歧视者支持对生成图像是否实现的明智预测，这是基于对病变区域的关注，这反过来又有可能帮助改善生成器以预测病变区域将来的考试更准确。我们将我们的方法与几个基线和一种最先进的CF-Sagan模型进行了比较[1]。总之，我们的结果表明，与其他总体性能相似的模型相比，所提出的方法可实现更高的准确性，并减少病变区域预测误差的标准偏差。

缺乏对深度学习系统的洞察力阻碍了他们的系统设计。在科学和工程学中，建模是一种用于了解内部过程不透明的复杂系统的方法。建模用更简单的代理代替复杂的系统，该系统更适合解释。从中汲取灵感，我们使用高斯流程为神经网络构建了一类代理模型。我们没有从神经网络的某些限制案例中得出内核，而是从经验上从神经网络的自然主义行为中学习了高斯过程的内核。我们首先通过两项案例研究评估我们的方法，灵感来自先前对神经网络行为的理论研究，在这些案例研究中，我们捕获了学习低频的神经网络偏好，并确定了深层神经网络中的病理行为。在进一步的实践案例研究中，我们使用学识渊博的内核来预测神经网络的泛化特性。