筛查结肠镜检查是多种3D计算机视觉技术的重要临床应用，包括深度估计，表面重建和缺失区域检测。但是，由于难以获取地面真相数据，因此在实际结肠镜检查视频中对这些技术的开发，评估和比较仍然在很大程度上是定性的。在这项工作中，我们提出了一个带有高清临床结肠镜和高保真结肠模型的结肠镜检查3D视频数据集（C3VD），用于在结肠镜检查中进行基准计算机视觉方法。我们介绍了一种新颖的多模式2D-3D注册技术，以注册光学视频序列，并以地面真实的视图对已知3D模型的视图。通过将光学图像转换为具有生成对抗网络的深度图，并通过进化优化器对齐边缘特征来注册不同的模态。在模拟实验中，这种注册方法达到了0.321毫米的平均翻译误差，平均旋转误差为0.159度，无误地面真相可用。该方法还利用视频信息，将注册精度提高了55.6％以进行翻译，与单帧注册相比，旋转60.4％。 22个简短的视频序列被注册，以生成10,015个总帧，具有配对的地面真实深度，表面正常，光流，遮挡，六个自由度姿势，覆盖范围图和3D模型。该数据集还包括胃肠病学家与配对地面真相姿势和3D表面模型获得的筛选视频。数据集和注册源代码可在urr.jhu.edu/c3vd上获得。

当个人指出或谈论其他人的话语时，语言永久不平等的能力最为明显。尽管当前对NLP中偏见的研究主要依赖于对特定群体的仇恨言论或偏见，但我们认为我们可以通过建模说话者，文本和目标来对偏见与语言使用之间的相互作用的相互作用更加微妙和细微的理解在文字中。在本文中，我们介绍了一个由美国国会议员注释的3033个英语推文的数据集，并介绍了人际情绪的注释，并对人际关系成员标签进行了“找到监督”。我们发现，诸如愤怒和厌恶之类的负面情绪主要用于群体外部情况，主要针对对方领导人。虽然人类可以表现出色，而不是鉴定人际群体成员资格的机会，但神经模型的表现要好得多。此外，人际关系成员资格和人际关系情感之间的共同编码使后者有一些表现的提高。这项工作旨在将NLP中偏见的研究从特定的偏见中重新调整为封装说话者，文本，目标和社会动态之间关系的偏见。本文的数据和代码可从https://github.com/venkatasg/interpersonal-dynamics获得

开发对手挑战NLP系统的方法是提高模型性能和解释性的有前途的途径。在这里，我们描述了团队在第一个动态对抗数据收集（DADC）的任务1中“长角牛”的方法，该研讨会要求团队手动欺骗一个模型，以挖掘出挖掘的问题回答任务。我们的团队首先结束，模型错误率为62％。我们主张采用系统的，语言知情的方法来制定对抗性问题，并描述了试点实验的结果以及我们的官方提交。

Designing experiments often requires balancing between learning about the true treatment effects and earning from allocating more samples to the superior treatment. While optimal algorithms for the Multi-Armed Bandit Problem (MABP) provide allocation policies that optimally balance learning and earning, they tend to be computationally expensive. The Gittins Index (GI) is a solution to the MABP that can simultaneously attain optimality and computationally efficiency goals, and it has been recently used in experiments with Bernoulli and Gaussian rewards. For the first time, we present a modification of the GI rule that can be used in experiments with exponentially-distributed rewards. We report its performance in simulated 2- armed and 3-armed experiments. Compared to traditional non-adaptive designs, our novel GI modified design shows operating characteristics comparable in learning (e.g. statistical power) but substantially better in earning (e.g. direct benefits). This illustrates the potential that designs using a GI approach to allocate participants have to improve participant benefits, increase efficiencies, and reduce experimental costs in adaptive multi-armed experiments with exponential rewards.

Quadruped robots are currently used in industrial robotics as mechanical aid to automate several routine tasks. However, presently, the usage of such a robot in a domestic setting is still very much a part of the research. This paper discusses the understanding and virtual simulation of such a robot capable of detecting and understanding human emotions, generating its gait, and responding via sounds and expression on a screen. To this end, we use a combination of reinforcement learning and software engineering concepts to simulate a quadruped robot that can understand emotions, navigate through various terrains and detect sound sources, and respond to emotions using audio-visual feedback. This paper aims to establish the framework of simulating a quadruped robot that is emotionally intelligent and can primarily respond to audio-visual stimuli using motor or audio response. The emotion detection from the speech was not as performant as ERANNs or Zeta Policy learning, still managing an accuracy of 63.5%. The video emotion detection system produced results that are almost at par with the state of the art, with an accuracy of 99.66%. Due to its "on-policy" learning process, the PPO algorithm was extremely rapid to learn, allowing the simulated dog to demonstrate a remarkably seamless gait across the different cadences and variations. This enabled the quadruped robot to respond to generated stimuli, allowing us to conclude that it functions as predicted and satisfies the aim of this work.

Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping action, leading to the generation of wrong or inaccurate grasp poses. We propose a novel grasping strategy, named 3DSGrasp, that predicts the missing geometry from the partial PCD to produce reliable grasp poses. Our proposed PCD completion network is a Transformer-based encoder-decoder network with an Offset-Attention layer. Our network is inherently invariant to the object pose and point's permutation, which generates PCDs that are geometrically consistent and completed properly. Experiments on a wide range of partial PCD show that 3DSGrasp outperforms the best state-of-the-art method on PCD completion tasks and largely improves the grasping success rate in real-world scenarios. The code and dataset will be made available upon acceptance.

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features into a single objective. If they try to do both at once from input designed to teach the full reward function, it is easy to end up with a representation that contains spurious correlations in the data, which fails to generalize to new settings. Instead, our ultimate goal is to enable robots to identify and isolate the causal features that people actually care about and use when they represent states and behavior. Our idea is that we can tune into this representation by asking users what behaviors they consider similar: behaviors will be similar if the features that matter are similar, even if low-level behavior is different; conversely, behaviors will be different if even one of the features that matter differs. This, in turn, is what enables the robot to disambiguate between what needs to go into the representation versus what is spurious, as well as what aspects of behavior can be compressed together versus not. The notion of learning representations based on similarity has a nice parallel in contrastive learning, a self-supervised representation learning technique that maps visually similar data points to similar embeddings, where similarity is defined by a designer through data augmentation heuristics. By contrast, in order to learn the representations that people use, so we can learn their preferences and objectives, we use their definition of similarity. In simulation as well as in a user study, we show that learning through such similarity queries leads to representations that, while far from perfect, are indeed more generalizable than self-supervised and task-input alternatives.

and widely used information measurement metric, particularly popularized for SSVEP- based Brain-Computer (BCI) interfaces. By combining speed and accuracy into a single-valued parameter, this metric aids in the evaluation and comparison of various target identification algorithms across different BCI communities. To accurately depict performance and inspire an end-to-end design for futuristic BCI designs, a more thorough examination and definition of ITR is therefore required. We model the symbiotic communication medium, hosted by the retinogeniculate visual pathway, as a discrete memoryless channel and use the modified capacity expressions to redefine the ITR. We use graph theory to characterize the relationship between the asymmetry of the transition statistics and the ITR gain with the new definition, leading to potential bounds on data rate performance. On two well-known SSVEP datasets, we compared two cutting-edge target identification methods. Results indicate that the induced DM channel asymmetry has a greater impact on the actual perceived ITR than the change in input distribution. Moreover, it is demonstrated that the ITR gain under the new definition is inversely correlated with the asymmetry in the channel transition statistics. Individual input customizations are further shown to yield perceived ITR performance improvements. An algorithm is proposed to find the capacity of binary classification and further discussions are given to extend such results to ensemble techniques.We anticipate that the results of our study will contribute to the characterization of the highly dynamic BCI channel capacities, performance thresholds, and improved BCI stimulus designs for a tighter symbiosis between the human brain and computer systems while enhancing the efficiency of the underlying communication resources.

A step-search sequential quadratic programming method is proposed for solving nonlinear equality constrained stochastic optimization problems. It is assumed that constraint function values and derivatives are available, but only stochastic approximations of the objective function and its associated derivatives can be computed via inexact probabilistic zeroth- and first-order oracles. Under reasonable assumptions, a high-probability bound on the iteration complexity of the algorithm to approximate first-order stationarity is derived. Numerical results on standard nonlinear optimization test problems illustrate the advantages and limitations of our proposed method.

Differentiable Architecture Search (DARTS) has attracted considerable attention as a gradient-based Neural Architecture Search (NAS) method. Since the introduction of DARTS, there has been little work done on adapting the action space based on state-of-art architecture design principles for CNNs. In this work, we aim to address this gap by incrementally augmenting the DARTS search space with micro-design changes inspired by ConvNeXt and studying the trade-off between accuracy, evaluation layer count, and computational cost. To this end, we introduce the Pseudo-Inverted Bottleneck conv block intending to reduce the computational footprint of the inverted bottleneck block proposed in ConvNeXt. Our proposed architecture is much less sensitive to evaluation layer count and outperforms a DARTS network with similar size significantly, at layer counts as small as 2. Furthermore, with less layers, not only does it achieve higher accuracy with lower GMACs and parameter count, GradCAM comparisons show that our network is able to better detect distinctive features of target objects compared to DARTS.