维数减少（DR）技术有助于分析师理解高维空间的模式。这些技术通常由散点图表示，在不同的科学域中使用，并促进集群和数据样本之间的相似性分析。对于包含许多粒度的数据集或者当分析遵循信息可视化Mantra时，分层DR技术是最合适的方法，因为它们预先呈现了主要结构和需求的详细信息。然而，当前的分层DR技术并不完全能够解决文献问题，因为它们不保留跨分层级别的投影心理映射，或者不适合大多数数据类型。这项工作提出了Humap，一种新颖的等级维度减少技术，旨在灵活地保护本地和全球结构，并在整个分层勘探中保留心理贴图。我们提供了与现有的等级方法相比我们技术优势的经验证据，并显示了两种案例研究以证明其优势。

Dimensionality Reduction (DR) scatterplot layouts have become a ubiquitous visualization tool for analyzing multidimensional datasets. Despite their popularity, such scatterplots suffer from occlusion, especially when informative glyphs are used to represent data instances, potentially obfuscating critical information for the analysis under execution. Different strategies have been devised to address this issue, either producing overlap-free layouts which lack the powerful capabilities of contemporary DR techniques in uncovering interesting data patterns or eliminating overlaps as a post-processing strategy. Despite the good results of post-processing techniques, most of the best methods typically expand or distort the scatterplot area, thus reducing glyphs' size (sometimes) to unreadable dimensions, defeating the purpose of removing overlaps. This paper presents Distance Grid (DGrid), a novel post-processing strategy to remove overlaps from DR layouts that faithfully preserves the original layout's characteristics and bounds the minimum glyph sizes. We show that DGrid surpasses the state-of-the-art in overlap removal (through an extensive comparative evaluation considering multiple different metrics) while also being 2 or 3 orders of magnitude faster for large datasets.

We introduce Argoverse 2 (AV2) - a collection of three datasets for perception and forecasting research in the self-driving domain. The annotated Sensor Dataset contains 1,000 sequences of multimodal data, encompassing high-resolution imagery from seven ring cameras, and two stereo cameras in addition to lidar point clouds, and 6-DOF map-aligned pose. Sequences contain 3D cuboid annotations for 26 object categories, all of which are sufficiently-sampled to support training and evaluation of 3D perception models. The Lidar Dataset contains 20,000 sequences of unlabeled lidar point clouds and map-aligned pose. This dataset is the largest ever collection of lidar sensor data and supports self-supervised learning and the emerging task of point cloud forecasting. Finally, the Motion Forecasting Dataset contains 250,000 scenarios mined for interesting and challenging interactions between the autonomous vehicle and other actors in each local scene. Models are tasked with the prediction of future motion for "scored actors" in each scenario and are provided with track histories that capture object location, heading, velocity, and category. In all three datasets, each scenario contains its own HD Map with 3D lane and crosswalk geometry - sourced from data captured in six distinct cities. We believe these datasets will support new and existing machine learning research problems in ways that existing datasets do not. All datasets are released under the CC BY-NC-SA 4.0 license.

Logic Mill is a scalable and openly accessible software system that identifies semantically similar documents within either one domain-specific corpus or multi-domain corpora. It uses advanced Natural Language Processing (NLP) techniques to generate numerical representations of documents. Currently it leverages a large pre-trained language model to generate these document representations. The system focuses on scientific publications and patent documents and contains more than 200 million documents. It is easily accessible via a simple Application Programming Interface (API) or via a web interface. Moreover, it is continuously being updated and can be extended to text corpora from other domains. We see this system as a general-purpose tool for future research applications in the social sciences and other domains.

This paper proposes a novel observer-based controller for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) designed to directly receive measurements from a Vision-Aided Inertial Navigation System (VA-INS) and produce the required thrust and rotational torque inputs. The VA-INS is composed of a vision unit (monocular or stereo camera) and a typical low-cost 6-axis Inertial Measurement Unit (IMU) equipped with an accelerometer and a gyroscope. A major benefit of this approach is its applicability for environments where the Global Positioning System (GPS) is inaccessible. The proposed VTOL-UAV observer utilizes IMU and feature measurements to accurately estimate attitude (orientation), gyroscope bias, position, and linear velocity. Ability to use VA-INS measurements directly makes the proposed observer design more computationally efficient as it obviates the need for attitude and position reconstruction. Once the motion components are estimated, the observer-based controller is used to control the VTOL-UAV attitude, angular velocity, position, and linear velocity guiding the vehicle along the desired trajectory in six degrees of freedom (6 DoF). The closed-loop estimation and the control errors of the observer-based controller are proven to be exponentially stable starting from almost any initial condition. To achieve global and unique VTOL-UAV representation in 6 DoF, the proposed approach is posed on the Lie Group and the design in unit-quaternion is presented. Although the proposed approach is described in a continuous form, the discrete version is provided and tested. Keywords: Vision-aided inertial navigation system, unmanned aerial vehicle, vertical take-off and landing, stochastic, noise, Robotics, control systems, air mobility, observer-based controller algorithm, landmark measurement, exponential stability.

The ability to jointly learn from multiple modalities, such as text, audio, and visual data, is a defining feature of intelligent systems. While there have been promising advances in designing neural networks to harness multimodal data, the enormous success of data augmentation currently remains limited to single-modality tasks like image classification. Indeed, it is particularly difficult to augment each modality while preserving the overall semantic structure of the data; for example, a caption may no longer be a good description of an image after standard augmentations have been applied, such as translation. Moreover, it is challenging to specify reasonable transformations that are not tailored to a particular modality. In this paper, we introduce LeMDA, Learning Multimodal Data Augmentation, an easy-to-use method that automatically learns to jointly augment multimodal data in feature space, with no constraints on the identities of the modalities or the relationship between modalities. We show that LeMDA can (1) profoundly improve the performance of multimodal deep learning architectures, (2) apply to combinations of modalities that have not been previously considered, and (3) achieve state-of-the-art results on a wide range of applications comprised of image, text, and tabular data.

Recent advances in upper limb prostheses have led to significant improvements in the number of movements provided by the robotic limb. However, the method for controlling multiple degrees of freedom via user-generated signals remains challenging. To address this issue, various machine learning controllers have been developed to better predict movement intent. As these controllers become more intelligent and take on more autonomy in the system, the traditional approach of representing the human-machine interface as a human controlling a tool becomes limiting. One possible approach to improve the understanding of these interfaces is to model them as collaborative, multi-agent systems through the lens of joint action. The field of joint action has been commonly applied to two human partners who are trying to work jointly together to achieve a task, such as singing or moving a table together, by effecting coordinated change in their shared environment. In this work, we compare different prosthesis controllers (proportional electromyography with sequential switching, pattern recognition, and adaptive switching) in terms of how they present the hallmarks of joint action. The results of the comparison lead to a new perspective for understanding how existing myoelectric systems relate to each other, along with recommendations for how to improve these systems by increasing the collaborative communication between each partner.

A "heart attack" or myocardial infarction (MI), occurs when an artery supplying blood to the heart is abruptly occluded. The "gold standard" method for imaging MI is Cardiovascular Magnetic Resonance Imaging (MRI), with intravenously administered gadolinium-based contrast (late gadolinium enhancement). However, no "gold standard" fully automated method for the quantification of MI exists. In this work, we propose an end-to-end fully automatic system (MyI-Net) for the detection and quantification of MI in MRI images. This has the potential to reduce the uncertainty due to the technical variability across labs and inherent problems of the data and labels. Our system consists of four processing stages designed to maintain the flow of information across scales. First, features from raw MRI images are generated using feature extractors built on ResNet and MoblieNet architectures. This is followed by the Atrous Spatial Pyramid Pooling (ASPP) to produce spatial information at different scales to preserve more image context. High-level features from ASPP and initial low-level features are concatenated at the third stage and then passed to the fourth stage where spatial information is recovered via up-sampling to produce final image segmentation output into: i) background, ii) heart muscle, iii) blood and iv) scar areas. New models were compared with state-of-art models and manual quantification. Our models showed favorable performance in global segmentation and scar tissue detection relative to state-of-the-art work, including a four-fold better performance in matching scar pixels to contours produced by clinicians.

Increasing popularity of deep-learning-powered applications raises the issue of vulnerability of neural networks to adversarial attacks. In other words, hardly perceptible changes in input data lead to the output error in neural network hindering their utilization in applications that involve decisions with security risks. A number of previous works have already thoroughly evaluated the most commonly used configuration - Convolutional Neural Networks (CNNs) against different types of adversarial attacks. Moreover, recent works demonstrated transferability of the some adversarial examples across different neural network models. This paper studied robustness of the new emerging models such as SpinalNet-based neural networks and Compact Convolutional Transformers (CCT) on image classification problem of CIFAR-10 dataset. Each architecture was tested against four White-box attacks and three Black-box attacks. Unlike VGG and SpinalNet models, attention-based CCT configuration demonstrated large span between strong robustness and vulnerability to adversarial examples. Eventually, the study of transferability between VGG, VGG-inspired SpinalNet and pretrained CCT 7/3x1 models was conducted. It was shown that despite high effectiveness of the attack on the certain individual model, this does not guarantee the transferability to other models.

Spectrum coexistence is essential for next generation (NextG) systems to share the spectrum with incumbent (primary) users and meet the growing demand for bandwidth. One example is the 3.5 GHz Citizens Broadband Radio Service (CBRS) band, where the 5G and beyond communication systems need to sense the spectrum and then access the channel in an opportunistic manner when the incumbent user (e.g., radar) is not transmitting. To that end, a high-fidelity classifier based on a deep neural network is needed for low misdetection (to protect incumbent users) and low false alarm (to achieve high throughput for NextG). In a dynamic wireless environment, the classifier can only be used for a limited period of time, i.e., coherence time. A portion of this period is used for learning to collect sensing results and train a classifier, and the rest is used for transmissions. In spectrum sharing systems, there is a well-known tradeoff between the sensing time and the transmission time. While increasing the sensing time can increase the spectrum sensing accuracy, there is less time left for data transmissions. In this paper, we present a generative adversarial network (GAN) approach to generate synthetic sensing results to augment the training data for the deep learning classifier so that the sensing time can be reduced (and thus the transmission time can be increased) while keeping high accuracy of the classifier. We consider both additive white Gaussian noise (AWGN) and Rayleigh channels, and show that this GAN-based approach can significantly improve both the protection of the high-priority user and the throughput of the NextG user (more in Rayleigh channels than AWGN channels).