当由于雨或雪等外部条件而突然牵引时，漂移控制对于自主车辆的安全性是显着的。由于存在显着的侧滑和轮胎几乎完整的饱和度，这是一个具有挑战性的控制问题。在本文中，我们专注于在固定或移动中心的圆形路径之后控制漂移行动，可能会导致轮胎地面互动的变化，这是漂移爱好者的常见培训任务，因此可以用作性能的基准漂移控制。为了实现上述任务，我们提出了一种新颖的等级控制架构，其解耦了轨迹的曲率和中心控制。特别地，外环通过调谐目标曲率来稳定中心，并且内环使用由$ \ mathcal {l} _1 $自适应组件增强的前馈/反馈控制器跟踪曲率。分层体系结构是灵活的，因为内部环路是任务 - 不可行的和适应轮胎道路交互的变化，这允许外部环路独立于低电平动态设计，打开结合复杂的规划算法的可能性。我们在仿真平台以及1/10级无线电控制〜（RC）汽车上实施我们的控制策略，仿真和实验结果都说明了我们在实现上述漂移机动任务方案集中的策略的有效性。

本文考虑了线性二次双控制问题，其中需要识别系统参数，并且需要在该时期优化控制目标。与现有的数据驱动线性二次调节相反，这通常在某种概率内提供错误或后悔界限，我们提出了一种在线算法，可以在几乎肯定的意义上保证控制器的渐近最优性。我们的双重控制策略由两部分组成：基于勘探噪声和系统输出之间的互相关，具有时间衰减探索噪声和Markov参数推断的交换控制器。当实际状态显着地从目标状态偏离时，几乎肯定的性能保证是一个安全的交换控制策略，其返回到已知的保守但稳定的控制器。我们证明，此切换策略规定了从应用中的任何潜在的稳定控制器，而我们的交换策略与最佳线性状态反馈之间的性能差距是指数较小的。在我们的双控制方案下，参数推理误差尺度为$ O（t ^ {-1 / 4 + \ epsilon}）$，而控制性能的子优相差距为$ o（t ^ { - 1/2 + \ epsilon}）$，$ t $是时间步数，$ \ epsilon $是一个任意小的正数。提供了工业过程示例的仿真结果，以说明我们提出的策略的有效性。

To facilitate research on text generation, this paper presents a comprehensive and unified library, TextBox 2.0, focusing on the use of pre-trained language models (PLMs). To be comprehensive, our library covers $13$ common text generation tasks and their corresponding $83$ datasets and further incorporates $45$ PLMs covering general, translation, Chinese, dialogue, controllable, distilled, prompting, and lightweight PLMs. We also implement $4$ efficient training strategies and provide $4$ generation objectives for pre-training new PLMs from scratch. To be unified, we design the interfaces to support the entire research pipeline (from data loading to training and evaluation), ensuring that each step can be fulfilled in a unified way. Despite the rich functionality, it is easy to use our library, either through the friendly Python API or command line. To validate the effectiveness of our library, we conduct extensive experiments and exemplify four types of research scenarios. The project is released at the link: https://github.com/RUCAIBox/TextBox.

Establishing open and general benchmarks has been a critical driving force behind the success of modern machine learning techniques. As machine learning is being applied to broader domains and tasks, there is a need to establish richer and more diverse benchmarks to better reflect the reality of the application scenarios. Graph learning is an emerging field of machine learning that urgently needs more and better benchmarks. To accommodate the need, we introduce Graph Learning Indexer (GLI), a benchmark curation platform for graph learning. In comparison to existing graph learning benchmark libraries, GLI highlights two novel design objectives. First, GLI is designed to incentivize \emph{dataset contributors}. In particular, we incorporate various measures to minimize the effort of contributing and maintaining a dataset, increase the usability of the contributed dataset, as well as encourage attributions to different contributors of the dataset. Second, GLI is designed to curate a knowledge base, instead of a plain collection, of benchmark datasets. We use multiple sources of meta information to augment the benchmark datasets with \emph{rich characteristics}, so that they can be easily selected and used in downstream research or development. The source code of GLI is available at \url{https://github.com/Graph-Learning-Benchmarks/gli}.

Neural networks, especially the recent proposed neural operator models, are increasingly being used to find the solution operator of differential equations. Compared to traditional numerical solvers, they are much faster and more efficient in practical applications. However, one critical issue is that training neural operator models require large amount of ground truth data, which usually comes from the slow numerical solvers. In this paper, we propose a physics-guided data augmentation (PGDA) method to improve the accuracy and generalization of neural operator models. Training data is augmented naturally through the physical properties of differential equations such as linearity and translation. We demonstrate the advantage of PGDA on a variety of linear differential equations, showing that PGDA can improve the sample complexity and is robust to distributional shift.

Accurate polyp segmentation is of great importance for colorectal cancer diagnosis and treatment. However, due to the high cost of producing accurate mask annotations, existing polyp segmentation methods suffer from severe data shortage and impaired model generalization. Reversely, coarse polyp bounding box annotations are more accessible. Thus, in this paper, we propose a boosted BoxPolyp model to make full use of both accurate mask and extra coarse box annotations. In practice, box annotations are applied to alleviate the over-fitting issue of previous polyp segmentation models, which generate fine-grained polyp area through the iterative boosted segmentation model. To achieve this goal, a fusion filter sampling (FFS) module is firstly proposed to generate pixel-wise pseudo labels from box annotations with less noise, leading to significant performance improvements. Besides, considering the appearance consistency of the same polyp, an image consistency (IC) loss is designed. Such IC loss explicitly narrows the distance between features extracted by two different networks, which improves the robustness of the model. Note that our BoxPolyp is a plug-and-play model, which can be merged into any appealing backbone. Quantitative and qualitative experimental results on five challenging benchmarks confirm that our proposed model outperforms previous state-of-the-art methods by a large margin.

Prompt tuning has been employed as an efficient way to adapt large vision-language pre-trained models (e.g. CLIP) to various downstream tasks in data-limited or label-limited settings. Nonetheless, visual data (e.g., images) is by default prerequisite for learning prompts in existing methods. In this work, we advocate that the effectiveness of image-text contrastive learning in aligning the two modalities (for training CLIP) further makes it feasible to treat texts as images for prompt tuning and introduce TaI prompting. In contrast to the visual data, text descriptions are easy to collect, and their class labels can be directly derived. Particularly, we apply TaI prompting to multi-label image recognition, where sentences in the wild serve as alternatives to images for prompt tuning. Moreover, with TaI, double-grained prompt tuning (TaI-DPT) is further presented to extract both coarse-grained and fine-grained embeddings for enhancing the multi-label recognition performance. Experimental results show that our proposed TaI-DPT outperforms zero-shot CLIP by a large margin on multiple benchmarks, e.g., MS-COCO, VOC2007, and NUS-WIDE, while it can be combined with existing methods of prompting from images to improve recognition performance further. Code is released at https://github.com/guozix/TaI-DPT.

Artificial Intelligence (AI) is having a tremendous impact across most areas of science. Applications of AI in healthcare have the potential to improve our ability to detect, diagnose, prognose, and intervene on human disease. For AI models to be used clinically, they need to be made safe, reproducible and robust, and the underlying software framework must be aware of the particularities (e.g. geometry, physiology, physics) of medical data being processed. This work introduces MONAI, a freely available, community-supported, and consortium-led PyTorch-based framework for deep learning in healthcare. MONAI extends PyTorch to support medical data, with a particular focus on imaging, and provide purpose-specific AI model architectures, transformations and utilities that streamline the development and deployment of medical AI models. MONAI follows best practices for software-development, providing an easy-to-use, robust, well-documented, and well-tested software framework. MONAI preserves the simple, additive, and compositional approach of its underlying PyTorch libraries. MONAI is being used by and receiving contributions from research, clinical and industrial teams from around the world, who are pursuing applications spanning nearly every aspect of healthcare.

在过去几十年中，功能选择吸引了很多关注，因为它可以降低数据维度，同时保持功能的原始物理含义，这比功能提取可以更好地解释性。但是，大多数现有的功能选择方法，尤其是基于深度学习的方法，通常集中在仅具有很高分数的功能上，但忽略了那些在训练过程中得分较低的人以及重要的候选功能的顺序。这可能是有风险的，因为不幸的是，在培训过程中可能会忽略一些重要和相关的功能，从而导致次优的解决方案或误导性选择。在我们的工作中，我们通过利用较少重要性分数的功能来处理功能选择，并根据新颖的互补功能掩码提出功能选择框架。我们的方法是通用的，可以轻松地集成到现有的基于深度学习的特征选择方法中，以提高其性能。实验是在基准数据集上进行的，并表明所提出的方法可以选择比艺术状态更具代表性和信息性的特征。

在各种图像处理和计算机视觉任务中经常遇到颜色图像Denoising。一种传统的策略是将RGB图像转换为较小相关的颜色空间，并分别将新空间的每个通道定义。但是，这种策略无法完全利用渠道之间的相关信息，并且不足以获得令人满意的结果。为了解决这个问题，本文提出了一个新的多通道优化模型，用于在核定标准下减去Frobenius规范最小化框架下的颜色图像Deno。具体而言，基于块匹配，将颜色图像分解为重叠的RGB补丁。对于每个补丁，我们堆叠其相似的邻居以形成相应的补丁矩阵。提出的模型是在补丁矩阵上执行的，以恢复其无噪声版本。在恢复过程中，a）引入权重矩阵以充分利用通道之间的噪声差； b）单数值是自适应缩小的，而无需分配权重。有了他们，提议的模型可以在保持简单的同时取得有希望的结果。为了解决提出的模型，基于乘数框架的交替方向方法构建了准确有效的算法。每个更新步骤的解决方案可以在封闭式中分析表达。严格的理论分析证明了所提出的算法产生的解决方案序列会收敛到其各自的固定点。合成和真实噪声数据集的实验结果证明了所提出的模型优于最先进的模型。