对抗性训练是为了增强针对对抗性攻击的鲁棒性，它引起了很多关注，因为它很容易产生人类侵蚀的数据扰动，以欺骗给定的深层神经网络。在本文中，我们提出了一种新的对抗性培训算法，该算法在理论上具有良好的动机和经验上优于其他现有算法。该算法的新功能是使用数据自适应正则化来鲁棒化预测模型。我们将更多的正则化应用于更容易受到对抗攻击的数据，反之亦然。尽管数据自适应正则化的想法并不是什么新鲜事物，但我们的数据自适应正则化具有牢固的理论基础，可以减少稳健风险的上限。数值实验表明，我们提出的算法同时提高了概括（清洁样品的准确性）和鲁棒性（对对抗性攻击的准确性），以实现最先进的性能。

由于它们对社会决策产生至关重要的影响，因此AI算法不仅应该是准确的，而且应该是公平的。在公平性AI的各种算法中，通过最大程度地降低受特定公平限制的经验风险（例如，跨熵）来学习预测模型。但是，为避免计算困难，给定的公平限制被替代公平限制代替，因为0-1损失被分类问题的凸替代损失所取代。在本文中，我们调查了现有的替代公平限制的有效性，并提出了一种称为幻灯片的新替代公平约束，该公平性在计算上是可行的，并且在渐近上有效，从而使学识渊博的模型无效地满足公平性约束并实现快速融合率。数值实验证实，幻灯片适用于各种基准数据集。

由于它们对社会决策产生至关重要的影响，因此AI算法不仅应该是准确的，而且应该是公平的。在公平性AI的各种算法中，学习公平代表（LFR）的目标是在诸如性别和种族等敏感变量方面找到公平的代表，并受到了很多关注。对于LFR，对抗训练方案通常像生成对抗网络类型算法一样使用。但是，歧视者的选择是在没有理由的情况下进行的。在本文中，我们为LFR提出了一种新的对抗训练方案，其中使用具有特定参数鉴别因子家族的积分概率度量（IPM）。提出的LFR算法的最显着结果是其关于最终预测模型公平性的理论保证，尚未考虑。也就是说，我们在表示的公平性与在表示顶部建立的预测模型的公平性之间得出了理论关系（即将表示形式用作输入）。此外，通过数值实验，我们表明我们提出的LFR算法在计算上更轻且更稳定，并且最终的预测模型具有竞争性或优于其他LFR算法，使用更复杂的鉴别器。

The 3D-aware image synthesis focuses on conserving spatial consistency besides generating high-resolution images with fine details. Recently, Neural Radiance Field (NeRF) has been introduced for synthesizing novel views with low computational cost and superior performance. While several works investigate a generative NeRF and show remarkable achievement, they cannot handle conditional and continuous feature manipulation in the generation procedure. In this work, we introduce a novel model, called Class-Continuous Conditional Generative NeRF ($\text{C}^{3}$G-NeRF), which can synthesize conditionally manipulated photorealistic 3D-consistent images by projecting conditional features to the generator and the discriminator. The proposed $\text{C}^{3}$G-NeRF is evaluated with three image datasets, AFHQ, CelebA, and Cars. As a result, our model shows strong 3D-consistency with fine details and smooth interpolation in conditional feature manipulation. For instance, $\text{C}^{3}$G-NeRF exhibits a Fr\'echet Inception Distance (FID) of 7.64 in 3D-aware face image synthesis with a $\text{128}^{2}$ resolution. Additionally, we provide FIDs of generated 3D-aware images of each class of the datasets as it is possible to synthesize class-conditional images with $\text{C}^{3}$G-NeRF.

In both terrestrial and marine ecology, physical tagging is a frequently used method to study population dynamics and behavior. However, such tagging techniques are increasingly being replaced by individual re-identification using image analysis. This paper introduces a contrastive learning-based model for identifying individuals. The model uses the first parts of the Inception v3 network, supported by a projection head, and we use contrastive learning to find similar or dissimilar image pairs from a collection of uniform photographs. We apply this technique for corkwing wrasse, Symphodus melops, an ecologically and commercially important fish species. Photos are taken during repeated catches of the same individuals from a wild population, where the intervals between individual sightings might range from a few days to several years. Our model achieves a one-shot accuracy of 0.35, a 5-shot accuracy of 0.56, and a 100-shot accuracy of 0.88, on our dataset.

Feature selection helps reduce data acquisition costs in ML, but the standard approach is to train models with static feature subsets. Here, we consider the dynamic feature selection (DFS) problem where a model sequentially queries features based on the presently available information. DFS is often addressed with reinforcement learning (RL), but we explore a simpler approach of greedily selecting features based on their conditional mutual information. This method is theoretically appealing but requires oracle access to the data distribution, so we develop a learning approach based on amortized optimization. The proposed method is shown to recover the greedy policy when trained to optimality and outperforms numerous existing feature selection methods in our experiments, thus validating it as a simple but powerful approach for this problem.

The purpose of this work was to tackle practical issues which arise when using a tendon-driven robotic manipulator with a long, passive, flexible proximal section in medical applications. A separable robot which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. A control input which resolves the redundancy in the kinematics and a physical interpretation of this redundancy are provided. The effect of a static change in the proximal section angle on bending angle error was explored under four testing conditions for a sinusoidal input. Bending angle error increased for increasing proximal section angle for all testing conditions with an average error reduction of 41.48% for retension, 4.28% for hysteresis, and 52.35% for re-tension + hysteresis compensation relative to the baseline case. Two major sources of error in tracking the bending angle were identified: time delay from hysteresis and DC offset from the proximal section angle. Examination of these error sources revealed that the simple hysteresis compensation was most effective for removing time delay and re-tension compensation for removing DC offset, which was the primary source of increasing error. The re-tension compensation was also tested for dynamic changes in the proximal section and reduced error in the final configuration of the tip by 89.14% relative to the baseline case.

According to the rapid development of drone technologies, drones are widely used in many applications including military domains. In this paper, a novel situation-aware DRL- based autonomous nonlinear drone mobility control algorithm in cyber-physical loitering munition applications. On the battlefield, the design of DRL-based autonomous control algorithm is not straightforward because real-world data gathering is generally not available. Therefore, the approach in this paper is that cyber-physical virtual environment is constructed with Unity environment. Based on the virtual cyber-physical battlefield scenarios, a DRL-based automated nonlinear drone mobility control algorithm can be designed, evaluated, and visualized. Moreover, many obstacles exist which is harmful for linear trajectory control in real-world battlefield scenarios. Thus, our proposed autonomous nonlinear drone mobility control algorithm utilizes situation-aware components those are implemented with a Raycast function in Unity virtual scenarios. Based on the gathered situation-aware information, the drone can autonomously and nonlinearly adjust its trajectory during flight. Therefore, this approach is obviously beneficial for avoiding obstacles in obstacle-deployed battlefields. Our visualization-based performance evaluation shows that the proposed algorithm is superior from the other linear mobility control algorithms.

In robotics and computer vision communities, extensive studies have been widely conducted regarding surveillance tasks, including human detection, tracking, and motion recognition with a camera. Additionally, deep learning algorithms are widely utilized in the aforementioned tasks as in other computer vision tasks. Existing public datasets are insufficient to develop learning-based methods that handle various surveillance for outdoor and extreme situations such as harsh weather and low illuminance conditions. Therefore, we introduce a new large-scale outdoor surveillance dataset named eXtremely large-scale Multi-modAl Sensor dataset (X-MAS) containing more than 500,000 image pairs and the first-person view data annotated by well-trained annotators. Moreover, a single pair contains multi-modal data (e.g. an IR image, an RGB image, a thermal image, a depth image, and a LiDAR scan). This is the first large-scale first-person view outdoor multi-modal dataset focusing on surveillance tasks to the best of our knowledge. We present an overview of the proposed dataset with statistics and present methods of exploiting our dataset with deep learning-based algorithms. The latest information on the dataset and our study are available at https://github.com/lge-robot-navi, and the dataset will be available for download through a server.

Springs are efficient in storing and returning elastic potential energy but are unable to hold the energy they store in the absence of an external load. Lockable springs use clutches to hold elastic potential energy in the absence of an external load but have not yet been widely adopted in applications, partly because clutches introduce design complexity, reduce energy efficiency, and typically do not afford high-fidelity control over the energy stored by the spring. Here, we present the design of a novel lockable compression spring that uses a small capstan clutch to passively lock a mechanical spring. The capstan clutch can lock up to 1000 N force at any arbitrary deflection, unlock the spring in less than 10 ms with a control force less than 1 % of the maximal spring force, and provide an 80 % energy storage and return efficiency (comparable to a highly efficient electric motor operated at constant nominal speed). By retaining the form factor of a regular spring while providing high-fidelity locking capability even under large spring forces, the proposed design could facilitate the development of energy-efficient spring-based actuators and robots.