近年来，元学习领域令人兴奋地兴起。在现有的元学习方法中，通常从公共数据集收集培训元模型的学习任务，这带来了具有大量培训数据获得足够数量的元学习任务的难度。在本文中，我们提出了一种基于随机产生的元学习任务的元学习方法，以基于大数据获得用于分类学习的参数损失。损失由深度神经网络表示，称为META损耗网络（MLN）。要培训MLN，我们通过随机生成培训数据，验证数据和相应的地面图线性分类器来构建大量分类学习任务。我们的方法有两个优点。首先，可以容易地获得具有大量训练数据的足够的元学习任务。其次，给出了地面真理分类器，因此可以测量学习分类器和地面实模之间的差异，以更精确地反映MLN的性能而不是验证精度。基于这种差异，我们应用进化策略算法找出最佳MLN。结果MLN不仅导致对生成的线性分类器学习任务进行测试的令人满意的学习效果，而且在生成的非线性分类器学习任务和各种公共分类任务中也表现得非常好。我们的MLN稳定超过跨熵（CE）和均方误差（MSE），以测试精度和泛化能力。这些结果说明了使用生成的学习任务实现令人满意的元学习效果的可能性。

Unmanned aerial vehicle (UAV) swarms are considered as a promising technique for next-generation communication networks due to their flexibility, mobility, low cost, and the ability to collaboratively and autonomously provide services. Distributed learning (DL) enables UAV swarms to intelligently provide communication services, multi-directional remote surveillance, and target tracking. In this survey, we first introduce several popular DL algorithms such as federated learning (FL), multi-agent Reinforcement Learning (MARL), distributed inference, and split learning, and present a comprehensive overview of their applications for UAV swarms, such as trajectory design, power control, wireless resource allocation, user assignment, perception, and satellite communications. Then, we present several state-of-the-art applications of UAV swarms in wireless communication systems, such us reconfigurable intelligent surface (RIS), virtual reality (VR), semantic communications, and discuss the problems and challenges that DL-enabled UAV swarms can solve in these applications. Finally, we describe open problems of using DL in UAV swarms and future research directions of DL enabled UAV swarms. In summary, this survey provides a comprehensive survey of various DL applications for UAV swarms in extensive scenarios.

Keyword spotting (KWS) based on deep neural networks (DNNs) has achieved massive success in voice control scenarios. However, training of such DNN-based KWS systems often requires significant data and hardware resources. Manufacturers often entrust this process to a third-party platform. This makes the training process uncontrollable, where attackers can implant backdoors in the model by manipulating third-party training data. An effective backdoor attack can force the model to make specified judgments under certain conditions, i.e., triggers. In this paper, we design a backdoor attack scheme based on Voiceprint Selection and Voice Conversion, abbreviated as VSVC. Experimental results demonstrated that VSVC is feasible to achieve an average attack success rate close to 97% in four victim models when poisoning less than 1% of the training data.

Learning 3D human pose prior is essential to human-centered AI. Here, we present GFPose, a versatile framework to model plausible 3D human poses for various applications. At the core of GFPose is a time-dependent score network, which estimates the gradient on each body joint and progressively denoises the perturbed 3D human pose to match a given task specification. During the denoising process, GFPose implicitly incorporates pose priors in gradients and unifies various discriminative and generative tasks in an elegant framework. Despite the simplicity, GFPose demonstrates great potential in several downstream tasks. Our experiments empirically show that 1) as a multi-hypothesis pose estimator, GFPose outperforms existing SOTAs by 20% on Human3.6M dataset. 2) as a single-hypothesis pose estimator, GFPose achieves comparable results to deterministic SOTAs, even with a vanilla backbone. 3) GFPose is able to produce diverse and realistic samples in pose denoising, completion and generation tasks. Project page https://sites.google.com/view/gfpose/

Open-Domain Question Answering (ODQA) requires models to answer factoid questions with no context given. The common way for this task is to train models on a large-scale annotated dataset to retrieve related documents and generate answers based on these documents. In this paper, we show that the ODQA architecture can be dramatically simplified by treating Large Language Models (LLMs) as a knowledge corpus and propose a Self-Prompting framework for LLMs to perform ODQA so as to eliminate the need for training data and external knowledge corpus. Concretely, we firstly generate multiple pseudo QA pairs with background passages and one-sentence explanations for these QAs by prompting LLMs step by step and then leverage the generated QA pairs for in-context learning. Experimental results show our method surpasses previous state-of-the-art methods by +8.8 EM averagely on three widely-used ODQA datasets, and even achieves comparable performance with several retrieval-augmented fine-tuned models.

For solving a broad class of nonconvex programming problems on an unbounded constraint set, we provide a self-adaptive step-size strategy that does not include line-search techniques and establishes the convergence of a generic approach under mild assumptions. Specifically, the objective function may not satisfy the convexity condition. Unlike descent line-search algorithms, it does not need a known Lipschitz constant to figure out how big the first step should be. The crucial feature of this process is the steady reduction of the step size until a certain condition is fulfilled. In particular, it can provide a new gradient projection approach to optimization problems with an unbounded constrained set. The correctness of the proposed method is verified by preliminary results from some computational examples. To demonstrate the effectiveness of the proposed technique for large-scale problems, we apply it to some experiments on machine learning, such as supervised feature selection, multi-variable logistic regressions and neural networks for classification.

Although considerable progress has been obtained in neural network quantization for efficient inference, existing methods are not scalable to heterogeneous devices as one dedicated model needs to be trained, transmitted, and stored for one specific hardware setting, incurring considerable costs in model training and maintenance. In this paper, we study a new vertical-layered representation of neural network weights for encapsulating all quantized models into a single one. With this representation, we can theoretically achieve any precision network for on-demand service while only needing to train and maintain one model. To this end, we propose a simple once quantization-aware training (QAT) scheme for obtaining high-performance vertical-layered models. Our design incorporates a cascade downsampling mechanism which allows us to obtain multiple quantized networks from one full precision source model by progressively mapping the higher precision weights to their adjacent lower precision counterparts. Then, with networks of different bit-widths from one source model, multi-objective optimization is employed to train the shared source model weights such that they can be updated simultaneously, considering the performance of all networks. By doing this, the shared weights will be optimized to balance the performance of different quantized models, thus making the weights transferable among different bit widths. Experiments show that the proposed vertical-layered representation and developed once QAT scheme are effective in embodying multiple quantized networks into a single one and allow one-time training, and it delivers comparable performance as that of quantized models tailored to any specific bit-width. Code will be available.

For the aerial manipulator that performs aerial work tasks, the actual operating environment it faces is very complex, and it is affected by internal and external multi-source disturbances. In this paper, to effectively improve the anti-disturbance control performance of the aerial manipulator, an adaptive neural network backstepping control method based on variable inertia parameter modeling is proposed. Firstly, for the intense internal coupling disturbance, we analyze and model it from the perspective of the generation mechanism of the coupling disturbance, and derive the dynamics model of the aerial manipulator system and the coupling disturbance model based on the variable inertia parameters. Through the proposed coupling disturbance model, we can compensate the strong coupling disturbance in a way of feedforward. Then, the adaptive neural network is proposed and applid to estimate and compensate the additional disturbances, and the closed-loop controller is designed based on the backstepping control method. Finally, we verify the correctness of the proposed coupling disturbance model through physical experiment under a large range motion of the manipulator. Two sets of comparative simulation results also prove the accurate estimation of the proposed adaptive neural network for additional disturbances and the effectiveness and superiority of the proposed control method.

Source-free domain adaptation (SFDA) aims to transfer knowledge learned from a source domain to an unlabeled target domain, where the source data is unavailable during adaptation. Existing approaches for SFDA focus on self-training usually including well-established entropy minimization techniques. One of the main challenges in SFDA is to reduce accumulation of errors caused by domain misalignment. A recent strategy successfully managed to reduce error accumulation by pseudo-labeling the target samples based on class-wise prototypes (centroids) generated by their clustering in the representation space. However, this strategy also creates cases for which the cross-entropy of a pseudo-label and the minimum entropy have a conflict in their objectives. We call this conflict the centroid-hypothesis conflict. We propose to reconcile this conflict by aligning the entropy minimization objective with that of the pseudo labels' cross entropy. We demonstrate the effectiveness of aligning the two loss objectives on three domain adaptation datasets. In addition, we provide state-of-the-art results using up-to-date architectures also showing the consistency of our method across these architectures.

Homography estimation is erroneous in the case of large-baseline due to the low image overlay and limited receptive field. To address it, we propose a progressive estimation strategy by converting large-baseline homography into multiple intermediate ones, cumulatively multiplying these intermediate items can reconstruct the initial homography. Meanwhile, a semi-supervised homography identity loss, which consists of two components: a supervised objective and an unsupervised objective, is introduced. The first supervised loss is acting to optimize intermediate homographies, while the second unsupervised one helps to estimate a large-baseline homography without photometric losses. To validate our method, we propose a large-scale dataset that covers regular and challenging scenes. Experiments show that our method achieves state-of-the-art performance in large-baseline scenes while keeping competitive performance in small-baseline scenes. Code and dataset are available at https://github.com/megvii-research/LBHomo.