将触觉反馈从指尖转移到手腕上的重新定位被认为是使与混合现实虚拟环境的触觉相互作用的一种方式，同时使手指免费完成其他任务。我们介绍了一对腕触觉触觉设备以及一个虚拟环境，以研究手指和触觉者之间的各种映射如何影响任务性能。腕部呈现的触觉反馈反映了由食指和拇指控制的虚拟物体和虚拟化头像之间发生的相互作用。我们进行了一项用户研究，比较了四个不同的手指触觉反馈映射和一个无反馈条件作为对照。我们评估了用户通过任务完成时间的指标，手指和虚拟立方体的路径长度以及在指尖处的正常和剪切力的大小来评估了用户执行简单的选择任务的能力。我们发现多次映射是有效的，并且当视觉提示受到限制时会产生更大的影响。我们讨论了方法的局限性，并描述了朝着腕部磨损设备进行多重自由度触觉渲染的下一步步骤，以改善虚拟环境中的任务性能。

Autonomous vehicles are suited for continuous area patrolling problems. However, finding an optimal patrolling strategy can be challenging for many reasons. Firstly, patrolling environments are often complex and can include unknown and evolving environmental factors. Secondly, autonomous vehicles can have failures or hardware constraints such as limited battery lives. Importantly, patrolling large areas often requires multiple agents that need to collectively coordinate their actions. In this work, we consider these limitations and propose an approach based on a distributed, model-free deep reinforcement learning based multi-agent patrolling strategy. In this approach, agents make decisions locally based on their own environmental observations and on shared information. In addition, agents are trained to automatically recharge themselves when required to support continuous collective patrolling. A homogeneous multi-agent architecture is proposed, where all patrolling agents have an identical policy. This architecture provides a robust patrolling system that can tolerate agent failures and allow supplementary agents to be added to replace failed agents or to increase the overall patrol performance. This performance is validated through experiments from multiple perspectives, including the overall patrol performance, the efficiency of the battery recharging strategy, the overall robustness of the system, and the agents' ability to adapt to environment dynamics.

The lack of standardization is a prominent issue in magnetic resonance (MR) imaging. This often causes undesired contrast variations due to differences in hardware and acquisition parameters. In recent years, MR harmonization using image synthesis with disentanglement has been proposed to compensate for the undesired contrast variations. Despite the success of existing methods, we argue that three major improvements can be made. First, most existing methods are built upon the assumption that multi-contrast MR images of the same subject share the same anatomy. This assumption is questionable since different MR contrasts are specialized to highlight different anatomical features. Second, these methods often require a fixed set of MR contrasts for training (e.g., both Tw-weighted and T2-weighted images must be available), which limits their applicability. Third, existing methods generally are sensitive to imaging artifacts. In this paper, we present a novel approach, Harmonization with Attention-based Contrast, Anatomy, and Artifact Awareness (HACA3), to address these three issues. We first propose an anatomy fusion module that enables HACA3 to respect the anatomical differences between MR contrasts. HACA3 is also robust to imaging artifacts and can be trained and applied to any set of MR contrasts. Experiments show that HACA3 achieves state-of-the-art performance under multiple image quality metrics. We also demonstrate the applicability of HACA3 on downstream tasks with diverse MR datasets acquired from 21 sites with different field strengths, scanner platforms, and acquisition protocols.

Large language models (LLMs) have been shown to be able to perform new tasks based on a few demonstrations or natural language instructions. While these capabilities have led to widespread adoption, most LLMs are developed by resource-rich organizations and are frequently kept from the public. As a step towards democratizing this powerful technology, we present BLOOM, a 176B-parameter open-access language model designed and built thanks to a collaboration of hundreds of researchers. BLOOM is a decoder-only Transformer language model that was trained on the ROOTS corpus, a dataset comprising hundreds of sources in 46 natural and 13 programming languages (59 in total). We find that BLOOM achieves competitive performance on a wide variety of benchmarks, with stronger results after undergoing multitask prompted finetuning. To facilitate future research and applications using LLMs, we publicly release our models and code under the Responsible AI License.

We discuss a platform that has both software and hardware components, and whose purpose is to support research into characterizing and mitigating the sim-to-real gap in robotics and vehicle autonomy engineering. The software is operating-system independent and has three main components: a simulation engine called Chrono, which supports high-fidelity vehicle and sensor simulation; an autonomy stack for algorithm design and testing; and a development environment that supports visualization and hardware-in-the-loop experimentation. The accompanying hardware platform is a 1/6th scale vehicle augmented with reconfigurable mountings for computing, sensing, and tracking. Since this vehicle platform has a digital twin within the simulation environment, one can test the same autonomy perception, state estimation, or controls algorithms, as well as the processors they run on, in both simulation and reality. A demonstration is provided to show the utilization of this platform for autonomy research. Future work will concentrate on augmenting ART/ATK with support for a full-sized Chevy Bolt EUV, which will be made available to this group in the immediate future.

在充满活力的腿部运动领域，实现稳定的跳跃一直是一个标志性的挑战。由于长期不足，因此，受控跳跃非常困难，加上非常短的地面阶段，必须调节地面相互作用以调节全球状态。在这项工作中，我们探讨了混合非线性模型预测控制的使用，并与多速率层次结构中的低级反馈控制器配对，以在新颖的3D跳架机器人上实现动态稳定的运动。为了在旋转的多种状态上展示更丰富的行为，规划和反馈层都必须以几何一致的方式完成。因此，我们开发了采用谎言组集成商和适当的反馈控制器的必要工具。我们在实验上证明了在新型机器人上稳定的3D跳，以及模拟中的轨迹跟踪和翻转。

我们开发了一种新型的可区分预测控制（DPC），并根据控制屏障功能确保安全性和鲁棒性保证。DPC是一种基于学习的方法，用于获得近似解决方案，以解决明确的模型预测控制（MPC）问题。在DPC中，通过自动分化MPC问题获得的直接策略梯度，通过直接策略梯度进行了脱机优化的预测控制策略。所提出的方法利用了一种新形式的采样数据屏障功能，以在DPC设置中执行离线和在线安全要求，同时仅中断安全集合边界附近的基于神经网络的控制器。在模拟中证明了拟议方法的有效性。

在Bora等。 （2017年），在测量矩阵为高斯，信号结构是生成神经网络（GNN）的范围的设置中开发了一个数学框架，用于压缩传感保证。此后，当测量矩阵和/或网络权重遵循Subgaussian分布时，对GNNS进行压缩感测的问题进行了广泛的分析。我们超越了高斯的假设，以通过在单一基质的随机行中均匀地采样（包括作为特殊情况下的亚采样傅立叶测量值）来得出的测量矩阵。具体而言，我们证明了使用亚次采样的二型限制感测的第一个已知的限制等轴测保证，并提供了几乎有序的样品复杂性的恢复边界，解决了Scarlett等人的开放问题。 （2022，第10页）。恢复功效的特征是连贯性，这是一个新参数，该参数测量了网络范围与测量矩阵之间的相互作用。我们的方法依赖于子空间计数论点和思想的核心概率。此外，我们提出了一种正规化策略，以使GNN与测量运算符具有有利的连贯性。我们提供令人信服的数值模拟来支持这种正规训练策略：我们的策略产生低相干网络，需要更少的信号回收测量。这与我们的理论结果一起支持连贯性作为自然量，用于表征与亚次采样的生成压缩感测。

大量的时间序列数据通常被组织成具有不同聚集水平的横截面结构。示例包括产品和地理组。与此类数据集相干决策和计划的必要条件是针对分散的系列的预测，可以准确地添加到汇总的系列预测中，这激发了新型层次结构预测算法的创建。机器学习社区对横截面层次预测系统的兴趣日益增长，我们正处于一个有利的时刻，以确保科学的努力基于声音基线。因此，我们提出了层次Forecast库，该库包含预处理的公开可用数据集，评估指标和一组编译的统计基线模型。我们基于Python的框架旨在弥合统计，计量经济学建模和机器学习预测研究之间的差距。代码和文档可在https://github.com/nixtla/hierarchicalforecast中找到。

加速的近端算法（APPA），也称为“催化剂”，是从凸优化到近似近端计算（即正则最小化）的确定还原。这种减少在概念上是优雅的，可以保证强大的收敛速度。但是，这些速率具有多余的对数项，因此需要计算每个近端点至高精度。在这项工作中，我们提出了一个新颖的放松误差标准，用于加速近端点（recapp），以消除对高精度子问题解决方案的需求。我们将recapp应用于两个规范问题：有限的和最大结构的最小化。对于有限和问题，我们匹配了以前通过精心设计的问题特异性算法获得的最著名的复杂性。为了最大程度地减少$ \ max_y f（x，y）$，其中$ f $以$ x $为$ x $，而在$ y $中强烈concave，我们改进了受对数因素限制的最著名的（基于催化剂）。