持续学习和少数学习是追求改善机器学习的重要领域。每个边界的工作越来越多，但将两者结合起来很少。但是最近，Antoniou等人。 ARXIV：2004.11967引入了一个连续的少数学习框架CFSL，将两者都结合在一起。在这项研究中，我们扩展了CFSL，以使其与标准持续学习实验更具可比性，通常会介绍更多的类。我们还引入了一个“实例测试”以对非常相似的特定实例进行分类 - ML通常忽略的动物认知能力。我们从原始CFSL工作中选择了代表性的基线模型，并将其与具有海马启发性重播的模型进行了比较，因为海马被认为对动物中的这种学习至关重要。正如预期的那样，学习更多的课程比原始的CFSL实验更加困难，有趣的是，它们的呈现方式对性能有所不同。实例测试中的准确性与分类任务相当。使用重播进行合并可改善两种类型的任务的性能，尤其是实例测试。

由于对音乐流媒体/推荐服务的需求增加以及音乐信息检索框架的最新发展，音乐流派分类（MGC）引起了社区的关注。但是，已知基于卷积的方法缺乏有效编码和定位时间特征的能力。在本文中，我们研究了基于广播的神经网络，旨在提高一小部分参数（约180k）下的本地化和概括性，并研究了12个广播网络的变体，讨论了块配置，汇总方法，激活功能，归一化的效果机理，标签平滑，通道相互依赖性，LSTM块包含和成立方案的变体。我们使用相关数据集进行的计算实验，例如GTZAN，扩展宴会厅，Homburg和Free Music Archive（FMA），显示了音乐流派分类中最新的分类精度。我们的方法提供了洞察力，并有可能使音乐和音频分类启用紧凑且可推广的广播网络。

In this paper, we present a method for unconstrained end-to-end head pose estimation. We address the problem of ambiguous rotation labels by introducing the rotation matrix formalism for our ground truth data and propose a continuous 6D rotation matrix representation for efficient and robust direct regression. This way, our method can learn the full rotation appearance which is contrary to previous approaches that restrict the pose prediction to a narrow-angle for satisfactory results. In addition, we propose a geodesic distance-based loss to penalize our network with respect to the SO(3) manifold geometry. Experiments on the public AFLW2000 and BIWI datasets demonstrate that our proposed method significantly outperforms other state-of-the-art methods by up to 20\%. We open-source our training and testing code along with our pre-trained models: https://github.com/thohemp/6DRepNet.

The performance of the Deep Learning (DL) models depends on the quality of labels. In some areas, the involvement of human annotators may lead to noise in the data. When these corrupted labels are blindly regarded as the ground truth (GT), DL models suffer from performance deficiency. This paper presents a method that aims to learn a confident model in the presence of noisy labels. This is done in conjunction with estimating the uncertainty of multiple annotators. We robustly estimate the predictions given only the noisy labels by adding entropy or information-based regularizer to the classifier network. We conduct our experiments on a noisy version of MNIST, CIFAR-10, and FMNIST datasets. Our empirical results demonstrate the robustness of our method as it outperforms or performs comparably to other state-of-the-art (SOTA) methods. In addition, we evaluated the proposed method on the curated dataset, where the noise type and level of various annotators depend on the input image style. We show that our approach performs well and is adept at learning annotators' confusion. Moreover, we demonstrate how our model is more confident in predicting GT than other baselines. Finally, we assess our approach for segmentation problem and showcase its effectiveness with experiments.

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.

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.

Nowadays, the current neural network models of dialogue generation(chatbots) show great promise for generating answers for chatty agents. But they are short-sighted in that they predict utterances one at a time while disregarding their impact on future outcomes. Modelling a dialogue's future direction is critical for generating coherent, interesting dialogues, a need that has led traditional NLP dialogue models that rely on reinforcement learning. In this article, we explain how to combine these objectives by using deep reinforcement learning to predict future rewards in chatbot dialogue. The model simulates conversations between two virtual agents, with policy gradient methods used to reward sequences that exhibit three useful conversational characteristics: the flow of informality, coherence, and simplicity of response (related to forward-looking function). We assess our model based on its diversity, length, and complexity with regard to humans. In dialogue simulation, evaluations demonstrated that the proposed model generates more interactive responses and encourages a more sustained successful conversation. This work commemorates a preliminary step toward developing a neural conversational model based on the long-term success of dialogues.

In this work, we introduce a hypergraph representation learning framework called Hypergraph Neural Networks (HNN) that jointly learns hyperedge embeddings along with a set of hyperedge-dependent embeddings for each node in the hypergraph. HNN derives multiple embeddings per node in the hypergraph where each embedding for a node is dependent on a specific hyperedge of that node. Notably, HNN is accurate, data-efficient, flexible with many interchangeable components, and useful for a wide range of hypergraph learning tasks. We evaluate the effectiveness of the HNN framework for hyperedge prediction and hypergraph node classification. We find that HNN achieves an overall mean gain of 7.72% and 11.37% across all baseline models and graphs for hyperedge prediction and hypergraph node classification, respectively.

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.