机器人操纵的基准是机器人研究中的开放问题之一。在过去十年中，在该领域实现了进展的一个重要因素是在不同研究组中共享的共同对象集的存在。然而，当涉及具有独特特殊性和挑战的布料物体时，现有的对象集非常有限。本文是朝向从机器人布操纵界的研究组中分发的布对象设置的第一步。我们展示了一组家庭布料对象和相关任务，有助于暴露与收集这种物体集合的挑战，并提出了一种向布操控任务中的共同基准设计的路线图，有意将理由设置为未来的辩论在社区中，有必要促进用于操纵布料物体的基准。还将一些RGB-D和对象扫描作为相关配置中的对象的示例收集。有关布料集的更多细节在http://www.iri.upc.edu/groups/perception/clothobjectset/houble uholdclothset.html中共享。

世界各地的隐私法律和法规的景观是复杂而不断变化的。国家和超国家法律，协议，法令和其他政府发行的规则构成了公司必须遵循的拼凑而成才能在国际上进行运作。为了检查该拼凑而成的状态和演变，我们介绍了1,043条隐私法，法规和准则的政府隐私指示语料库或GPI语料库，涵盖了182个司法管辖区。该语料库可以对法律焦点进行大规模定量和定性检查。我们检查了创建GPI的时间分布，并说明了过去50年中隐私立法的急剧增加，尽管较细粒度的检查表明，增加的速度取决于GPIS所说的个人数据类型。我们的探索还表明，大多数隐私法分别解决了相对较少的个人数据类型，这表明全面的隐私立法仍然很少见。此外，主题建模结果显示了GPI中常见主题的普遍性，例如财务，医疗保健和电信。最后，我们将语料库释放到研究界，以促进进一步的研究。

A Digital Twin (DT) is a simulation of a physical system that provides information to make decisions that add economic, social or commercial value. The behaviour of a physical system changes over time, a DT must therefore be continually updated with data from the physical systems to reflect its changing behaviour. For resource-constrained systems, updating a DT is non-trivial because of challenges such as on-board learning and the off-board data transfer. This paper presents a framework for updating data-driven DTs of resource-constrained systems geared towards system health monitoring. The proposed solution consists of: (1) an on-board system running a light-weight DT allowing the prioritisation and parsimonious transfer of data generated by the physical system; and (2) off-board robust updating of the DT and detection of anomalous behaviours. Two case studies are considered using a production gas turbine engine system to demonstrate the digital representation accuracy for real-world, time-varying physical systems.

Deep neural networks (DNN) have outstanding performance in various applications. Despite numerous efforts of the research community, out-of-distribution (OOD) samples remain significant limitation of DNN classifiers. The ability to identify previously unseen inputs as novel is crucial in safety-critical applications such as self-driving cars, unmanned aerial vehicles and robots. Existing approaches to detect OOD samples treat a DNN as a black box and assess the confidence score of the output predictions. Unfortunately, this method frequently fails, because DNN are not trained to reduce their confidence for OOD inputs. In this work, we introduce a novel method for OOD detection. Our method is motivated by theoretical analysis of neuron activation patterns (NAP) in ReLU based architectures. The proposed method does not introduce high computational workload due to the binary representation of the activation patterns extracted from convolutional layers. The extensive empirical evaluation proves its high performance on various DNN architectures and seven image datasets. ion.

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.

Graph Neural Networks (GNNs) have shown great potential in the field of graph representation learning. Standard GNNs define a local message-passing mechanism which propagates information over the whole graph domain by stacking multiple layers. This paradigm suffers from two major limitations, over-squashing and poor long-range dependencies, that can be solved using global attention but significantly increases the computational cost to quadratic complexity. In this work, we propose an alternative approach to overcome these structural limitations by leveraging the ViT/MLP-Mixer architectures introduced in computer vision. We introduce a new class of GNNs, called Graph MLP-Mixer, that holds three key properties. First, they capture long-range dependency and mitigate the issue of over-squashing as demonstrated on the Long Range Graph Benchmark (LRGB) and the TreeNeighbourMatch datasets. Second, they offer better speed and memory efficiency with a complexity linear to the number of nodes and edges, surpassing the related Graph Transformer and expressive GNN models. Third, they show high expressivity in terms of graph isomorphism as they can distinguish at least 3-WL non-isomorphic graphs. We test our architecture on 4 simulated datasets and 7 real-world benchmarks, and show highly competitive results on all of them.

In recent years, the exponential proliferation of smart devices with their intelligent applications poses severe challenges on conventional cellular networks. Such challenges can be potentially overcome by integrating communication, computing, caching, and control (i4C) technologies. In this survey, we first give a snapshot of different aspects of the i4C, comprising background, motivation, leading technological enablers, potential applications, and use cases. Next, we describe different models of communication, computing, caching, and control (4C) to lay the foundation of the integration approach. We review current state-of-the-art research efforts related to the i4C, focusing on recent trends of both conventional and artificial intelligence (AI)-based integration approaches. We also highlight the need for intelligence in resources integration. Then, we discuss integration of sensing and communication (ISAC) and classify the integration approaches into various classes. Finally, we propose open challenges and present future research directions for beyond 5G networks, such as 6G.

In the recent years, various gradient descent algorithms including the methods of gradient descent, gradient descent with momentum, adaptive gradient (AdaGrad), root-mean-square propagation (RMSProp) and adaptive moment estimation (Adam) have been applied to the parameter optimization of several deep learning models with higher accuracies or lower errors. These optimization algorithms may need to set the values of several hyperparameters which include a learning rate, momentum coefficients, etc. Furthermore, the convergence speed and solution accuracy may be influenced by the values of hyperparameters. Therefore, this study proposes an analytical framework to use mathematical models for analyzing the mean error of each objective function based on various gradient descent algorithms. Moreover, the suitable value of each hyperparameter could be determined by minimizing the mean error. The principles of hyperparameter value setting have been generalized based on analysis results for model optimization. The experimental results show that higher efficiency convergences and lower errors can be obtained by the proposed method.

Managing novelty in perception-based human activity recognition (HAR) is critical in realistic settings to improve task performance over time and ensure solution generalization outside of prior seen samples. Novelty manifests in HAR as unseen samples, activities, objects, environments, and sensor changes, among other ways. Novelty may be task-relevant, such as a new class or new features, or task-irrelevant resulting in nuisance novelty, such as never before seen noise, blur, or distorted video recordings. To perform HAR optimally, algorithmic solutions must be tolerant to nuisance novelty, and learn over time in the face of novelty. This paper 1) formalizes the definition of novelty in HAR building upon the prior definition of novelty in classification tasks, 2) proposes an incremental open world learning (OWL) protocol and applies it to the Kinetics datasets to generate a new benchmark KOWL-718, 3) analyzes the performance of current state-of-the-art HAR models when novelty is introduced over time, 4) provides a containerized and packaged pipeline for reproducing the OWL protocol and for modifying for any future updates to Kinetics. The experimental analysis includes an ablation study of how the different models perform under various conditions as annotated by Kinetics-AVA. The protocol as an algorithm for reproducing experiments using the KOWL-718 benchmark will be publicly released with code and containers at https://github.com/prijatelj/human-activity-recognition-in-an-open-world. The code may be used to analyze different annotations and subsets of the Kinetics datasets in an incremental open world fashion, as well as be extended as further updates to Kinetics are released.

With the advent of deep learning application on edge devices, researchers actively try to optimize their deployments on low-power and restricted memory devices. There are established compression method such as quantization, pruning, and architecture search that leverage commodity hardware. Apart from conventional compression algorithms, one may redesign the operations of deep learning models that lead to more efficient implementation. To this end, we propose EuclidNet, a compression method, designed to be implemented on hardware which replaces multiplication, $xw$, with Euclidean distance $(x-w)^2$. We show that EuclidNet is aligned with matrix multiplication and it can be used as a measure of similarity in case of convolutional layers. Furthermore, we show that under various transformations and noise scenarios, EuclidNet exhibits the same performance compared to the deep learning models designed with multiplication operations.