共享控制可以通过协助执行用户意图来帮助进行远程处理的对象操纵。为此，需要稳健和及时的意图估计，这取决于行为观察。在这里，提出了意图估计框架，该框架使用自然目光和运动功能来预测当前的动作和目标对象。该系统在模拟环境中进行了训练和测试，并在相对混乱的场景中和双手中产生的拾音器和放置序列，另一方面可能是手动。验证是在不同的用户和手中进行的，实现了预测的准确性和优势。对单个特征的预测能力的分析表明，在当前动作的早期识别中，抓握触发器和目光的凝视特征的优势。在当前的框架中，可以将相同的概率模型用于并行和独立工作的两只手，而提出了基于规则的模型来识别所得的双人动作。最后，讨论了这种方法对更复杂，全行为操纵的局限性和观点。

Systemic Lupus红斑（SLU）是一种自身免疫性疾病，其中患者的免疫系统开始攻击身体的健康组织。狼疮肾炎（LN）是指由于这些攻击而导致肾脏组织的炎症导致肾功能衰竭。国际肾病学会/肾病学会（ISN / RPS）已释放了基于在SLE肾损伤期间观察到的各种模式的分类系统。传统方法需要对肾活检的细致病理学评估，并且是耗时的。最近，计算技术有助于通过使用虚拟显微镜或整个幻灯片成像（WSI）来缓解该问题。随着深度学习和现代计算机视觉技术的使用，我们提出了一种能够自动化的流水线，其能够使用提取的肾小球特征检测这些整个幻灯片图像中的各种幻灯片图案的过程和2）。

Applying Machine learning to domains like Earth Sciences is impeded by the lack of labeled data, despite a large corpus of raw data available in such domains. For instance, training a wildfire classifier on satellite imagery requires curating a massive and diverse dataset, which is an expensive and time-consuming process that can span from weeks to months. Searching for relevant examples in over 40 petabytes of unlabelled data requires researchers to manually hunt for such images, much like finding a needle in a haystack. We present a no-code end-to-end pipeline, Curator, which dramatically minimizes the time taken to curate an exhaustive labeled dataset. Curator is able to search massive amounts of unlabelled data by combining self-supervision, scalable nearest neighbor search, and active learning to learn and differentiate image representations. The pipeline can also be readily applied to solve problems across different domains. Overall, the pipeline makes it practical for researchers to go from just one reference image to a comprehensive dataset in a diminutive span of time.

Several self-supervised representation learning methods have been proposed for reinforcement learning (RL) with rich observations. For real-world applications of RL, recovering underlying latent states is crucial, particularly when sensory inputs contain irrelevant and exogenous information. In this work, we study how information bottlenecks can be used to construct latent states efficiently in the presence of task-irrelevant information. We propose architectures that utilize variational and discrete information bottlenecks, coined as RepDIB, to learn structured factorized representations. Exploiting the expressiveness bought by factorized representations, we introduce a simple, yet effective, bottleneck that can be integrated with any existing self-supervised objective for RL. We demonstrate this across several online and offline RL benchmarks, along with a real robot arm task, where we find that compressed representations with RepDIB can lead to strong performance improvements, as the learned bottlenecks help predict only the relevant state while ignoring irrelevant information.

The primary goal of this work is to study the effectiveness of an unsupervised domain adaptation approach for various applications such as binary classification and anomaly detection in the context of Alzheimer's disease (AD) detection for the OASIS datasets. We also explore image reconstruction and image synthesis for analyzing and generating 3D structural MRI data to establish performance benchmarks for anomaly detection. We successfully demonstrate that domain adaptation improves the performance of AD detection when implemented in both supervised and unsupervised settings. Additionally, the proposed methodology achieves state-of-the-art performance for binary classification on the OASIS-1 dataset.

Document summarization aims to create a precise and coherent summary of a text document. Many deep learning summarization models are developed mainly for English, often requiring a large training corpus and efficient pre-trained language models and tools. However, English summarization models for low-resource Indian languages are often limited by rich morphological variation, syntax, and semantic differences. In this paper, we propose GAE-ISumm, an unsupervised Indic summarization model that extracts summaries from text documents. In particular, our proposed model, GAE-ISumm uses Graph Autoencoder (GAE) to learn text representations and a document summary jointly. We also provide a manually-annotated Telugu summarization dataset TELSUM, to experiment with our model GAE-ISumm. Further, we experiment with the most publicly available Indian language summarization datasets to investigate the effectiveness of GAE-ISumm on other Indian languages. Our experiments of GAE-ISumm in seven languages make the following observations: (i) it is competitive or better than state-of-the-art results on all datasets, (ii) it reports benchmark results on TELSUM, and (iii) the inclusion of positional and cluster information in the proposed model improved the performance of summaries.

In this paper, we propose Adam-Hash: an adaptive and dynamic multi-resolution hashing data-structure for fast pairwise summation estimation. Given a data-set $X \subset \mathbb{R}^d$, a binary function $f:\mathbb{R}^d\times \mathbb{R}^d\to \mathbb{R}$, and a point $y \in \mathbb{R}^d$, the Pairwise Summation Estimate $\mathrm{PSE}_X(y) := \frac{1}{|X|} \sum_{x \in X} f(x,y)$. For any given data-set $X$, we need to design a data-structure such that given any query point $y \in \mathbb{R}^d$, the data-structure approximately estimates $\mathrm{PSE}_X(y)$ in time that is sub-linear in $|X|$. Prior works on this problem have focused exclusively on the case where the data-set is static, and the queries are independent. In this paper, we design a hashing-based PSE data-structure which works for the more practical \textit{dynamic} setting in which insertions, deletions, and replacements of points are allowed. Moreover, our proposed Adam-Hash is also robust to adaptive PSE queries, where an adversary can choose query $q_j \in \mathbb{R}^d$ depending on the output from previous queries $q_1, q_2, \dots, q_{j-1}$.

We demonstrate a Physics-informed Neural Network (PINN) based model for real-time health monitoring of a heat exchanger, that plays a critical role in improving energy efficiency of thermal power plants. A hypernetwork based approach is used to enable the domain-decomposed PINN learn the thermal behavior of the heat exchanger in response to dynamic boundary conditions, eliminating the need to re-train. As a result, we achieve orders of magnitude reduction in inference time in comparison to existing PINNs, while maintaining the accuracy on par with the physics-based simulations. This makes the approach very attractive for predictive maintenance of the heat exchanger in digital twin environments.

The emergence of large pretrained models has enabled language models to achieve superior performance in common NLP tasks, including language modeling and question answering, compared to previous static word representation methods. Augmenting these models with a retriever to retrieve the related text and documents as supporting information has shown promise in effectively solving NLP problems in a more interpretable way given that the additional knowledge is injected explicitly rather than being captured in the models' parameters. In spite of the recent progress, our analysis on retriever-augmented language models shows that this class of language models still lack reasoning over the retrieved documents. In this paper, we study the strengths and weaknesses of different retriever-augmented language models such as REALM, kNN-LM, FiD, ATLAS, and Flan-T5 in reasoning over the selected documents in different tasks. In particular, we analyze the reasoning failures of each of these models and study how the models' failures in reasoning are rooted in the retriever module as well as the language model.

This paper proposes a perception and path planning pipeline for autonomous racing in an unknown bounded course. The pipeline was initially created for the 2021 evGrandPrix autonomous division and was further improved for the 2022 event, both of which resulting in first place finishes. Using a simple LiDAR-based perception pipeline feeding into an occupancy grid based expansion algorithm, we determine a goal point to drive. This pipeline successfully achieved reliable and consistent laps in addition with occupancy grid algorithm to know the ways around a cone-defined track with an averaging speeds of 6.85 m/s over a distance 434.2 meters for a total lap time of 63.4 seconds.