由于形态的相似性，皮肤肿瘤的组织学切片分化为个体亚型可能具有挑战性。最近，基于深度学习的方法证明了它们在这方面支持病理学家的潜力。但是，这些监督算法中的许多都需要大量的注释数据才能进行稳健开发。我们提供了一个公开可用的数据集，该数据集是七个不同的犬皮肤肿瘤的350张全滑图像，其中有13种组织学类别的12,424个多边形注释，包括7种皮肤肿瘤亚型。在评估者间实验中，我们显示了提供的标签的高稠度，尤其是对于肿瘤注释。我们通过训练深层神经网络来进一步验证数据集，以完成组织分割和肿瘤亚型分类的任务。我们的肿瘤尤其是0.7047的类平均Jaccard系数为0.7047，尤其是0.9044。对于分类，我们达到了0.9857的幻灯片级准确性。由于犬皮肤肿瘤对人肿瘤具有各种组织学同源性，因此该数据集的附加值不限于兽医病理学，而是扩展到更一般的应用领域。

注释数据，尤其是在医疗领域，需要专家知识和很多努力。这限制了可用医疗数据集的实验量和/或有用性。因此，发展策略以增加注释的数量，同时降低所需的域知识是感兴趣的。可能的策略是使用游戏，即即将注释任务转换为游戏。我们提出了一种方法来游戏从病理整体幻灯片图像中注释肺部流体细胞的任务。由于该域是未知的非专家注释器所知，我们将用视网网架构检测到的细胞图像到花卉图像域。使用Compygan架构执行此域传输，用于不同的小区类型。在这种更科的域名中，非专家注释器可以（t）要求在俏皮的环境中注释不同种类的花朵。为了提供概念证据，该工作表明，通过评估在真实单元图像上培训的图像分类网络并在由Cyclegan网络生成的小区图像上测试的图像分类网络可以进行域传输。分类网络分别达到原始肺液体细胞和转化肺部流体细胞的精度​​为97.48％和95.16％。通过这项研究，我们为使用自行车队进行了未来的游戏研究的基础。

评估有丝分裂计数具有已知的高度内和帧间间变异性。已证明计算机辅助系统可降低这种可变性并减少标记时间。然而，这些系统通常高度依赖于其培训领域，并表现出对看不见的域的适用性差。在组织病理学中，这些域移位可以由各种来源产生，包括用于数字化组织学样本的不同滑动扫描系统。有丝分裂域泛化挑战的挑战集中在这种特定领域转变对有丝分裂形象检测的任务。这项工作提出了一种主要的有丝分裂形象检测算法作为挑战的基线，基于域对抗训练。在挑战的测试集上，该算法将F $ _1 $得分为0.7183。相应的网络权重和用于实现网络的代码是公开可用的。

Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity, especially for solving unexpected problems. A main challenge in teleoperation consists of providing enough feedback to the human operator for situation awareness and thus create full immersion, as well as offering the operator suitable control interfaces to achieve efficient and robust task fulfillment. We present a bimanual telemanipulation system consisting of an anthropomorphic avatar robot and an operator station providing force and haptic feedback to the human operator. The avatar arms are controlled in Cartesian space with a direct mapping of the operator movements. The measured forces and torques on the avatar side are haptically displayed to the operator. We developed a predictive avatar model for limit avoidance which runs on the operator side, ensuring low latency. The system was successfully evaluated during the ANA Avatar XPRIZE competition semifinals. In addition, we performed in lab experiments and carried out a small user study with mostly untrained operators.

The purpose of this work was to tackle practical issues which arise when using a tendon-driven robotic manipulator with a long, passive, flexible proximal section in medical applications. A separable robot which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. A control input which resolves the redundancy in the kinematics and a physical interpretation of this redundancy are provided. The effect of a static change in the proximal section angle on bending angle error was explored under four testing conditions for a sinusoidal input. Bending angle error increased for increasing proximal section angle for all testing conditions with an average error reduction of 41.48% for retension, 4.28% for hysteresis, and 52.35% for re-tension + hysteresis compensation relative to the baseline case. Two major sources of error in tracking the bending angle were identified: time delay from hysteresis and DC offset from the proximal section angle. Examination of these error sources revealed that the simple hysteresis compensation was most effective for removing time delay and re-tension compensation for removing DC offset, which was the primary source of increasing error. The re-tension compensation was also tested for dynamic changes in the proximal section and reduced error in the final configuration of the tip by 89.14% relative to the baseline case.

Learning enabled autonomous systems provide increased capabilities compared to traditional systems. However, the complexity of and probabilistic nature in the underlying methods enabling such capabilities present challenges for current systems engineering processes for assurance, and test, evaluation, verification, and validation (TEVV). This paper provides a preliminary attempt to map recently developed technical approaches in the assurance and TEVV of learning enabled autonomous systems (LEAS) literature to a traditional systems engineering v-model. This mapping categorizes such techniques into three main approaches: development, acquisition, and sustainment. We review the latest techniques to develop safe, reliable, and resilient learning enabled autonomous systems, without recommending radical and impractical changes to existing systems engineering processes. By performing this mapping, we seek to assist acquisition professionals by (i) informing comprehensive test and evaluation planning, and (ii) objectively communicating risk to leaders.

In inverse reinforcement learning (IRL), a learning agent infers a reward function encoding the underlying task using demonstrations from experts. However, many existing IRL techniques make the often unrealistic assumption that the agent has access to full information about the environment. We remove this assumption by developing an algorithm for IRL in partially observable Markov decision processes (POMDPs). We address two limitations of existing IRL techniques. First, they require an excessive amount of data due to the information asymmetry between the expert and the learner. Second, most of these IRL techniques require solving the computationally intractable forward problem -- computing an optimal policy given a reward function -- in POMDPs. The developed algorithm reduces the information asymmetry while increasing the data efficiency by incorporating task specifications expressed in temporal logic into IRL. Such specifications may be interpreted as side information available to the learner a priori in addition to the demonstrations. Further, the algorithm avoids a common source of algorithmic complexity by building on causal entropy as the measure of the likelihood of the demonstrations as opposed to entropy. Nevertheless, the resulting problem is nonconvex due to the so-called forward problem. We solve the intrinsic nonconvexity of the forward problem in a scalable manner through a sequential linear programming scheme that guarantees to converge to a locally optimal policy. In a series of examples, including experiments in a high-fidelity Unity simulator, we demonstrate that even with a limited amount of data and POMDPs with tens of thousands of states, our algorithm learns reward functions and policies that satisfy the task while inducing similar behavior to the expert by leveraging the provided side information.

Speech-driven 3D facial animation has been widely explored, with applications in gaming, character animation, virtual reality, and telepresence systems. State-of-the-art methods deform the face topology of the target actor to sync the input audio without considering the identity-specific speaking style and facial idiosyncrasies of the target actor, thus, resulting in unrealistic and inaccurate lip movements. To address this, we present Imitator, a speech-driven facial expression synthesis method, which learns identity-specific details from a short input video and produces novel facial expressions matching the identity-specific speaking style and facial idiosyncrasies of the target actor. Specifically, we train a style-agnostic transformer on a large facial expression dataset which we use as a prior for audio-driven facial expressions. Based on this prior, we optimize for identity-specific speaking style based on a short reference video. To train the prior, we introduce a novel loss function based on detected bilabial consonants to ensure plausible lip closures and consequently improve the realism of the generated expressions. Through detailed experiments and a user study, we show that our approach produces temporally coherent facial expressions from input audio while preserving the speaking style of the target actors.

We study the problem of graph clustering under a broad class of objectives in which the quality of a cluster is defined based on the ratio between the number of edges in the cluster, and the total weight of vertices in the cluster. We show that our definition is closely related to popular clustering measures, namely normalized associations, which is a dual of the normalized cut objective, and normalized modularity. We give a linear time constant-approximate algorithm for our objective, which implies the first constant-factor approximation algorithms for normalized modularity and normalized associations.

Neuromorphic systems require user-friendly software to support the design and optimization of experiments. In this work, we address this need by presenting our development of a machine learning-based modeling framework for the BrainScaleS-2 neuromorphic system. This work represents an improvement over previous efforts, which either focused on the matrix-multiplication mode of BrainScaleS-2 or lacked full automation. Our framework, called hxtorch.snn, enables the hardware-in-the-loop training of spiking neural networks within PyTorch, including support for auto differentiation in a fully-automated hardware experiment workflow. In addition, hxtorch.snn facilitates seamless transitions between emulating on hardware and simulating in software. We demonstrate the capabilities of hxtorch.snn on a classification task using the Yin-Yang dataset employing a gradient-based approach with surrogate gradients and densely sampled membrane observations from the BrainScaleS-2 hardware system.