对心脏磁共振成像（MRI）进行心室分割时具有弹性的方法，对于确保对这些组织的结构和功能分析的质量至关重要。尽管在提高算法的质量方面做出了重大努力，但很少有作品能够应对伪像在预测中产生的危害。在这项工作中，我们研究了经过验证的网络的微调，以提高以前方法对这些工件的弹性。在我们提出的方法中，我们采用了模仿这些人工制品的数据增强的广泛使用。结果显着改善了基线分割（最高0.06个骰子得分和4mm的Hausdorff距离提高）。

创建图像数据集时，使用搜索引擎进行Web图像检索是手动策划的诱人替代方法，但是它们的主要缺点仍然是检索到错误（嘈杂）样本的比例。以前的作品证明了这些嘈杂的样本是分布式（ID）样本的混合物，分配给了错误类别，但在数据集中的其他类别中呈现了相似的视觉语义，以及分布外（OOD）图像，哪些与数据集中的任何类别共享语义相关性。实际上，后者是检索到的嘈杂图像的主要类型。为了解决这种噪声二元性，我们提出了一个两阶段算法，从检测步骤开始，我们使用无监督的对比功能学习来表示特征空间中的图像。我们发现，对比度学习的比对和统一原则使OOD样品可以与单位孔隙单位上的ID样品线性分离。然后，我们使用固定的邻域大小将无监督的表示形式嵌入，并在类级别上应用异常敏感聚类以检测清洁和OOD簇以及ID嘈杂的异常值。我们最终训练了一个噪声强大的神经网络，该网络将ID噪声纠正为正确的类别，并在具有指导性的对比度目标中使用OOD样品，从而聚集它们以改善低级功能。我们的算法改善了合成噪声图像数据集的最新结果以及现实世界中的Web爬行数据。我们的工作是完全可重现的[github]。

牛la脚是一种严重的疾病，会影响奶牛的生命周期和生活质量，并导致巨大的经济损失。早期的la悔检测有助于农民尽早解决疾病，并避免牛的变性引起的负面影响。我们收集了一个简短的奶牛的数据集，穿过走廊，从走廊出发，并注释了牛的la行。本文探讨了结果数据集，并提供了数据收集过程的详细说明。此外，我们提出了一种la行检测方法，该方法利用预先训练的神经网络从视频中提取判别特征，并为每个母牛分配二进制分数，表明其状况：“健康”或“ la脚”。我们通过强迫模型专注于牛的结构来改善这种方法，我们通过用训练有素的分割模型预测的二进制分割掩码来代替RGB视频来实现。这项工作旨在鼓励研究并提供有关计算机视觉模型在农场上的牛lo脚检测的适用性的见解。

Despite being robust to small amounts of label noise, convolutional neural networks trained with stochastic gradient methods have been shown to easily fit random labels. When there are a mixture of correct and mislabelled targets, networks tend to fit the former before the latter. This suggests using a suitable two-component mixture model as an unsupervised generative model of sample loss values during training to allow online estimation of the probability that a sample is mislabelled. Specifically, we propose a beta mixture to estimate this probability and correct the loss by relying on the network prediction (the so-called bootstrapping loss). We further adapt mixup augmentation to drive our approach a step further. Experiments on CIFAR-10/100 and TinyImageNet demonstrate a robustness to label noise that substantially outperforms recent state-of-the-art. Source code is available at https://git.io/fjsvE.

Non-linear state-space models, also known as general hidden Markov models, are ubiquitous in statistical machine learning, being the most classical generative models for serial data and sequences in general. The particle-based, rapid incremental smoother PaRIS is a sequential Monte Carlo (SMC) technique allowing for efficient online approximation of expectations of additive functionals under the smoothing distribution in these models. Such expectations appear naturally in several learning contexts, such as likelihood estimation (MLE) and Markov score climbing (MSC). PARIS has linear computational complexity, limited memory requirements and comes with non-asymptotic bounds, convergence results and stability guarantees. Still, being based on self-normalised importance sampling, the PaRIS estimator is biased. Our first contribution is to design a novel additive smoothing algorithm, the Parisian particle Gibbs PPG sampler, which can be viewed as a PaRIS algorithm driven by conditional SMC moves, resulting in bias-reduced estimates of the targeted quantities. We substantiate the PPG algorithm with theoretical results, including new bounds on bias and variance as well as deviation inequalities. Our second contribution is to apply PPG in a learning framework, covering MLE and MSC as special examples. In this context, we establish, under standard assumptions, non-asymptotic bounds highlighting the value of bias reduction and the implicit Rao--Blackwellization of PPG. These are the first non-asymptotic results of this kind in this setting. We illustrate our theoretical results with numerical experiments supporting our claims.

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in real-world underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission and make high-impact strategic decisions. We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and re-configurable communications.

This paper introduces a novel algorithm, the Perturbed Proximal Preconditioned SPIDER algorithm (3P-SPIDER), designed to solve finite sum non-convex composite optimization. It is a stochastic Variable Metric Forward-Backward algorithm, which allows approximate preconditioned forward operator and uses a variable metric proximity operator as the backward operator; it also proposes a mini-batch strategy with variance reduction to address the finite sum setting. We show that 3P-SPIDER extends some Stochastic preconditioned Gradient Descent-based algorithms and some Incremental Expectation Maximization algorithms to composite optimization and to the case the forward operator can not be computed in closed form. We also provide an explicit control of convergence in expectation of 3P-SPIDER, and study its complexity in order to satisfy the epsilon-approximate stationary condition. Our results are the first to combine the composite non-convex optimization setting, a variance reduction technique to tackle the finite sum setting by using a minibatch strategy and, to allow deterministic or random approximations of the preconditioned forward operator. Finally, through an application to inference in a logistic regression model with random effects, we numerically compare 3P-SPIDER to other stochastic forward-backward algorithms and discuss the role of some design parameters of 3P-SPIDER.

Landing an unmanned aerial vehicle unmanned aerial vehicle (UAV) on top of an unmanned surface vehicle (USV) in harsh open waters is a challenging problem, owing to forces that can damage the UAV due to a severe roll and/or pitch angle of the USV during touchdown. To tackle this, we propose a novel model predictive control (MPC) approach enabling a UAV to land autonomously on a USV in these harsh conditions. The MPC employs a novel objective function and an online decomposition of the oscillatory motion of the vessel to predict, attempt, and accomplish the landing during near-zero tilt of the landing platform. The nonlinear prediction of the motion of the vessel is performed using visual data from an onboard camera. Therefore, the system does not require any communication with the USV or a control station. The proposed method was analyzed in numerous robotics simulations in harsh and extreme conditions and further validated in various real-world scenarios.

Artificial Intelligence (AI) has become commonplace to solve routine everyday tasks. Because of the exponential growth in medical imaging data volume and complexity, the workload on radiologists is steadily increasing. We project that the gap between the number of imaging exams and the number of expert radiologist readers required to cover this increase will continue to expand, consequently introducing a demand for AI-based tools that improve the efficiency with which radiologists can comfortably interpret these exams. AI has been shown to improve efficiency in medical-image generation, processing, and interpretation, and a variety of such AI models have been developed across research labs worldwide. However, very few of these, if any, find their way into routine clinical use, a discrepancy that reflects the divide between AI research and successful AI translation. To address the barrier to clinical deployment, we have formed MONAI Consortium, an open-source community which is building standards for AI deployment in healthcare institutions, and developing tools and infrastructure to facilitate their implementation. This report represents several years of weekly discussions and hands-on problem solving experience by groups of industry experts and clinicians in the MONAI Consortium. We identify barriers between AI-model development in research labs and subsequent clinical deployment and propose solutions. Our report provides guidance on processes which take an imaging AI model from development to clinical implementation in a healthcare institution. We discuss various AI integration points in a clinical Radiology workflow. We also present a taxonomy of Radiology AI use-cases. Through this report, we intend to educate the stakeholders in healthcare and AI (AI researchers, radiologists, imaging informaticists, and regulators) about cross-disciplinary challenges and possible solutions.

Artificial intelligence (AI) in its various forms finds more and more its way into complex distributed systems. For instance, it is used locally, as part of a sensor system, on the edge for low-latency high-performance inference, or in the cloud, e.g. for data mining. Modern complex systems, such as connected vehicles, are often part of an Internet of Things (IoT). To manage complexity, architectures are described with architecture frameworks, which are composed of a number of architectural views connected through correspondence rules. Despite some attempts, the definition of a mathematical foundation for architecture frameworks that are suitable for the development of distributed AI systems still requires investigation and study. In this paper, we propose to extend the state of the art on architecture framework by providing a mathematical model for system architectures, which is scalable and supports co-evolution of different aspects for example of an AI system. Based on Design Science Research, this study starts by identifying the challenges with architectural frameworks. Then, we derive from the identified challenges four rules and we formulate them by exploiting concepts from category theory. We show how compositional thinking can provide rules for the creation and management of architectural frameworks for complex systems, for example distributed systems with AI. The aim of the paper is not to provide viewpoints or architecture models specific to AI systems, but instead to provide guidelines based on a mathematical formulation on how a consistent framework can be built up with existing, or newly created, viewpoints. To put in practice and test the approach, the identified and formulated rules are applied to derive an architectural framework for the EU Horizon 2020 project ``Very efficient deep learning in the IoT" (VEDLIoT) in the form of a case study.