在这项工作中，我们介绍了SOMOS数据集，这是第一个大规模的意见分数（MOS）数据集，该数据集由完全神经文本到语音（TTS）样本组成。它可以用于训练专注于现代合成器评估的自动MOS预测系统，并可以刺激声学模型评估的进步。它由LJ语音语音的20k合成话语组成，LJ语音是一个公共领域的语音数据集，是建立神经声学模型和声码器的常见基准。来自200 TTS系统（包括香草神经声学模型以及允许韵律变化的模型）产生的话语。 LPCNET VOCODER用于所有系统，因此样品的变化仅取决于声学模型。合成的话语提供了平衡，足够的域和长度覆盖范围。我们对3个英国亚马逊机械土耳其人地点进行了MOS自然评估，并共享实践，从而为这项任务提供可靠的人群注释。我们为SOMOS数据集上的最先进的MOS预测模型提供了基线结果，并显示了该模型在评估TTS话语时所面临的局限性。

在本文中，介绍了文本到读取/唱歌系统，可以适应任何扬声器的声音。它利用基于TacoTron的多级箱子声学模型在只读语音数据训练，并且在音素级别提供韵律控制。还研究了基于传统DSP算法的数据集增强和额外的韵律操纵。神经TTS模型对看不见的扬声器的有限录音进行了微调，允许与目标的扬声器语音进行敲击/歌唱合成。描述了系统的详细管道，其包括从Capella歌曲的目标音调和持续时间值提取，并将其转换为在合成之前的目标扬声器的有效音符范围内。还研究了通过WSOLA输出的输出的韵律操纵的另外的阶段，以便更好地匹配目标持续时间值。合成的话语可以与乐器伴奏轨道混合以产生完整的歌曲。通过主观聆听测试评估所提出的系统，以及与可用的备用系统相比，该系统还旨在从只读训练数据产生合成歌唱语音。结果表明，该拟议的方法可以产生高质量的敲击/歌声，具有增加的自然。

最近最近提出了使用音韵特征而不是音素作为输入到序列TTS的输入，用于零拍摄的多语言语音合成。这种方法对于代码切换是有用的，因为它促进了嵌入在本机的流中的外语的无缝发出。在我们的工作中，我们培训了一种语言 - 无人物多相箱模型，在不同语言中常见的一组音牙衍生特征上，其目标是实现交叉语言扬声器适应。我们首先尝试语言语音相似性对几种源语言组合的交叉语言的影响。随后，我们可以在看见或一个看不见的语言中使用非常有限的新扬声器语音数据进行微调，并实现了相同质量的合成语音，同时保留了目标扬声器的身份。随着目标扬声器数据的32和8个话语，我们获得高扬声器相似性分数和与相应文献相当的自然。在仅为2种可用的适应话语的极端情况下，我们发现我们的模型表现为几滴学习者，因为在所见和看不见的语言方案中的性能相似。

本文介绍了一个端到端的文本到语音系统，CPU延迟低，适用于实时应用。该系统由基于自回归关注的序列到序列声学模型和用于波形生成的LPCNet声码器组成。提出了一种采用塔克罗伦1和2型号的模块的声学模型架构，而通过使用最近提出的基于位置的注意机制来确保稳定性，适用于任意句子长度。在推断期间，解码器是展开的，并且以流式方式执行声学特征生成，允许与句子长度无关的几乎恒定的延迟。实验结果表明，声学模型可以产生比计算机CPU上的实时大约31倍的功能序列，移动CPU上的6.5倍，使其能够满足两个设备上实时应用所需的条件。全端到端系统可以通过听证测试来验证几乎是自然的质量语音。

Merging satellite products and ground-based measurements is often required for obtaining precipitation datasets that simultaneously cover large regions with high density and are more accurate than pure satellite precipitation products. Machine and statistical learning regression algorithms are regularly utilized in this endeavour. At the same time, tree-based ensemble algorithms for regression are adopted in various fields for solving algorithmic problems with high accuracy and low computational cost. The latter can constitute a crucial factor for selecting algorithms for satellite precipitation product correction at the daily and finer time scales, where the size of the datasets is particularly large. Still, information on which tree-based ensemble algorithm to select in such a case for the contiguous United States (US) is missing from the literature. In this work, we conduct an extensive comparison between three tree-based ensemble algorithms, specifically random forests, gradient boosting machines (gbm) and extreme gradient boosting (XGBoost), in the context of interest. We use daily data from the PERSIANN (Precipitation Estimation from Remotely Sensed Information using Artificial Neural Networks) and the IMERG (Integrated Multi-satellitE Retrievals for GPM) gridded datasets. We also use earth-observed precipitation data from the Global Historical Climatology Network daily (GHCNd) database. The experiments refer to the entire contiguous US and additionally include the application of the linear regression algorithm for benchmarking purposes. The results suggest that XGBoost is the best-performing tree-based ensemble algorithm among those compared. They also suggest that IMERG is more useful than PERSIANN in the context investigated.

Many, if not most, systems of interest in science are naturally described as nonlinear dynamical systems (DS). Empirically, we commonly access these systems through time series measurements, where often we have time series from different types of data modalities simultaneously. For instance, we may have event counts in addition to some continuous signal. While by now there are many powerful machine learning (ML) tools for integrating different data modalities into predictive models, this has rarely been approached so far from the perspective of uncovering the underlying, data-generating DS (aka DS reconstruction). Recently, sparse teacher forcing (TF) has been suggested as an efficient control-theoretic method for dealing with exploding loss gradients when training ML models on chaotic DS. Here we incorporate this idea into a novel recurrent neural network (RNN) training framework for DS reconstruction based on multimodal variational autoencoders (MVAE). The forcing signal for the RNN is generated by the MVAE which integrates different types of simultaneously given time series data into a joint latent code optimal for DS reconstruction. We show that this training method achieves significantly better reconstructions on multimodal datasets generated from chaotic DS benchmarks than various alternative methods.

Quantifying motion in 3D is important for studying the behavior of humans and other animals, but manual pose annotations are expensive and time-consuming to obtain. Self-supervised keypoint discovery is a promising strategy for estimating 3D poses without annotations. However, current keypoint discovery approaches commonly process single 2D views and do not operate in the 3D space. We propose a new method to perform self-supervised keypoint discovery in 3D from multi-view videos of behaving agents, without any keypoint or bounding box supervision in 2D or 3D. Our method uses an encoder-decoder architecture with a 3D volumetric heatmap, trained to reconstruct spatiotemporal differences across multiple views, in addition to joint length constraints on a learned 3D skeleton of the subject. In this way, we discover keypoints without requiring manual supervision in videos of humans and rats, demonstrating the potential of 3D keypoint discovery for studying behavior.

We present hierarchical policy blending as optimal transport (HiPBOT). This hierarchical framework adapts the weights of low-level reactive expert policies, adding a look-ahead planning layer on the parameter space of a product of expert policies and agents. Our high-level planner realizes a policy blending via unbalanced optimal transport, consolidating the scaling of underlying Riemannian motion policies, effectively adjusting their Riemannian matrix, and deciding over the priorities between experts and agents, guaranteeing safety and task success. Our experimental results in a range of application scenarios from low-dimensional navigation to high-dimensional whole-body control showcase the efficacy and efficiency of HiPBOT, which outperforms state-of-the-art baselines that either perform probabilistic inference or define a tree structure of experts, paving the way for new applications of optimal transport to robot control. More material at https://sites.google.com/view/hipobot

安全是每个机器人平台的关键特性：任何控制政策始终遵守执行器限制，并避免与环境和人类发生冲突。在加强学习中，安全对于探索环境而不会造成任何损害更为基础。尽管有许多针对安全勘探问题的建议解决方案，但只有少数可以处理现实世界的复杂性。本文介绍了一种安全探索的新公式，用于强化各种机器人任务。我们的方法适用于广泛的机器人平台，即使在通过探索约束歧管的切线空间从数据中学到的复杂碰撞约束下也可以执行安全。我们提出的方法在模拟的高维和动态任务中实现了最先进的表现，同时避免与环境发生冲突。我们在Tiago ++机器人上展示了安全的现实部署，在操纵和人类机器人交互任务中取得了显着的性能。

机器学习模型的预测和预测应采用概率分布的形式，旨在增加传达给最终用户的信息的数量。尽管在学术界和行业中对机器学习模型的概率预测和预测的应用变得越来越频繁，但在整个领域的整体视野下，相关的概念和方法尚未正式化和结构化。在这里，我们通过机器学习算法以及相关的指标（一致的评分功能和适当的评分规则）回顾了预测不确定性估计的主题，以评估概率预测。该评论涵盖了从引入早期统计（基于贝叶斯统计或分位数回归）的早期统计（线性回归和时间序列模型）到最近的机器学习算法（包括位置，比例和形状的广义添加剂模型，随机森林，增强的概括模型）的时间段。和深度学习算法）本质上更灵活。对该领域进度的审查，加快了我们对如何开发针对用户需求量身定制的新算法的理解，因为最新进步是基于应用于更复杂算法的一些基本概念。我们通过对材料进行分类并讨论成为研究热门话题的挑战来结束。