This study concerns the formulation and application of Bayesian optimal experimental design to symbolic discovery, which is the inference from observational data of predictive models taking general functional forms. We apply constrained first-order methods to optimize an appropriate selection criterion, using Hamiltonian Monte Carlo to sample from the prior. A step for computing the predictive distribution, involving convolution, is computed via either numerical integration, or via fast transform methods.

长期以来，科学家一直旨在发现有意义的公式，以准确描述实验数据。一种常见的方法是使用域知识手动创建自然现象的数学模型，然后将这些模型拟合到数据。相比之下，机器学习算法在消耗大量数据的同时可以自动化准确的数据驱动模型的构建。在文献中探讨了对学习模型的功能形式（例如，非负）的逻辑约束的问题。但是，寻找与一般背景知识一致的模型是一个开放的问题。我们开发了一种将逻辑推理与符号回归相结合的方法，从而实现了自然现象模型的原则推导。我们演示了这些概念，用于开普勒的第三个行星运动定律，爱因斯坦的相对论时间稀释定律以及兰穆尔的吸附理论，在每种情况下都会将实验数据与背景理论自动连接起来。我们表明，使用形式的逻辑推理将正确的公式与一组合理公式区分开时，可以从几个数据点发现法律，这些公式在数据上具有相似的错误。推理与机器学习的结合提供了对自然现象的关键方面的可概括见解。我们设想，这种组合将使能够发现基本科学定律，并认为我们的工作是自动化科学方法的关键第一步。

The task of reconstructing 3D human motion has wideranging applications. The gold standard Motion capture (MoCap) systems are accurate but inaccessible to the general public due to their cost, hardware and space constraints. In contrast, monocular human mesh recovery (HMR) methods are much more accessible than MoCap as they take single-view videos as inputs. Replacing the multi-view Mo- Cap systems with a monocular HMR method would break the current barriers to collecting accurate 3D motion thus making exciting applications like motion analysis and motiondriven animation accessible to the general public. However, performance of existing HMR methods degrade when the video contains challenging and dynamic motion that is not in existing MoCap datasets used for training. This reduces its appeal as dynamic motion is frequently the target in 3D motion recovery in the aforementioned applications. Our study aims to bridge the gap between monocular HMR and multi-view MoCap systems by leveraging information shared across multiple video instances of the same action. We introduce the Neural Motion (NeMo) field. It is optimized to represent the underlying 3D motions across a set of videos of the same action. Empirically, we show that NeMo can recover 3D motion in sports using videos from the Penn Action dataset, where NeMo outperforms existing HMR methods in terms of 2D keypoint detection. To further validate NeMo using 3D metrics, we collected a small MoCap dataset mimicking actions in Penn Action,and show that NeMo achieves better 3D reconstruction compared to various baselines.

Multi-object state estimation is a fundamental problem for robotic applications where a robot must interact with other moving objects. Typically, other objects' relevant state features are not directly observable, and must instead be inferred from observations. Particle filtering can perform such inference given approximate transition and observation models. However, these models are often unknown a priori, yielding a difficult parameter estimation problem since observations jointly carry transition and observation noise. In this work, we consider learning maximum-likelihood parameters using particle methods. Recent methods addressing this problem typically differentiate through time in a particle filter, which requires workarounds to the non-differentiable resampling step, that yield biased or high variance gradient estimates. By contrast, we exploit Fisher's identity to obtain a particle-based approximation of the score function (the gradient of the log likelihood) that yields a low variance estimate while only requiring stepwise differentiation through the transition and observation models. We apply our method to real data collected from autonomous vehicles (AVs) and show that it learns better models than existing techniques and is more stable in training, yielding an effective smoother for tracking the trajectories of vehicles around an AV.

The most widely studied explainable AI (XAI) approaches are unsound. This is the case with well-known model-agnostic explanation approaches, and it is also the case with approaches based on saliency maps. One solution is to consider intrinsic interpretability, which does not exhibit the drawback of unsoundness. Unfortunately, intrinsic interpretability can display unwieldy explanation redundancy. Formal explainability represents the alternative to these non-rigorous approaches, with one example being PI-explanations. Unfortunately, PI-explanations also exhibit important drawbacks, the most visible of which is arguably their size. Recently, it has been observed that the (absolute) rigor of PI-explanations can be traded off for a smaller explanation size, by computing the so-called relevant sets. Given some positive {\delta}, a set S of features is {\delta}-relevant if, when the features in S are fixed, the probability of getting the target class exceeds {\delta}. However, even for very simple classifiers, the complexity of computing relevant sets of features is prohibitive, with the decision problem being NPPP-complete for circuit-based classifiers. In contrast with earlier negative results, this paper investigates practical approaches for computing relevant sets for a number of widely used classifiers that include Decision Trees (DTs), Naive Bayes Classifiers (NBCs), and several families of classifiers obtained from propositional languages. Moreover, the paper shows that, in practice, and for these families of classifiers, relevant sets are easy to compute. Furthermore, the experiments confirm that succinct sets of relevant features can be obtained for the families of classifiers considered.

Transformers are powerful visual learners, in large part due to their conspicuous lack of manually-specified priors. This flexibility can be problematic in tasks that involve multiple-view geometry, due to the near-infinite possible variations in 3D shapes and viewpoints (requiring flexibility), and the precise nature of projective geometry (obeying rigid laws). To resolve this conundrum, we propose a "light touch" approach, guiding visual Transformers to learn multiple-view geometry but allowing them to break free when needed. We achieve this by using epipolar lines to guide the Transformer's cross-attention maps, penalizing attention values outside the epipolar lines and encouraging higher attention along these lines since they contain geometrically plausible matches. Unlike previous methods, our proposal does not require any camera pose information at test-time. We focus on pose-invariant object instance retrieval, where standard Transformer networks struggle, due to the large differences in viewpoint between query and retrieved images. Experimentally, our method outperforms state-of-the-art approaches at object retrieval, without needing pose information at test-time.

Simulation-based inference (SBI) solves statistical inverse problems by repeatedly running a stochastic simulator and inferring posterior distributions from model-simulations. To improve simulation efficiency, several inference methods take a sequential approach and iteratively adapt the proposal distributions from which model simulations are generated. However, many of these sequential methods are difficult to use in practice, both because the resulting optimisation problems can be challenging and efficient diagnostic tools are lacking. To overcome these issues, we present Truncated Sequential Neural Posterior Estimation (TSNPE). TSNPE performs sequential inference with truncated proposals, sidestepping the optimisation issues of alternative approaches. In addition, TSNPE allows to efficiently perform coverage tests that can scale to complex models with many parameters. We demonstrate that TSNPE performs on par with previous methods on established benchmark tasks. We then apply TSNPE to two challenging problems from neuroscience and show that TSNPE can successfully obtain the posterior distributions, whereas previous methods fail. Overall, our results demonstrate that TSNPE is an efficient, accurate, and robust inference method that can scale to challenging scientific models.

对于诸如搜索和救援之类的苛刻情况下，人形生物的部署，高度智能的决策和熟练的感觉运动技能。一个有前途的解决方案是通过远程操作通过互连机器人和人类来利用人类的实力。为了创建无缝的操作，本文提出了一个动态的远程组分框架，该框架将人类飞行员的步态与双皮亚机器人的步行同步。首先，我们介绍了一种方法，以从人类飞行员的垫脚行为中生成虚拟人类步行模型，该模型是机器人行走的参考。其次，步行参考和机器人行走的动力学通过向人类飞行员和机器人施加力来同步，以实现两个系统之间的动态相似性。这使得人类飞行员能够不断感知并取消步行参考和机器人之间的任何异步。得出机器人的一致步骤放置策略是通过步骤过渡来维持动态相似性的。使用我们的人机界面，我们证明了人类飞行员可以通过地位，步行和干扰拒绝实验实现模拟机器人的稳定和同步近距离运行。这项工作为将人类智力和反射转移到人形机器人方面提供了基本的一步。

Teleperation已成为全自动系统，以实现人类机器人的人体水平能力的替代解决方案。具体而言，全身控制的远程运行是指挥类人动物的有前途的无提手术策略，但需要更多的身体和心理努力。为了减轻这一限制，研究人员提出了共享控制方法，结合了机器人决策，以帮助人类完成低级任务，从而进一步减少了运营工作。然而，尚未探索用于全身级别的人型类人形端粒体的共享控制方法。在这项工作中，我们研究了全身反馈如何影响不同环境中不同共享控制方法的性能。提出了时间衍生的Sigmoid功能（TDSF），以产生障碍物的更直观的力反馈。进行了全面的人类实验，结果得出的结论是，力反馈增强了在不熟悉的环境中的全身端粒化表现，但可以在熟悉的环境中降低性能。通过触觉传达机器人的意图显示出进一步的改进，因为操作员可以将力反馈用于短途计划和视觉反馈进行长距离计划。

最近的研究表明，犯罪网络具有复杂的组织结构，但是是否可以用来预测犯罪网络的静态和动态特性。在这里，通过结合图表学习和机器学习方法，我们表明，可以使用政治腐败，警察情报和洗钱网络的结构性特性来恢复缺失的犯罪伙伴关系，区分不同类型的犯罪和法律协会以及预测犯罪分子之间交换的总金额，所有这些都具有出色的准确性。我们还表明，我们的方法可以预期在腐败网络的动态增长过程中，其准确性很高。因此，与在犯罪现场发现的证据类似，我们得出结论，犯罪网络的结构模式具有有关非法活动的重要信息，这使机器学习方法可以预测缺失的信息，甚至预测未来的犯罪行为。