使用计算机视觉对间接费用的分析是一个问题，在学术文献中受到了很大的关注。在这个领域运行的大多数技术都非常专业，需要大型数据集的昂贵手动注释。这些问题通过开发更通用的框架来解决这些问题，并结合了表示学习的进步，该框架可以更灵活地分析具有有限标记数据的新图像类别。首先，根据动量对比机制创建了未标记的空中图像数据集的强大表示。随后，通过构建5个标记图像的准确分类器来专门用于不同的任务。从6000万个未标记的图像中，成功的低水平检测城市基础设施进化，体现了我们推进定量城市研究的巨大潜力。

Cooperative multi-agent reinforcement learning (c-MARL) is widely applied in safety-critical scenarios, thus the analysis of robustness for c-MARL models is profoundly important. However, robustness certification for c-MARLs has not yet been explored in the community. In this paper, we propose a novel certification method, which is the first work to leverage a scalable approach for c-MARLs to determine actions with guaranteed certified bounds. c-MARL certification poses two key challenges compared with single-agent systems: (i) the accumulated uncertainty as the number of agents increases; (ii) the potential lack of impact when changing the action of a single agent into a global team reward. These challenges prevent us from directly using existing algorithms. Hence, we employ the false discovery rate (FDR) controlling procedure considering the importance of each agent to certify per-state robustness and propose a tree-search-based algorithm to find a lower bound of the global reward under the minimal certified perturbation. As our method is general, it can also be applied in single-agent environments. We empirically show that our certification bounds are much tighter than state-of-the-art RL certification solutions. We also run experiments on two popular c-MARL algorithms: QMIX and VDN, in two different environments, with two and four agents. The experimental results show that our method produces meaningful guaranteed robustness for all models and environments. Our tool CertifyCMARL is available at https://github.com/TrustAI/CertifyCMA

Research on remote sensing image classification significantly impacts essential human routine tasks such as urban planning and agriculture. Nowadays, the rapid advance in technology and the availability of many high-quality remote sensing images create a demand for reliable automation methods. The current paper proposes two novel deep learning-based architectures for image classification purposes, i.e., the Discriminant Deep Image Prior Network and the Discriminant Deep Image Prior Network+, which combine Deep Image Prior and Triplet Networks learning strategies. Experiments conducted over three well-known public remote sensing image datasets achieved state-of-the-art results, evidencing the effectiveness of using deep image priors for remote sensing image classification.

Early recognition of clinical deterioration (CD) has vital importance in patients' survival from exacerbation or death. Electronic health records (EHRs) data have been widely employed in Early Warning Scores (EWS) to measure CD risk in hospitalized patients. Recently, EHRs data have been utilized in Machine Learning (ML) models to predict mortality and CD. The ML models have shown superior performance in CD prediction compared to EWS. Since EHRs data are structured and tabular, conventional ML models are generally applied to them, and less effort is put into evaluating the artificial neural network's performance on EHRs data. Thus, in this article, an extremely boosted neural network (XBNet) is used to predict CD, and its performance is compared to eXtreme Gradient Boosting (XGBoost) and random forest (RF) models. For this purpose, 103,105 samples from thirteen Brazilian hospitals are used to generate the models. Moreover, the principal component analysis (PCA) is employed to verify whether it can improve the adopted models' performance. The performance of ML models and Modified Early Warning Score (MEWS), an EWS candidate, are evaluated in CD prediction regarding the accuracy, precision, recall, F1-score, and geometric mean (G-mean) metrics in a 10-fold cross-validation approach. According to the experiments, the XGBoost model obtained the best results in predicting CD among Brazilian hospitals' data.

The estimation of the generalization error of classifiers often relies on a validation set. Such a set is hardly available in few-shot learning scenarios, a highly disregarded shortcoming in the field. In these scenarios, it is common to rely on features extracted from pre-trained neural networks combined with distance-based classifiers such as nearest class mean. In this work, we introduce a Gaussian model of the feature distribution. By estimating the parameters of this model, we are able to predict the generalization error on new classification tasks with few samples. We observe that accurate distance estimates between class-conditional densities are the key to accurate estimates of the generalization performance. Therefore, we propose an unbiased estimator for these distances and integrate it in our numerical analysis. We show that our approach outperforms alternatives such as the leave-one-out cross-validation strategy in few-shot settings.

Humans form mental images of 3D scenes to support counterfactual imagination, planning, and motor control. Our abilities to predict the appearance and affordance of the scene from previously unobserved viewpoints aid us in performing manipulation tasks (e.g., 6-DoF kitting) with a level of ease that is currently out of reach for existing robot learning frameworks. In this work, we aim to build artificial systems that can analogously plan actions on top of imagined images. To this end, we introduce Mental Imagery for Robotic Affordances (MIRA), an action reasoning framework that optimizes actions with novel-view synthesis and affordance prediction in the loop. Given a set of 2D RGB images, MIRA builds a consistent 3D scene representation, through which we synthesize novel orthographic views amenable to pixel-wise affordances prediction for action optimization. We illustrate how this optimization process enables us to generalize to unseen out-of-plane rotations for 6-DoF robotic manipulation tasks given a limited number of demonstrations, paving the way toward machines that autonomously learn to understand the world around them for planning actions.

Assessing the critical view of safety in laparoscopic cholecystectomy requires accurate identification and localization of key anatomical structures, reasoning about their geometric relationships to one another, and determining the quality of their exposure. In this work, we propose to capture each of these aspects by modeling the surgical scene with a disentangled latent scene graph representation, which we can then process using a graph neural network. Unlike previous approaches using graph representations, we explicitly encode in our graphs semantic information such as object locations and shapes, class probabilities and visual features. We also incorporate an auxiliary image reconstruction objective to help train the latent graph representations. We demonstrate the value of these components through comprehensive ablation studies and achieve state-of-the-art results for critical view of safety prediction across multiple experimental settings.

Nowadays, the applications of hydraulic systems are present in a wide variety of devices in both industrial and everyday environments. The implementation and usage of hydraulic systems have been well documented; however, today, this still faces a challenge, the integration of tools that allow more accurate information about the functioning and operation of these systems for proactive decision-making. In industrial applications, many sensors and methods exist to measure and determine the status of process variables (e.g., flow, pressure, force). Nevertheless, little has been done to have systems that can provide users with device-health information related to hydraulic devices integrated into the machinery. Implementing artificial intelligence (AI) technologies and machine learning (ML) models in hydraulic system components has been identified as a solution to the challenge many industries currently face: optimizing processes and carrying them out more safely and efficiently. This paper presents a solution for the characterization and estimation of anomalies in one of the most versatile and used devices in hydraulic systems, cylinders. AI and ML models were implemented to determine the current operating status of these hydraulic components and whether they are working correctly or if a failure mode or abnormal condition is present.

Identifying anomalies has become one of the primary strategies towards security and protection procedures in computer networks. In this context, machine learning-based methods emerge as an elegant solution to identify such scenarios and learn irrelevant information so that a reduction in the identification time and possible gain in accuracy can be obtained. This paper proposes a novel feature selection approach called Finite Element Machines for Feature Selection (FEMa-FS), which uses the framework of finite elements to identify the most relevant information from a given dataset. Although FEMa-FS can be applied to any application domain, it has been evaluated in the context of anomaly detection in computer networks. The outcomes over two datasets showed promising results.

The aim of this work is to introduce MaRF, a novel framework able to synthesize the Martian environment using several collections of images from rover cameras. The idea is to generate a 3D scene of Mars' surface to address key challenges in planetary surface exploration such as: planetary geology, simulated navigation and shape analysis. Although there exist different methods to enable a 3D reconstruction of Mars' surface, they rely on classical computer graphics techniques that incur high amounts of computational resources during the reconstruction process, and have limitations with generalizing reconstructions to unseen scenes and adapting to new images coming from rover cameras. The proposed framework solves the aforementioned limitations by exploiting Neural Radiance Fields (NeRFs), a method that synthesize complex scenes by optimizing a continuous volumetric scene function using a sparse set of images. To speed up the learning process, we replaced the sparse set of rover images with their neural graphics primitives (NGPs), a set of vectors of fixed length that are learned to preserve the information of the original images in a significantly smaller size. In the experimental section, we demonstrate the environments created from actual Mars datasets captured by Curiosity rover, Perseverance rover and Ingenuity helicopter, all of which are available on the Planetary Data System (PDS).