自动驾驶正在快速推进，级别2个功能正在成为标准功能。最重要的休假之一是在苛刻的天气和低光条件下获得强大的视觉感知，其中精度降解严重。在这些场景期间，具有天气分类模型将降低视觉感知信心至关重要。因此，我们已经为天气（雾，雨，雪）分类和光线（明亮，适度，低）分类建造了新的数据集。此外，我们提供街道类型（沥青，草和鹅卵石）分类，导致9个标签。每个图像都有三个标签，对应天气，光线水平和街道类型。我们录制了利用RCCC（RED / CLEAR）格式的工业前置摄像头的数据，分辨率为1024 \ times1084 $。我们收集了15k视频序列和采样的60K图像。我们实现了一个主动学习框架，以减少数据集的冗余，并找到用于训练模型的最佳帧集。我们将60K图像进一步蒸馏到1.1K图像，这将在隐私匿名化之后公开分享。没有公共数据集的天气和光线分类，专注于自动驾驶到我们的知识。用于天气分类的基线ResET18网络实现了最先进的导致两种非汽车天气分类公共数据集，但在我们提出的数据集中明显降低了准确性，证明它不是饱和的，需要进一步研究。

相机万向节系统在各种空气或水系统中非常重要，用于导航，目标跟踪，安全性和监视等应用。由于在短时间内可以重新讨论给定的视野（FOV），因此对于实时应用，对于实时应用，优选用于实时应用的更高的转向速率（旋转角度）。然而，由于Gimbal和场景之间的相对运动在曝光时间期间，捕获的视频帧可能遭受运动模糊。由于大多数后捕获后应用需要模糊图像，因此实时运动脱棕色是重要的需求。尽管存在盲的去欺诈方法，其旨在从模糊输入中检索潜像，因此它们受到非常高维优化的约束，从而产生大的执行时间。另一方面，对于运动去掩盖的深度学习方法，虽然快速，但不令人满意地概括到不同的域（例如，空气，水等）。在这项工作中，我们解决了基于Gimbal的系统捕获的红外线（IR）图像中实时运动去纹的问题。我们揭示了模糊 - 内核的先验知识如何结合非盲去欺诈方法来实现实时性能。重要的是，我们的数学模型可以利用，以创建具有现实万向动动运动模糊的大型数据集。这种数据集是一种罕见的数据集可以是当代深度学习方法的有价值资产。我们表明，与去纹理中的最先进技术相比，我们的方法更适合实用的基于Gimbal的成像系统。

The recent increase in public and academic interest in preserving biodiversity has led to the growth of the field of conservation technology. This field involves designing and constructing tools that utilize technology to aid in the conservation of wildlife. In this article, we will use case studies to demonstrate the importance of designing conservation tools with human-wildlife interaction in mind and provide a framework for creating successful tools. These case studies include a range of complexities, from simple cat collars to machine learning and game theory methodologies. Our goal is to introduce and inform current and future researchers in the field of conservation technology and provide references for educating the next generation of conservation technologists. Conservation technology not only has the potential to benefit biodiversity but also has broader impacts on fields such as sustainability and environmental protection. By using innovative technologies to address conservation challenges, we can find more effective and efficient solutions to protect and preserve our planet's resources.

We present the interpretable meta neural ordinary differential equation (iMODE) method to rapidly learn generalizable (i.e., not parameter-specific) dynamics from trajectories of multiple dynamical systems that vary in their physical parameters. The iMODE method learns meta-knowledge, the functional variations of the force field of dynamical system instances without knowing the physical parameters, by adopting a bi-level optimization framework: an outer level capturing the common force field form among studied dynamical system instances and an inner level adapting to individual system instances. A priori physical knowledge can be conveniently embedded in the neural network architecture as inductive bias, such as conservative force field and Euclidean symmetry. With the learned meta-knowledge, iMODE can model an unseen system within seconds, and inversely reveal knowledge on the physical parameters of a system, or as a Neural Gauge to "measure" the physical parameters of an unseen system with observed trajectories. We test the validity of the iMODE method on bistable, double pendulum, Van der Pol, Slinky, and reaction-diffusion systems.

While the brain connectivity network can inform the understanding and diagnosis of developmental dyslexia, its cause-effect relationships have not yet enough been examined. Employing electroencephalography signals and band-limited white noise stimulus at 4.8 Hz (prosodic-syllabic frequency), we measure the phase Granger causalities among channels to identify differences between dyslexic learners and controls, thereby proposing a method to calculate directional connectivity. As causal relationships run in both directions, we explore three scenarios, namely channels' activity as sources, as sinks, and in total. Our proposed method can be used for both classification and exploratory analysis. In all scenarios, we find confirmation of the established right-lateralized Theta sampling network anomaly, in line with the temporal sampling framework's assumption of oscillatory differences in the Theta and Gamma bands. Further, we show that this anomaly primarily occurs in the causal relationships of channels acting as sinks, where it is significantly more pronounced than when only total activity is observed. In the sink scenario, our classifier obtains 0.84 and 0.88 accuracy and 0.87 and 0.93 AUC for the Theta and Gamma bands, respectively.

Variational autoencoders model high-dimensional data by positing low-dimensional latent variables that are mapped through a flexible distribution parametrized by a neural network. Unfortunately, variational autoencoders often suffer from posterior collapse: the posterior of the latent variables is equal to its prior, rendering the variational autoencoder useless as a means to produce meaningful representations. Existing approaches to posterior collapse often attribute it to the use of neural networks or optimization issues due to variational approximation. In this paper, we consider posterior collapse as a problem of latent variable non-identifiability. We prove that the posterior collapses if and only if the latent variables are non-identifiable in the generative model. This fact implies that posterior collapse is not a phenomenon specific to the use of flexible distributions or approximate inference. Rather, it can occur in classical probabilistic models even with exact inference, which we also demonstrate. Based on these results, we propose a class of latent-identifiable variational autoencoders, deep generative models which enforce identifiability without sacrificing flexibility. This model class resolves the problem of latent variable non-identifiability by leveraging bijective Brenier maps and parameterizing them with input convex neural networks, without special variational inference objectives or optimization tricks. Across synthetic and real datasets, latent-identifiable variational autoencoders outperform existing methods in mitigating posterior collapse and providing meaningful representations of the data.

There are multiple scales of abstraction from which we can describe the same image, depending on whether we are focusing on fine-grained details or a more global attribute of the image. In brain mapping, learning to automatically parse images to build representations of both small-scale features (e.g., the presence of cells or blood vessels) and global properties of an image (e.g., which brain region the image comes from) is a crucial and open challenge. However, most existing datasets and benchmarks for neuroanatomy consider only a single downstream task at a time. To bridge this gap, we introduce a new dataset, annotations, and multiple downstream tasks that provide diverse ways to readout information about brain structure and architecture from the same image. Our multi-task neuroimaging benchmark (MTNeuro) is built on volumetric, micrometer-resolution X-ray microtomography images spanning a large thalamocortical section of mouse brain, encompassing multiple cortical and subcortical regions. We generated a number of different prediction challenges and evaluated several supervised and self-supervised models for brain-region prediction and pixel-level semantic segmentation of microstructures. Our experiments not only highlight the rich heterogeneity of this dataset, but also provide insights into how self-supervised approaches can be used to learn representations that capture multiple attributes of a single image and perform well on a variety of downstream tasks. Datasets, code, and pre-trained baseline models are provided at: https://mtneuro.github.io/ .

We derive a set of causal deep neural networks whose architectures are a consequence of tensor (multilinear) factor analysis. Forward causal questions are addressed with a neural network architecture composed of causal capsules and a tensor transformer. The former estimate a set of latent variables that represent the causal factors, and the latter governs their interaction. Causal capsules and tensor transformers may be implemented using shallow autoencoders, but for a scalable architecture we employ block algebra and derive a deep neural network composed of a hierarchy of autoencoders. An interleaved kernel hierarchy preprocesses the data resulting in a hierarchy of kernel tensor factor models. Inverse causal questions are addressed with a neural network that implements multilinear projection and estimates the causes of effects. As an alternative to aggressive bottleneck dimension reduction or regularized regression that may camouflage an inherently underdetermined inverse problem, we prescribe modeling different aspects of the mechanism of data formation with piecewise tensor models whose multilinear projections are well-defined and produce multiple candidate solutions. Our forward and inverse neural network architectures are suitable for asynchronous parallel computation.

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.

Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On the contrary, for multi-link systems, the natural system dynamics might even work against the actual goal. With the introduction of variable stiffness actuators, this problem has been partially addressed. With a suitable optimal control strategy, the approximate decoupling of the motor from the link can be achieved to maximize the energy transfer into the distal link prior to launch. However, such continuous stiffness variation is complex and typically leads to oscillatory swing-up motions instead of clear launch sequences. To circumvent this issue, we investigate decoupling for speed maximization with a dedicated novel actuator concept denoted Bi-Stiffness Actuation. With this, it is possible to fully decouple the link from the joint mechanism by a switch-and-hold clutch and simultaneously keep the elastic energy stored. We show that with this novel paradigm, it is not only possible to reach the same optimal performance as with power-equivalent variable stiffness actuation, but even directly control the energy transfer timing. This is a major step forward compared to previous optimal control approaches, which rely on optimizing the full time-series control input.