人类仍在执行许多高精度（DIS）任务，而这是自动化的理想机会。本文提供了一个框架，该框架使非专家的人类操作员能够教机器人手臂执行复杂的精确任务。该框架使用可变的笛卡尔阻抗控制器来执行从动力学人类示范中学到的轨迹。可以给出反馈以进行交互重塑或加快原始演示。董事会本地化是通过对任务委员会位置的视觉估算来完成的，并通过触觉反馈进行了完善。我们的框架在机器人基准拆卸挑战上进行了测试，该机器人必须执行复杂的精确任务，例如关键插入。结果显示每个操纵子任务的成功率很高，包括盒子中新型姿势的情况。还进行了消融研究以评估框架的组成部分。

Modelling and forecasting real-life human behaviour using online social media is an active endeavour of interest in politics, government, academia, and industry. Since its creation in 2006, Twitter has been proposed as a potential laboratory that could be used to gauge and predict social behaviour. During the last decade, the user base of Twitter has been growing and becoming more representative of the general population. Here we analyse this user base in the context of the 2021 Mexican Legislative Election. To do so, we use a dataset of 15 million election-related tweets in the six months preceding election day. We explore different election models that assign political preference to either the ruling parties or the opposition. We find that models using data with geographical attributes determine the results of the election with better precision and accuracy than conventional polling methods. These results demonstrate that analysis of public online data can outperform conventional polling methods, and that political analysis and general forecasting would likely benefit from incorporating such data in the immediate future. Moreover, the same Twitter dataset with geographical attributes is positively correlated with results from official census data on population and internet usage in Mexico. These findings suggest that we have reached a period in time when online activity, appropriately curated, can provide an accurate representation of offline behaviour.

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.

The number of international benchmarking competitions is steadily increasing in various fields of machine learning (ML) research and practice. So far, however, little is known about the common practice as well as bottlenecks faced by the community in tackling the research questions posed. To shed light on the status quo of algorithm development in the specific field of biomedical imaging analysis, we designed an international survey that was issued to all participants of challenges conducted in conjunction with the IEEE ISBI 2021 and MICCAI 2021 conferences (80 competitions in total). The survey covered participants' expertise and working environments, their chosen strategies, as well as algorithm characteristics. A median of 72% challenge participants took part in the survey. According to our results, knowledge exchange was the primary incentive (70%) for participation, while the reception of prize money played only a minor role (16%). While a median of 80 working hours was spent on method development, a large portion of participants stated that they did not have enough time for method development (32%). 25% perceived the infrastructure to be a bottleneck. Overall, 94% of all solutions were deep learning-based. Of these, 84% were based on standard architectures. 43% of the respondents reported that the data samples (e.g., images) were too large to be processed at once. This was most commonly addressed by patch-based training (69%), downsampling (37%), and solving 3D analysis tasks as a series of 2D tasks. K-fold cross-validation on the training set was performed by only 37% of the participants and only 50% of the participants performed ensembling based on multiple identical models (61%) or heterogeneous models (39%). 48% of the respondents applied postprocessing steps.

Language-conditioned policies allow robots to interpret and execute human instructions. Learning such policies requires a substantial investment with regards to time and compute resources. Still, the resulting controllers are highly device-specific and cannot easily be transferred to a robot with different morphology, capability, appearance or dynamics. In this paper, we propose a sample-efficient approach for training language-conditioned manipulation policies that allows for rapid transfer across different types of robots. By introducing a novel method, namely Hierarchical Modularity, and adopting supervised attention across multiple sub-modules, we bridge the divide between modular and end-to-end learning and enable the reuse of functional building blocks. In both simulated and real world robot manipulation experiments, we demonstrate that our method outperforms the current state-of-the-art methods and can transfer policies across 4 different robots in a sample-efficient manner. Finally, we show that the functionality of learned sub-modules is maintained beyond the training process and can be used to introspect the robot decision-making process. Code is available at https://github.com/ir-lab/ModAttn.

Image analysis technologies empowered by artificial intelligence (AI) have proved images and videos to be an opportune source of data to learn about humpback whale (Megaptera novaeangliae) population sizes and dynamics. With the advent of social media, platforms such as YouTube present an abundance of video data across spatiotemporal contexts documenting humpback whale encounters from users worldwide. In our work, we focus on automating the classification of YouTube videos as relevant or irrelevant based on whether they document a true humpback whale encounter or not via deep learning. We use a CNN-RNN architecture pretrained on the ImageNet dataset for classification of YouTube videos as relevant or irrelevant. We achieve an average 85.7% accuracy, and 84.7% (irrelevant)/ 86.6% (relevant) F1 scores using five-fold cross validation for evaluation on the dataset. We show that deep learning can be used as a time-efficient step to make social media a viable source of image and video data for biodiversity assessments.

The attention mechanism is considered the backbone of the widely-used Transformer architecture. It contextualizes the input by computing input-specific attention matrices. We find that this mechanism, while powerful and elegant, is not as important as typically thought for pretrained language models. We introduce PAPA, a new probing method that replaces the input-dependent attention matrices with constant ones -- the average attention weights over multiple inputs. We use PAPA to analyze several established pretrained Transformers on six downstream tasks. We find that without any input-dependent attention, all models achieve competitive performance -- an average relative drop of only 8% from the probing baseline. Further, little or no performance drop is observed when replacing half of the input-dependent attention matrices with constant (input-independent) ones. Interestingly, we show that better-performing models lose more from applying our method than weaker models, suggesting that the utilization of the input-dependent attention mechanism might be a factor in their success. Our results motivate research on simpler alternatives to input-dependent attention, as well as on methods for better utilization of this mechanism in the Transformer architecture.

本文介绍了经典懒惰的概率路线图算法（Lazy PRM）的修订，该算法是由配对PRM和一种新颖的分支和切割（BC）算法产生的。切割是动态生成的约束，这些约束在PRM选择的几何图上施加的最低成本路径。削减消除无法映射到满足适当定义运动学约束的平滑计划中的路径。我们通过在最低成本路径中将花键拟合到顶点来生成候选平滑计划。使用最近提出的算法对计划进行了验证，该算法将它们映射到有限的痕迹中，而无需选择固定的离散步骤。痕量元素准确地描述了计划交叉约束边界何时模拟算术精度。我们使用我们最近提出的谷仓基准的方法评估了几个计划者，我们报告了方法可扩展性的证据。

机器学习（ML）为生物处理工程的发展做出了重大贡献，但其应用仍然有限，阻碍了生物过程自动化的巨大潜力。用于模型构建自动化的ML可以看作是引入另一种抽象水平的一种方式，将专家的人类集中在生物过程开发的最认知任务中。首先，概率编程用于预测模型的自动构建。其次，机器学习会通过计划实验来测试假设并进行调查以收集信息性数据来自动评估替代决策，以收集基于模型预测不确定性的模型选择的信息数据。这篇评论提供了有关生物处理开发中基于ML的自动化的全面概述。一方面，生物技术和生物工程社区应意识到现有ML解决方案在生物技术和生物制药中的应用的限制。另一方面，必须确定缺失的链接，以使ML和人工智能（AI）解决方案轻松实施在有价值的生物社区解决方案中。我们总结了几个重要的生物处理系统的ML实施，并提出了两个至关重要的挑战，这些挑战仍然是生物技术自动化的瓶颈，并减少了生物技术开发的不确定性。没有一个合适的程序；但是，这项综述应有助于确定结合生物技术和ML领域的潜在自动化。

我们提出了X-NERF，这是一种基于神经辐射场公式，从具有不同光谱敏感性的相机捕获的跨光谱场景表示的新颖方法，给出了从具有不同光谱灵敏度的相机捕获的图像。X-NERF在训练过程中优化了整个光谱的相机姿势，并利用归一化的跨设备坐标（NXDC）从任意观点呈现不同模态的图像，这些观点是对齐的，并以相同的分辨率对齐。在16个前面的场景上进行的实验，具有颜色，多光谱和红外图像，证实了X-NERF在建模跨光谱场景表示方面的有效性。