社会机器人的快速发展刺激了人类运动建模，解释和预测，主动碰撞，人类机器人相互作用和共享空间中共同损害的积极研究。现代方法的目标需要高质量的数据集进行培训和评估。但是，大多数可用数据集都遭受了不准确的跟踪数据或跟踪人员的不自然的脚本行为。本文试图通过在语义丰富的环境中提供运动捕获，眼睛凝视跟踪器和板载机器人传感器的高质量跟踪信息来填补这一空白。为了诱导记录参与者的自然行为，我们利用了松散的脚本化任务分配，这使参与者以自然而有目的的方式导航到动态的实验室环境。本文介绍的运动数据集设置了高质量的标准，因为使用语义信息可以增强现实和准确的数据，从而使新算法的开发不仅依赖于跟踪信息，而且还依赖于移动代理的上下文提示，还依赖于跟踪信息。静态和动态环境。

我们考虑扩展的强化学习概念，其中环境可以模拟代理并将其输出基于代理的假设行为。由于良好的性能通常需要注意环境的输出所基于的任何东西，因此我们认为，对于代理在许多这样的延长环境中实现平均良好性能，因此代理必须自我反思。因此，通过将代理通过扩展环境的电池运行代理，可以通过运行代理来数值估计代理的自我反射能力。我们同时发布扩展环境的开源库，作为该技术的概念验证。由于图书馆是先进的，我们避免了优化它的难题。相反，我们选择了具有有趣属性的环境。有些似乎矛盾，有些导致有趣的思想实验，有些甚至暗示自我反思如何在自然中发展。我们举例说明并介绍一个简单的转型，实验似乎增加了自我反思。

In optimization-based approaches to inverse problems and to statistical estimation, it is common to augment the objective with a regularizer to address challenges associated with ill-posedness. The choice of a suitable regularizer is typically driven by prior domain information and computational considerations. Convex regularizers are attractive as they are endowed with certificates of optimality as well as the toolkit of convex analysis, but exhibit a computational scaling that makes them ill-suited beyond moderate-sized problem instances. On the other hand, nonconvex regularizers can often be deployed at scale, but do not enjoy the certification properties associated with convex regularizers. In this paper, we seek a systematic understanding of the power and the limitations of convex regularization by investigating the following questions: Given a distribution, what are the optimal regularizers, both convex and nonconvex, for data drawn from the distribution? What properties of a data source govern whether it is amenable to convex regularization? We address these questions for the class of continuous and positively homogenous regularizers for which convex and nonconvex regularizers correspond, respectively, to convex bodies and star bodies. By leveraging dual Brunn-Minkowski theory, we show that a radial function derived from a data distribution is the key quantity for identifying optimal regularizers and for assessing the amenability of a data source to convex regularization. Using tools such as $\Gamma$-convergence, we show that our results are robust in the sense that the optimal regularizers for a sample drawn from a distribution converge to their population counterparts as the sample size grows large. Finally, we give generalization guarantees that recover previous results for polyhedral regularizers (i.e., dictionary learning) and lead to new ones for semidefinite regularizers.

Massive data corpora like WebText, Wikipedia, Conceptual Captions, WebImageText, and LAION have propelled recent dramatic progress in AI. Large neural models trained on such datasets produce impressive results and top many of today's benchmarks. A notable omission within this family of large-scale datasets is 3D data. Despite considerable interest and potential applications in 3D vision, datasets of high-fidelity 3D models continue to be mid-sized with limited diversity of object categories. Addressing this gap, we present Objaverse 1.0, a large dataset of objects with 800K+ (and growing) 3D models with descriptive captions, tags, and animations. Objaverse improves upon present day 3D repositories in terms of scale, number of categories, and in the visual diversity of instances within a category. We demonstrate the large potential of Objaverse via four diverse applications: training generative 3D models, improving tail category segmentation on the LVIS benchmark, training open-vocabulary object-navigation models for Embodied AI, and creating a new benchmark for robustness analysis of vision models. Objaverse can open new directions for research and enable new applications across the field of AI.

The correct functioning of photovoltaic (PV) cells is critical to ensuring the optimal performance of a solar plant. Anomaly detection techniques for PV cells can result in significant cost savings in operation and maintenance (O&M). Recent research has focused on deep learning techniques for automatically detecting anomalies in Electroluminescence (EL) images. Automated anomaly annotations can improve current O&M methodologies and help develop decision-making systems to extend the life-cycle of the PV cells and predict failures. This paper addresses the lack of anomaly segmentation annotations in the literature by proposing a combination of state-of-the-art data-driven techniques to create a Golden Standard benchmark. The proposed method stands out for (1) its adaptability to new PV cell types, (2) cost-efficient fine-tuning, and (3) leverage public datasets to generate advanced annotations. The methodology has been validated in the annotation of a widely used dataset, obtaining a reduction of the annotation cost by 60%.

System identification, also known as learning forward models, transfer functions, system dynamics, etc., has a long tradition both in science and engineering in different fields. Particularly, it is a recurring theme in Reinforcement Learning research, where forward models approximate the state transition function of a Markov Decision Process by learning a mapping function from current state and action to the next state. This problem is commonly defined as a Supervised Learning problem in a direct way. This common approach faces several difficulties due to the inherent complexities of the dynamics to learn, for example, delayed effects, high non-linearity, non-stationarity, partial observability and, more important, error accumulation when using bootstrapped predictions (predictions based on past predictions), over large time horizons. Here we explore the use of Reinforcement Learning in this problem. We elaborate on why and how this problem fits naturally and sound as a Reinforcement Learning problem, and present some experimental results that demonstrate RL is a promising technique to solve these kind of problems.

Background: Encouraged by the success of pretrained Transformer models in many natural language processing tasks, their use for International Classification of Diseases (ICD) coding tasks is now actively being explored. In this study, we investigate three types of Transformer-based models, aiming to address the extreme label set and long text classification challenges that are posed by automated ICD coding tasks. Methods: The Transformer-based model PLM-ICD achieved the current state-of-the-art (SOTA) performance on the ICD coding benchmark dataset MIMIC-III. It was chosen as our baseline model to be further optimised. XR-Transformer, the new SOTA model in the general extreme multi-label text classification domain, and XR-LAT, a novel adaptation of the XR-Transformer model, were also trained on the MIMIC-III dataset. XR-LAT is a recursively trained model chain on a predefined hierarchical code tree with label-wise attention, knowledge transferring and dynamic negative sampling mechanisms. Results: Our optimised PLM-ICD model, which was trained with longer total and chunk sequence lengths, significantly outperformed the current SOTA PLM-ICD model, and achieved the highest micro-F1 score of 60.8%. The XR-Transformer model, although SOTA in the general domain, did not perform well across all metrics. The best XR-LAT based model obtained results that were competitive with the current SOTA PLM-ICD model, including improving the macro-AUC by 2.1%. Conclusion: Our optimised PLM-ICD model is the new SOTA model for automated ICD coding on the MIMIC-III dataset, while our novel XR-LAT model performs competitively with the previous SOTA PLM-ICD model.

While skin cancer classification has been a popular and valuable deep learning application for years, there has been little consideration of the context in which testing images are taken. Traditional melanoma classifiers rely on the assumption that their testing environments are analogous to the structured images on which they are trained. This paper combats this notion, arguing that mole size, a vital attribute in professional dermatology, is a red herring in automated melanoma detection. Although malignant melanomas are consistently larger than benign melanomas, this distinction proves unreliable and harmful when images cannot be contextually scaled. This implementation builds a custom model that eliminates size as a training feature to prevent overfitting to incorrect parameters. Additionally, random rotation and contrast augmentations are performed to simulate the real-world use of melanoma detection applications. Several custom models with varying forms of data augmentation are implemented to demonstrate the most significant features of the generalization abilities of mole classifiers. These implementations show that user unpredictability is crucial when utilizing such applications. The caution required when manually modifying data is acknowledged, as data loss and biased conclusions are necessary considerations in this process. Additionally, mole size inconsistency and its significance are discussed in both the dermatology and deep learning communities.

Sensor-based remote health monitoring is used in industrial, urban and healthcare settings to monitor ongoing operation of equipment and human health. An important aim is to intervene early if anomalous events or adverse health is detected. In the wild, these anomaly detection approaches are challenged by noise, label scarcity, high dimensionality, explainability and wide variability in operating environments. The Contextual Matrix Profile (CMP) is a configurable 2-dimensional version of the Matrix Profile (MP) that uses the distance matrix of all subsequences of a time series to discover patterns and anomalies. The CMP is shown to enhance the effectiveness of the MP and other SOTA methods at detecting, visualising and interpreting true anomalies in noisy real world data from different domains. It excels at zooming out and identifying temporal patterns at configurable time scales. However, the CMP does not address cross-sensor information, and cannot scale to high dimensional data. We propose a novel, self-supervised graph-based approach for temporal anomaly detection that works on context graphs generated from the CMP distance matrix. The learned graph embeddings encode the anomalous nature of a time context. In addition, we evaluate other graph outlier algorithms for the same task. Given our pipeline is modular, graph construction, generation of graph embeddings, and pattern recognition logic can all be chosen based on the specific pattern detection application. We verified the effectiveness of graph-based anomaly detection and compared it with the CMP and 3 state-of-the art methods on two real-world healthcare datasets with different anomalies. Our proposed method demonstrated better recall, alert rate and generalisability.

The physics-informed neural operator (PINO) is a machine learning architecture that has shown promising empirical results for learning partial differential equations. PINO uses the Fourier neural operator (FNO) architecture to overcome the optimization challenges often faced by physics-informed neural networks. Since the convolution operator in PINO uses the Fourier series representation, its gradient can be computed exactly on the Fourier space. While Fourier series cannot represent nonperiodic functions, PINO and FNO still have the expressivity to learn nonperiodic problems with Fourier extension via padding. However, computing the Fourier extension in the physics-informed optimization requires solving an ill-conditioned system, resulting in inaccurate derivatives which prevent effective optimization. In this work, we present an architecture that leverages Fourier continuation (FC) to apply the exact gradient method to PINO for nonperiodic problems. This paper investigates three different ways that FC can be incorporated into PINO by testing their performance on a 1D blowup problem. Experiments show that FC-PINO outperforms padded PINO, improving equation loss by several orders of magnitude, and it can accurately capture the third order derivatives of nonsmooth solution functions.