Covid-19大流行是人类的祸害，宣称全世界超过500万人的生活。虽然疫苗正在全世界分布，但表观需要实惠的筛选技术，以便为无法获得传统医学的世界服务。人工智能可以提供利用咳嗽声音作为主要筛选模式的解决方案。本文介绍了多种模型，这些模型在学术文献目前呈现的最大评估数据集上取得了相对尊敬的性能。此外，我们还显示性能随着培训数据规模而增加，表明世界各地的数据收集，以帮助使用非传统方式对抗Covid-19大流行。

Lifelong learning aims to create AI systems that continuously and incrementally learn during a lifetime, similar to biological learning. Attempts so far have met problems, including catastrophic forgetting, interference among tasks, and the inability to exploit previous knowledge. While considerable research has focused on learning multiple input distributions, typically in classification, lifelong reinforcement learning (LRL) must also deal with variations in the state and transition distributions, and in the reward functions. Modulating masks, recently developed for classification, are particularly suitable to deal with such a large spectrum of task variations. In this paper, we adapted modulating masks to work with deep LRL, specifically PPO and IMPALA agents. The comparison with LRL baselines in both discrete and continuous RL tasks shows competitive performance. We further investigated the use of a linear combination of previously learned masks to exploit previous knowledge when learning new tasks: not only is learning faster, the algorithm solves tasks that we could not otherwise solve from scratch due to extremely sparse rewards. The results suggest that RL with modulating masks is a promising approach to lifelong learning, to the composition of knowledge to learn increasingly complex tasks, and to knowledge reuse for efficient and faster learning.

In this paper, a complete framework for Autonomous Self Driving is implemented. LIDAR, Camera and IMU sensors are used together. The entire data communication is managed using Robot Operating System which provides a robust platform for implementation of Robotics Projects. Jetson Nano is used to provide powerful on-board processing capabilities. Sensor fusion is performed on the data received from the different sensors to improve the accuracy of the decision making and inferences that we derive from the data. This data is then used to create a localized map of the environment. In this step, the position of the vehicle is obtained with respect to the Mapping done using the sensor data.The different SLAM techniques used for this purpose are Hector Mapping and GMapping which are widely used mapping techniques in ROS. Apart from SLAM that primarily uses LIDAR data, Visual Odometry is implemented using a Monocular Camera. The sensor fused data is then used by Adaptive Monte Carlo Localization for car localization. Using the localized map developed, Path Planning techniques like "TEB planner" and "Dynamic Window Approach" are implemented for autonomous navigation of the vehicle. The last step in the Project is the implantation of Control which is the final decision making block in the pipeline that gives speed and steering data for the navigation that is compatible with Ackermann Kinematics. The implementation of such a control block under a ROS framework using the three sensors, viz, LIDAR, Camera and IMU is a novel approach that is undertaken in this project.

As the demand for autonomous driving increases, it is paramount to ensure safety. Early accident prediction using deep learning methods for driving safety has recently gained much attention. In this task, early accident prediction and a point prediction of where the drivers should look are determined, with the dashcam video as input. We propose to exploit the double actors and regularized critics (DARC) method, for the first time, on this accident forecasting platform. We derive inspiration from DARC since it is currently a state-of-the-art reinforcement learning (RL) model on continuous action space suitable for accident anticipation. Results show that by utilizing DARC, we can make predictions 5\% earlier on average while improving in multiple metrics of precision compared to existing methods. The results imply that using our RL-based problem formulation could significantly increase the safety of autonomous driving.

This paper proposes a novel controller framework that provides trajectory tracking for an Aerial Manipulator (AM) while ensuring the safe operation of the system under unknown bounded disturbances. The AM considered here is a 2-DOF (degrees-of-freedom) manipulator rigidly attached to a UAV. Our proposed controller structure follows the conventional inner loop PID control for attitude dynamics and an outer loop controller for tracking a reference trajectory. The outer loop control is based on the Model Predictive Control (MPC) with constraints derived using the Barrier Lyapunov Function (BLF) for the safe operation of the AM. BLF-based constraints are proposed for two objectives, viz. 1) To avoid the AM from colliding with static obstacles like a rectangular wall, and 2) To maintain the end effector of the manipulator within the desired workspace. The proposed BLF ensures that the above-mentioned objectives are satisfied even in the presence of unknown bounded disturbances. The capabilities of the proposed controller are demonstrated through high-fidelity non-linear simulations with parameters derived from a real laboratory scale AM. We compare the performance of our controller with other state-of-the-art MPC controllers for AM.

Multi-Task Learning (MTL) has shown its importance at user products for fast training, data efficiency, reduced overfitting etc. MTL achieves it by sharing the network parameters and training a network for multiple tasks simultaneously. However, MTL does not provide the solution, if each task needs training from a different dataset. In order to solve the stated problem, we have proposed an architecture named TreeDNN along with it's training methodology. TreeDNN helps in training the model with multiple datasets simultaneously, where each branch of the tree may need a different training dataset. We have shown in the results that TreeDNN provides competitive performance with the advantage of reduced ROM requirement for parameter storage and increased responsiveness of the system by loading only specific branch at inference time.

Dialogue State Tracking (DST), a key component of task-oriented conversation systems, represents user intentions by determining the values of pre-defined slots in an ongoing dialogue. Existing approaches use hand-crafted templates and additional slot information to fine-tune and prompt large pre-trained language models and elicit slot values from the dialogue context. Significant manual effort and domain knowledge is required to design effective prompts, limiting the generalizability of these approaches to new domains and tasks. In this work, we propose DiSTRICT, a generalizable in-context tuning approach for DST that retrieves highly relevant training examples for a given dialogue to fine-tune the model without any hand-crafted templates. Experiments with the MultiWOZ benchmark datasets show that DiSTRICT outperforms existing approaches in various zero-shot and few-shot settings using a much smaller model, thereby providing an important advantage for real-world deployments that often have limited resource availability.

Deep learning based text-to-speech (TTS) systems have been evolving rapidly with advances in model architectures, training methodologies, and generalization across speakers and languages. However, these advances have not been thoroughly investigated for Indian language speech synthesis. Such investigation is computationally expensive given the number and diversity of Indian languages, relatively lower resource availability, and the diverse set of advances in neural TTS that remain untested. In this paper, we evaluate the choice of acoustic models, vocoders, supplementary loss functions, training schedules, and speaker and language diversity for Dravidian and Indo-Aryan languages. Based on this, we identify monolingual models with FastPitch and HiFi-GAN V1, trained jointly on male and female speakers to perform the best. With this setup, we train and evaluate TTS models for 13 languages and find our models to significantly improve upon existing models in all languages as measured by mean opinion scores. We open-source all models on the Bhashini platform.

Harnessing the benefits of drones for urban innovation at scale requires reliable aerial autonomy. One major barrier to advancing aerial autonomy has been collecting large-scale aerial datasets for training machine learning models. Due to costly and time-consuming real-world data collection through deploying drones, there has been an increasing shift towards using synthetic data for training models in drone applications. However, to increase generalizability of trained policies on synthetic data, incorporating domain randomization into the data generation workflow for addressing the sim-to-real problem becomes crucial. Current synthetic data generation tools either lack domain randomization or rely heavily on manual workload or real samples for configuring and generating diverse realistic simulation scenes. These dependencies limit scalability of the data generation workflow. Accordingly, there is a major challenge in balancing generalizability and scalability in synthetic data generation. To address these gaps, we introduce a modular scalable data generation workflow tailored to aerial autonomy applications. To generate realistic configurations of simulation scenes while increasing diversity, we present an adaptive layered domain randomization approach that creates a type-agnostic distribution space for assets over the base map of the environments before pose generation for drone trajectory. We leverage high-level scene structures to automatically place assets in valid configurations and then extend the diversity through obstacle generation and global parameter randomization. We demonstrate the effectiveness of our method in automatically generating diverse configurations and datasets and show its potential for downstream performance optimization. Our work contributes to generating enhanced benchmark datasets for training models that can generalize better to real-world situations.

The inception of large language models has helped advance state-of-the-art performance on numerous natural language tasks. This has also opened the door for the development of foundation models for other domains and data modalities such as images, code, and music. In this paper, we argue that business process data representations have unique characteristics that warrant the development of a new class of foundation models to handle tasks like process mining, optimization, and decision making. These models should also tackle the unique challenges of applying AI to business processes which include data scarcity, multi-modal representations, domain specific terminology, and privacy concerns.