流行的导航堆栈在诸如ROS（机器人操作系统）和ROS2之类的开源框架之类的顶部使用离散的2D占用网格表示机器人工作区。这种方法，同时需要较少计算，限制使用这种导航堆叠在平面上导航的轮式机器人。在本文中，我们提出了一种导航堆栈，该堆栈使用机器人工作区的体积表示，因此可以扩展到通过不均匀地形导航的空中和腿机器人。此外，我们介绍了一种基于新的采样的运动规划算法，它引入了批量通知的树（Bit *）运动规划算法的双向方法，同时将其与策略切换方法包装以减少要查找的初始时间除了找到最短路径的时间之外，还有一条路径。

端到端模型在自动语音识别中快速更换传统的混合模型。变压器，基于机器翻译任务的自我关注的序列到序列模型，在用于自动语音识别时已经给出了有希望的结果。本文探讨了在培训基于变压器的模型的同时在编码器输入时结合扬声器信息的不同方式，以提高其语音识别性能。我们以每个扬声器的扬声器嵌入形式呈现扬声器信息。我们使用两种类型的扬声器嵌入进行实验：在我们以前的工作中提出的X-Vectors和新颖的S-Vectors。我们向两个数据集报告结果a）肉kel讲座数据库和b）librispeech 500小时分割。NPTEL是一个开源电子学习门户，提供来自印度顶级大学的讲座。通过我们将扬声器嵌入的方法集成到模型中，我们通过基线获得了基线的错误率的改进。

Differentiable Architecture Search (DARTS) has attracted considerable attention as a gradient-based Neural Architecture Search (NAS) method. Since the introduction of DARTS, there has been little work done on adapting the action space based on state-of-art architecture design principles for CNNs. In this work, we aim to address this gap by incrementally augmenting the DARTS search space with micro-design changes inspired by ConvNeXt and studying the trade-off between accuracy, evaluation layer count, and computational cost. To this end, we introduce the Pseudo-Inverted Bottleneck conv block intending to reduce the computational footprint of the inverted bottleneck block proposed in ConvNeXt. Our proposed architecture is much less sensitive to evaluation layer count and outperforms a DARTS network with similar size significantly, at layer counts as small as 2. Furthermore, with less layers, not only does it achieve higher accuracy with lower GMACs and parameter count, GradCAM comparisons show that our network is able to better detect distinctive features of target objects compared to DARTS.

Of late, insurance fraud detection has assumed immense significance owing to the huge financial & reputational losses fraud entails and the phenomenal success of the fraud detection techniques. Insurance is majorly divided into two categories: (i) Life and (ii) Non-life. Non-life insurance in turn includes health insurance and auto insurance among other things. In either of the categories, the fraud detection techniques should be designed in such a way that they capture as many fraudulent transactions as possible. Owing to the rarity of fraudulent transactions, in this paper, we propose a chaotic variational autoencoder (C-VAE to perform one-class classification (OCC) on genuine transactions. Here, we employed the logistic chaotic map to generate random noise in the latent space. The effectiveness of C-VAE is demonstrated on the health insurance fraud and auto insurance datasets. We considered vanilla Variational Auto Encoder (VAE) as the baseline. It is observed that C-VAE outperformed VAE in both datasets. C-VAE achieved a classification rate of 77.9% and 87.25% in health and automobile insurance datasets respectively. Further, the t-test conducted at 1% level of significance and 18 degrees of freedom infers that C-VAE is statistically significant than the VAE.

An algorithm and a program for detecting the boundaries of water bodies for the autopilot module of asurface robot are proposed. A method for detecting water objects on satellite maps by the method of finding a color in the HSV color space, using erosion, dilation - methods of digital image filtering is applied.The following operators for constructing contours on the image are investigated: the operators of Sobel,Roberts, Prewitt, and from them the one that detects the boundary more accurately is selected for thismodule. An algorithm for calculating the GPS coordinates of the contours is created. The proposed algorithm allows saving the result in a format suitable for the surface robot autopilot module.

Data heterogeneity across clients is a key challenge in federated learning. Prior works address this by either aligning client and server models or using control variates to correct client model drift. Although these methods achieve fast convergence in convex or simple non-convex problems, the performance in over-parameterized models such as deep neural networks is lacking. In this paper, we first revisit the widely used FedAvg algorithm in a deep neural network to understand how data heterogeneity influences the gradient updates across the neural network layers. We observe that while the feature extraction layers are learned efficiently by FedAvg, the substantial diversity of the final classification layers across clients impedes the performance. Motivated by this, we propose to correct model drift by variance reduction only on the final layers. We demonstrate that this significantly outperforms existing benchmarks at a similar or lower communication cost. We furthermore provide proof for the convergence rate of our algorithm.

Heterogeneous treatment effects (HTEs) are commonly identified during randomized controlled trials (RCTs). Identifying subgroups of patients with similar treatment effects is of high interest in clinical research to advance precision medicine. Often, multiple clinical outcomes are measured during an RCT, each having a potentially heterogeneous effect. Recently there has been high interest in identifying subgroups from HTEs, however, there has been less focus on developing tools in settings where there are multiple outcomes. In this work, we propose a framework for partitioning the covariate space to identify subgroups across multiple outcomes based on the joint CIs. We test our algorithm on synthetic and semi-synthetic data where there are two outcomes, and demonstrate that our algorithm is able to capture the HTE in both outcomes simultaneously.

Artificial Intelligence (AI) and its data-centric branch of machine learning (ML) have greatly evolved over the last few decades. However, as AI is used increasingly in real world use cases, the importance of the interpretability of and accessibility to AI systems have become major research areas. The lack of interpretability of ML based systems is a major hindrance to widespread adoption of these powerful algorithms. This is due to many reasons including ethical and regulatory concerns, which have resulted in poorer adoption of ML in some areas. The recent past has seen a surge in research on interpretable ML. Generally, designing a ML system requires good domain understanding combined with expert knowledge. New techniques are emerging to improve ML accessibility through automated model design. This paper provides a review of the work done to improve interpretability and accessibility of machine learning in the context of global problems while also being relevant to developing countries. We review work under multiple levels of interpretability including scientific and mathematical interpretation, statistical interpretation and partial semantic interpretation. This review includes applications in three areas, namely food processing, agriculture and health.

The efficiency of using the YOLOV5 machine learning model for solving the problem of automatic de-tection and recognition of micro-objects in the marine environment is studied. Samples of microplankton and microplastics were prepared, according to which a database of classified images was collected for training an image recognition neural network. The results of experiments using a trained network to find micro-objects in photo and video images in real time are presented. Experimental studies have shown high efficiency, comparable to manual recognition, of the proposed model in solving problems of detect-ing micro-objects in the marine environment.

无人驾驶飞机在当天变得越来越流行，对它们的申请越过科学和工业的界限，从航空摄影到包装交付再到灾难管理，从该技术中受益。但是在它们变得司空见惯之前，要解决的挑战要使它们可靠和安全。以下论文讨论了与无人驾驶飞机的精确着陆相关的挑战，包括传感和控制的方法及其在各种应用中的优点和缺点。