自动化车辆功能最佳接受和舒适性的关键因素是驾驶方式。自动化和驱动程序偏爱的驾驶方式之间的不匹配可以使用户更频繁地接管甚至禁用自动化功能。这项工作建议用多模式信号识别用户驾驶样式偏好，因此该车辆可以以连续自动的方式匹配用户偏好。我们对36名参与者进行了驾驶模拟器研究，并收集了广泛的多模式数据，包括行为，生理和情境数据。这包括眼目光，转向抓地力，驾驶演习，制动和节气门踏板输入以及距踏板的脚距离，瞳孔直径，电流皮肤反应，心率和情境驱动驱动环境。然后，我们建立了机器学习模型来识别首选的驾驶方式，并确认所有模式对于识别用户偏好都很重要。这项工作为自动车辆的隐性自适应驾驶风格铺平了道路。

Reinforcement Learning (RL) has seen many recent successes for quadruped robot control. The imitation of reference motions provides a simple and powerful prior for guiding solutions towards desired solutions without the need for meticulous reward design. While much work uses motion capture data or hand-crafted trajectories as the reference motion, relatively little work has explored the use of reference motions coming from model-based trajectory optimization. In this work, we investigate several design considerations that arise with such a framework, as demonstrated through four dynamic behaviours: trot, front hop, 180 backflip, and biped stepping. These are trained in simulation and transferred to a physical Solo 8 quadruped robot without further adaptation. In particular, we explore the space of feed-forward designs afforded by the trajectory optimizer to understand its impact on RL learning efficiency and sim-to-real transfer. These findings contribute to the long standing goal of producing robot controllers that combine the interpretability and precision of model-based optimization with the robustness that model-free RL-based controllers offer.

我们考虑将每个代理分配一个项目时改革无嫉妒的匹配的问题。给定无嫉妒的匹配，我们考虑一个操作，将代理商与代理人首选的未分配项目交换，从而导致另一种无嫉妒的匹配。我们尽可能地重复此操作。我们证明，由此产生的无嫉妒匹配是唯一确定的，可以在选择初始嫉妒的匹配下进行选择，并且可以在多项式时间中找到。我们称之为由此产生的匹配，是一个不正确的嫉妒的匹配，然后我们研究了最短的序列，以从最初的无嫉妒匹配中获得无嫉妒的嫉妒匹配。我们证明，即使每个代理最多接受四个项目，最短的序列在计算上也很难获得，并且每个项目最多都被三个代理所接受。另一方面，当每个代理最多接受三个项目或最多两个代理接受每个项目时，我们给出多项式时间算法。还讨论了不可Ximibibibibibibility和固定参数（IN）的障碍性。

基于图的异常检测（GAD）由于图表的强大表示能力以及图形采矿技术的最新进展而变得普遍。然而，这些GAD工具暴露了新的攻击表面，讽刺地是由于能够利用数据之间的关系的独特优势。也就是说，攻击者现在可以操纵那些关系（即图形的结构），以允许一些目标节点逃避检测。在本文中，我们通过将新型的针对性结构中毒攻击设计到奇怪的基于代表回归的GAD系统来利用这种脆弱性。特别是，我们为奇怪的攻击制定了奇怪的攻击，作为双级优化问题，在那里关键的技术挑战是有效地解决离散域中的问题。我们提出了一种基于梯度下降的新型攻击方法称为二进制层。与现有技术相比，BinarizedAttack可以更好地使用梯度信息，使其特别适用于解决组合优化问题。此外，我们通过采用它来攻击其他基于代表学习的GAD系统来调查BinarizedAtch的攻击可转换性。我们的综合实验表明，BinarizedAttack非常有效地使目标节点能够避免基于图形的异常检测工具与有限的攻击者的预算，并且在黑箱转移攻击设置中，BinarizedAtck也有效地测试，特别是可以显着改变GAD系统学习的节点嵌入式。因此，我们的研究开辟了学习新型攻击的门，以依靠图形数据的安全分析工具。

The 3D-aware image synthesis focuses on conserving spatial consistency besides generating high-resolution images with fine details. Recently, Neural Radiance Field (NeRF) has been introduced for synthesizing novel views with low computational cost and superior performance. While several works investigate a generative NeRF and show remarkable achievement, they cannot handle conditional and continuous feature manipulation in the generation procedure. In this work, we introduce a novel model, called Class-Continuous Conditional Generative NeRF ($\text{C}^{3}$G-NeRF), which can synthesize conditionally manipulated photorealistic 3D-consistent images by projecting conditional features to the generator and the discriminator. The proposed $\text{C}^{3}$G-NeRF is evaluated with three image datasets, AFHQ, CelebA, and Cars. As a result, our model shows strong 3D-consistency with fine details and smooth interpolation in conditional feature manipulation. For instance, $\text{C}^{3}$G-NeRF exhibits a Fr\'echet Inception Distance (FID) of 7.64 in 3D-aware face image synthesis with a $\text{128}^{2}$ resolution. Additionally, we provide FIDs of generated 3D-aware images of each class of the datasets as it is possible to synthesize class-conditional images with $\text{C}^{3}$G-NeRF.

Cellular automata (CA) captivate researchers due to teh emergent, complex individualized behavior that simple global rules of interaction enact. Recent advances in the field have combined CA with convolutional neural networks to achieve self-regenerating images. This new branch of CA is called neural cellular automata [1]. The goal of this project is to use the idea of idea of neural cellular automata to grow prediction machines. We place many different convolutional neural networks in a grid. Each conv net cell outputs a prediction of what the next state will be, and minimizes predictive error. Cells received their neighbors' colors and fitnesses as input. Each cell's fitness score described how accurate its predictions were. Cells could also move to explore their environment and some stochasticity was applied to movement.

There is a dramatic shortage of skilled labor for modern vineyards. The Vinum project is developing a mobile robotic solution to autonomously navigate through vineyards for winter grapevine pruning. This necessitates an autonomous navigation stack for the robot pruning a vineyard. The Vinum project is using the quadruped robot HyQReal. This paper introduces an architecture for a quadruped robot to autonomously move through a vineyard by identifying and approaching grapevines for pruning. The higher level control is a state machine switching between searching for destination positions, autonomously navigating towards those locations, and stopping for the robot to complete a task. The destination points are determined by identifying grapevine trunks using instance segmentation from a Mask Region-Based Convolutional Neural Network (Mask-RCNN). These detections are sent through a filter to avoid redundancy and remove noisy detections. The combination of these features is the basis for the proposed architecture.

Feature selection helps reduce data acquisition costs in ML, but the standard approach is to train models with static feature subsets. Here, we consider the dynamic feature selection (DFS) problem where a model sequentially queries features based on the presently available information. DFS is often addressed with reinforcement learning (RL), but we explore a simpler approach of greedily selecting features based on their conditional mutual information. This method is theoretically appealing but requires oracle access to the data distribution, so we develop a learning approach based on amortized optimization. The proposed method is shown to recover the greedy policy when trained to optimality and outperforms numerous existing feature selection methods in our experiments, thus validating it as a simple but powerful approach for this problem.

In this paper, we learn a diffusion model to generate 3D data on a scene-scale. Specifically, our model crafts a 3D scene consisting of multiple objects, while recent diffusion research has focused on a single object. To realize our goal, we represent a scene with discrete class labels, i.e., categorical distribution, to assign multiple objects into semantic categories. Thus, we extend discrete diffusion models to learn scene-scale categorical distributions. In addition, we validate that a latent diffusion model can reduce computation costs for training and deploying. To the best of our knowledge, our work is the first to apply discrete and latent diffusion for 3D categorical data on a scene-scale. We further propose to perform semantic scene completion (SSC) by learning a conditional distribution using our diffusion model, where the condition is a partial observation in a sparse point cloud. In experiments, we empirically show that our diffusion models not only generate reasonable scenes, but also perform the scene completion task better than a discriminative model. Our code and models are available at https://github.com/zoomin-lee/scene-scale-diffusion

We introduce a new tool for stochastic convex optimization (SCO): a Reweighted Stochastic Query (ReSQue) estimator for the gradient of a function convolved with a (Gaussian) probability density. Combining ReSQue with recent advances in ball oracle acceleration [CJJJLST20, ACJJS21], we develop algorithms achieving state-of-the-art complexities for SCO in parallel and private settings. For a SCO objective constrained to the unit ball in $\mathbb{R}^d$, we obtain the following results (up to polylogarithmic factors). We give a parallel algorithm obtaining optimization error $\epsilon_{\text{opt}}$ with $d^{1/3}\epsilon_{\text{opt}}^{-2/3}$ gradient oracle query depth and $d^{1/3}\epsilon_{\text{opt}}^{-2/3} + \epsilon_{\text{opt}}^{-2}$ gradient queries in total, assuming access to a bounded-variance stochastic gradient estimator. For $\epsilon_{\text{opt}} \in [d^{-1}, d^{-1/4}]$, our algorithm matches the state-of-the-art oracle depth of [BJLLS19] while maintaining the optimal total work of stochastic gradient descent. We give an $(\epsilon_{\text{dp}}, \delta)$-differentially private algorithm which, given $n$ samples of Lipschitz loss functions, obtains near-optimal optimization error and makes $\min(n, n^2\epsilon_{\text{dp}}^2 d^{-1}) + \min(n^{4/3}\epsilon_{\text{dp}}^{1/3}, (nd)^{2/3}\epsilon_{\text{dp}}^{-1})$ queries to the gradients of these functions. In the regime $d \le n \epsilon_{\text{dp}}^{2}$, where privacy comes at no cost in terms of the optimal loss up to constants, our algorithm uses $n + (nd)^{2/3}\epsilon_{\text{dp}}^{-1}$ queries and improves recent advancements of [KLL21, AFKT21]. In the moderately low-dimensional setting $d \le \sqrt n \epsilon_{\text{dp}}^{3/2}$, our query complexity is near-linear.