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Large-scale simulation with realistic nonlinear dynamic models is crucial for algorithms development for swarm robotics. However, existing platforms are mainly developed based on Object-Oriented Programming (OOP) and either use simple kinematic models to pursue a large number of simulating nodes or implement realistic dynamic models with limited simulating nodes. In this paper, we develop a simulator based on Data-Oriented Programming (DOP) that utilizes GPU parallel computing to achieve large-scale swarm robotic simulations. Specifically, we use a multi-process approach to simulate heterogeneous agents and leverage PyTorch with GPU to simulate homogeneous agents with a large number. We test our approach using a nonlinear quadrotor model and demonstrate that this DOP approach can maintain almost the same computational speed when quadrotors are less than 5,000. We also provide two examples to present the functionality of the platform.

Since thermal imagery offers a unique modality to investigate pain, the U.S. National Institutes of Health (NIH) has collected a large and diverse set of cancer patient facial thermograms for AI-based pain research. However, differing angles from camera capture between thermal and visible sensors has led to misalignment between Visible-Thermal (VT) images. We modernize the classic computer vision task of image registration by applying and modifying a generative alignment algorithm to register VT cancer faces, without the need for a reference or alignment parameters. By registering VT faces, we demonstrate that the quality of thermal images produced in the generative AI downstream task of Visible-to-Thermal (V2T) image translation significantly improves up to 52.5\%, than without registration. Images in this paper have been approved by the NIH NCI for public dissemination.

Image segmentation plays an essential role in nuclei image analysis. Recently, the segment anything model has made a significant breakthrough in such tasks. However, the current model exists two major issues for cell segmentation: (1) the image encoder of the segment anything model involves a large number of parameters. Retraining or even fine-tuning the model still requires expensive computational resources. (2) in point prompt mode, points are sampled from the center of the ground truth and more than one set of points is expected to achieve reliable performance, which is not efficient for practical applications. In this paper, a single-point prompt network is proposed for nuclei image segmentation, called SPPNet. We replace the original image encoder with a lightweight vision transformer. Also, an effective convolutional block is added in parallel to extract the low-level semantic information from the image and compensate for the performance degradation due to the small image encoder. We propose a new point-sampling method based on the Gaussian kernel. The proposed model is evaluated on the MoNuSeg-2018 dataset. The result demonstrated that SPPNet outperforms existing U-shape architectures and shows faster convergence in training. Compared to the segment anything model, SPPNet shows roughly 20 times faster inference, with 1/70 parameters and computational cost. Particularly, only one set of points is required in both the training and inference phases, which is more reasonable for clinical applications. The code for our work and more technical details can be found at //github.com/xq141839/SPPNet.

Inverse Reinforcement Learning (IRL) is a powerful paradigm for inferring a reward function from expert demonstrations. Many IRL algorithms require a known transition model and sometimes even a known expert policy, or they at least require access to a generative model. However, these assumptions are too strong for many real-world applications, where the environment can be accessed only through sequential interaction. We propose a novel IRL algorithm: Active exploration for Inverse Reinforcement Learning (AceIRL), which actively explores an unknown environment and expert policy to quickly learn the expert's reward function and identify a good policy. AceIRL uses previous observations to construct confidence intervals that capture plausible reward functions and find exploration policies that focus on the most informative regions of the environment. AceIRL is the first approach to active IRL with sample-complexity bounds that does not require a generative model of the environment. AceIRL matches the sample complexity of active IRL with a generative model in the worst case. Additionally, we establish a problem-dependent bound that relates the sample complexity of AceIRL to the suboptimality gap of a given IRL problem. We empirically evaluate AceIRL in simulations and find that it significantly outperforms more naive exploration strategies.

Solving Constrained Horn Clauses (CHCs) is a fundamental challenge behind a wide range of verification and analysis tasks. Data-driven approaches show great promise in improving CHC solving without the painstaking manual effort of creating and tuning various heuristics. However, a large performance gap exists between data-driven CHC solvers and symbolic reasoning-based solvers. In this work, we develop a simple but effective framework, "Chronosymbolic Learning", which unifies symbolic information and numerical data points to solve a CHC system efficiently. We also present a simple instance of Chronosymbolic Learning with a data-driven learner and a BMC-styled reasoner. Despite its great simplicity, experimental results show the efficacy and robustness of our tool. It outperforms state-of-the-art CHC solvers on a dataset consisting of 288 benchmarks, including many instances with non-linear integer arithmetics.

Generalization to out-of-distribution (OOD) data is a capability natural to humans yet challenging for machines to reproduce. This is because most learning algorithms strongly rely on the i.i.d.~assumption on source/target data, which is often violated in practice due to domain shift. Domain generalization (DG) aims to achieve OOD generalization by using only source data for model learning. Since first introduced in 2011, research in DG has made great progresses. In particular, intensive research in this topic has led to a broad spectrum of methodologies, e.g., those based on domain alignment, meta-learning, data augmentation, or ensemble learning, just to name a few; and has covered various vision applications such as object recognition, segmentation, action recognition, and person re-identification. In this paper, for the first time a comprehensive literature review is provided to summarize the developments in DG for computer vision over the past decade. Specifically, we first cover the background by formally defining DG and relating it to other research fields like domain adaptation and transfer learning. Second, we conduct a thorough review into existing methods and present a categorization based on their methodologies and motivations. Finally, we conclude this survey with insights and discussions on future research directions.

Graph Neural Networks (GNNs) are widely used for analyzing graph-structured data. Most GNN methods are highly sensitive to the quality of graph structures and usually require a perfect graph structure for learning informative embeddings. However, the pervasiveness of noise in graphs necessitates learning robust representations for real-world problems. To improve the robustness of GNN models, many studies have been proposed around the central concept of Graph Structure Learning (GSL), which aims to jointly learn an optimized graph structure and corresponding representations. Towards this end, in the presented survey, we broadly review recent progress of GSL methods for learning robust representations. Specifically, we first formulate a general paradigm of GSL, and then review state-of-the-art methods classified by how they model graph structures, followed by applications that incorporate the idea of GSL in other graph tasks. Finally, we point out some issues in current studies and discuss future directions.

Sequential recommendation (SR) is to accurately recommend a list of items for a user based on her current accessed ones. While new-coming users continuously arrive in the real world, one crucial task is to have inductive SR that can produce embeddings of users and items without re-training. Given user-item interactions can be extremely sparse, another critical task is to have transferable SR that can transfer the knowledge derived from one domain with rich data to another domain. In this work, we aim to present the holistic SR that simultaneously accommodates conventional, inductive, and transferable settings. We propose a novel deep learning-based model, Relational Temporal Attentive Graph Neural Networks (RetaGNN), for holistic SR. The main idea of RetaGNN is three-fold. First, to have inductive and transferable capabilities, we train a relational attentive GNN on the local subgraph extracted from a user-item pair, in which the learnable weight matrices are on various relations among users, items, and attributes, rather than nodes or edges. Second, long-term and short-term temporal patterns of user preferences are encoded by a proposed sequential self-attention mechanism. Third, a relation-aware regularization term is devised for better training of RetaGNN. Experiments conducted on MovieLens, Instagram, and Book-Crossing datasets exhibit that RetaGNN can outperform state-of-the-art methods under conventional, inductive, and transferable settings. The derived attention weights also bring model explainability.

Graph Neural Networks (GNNs) have been shown to be effective models for different predictive tasks on graph-structured data. Recent work on their expressive power has focused on isomorphism tasks and countable feature spaces. We extend this theoretical framework to include continuous features - which occur regularly in real-world input domains and within the hidden layers of GNNs - and we demonstrate the requirement for multiple aggregation functions in this context. Accordingly, we propose Principal Neighbourhood Aggregation (PNA), a novel architecture combining multiple aggregators with degree-scalers (which generalize the sum aggregator). Finally, we compare the capacity of different models to capture and exploit the graph structure via a novel benchmark containing multiple tasks taken from classical graph theory, alongside existing benchmarks from real-world domains, all of which demonstrate the strength of our model. With this work, we hope to steer some of the GNN research towards new aggregation methods which we believe are essential in the search for powerful and robust models.