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Quadruped robots have the potential to guide blind and low vision (BLV) people due to their highly flexible locomotion and emotional value provided by their bionic forms. However, the development of quadruped guide robots rarely involves BLV users' participatory designs and evaluations. In this paper, we conducted two empirical experiments both in indoor controlled and outdoor field scenarios, exploring the benefits and drawbacks of quadruped guide robots. The results show that the nowadays commercial quadruped robots exposed significant disadvantages in usability and trust compared with wheeled robots. It is concluded that the moving gait and walking noise of quadruped robots would limit the guiding effectiveness to a certain extent, and the empathetic effect of its bionic form for BLV users could not be fully reflected. Based on the findings of wheeled robots and quadruped robots' advantages, we discuss the design implications for the future guide robot design for BLV users. This paper reports the first empirical experiment about quadruped guide robots with BLV users and preliminary explores their potential improvement space in substituting guide dogs, which can inspire the further specialized design of quadruped guide robots.

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機器人(英語:Robot)包括一切模擬人類行為或思想與模擬其他生物的機械(如機器狗,機器貓等)。狹義上對機器人的定義還有很多分類法及爭議,有些電腦程序甚至也被稱為機器人。在當代工業中,機器人指能自動運行任務的人造機器設備,用以取代或協助人類工作,一般會是機電設備,由計算機程序或是電子電路控制。

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Modern robotics has enabled the advancement in yield estimation for precision agriculture. However, when applied to the olive industry, the high variation of olive colors and their similarity to the background leaf canopy presents a challenge. Labeling several thousands of very dense olive grove images for segmentation is a labor-intensive task. This paper presents a novel approach to detecting olives without the need to manually label data. In this work, we present the world's first olive detection dataset comprised of synthetic and real olive tree images. This is accomplished by generating an auto-labeled photorealistic 3D model of an olive tree. Its geometry is then simplified for lightweight rendering purposes. In addition, experiments are conducted with a mix of synthetically generated and real images, yielding an improvement of up to 66% compared to when only using a small sample of real data. When access to real, human-labeled data is limited, a combination of mostly synthetic data and a small amount of real data can enhance olive detection.

As a promising distributed learning paradigm, federated learning (FL) involves training deep neural network (DNN) models at the network edge while protecting the privacy of the edge clients. To train a large-scale DNN model, batch normalization (BN) has been regarded as a simple and effective means to accelerate the training and improve the generalization capability. However, recent findings indicate that BN can significantly impair the performance of FL in the presence of non-i.i.d. data. While several FL algorithms have been proposed to address this issue, their performance still falls significantly when compared to the centralized scheme. Furthermore, none of them have provided a theoretical explanation of how the BN damages the FL convergence. In this paper, we present the first convergence analysis to show that under the non-i.i.d. data, the mismatch between the local and global statistical parameters in BN causes the gradient deviation between the local and global models, which, as a result, slows down and biases the FL convergence. In view of this, we develop a new FL algorithm that is tailored to BN, called FedTAN, which is capable of achieving robust FL performance under a variety of data distributions via iterative layer-wise parameter aggregation. Comprehensive experimental results demonstrate the superiority of the proposed FedTAN over existing baselines for training BN-based DNN models.

Large Language Models (LLMs) have shown excellent generalization capabilities that have led to the development of numerous models. These models propose various new architectures, tweaking existing architectures with refined training strategies, increasing context length, using high-quality training data, and increasing training time to outperform baselines. Analyzing new developments is crucial for identifying changes that enhance training stability and improve generalization in LLMs. This survey paper comprehensively analyses the LLMs architectures and their categorization, training strategies, training datasets, and performance evaluations and discusses future research directions. Moreover, the paper also discusses the basic building blocks and concepts behind LLMs, followed by a complete overview of LLMs, including their important features and functions. Finally, the paper summarizes significant findings from LLM research and consolidates essential architectural and training strategies for developing advanced LLMs. Given the continuous advancements in LLMs, we intend to regularly update this paper by incorporating new sections and featuring the latest LLM models.

The real-world data tends to be heavily imbalanced and severely skew the data-driven deep neural networks, which makes Long-Tailed Recognition (LTR) a massive challenging task. Existing LTR methods seldom train Vision Transformers (ViTs) with Long-Tailed (LT) data, while the off-the-shelf pretrain weight of ViTs always leads to unfair comparisons. In this paper, we systematically investigate the ViTs' performance in LTR and propose LiVT to train ViTs from scratch only with LT data. With the observation that ViTs suffer more severe LTR problems, we conduct Masked Generative Pretraining (MGP) to learn generalized features. With ample and solid evidence, we show that MGP is more robust than supervised manners. In addition, Binary Cross Entropy (BCE) loss, which shows conspicuous performance with ViTs, encounters predicaments in LTR. We further propose the balanced BCE to ameliorate it with strong theoretical groundings. Specially, we derive the unbiased extension of Sigmoid and compensate extra logit margins to deploy it. Our Bal-BCE contributes to the quick convergence of ViTs in just a few epochs. Extensive experiments demonstrate that with MGP and Bal-BCE, LiVT successfully trains ViTs well without any additional data and outperforms comparable state-of-the-art methods significantly, e.g., our ViT-B achieves 81.0% Top-1 accuracy in iNaturalist 2018 without bells and whistles. Code is available at //github.com/XuZhengzhuo/LiVT.

The LSTM network was proposed to overcome the difficulty in learning long-term dependence, and has made significant advancements in applications. With its success and drawbacks in mind, this paper raises the question - do RNN and LSTM have long memory? We answer it partially by proving that RNN and LSTM do not have long memory from a statistical perspective. A new definition for long memory networks is further introduced, and it requires the model weights to decay at a polynomial rate. To verify our theory, we convert RNN and LSTM into long memory networks by making a minimal modification, and their superiority is illustrated in modeling long-term dependence of various datasets.

How can we estimate the importance of nodes in a knowledge graph (KG)? A KG is a multi-relational graph that has proven valuable for many tasks including question answering and semantic search. In this paper, we present GENI, a method for tackling the problem of estimating node importance in KGs, which enables several downstream applications such as item recommendation and resource allocation. While a number of approaches have been developed to address this problem for general graphs, they do not fully utilize information available in KGs, or lack flexibility needed to model complex relationship between entities and their importance. To address these limitations, we explore supervised machine learning algorithms. In particular, building upon recent advancement of graph neural networks (GNNs), we develop GENI, a GNN-based method designed to deal with distinctive challenges involved with predicting node importance in KGs. Our method performs an aggregation of importance scores instead of aggregating node embeddings via predicate-aware attention mechanism and flexible centrality adjustment. In our evaluation of GENI and existing methods on predicting node importance in real-world KGs with different characteristics, GENI achieves 5-17% higher NDCG@100 than the state of the art.

Language model pre-training has proven to be useful in learning universal language representations. As a state-of-the-art language model pre-training model, BERT (Bidirectional Encoder Representations from Transformers) has achieved amazing results in many language understanding tasks. In this paper, we conduct exhaustive experiments to investigate different fine-tuning methods of BERT on text classification task and provide a general solution for BERT fine-tuning. Finally, the proposed solution obtains new state-of-the-art results on eight widely-studied text classification datasets.

Graph neural networks (GNNs) are a popular class of machine learning models whose major advantage is their ability to incorporate a sparse and discrete dependency structure between data points. Unfortunately, GNNs can only be used when such a graph-structure is available. In practice, however, real-world graphs are often noisy and incomplete or might not be available at all. With this work, we propose to jointly learn the graph structure and the parameters of graph convolutional networks (GCNs) by approximately solving a bilevel program that learns a discrete probability distribution on the edges of the graph. This allows one to apply GCNs not only in scenarios where the given graph is incomplete or corrupted but also in those where a graph is not available. We conduct a series of experiments that analyze the behavior of the proposed method and demonstrate that it outperforms related methods by a significant margin.

Automatically creating the description of an image using any natural languages sentence like English is a very challenging task. It requires expertise of both image processing as well as natural language processing. This paper discuss about different available models for image captioning task. We have also discussed about how the advancement in the task of object recognition and machine translation has greatly improved the performance of image captioning model in recent years. In addition to that we have discussed how this model can be implemented. In the end, we have also evaluated the performance of model using standard evaluation matrices.

Deep neural networks (DNNs) have been found to be vulnerable to adversarial examples resulting from adding small-magnitude perturbations to inputs. Such adversarial examples can mislead DNNs to produce adversary-selected results. Different attack strategies have been proposed to generate adversarial examples, but how to produce them with high perceptual quality and more efficiently requires more research efforts. In this paper, we propose AdvGAN to generate adversarial examples with generative adversarial networks (GANs), which can learn and approximate the distribution of original instances. For AdvGAN, once the generator is trained, it can generate adversarial perturbations efficiently for any instance, so as to potentially accelerate adversarial training as defenses. We apply AdvGAN in both semi-whitebox and black-box attack settings. In semi-whitebox attacks, there is no need to access the original target model after the generator is trained, in contrast to traditional white-box attacks. In black-box attacks, we dynamically train a distilled model for the black-box model and optimize the generator accordingly. Adversarial examples generated by AdvGAN on different target models have high attack success rate under state-of-the-art defenses compared to other attacks. Our attack has placed the first with 92.76% accuracy on a public MNIST black-box attack challenge.

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