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The small size, high dexterity, and intrinsic compliance of continuum robots (CRs) make them well suited for constrained environments. Solving the inverse kinematics (IK), that is finding robot joint configurations that satisfy desired position or pose queries, is a fundamental challenge in motion planning, control, and calibration for any robot structure. For CRs, the need to avoid obstacles in tightly confined workspaces greatly complicates the search for feasible IK solutions. Without an accurate initialization or multiple re-starts, existing algorithms often fail to find a solution. We present CIDGIKc (Convex Iteration for Distance-Geometric Inverse Kinematics for Continuum Robots), an algorithm that solves these nonconvex feasibility problems with a sequence of semidefinite programs whose objectives are designed to encourage low-rank minimizers. CIDGIKc is enabled by a novel distance-geometric parameterization of constant curvature segment geometry for CRs with extensible segments. The resulting IK formulation involves only quadratic expressions and can efficiently incorporate a large number of collision avoidance constraints. Our experimental results demonstrate >98% solve success rates within complex, highly cluttered environments which existing algorithms cannot account for.

Penalized regression methods such as ridge regression heavily rely on the choice of a tuning or penalty parameter, which is often computed via cross-validation. Discrepancies in the value of the penalty parameter may lead to substantial differences in regression coefficient estimates and predictions. In this paper, we investigate the effect of single observations on the optimal choice of the tuning parameter, showing how the presence of influential points can change it dramatically. We distinguish between points as ``expanders'' and ``shrinkers'', based on their effect on the model complexity. Our approach supplies a visual exploratory tool to identify influential points, naturally implementable for high-dimensional data where traditional approaches usually fail. Applications to simulated and real data examples, both low- and high-dimensional, are presented. The visual tool is implemented in the R package influridge.

The ultimate goal of studying the magnetopause position is to accurately determine its location. Both traditional empirical computation methods and the currently popular machine learning approaches have shown promising results. In this study, we propose a Regression-based Physics-Informed Neural Networks (Reg-PINNs) that combines physics-based numerical computation with vanilla machine learning. This new generation of Physics Informed Neural Networks overcomes the limitations of previous methods restricted to solving ordinary and partial differential equations by incorporating conventional empirical models to aid the convergence and enhance the generalization capability of the neural network. Compared to Shue et al. [1998], our model achieves a reduction of approximately 30% in root mean square error. The methodology presented in this study is not only applicable to space research but can also be referenced in studies across various fields, particularly those involving empirical models.

We propose a model to flexibly estimate joint tail properties by exploiting the convergence of an appropriately scaled point cloud onto a compact limit set. Characteristics of the shape of the limit set correspond to key tail dependence properties. We directly model the shape of the limit set using B\'ezier splines, which allow flexible and parsimonious specification of shapes in two dimensions. We then fit the B\'ezier splines to data in pseudo-polar coordinates using Markov chain Monte Carlo, utilizing a limiting approximation to the conditional likelihood of the radii given angles. By imposing appropriate constraints on the parameters of the B\'ezier splines, we guarantee that each posterior sample is a valid limit set boundary, allowing direct posterior analysis of any quantity derived from the shape of the curve. Furthermore, we obtain interpretable inference on the asymptotic dependence class by using mixture priors with point masses on the corner of the unit box. Finally, we apply our model to bivariate datasets of extremes of variables related to fire risk and air pollution.

We solve a problem of Dujmovi\'c and Wood (2007) by showing that a complete convex geometric graph on $n$ vertices cannot be decomposed into fewer than $n-1$ star-forests, each consisting of noncrossing edges. This bound is clearly tight. We also discuss similar questions for abstract graphs.

This paper presents a new deformable convolution-based video frame interpolation (VFI) method, using a coarse to fine 3D CNN to enhance the multi-flow prediction. This model first extracts spatio-temporal features at multiple scales using a 3D CNN, and estimates multi-flows using these features in a coarse-to-fine manner. The estimated multi-flows are then used to warp the original input frames as well as context maps, and the warped results are fused by a synthesis network to produce the final output. This VFI approach has been fully evaluated against 12 state-of-the-art VFI methods on three commonly used test databases. The results evidently show the effectiveness of the proposed method, which offers superior interpolation performance over other state of the art algorithms, with PSNR gains up to 0.19dB.

Recent works have explored the fundamental role of depth estimation in multi-view stereo (MVS) and semantic scene completion (SSC). They generally construct 3D cost volumes to explore geometric correspondence in depth, and estimate such volumes in a single step relying directly on the ground truth approximation. However, such problem cannot be thoroughly handled in one step due to complex empirical distributions, especially in challenging regions like occlusions, reflections, etc. In this paper, we formulate the depth estimation task as a multi-step distribution approximation process, and introduce a new paradigm of modeling the Volumetric Probability Distribution progressively (step-by-step) following a Markov chain with Diffusion models (VPDD). Specifically, to constrain the multi-step generation of volume in VPDD, we construct a meta volume guidance and a confidence-aware contextual guidance as conditional geometry priors to facilitate the distribution approximation. For the sampling process, we further investigate an online filtering strategy to maintain consistency in volume representations for stable training. Experiments demonstrate that our plug-and-play VPDD outperforms the state-of-the-arts for tasks of MVS and SSC, and can also be easily extended to different baselines to get improvement. It is worth mentioning that we are the first camera-based work that surpasses LiDAR-based methods on the SemanticKITTI dataset.

We propose a method for learning dynamical systems from high-dimensional empirical data that combines variational autoencoders and (spatio-)temporal attention within a framework designed to enforce certain scientifically-motivated invariances. We focus on the setting in which data are available from multiple different instances of a system whose underlying dynamical model is entirely unknown at the outset. The approach rests on a separation into an instance-specific encoding (capturing initial conditions, constants etc.) and a latent dynamics model that is itself universal across all instances/realizations of the system. The separation is achieved in an automated, data-driven manner and only empirical data are required as inputs to the model. The approach allows effective inference of system behaviour at any continuous time but does not require an explicit neural ODE formulation, which makes it efficient and highly scalable. We study behaviour through simple theoretical analyses and extensive experiments on synthetic and real-world datasets. The latter investigate learning the dynamics of complex systems based on finite data and show that the proposed approach can outperform state-of-the-art neural-dynamical models. We study also more general inductive bias in the context of transfer to data obtained under entirely novel system interventions. Overall, our results provide a promising new framework for efficiently learning dynamical models from heterogeneous data with potential applications in a wide range of fields including physics, medicine, biology and engineering.

Since the 1950s, machine translation (MT) has become one of the important tasks of AI and development, and has experienced several different periods and stages of development, including rule-based methods, statistical methods, and recently proposed neural network-based learning methods. Accompanying these staged leaps is the evaluation research and development of MT, especially the important role of evaluation methods in statistical translation and neural translation research. The evaluation task of MT is not only to evaluate the quality of machine translation, but also to give timely feedback to machine translation researchers on the problems existing in machine translation itself, how to improve and how to optimise. In some practical application fields, such as in the absence of reference translations, the quality estimation of machine translation plays an important role as an indicator to reveal the credibility of automatically translated target languages. This report mainly includes the following contents: a brief history of machine translation evaluation (MTE), the classification of research methods on MTE, and the the cutting-edge progress, including human evaluation, automatic evaluation, and evaluation of evaluation methods (meta-evaluation). Manual evaluation and automatic evaluation include reference-translation based and reference-translation independent participation; automatic evaluation methods include traditional n-gram string matching, models applying syntax and semantics, and deep learning models; evaluation of evaluation methods includes estimating the credibility of human evaluations, the reliability of the automatic evaluation, the reliability of the test set, etc. Advances in cutting-edge evaluation methods include task-based evaluation, using pre-trained language models based on big data, and lightweight optimisation models using distillation techniques.

Image-to-image translation aims to learn the mapping between two visual domains. There are two main challenges for many applications: 1) the lack of aligned training pairs and 2) multiple possible outputs from a single input image. In this work, we present an approach based on disentangled representation for producing diverse outputs without paired training images. To achieve diversity, we propose to embed images onto two spaces: a domain-invariant content space capturing shared information across domains and a domain-specific attribute space. Our model takes the encoded content features extracted from a given input and the attribute vectors sampled from the attribute space to produce diverse outputs at test time. To handle unpaired training data, we introduce a novel cross-cycle consistency loss based on disentangled representations. Qualitative results show that our model can generate diverse and realistic images on a wide range of tasks without paired training data. For quantitative comparisons, we measure realism with user study and diversity with a perceptual distance metric. We apply the proposed model to domain adaptation and show competitive performance when compared to the state-of-the-art on the MNIST-M and the LineMod datasets.