亚洲男人的天堂2018av,欧美草比,久久久久久免费视频精选,国色天香在线看免费,久久久久亚洲av成人片仓井空

Robotic dexterous grasping is a challenging problem due to the high degree of freedom (DoF) and complex contacts of multi-fingered robotic hands. Existing deep reinforcement learning (DRL) based methods leverage human demonstrations to reduce sample complexity due to the high dimensional action space with dexterous grasping. However, less attention has been paid to hand-object interaction representations for high-level generalization. In this paper, we propose a novel geometric and spatial hand-object interaction representation, named DexRep, to capture dynamic object shape features and the spatial relations between hands and objects during grasping. DexRep comprises Occupancy Feature for rough shapes within sensing range by moving hands, Surface Feature for changing hand-object surface distances, and Local-Geo Feature for local geometric surface features most related to potential contacts. Based on the new representation, we propose a dexterous deep reinforcement learning method to learn a generalizable grasping policy DexRepNet. Experimental results show that our method outperforms baselines using existing representations for robotic grasping dramatically both in grasp success rate and convergence speed. It achieves a 93% grasping success rate on seen objects and higher than 80% grasping success rates on diverse objects of unseen categories in both simulation and real-world experiments.

Longitudinal imaging is able to capture both static anatomical structures and dynamic changes in disease progression toward earlier and better patient-specific pathology management. However, conventional approaches rarely take advantage of longitudinal information for detection and prediction purposes, especially for Diabetic Retinopathy (DR). In the past years, Mix-up training and pretext tasks with longitudinal context have effectively enhanced DR classification results and captured disease progression. In the meantime, a novel type of neural network named Neural Ordinary Differential Equation (NODE) has been proposed for solving ordinary differential equations, with a neural network treated as a black box. By definition, NODE is well suited for solving time-related problems. In this paper, we propose to combine these three aspects to detect and predict DR progression. Our framework, Longitudinal Mixing Training (LMT), can be considered both as a regularizer and as a pretext task that encodes the disease progression in the latent space. Additionally, we evaluate the trained model weights on a downstream task with a longitudinal context using standard and longitudinal pretext tasks. We introduce a new way to train time-aware models using $t_{mix}$, a weighted average time between two consecutive examinations. We compare our approach to standard mixing training on DR classification using OPHDIAT a longitudinal retinal Color Fundus Photographs (CFP) dataset. We were able to predict whether an eye would develop a severe DR in the following visit using a single image, with an AUC of 0.798 compared to baseline results of 0.641. Our results indicate that our longitudinal pretext task can learn the progression of DR disease and that introducing $t_{mix}$ augmentation is beneficial for time-aware models.

In many real-world problems, predictions are leveraged to monitor and control cyber-physical systems, demanding guarantees on the satisfaction of reliability and safety requirements. However, predictions are inherently uncertain, and managing prediction uncertainty presents significant challenges in environments characterized by complex dynamics and forking trajectories. In this work, we assume access to a pre-designed probabilistic implicit or explicit sequence model, which may have been obtained using model-based or model-free methods. We introduce probabilistic time series-conformal risk prediction (PTS-CRC), a novel post-hoc calibration procedure that operates on the predictions produced by any pre-designed probabilistic forecaster to yield reliable error bars. In contrast to existing art, PTS-CRC produces predictive sets based on an ensemble of multiple prototype trajectories sampled from the sequence model, supporting the efficient representation of forking uncertainties. Furthermore, unlike the state of the art, PTS-CRC can satisfy reliability definitions beyond coverage. This property is leveraged to devise a novel model predictive control (MPC) framework that addresses open-loop and closed-loop control problems under general average constraints on the quality or safety of the control policy. We experimentally validate the performance of PTS-CRC prediction and control by studying a number of use cases in the context of wireless networking. Across all the considered tasks, PTS-CRC predictors are shown to provide more informative predictive sets, as well as safe control policies with larger returns.

Trade restrictions, the COVID-19 pandemic, and geopolitical conflicts has significantly exposed vulnerabilities within traditional global supply chains. These events underscore the need for organisations to establish more resilient and flexible supply chains. To address these challenges, the concept of the autonomous supply chain (ASC), characterised by predictive and self-decision-making capabilities, has recently emerged as promising solution. However, research on ASCs is relatively limited, with no existing studies on their implementations. This paper aims to address this gap by presenting an implementation of ASC using a multi-agent approach. It proposes a methodology for the analysis and design of such an agent-based ASC system (A2SC). This paper provides a concrete case study, the autonomous meat supply chain, which showcases the practical implementation of the A2SC system using the proposed methodology. Additionally, a system architecture and a toolkit for developing A2SC systems are presented. Despite with limitations, this paper demonstrates a promising approach for implementing an effective ASC system.

Data augmentation has been proven effective for training high-accuracy convolutional neural network classifiers by preventing overfitting. However, building deep neural networks in real-world scenarios requires not only high accuracy on clean data but also robustness when data distributions shift. While prior methods have proposed that there is a trade-off between accuracy and robustness, we propose IPMix, a simple data augmentation approach to improve robustness without hurting clean accuracy. IPMix integrates three levels of data augmentation (image-level, patch-level, and pixel-level) into a coherent and label-preserving technique to increase the diversity of training data with limited computational overhead. To further improve the robustness, IPMix introduces structural complexity at different levels to generate more diverse images and adopts the random mixing method for multi-scale information fusion. Experiments demonstrate that IPMix outperforms state-of-the-art corruption robustness on CIFAR-C and ImageNet-C. In addition, we show that IPMix also significantly improves the other safety measures, including robustness to adversarial perturbations, calibration, prediction consistency, and anomaly detection, achieving state-of-the-art or comparable results on several benchmarks, including ImageNet-R, ImageNet-A, and ImageNet-O.

Anomaly detection in multivariate time series has emerged as a crucial challenge in time series research, with significant research implications in various fields such as fraud detection, fault diagnosis, and system state estimation. Reconstruction-based models have shown promising potential in recent years for detecting anomalies in time series data. However, due to the rapid increase in data scale and dimensionality, the issues of noise and Weak Identity Mapping (WIM) during time series reconstruction have become increasingly pronounced. To address this, we introduce a novel Adaptive Dynamic Neighbor Mask (ADNM) mechanism and integrate it with the Transformer and Denoising Diffusion Model, creating a new framework for multivariate time series anomaly detection, named Denoising Diffusion Mask Transformer (DDMT). The ADNM module is introduced to mitigate information leakage between input and output features during data reconstruction, thereby alleviating the problem of WIM during reconstruction. The Denoising Diffusion Transformer (DDT) employs the Transformer as an internal neural network structure for Denoising Diffusion Model. It learns the stepwise generation process of time series data to model the probability distribution of the data, capturing normal data patterns and progressively restoring time series data by removing noise, resulting in a clear recovery of anomalies. To the best of our knowledge, this is the first model that combines Denoising Diffusion Model and the Transformer for multivariate time series anomaly detection. Experimental evaluations were conducted on five publicly available multivariate time series anomaly detection datasets. The results demonstrate that the model effectively identifies anomalies in time series data, achieving state-of-the-art performance in anomaly detection.

Zoonotic disease transmission between animals and humans is a growing risk and the agricultural context acts as a likely point of transition, with individual heterogeneity acting as an important contributor. Thus, understanding the dynamics of disease spread in the wildlife-livestock interface is crucial for mitigating these risks of transmission. Specifically, the interactions between pigeons and in-door cows at dairy farms can lead to significant disease transmission and economic losses for farmers; putting livestock, adjacent human populations, and other wildlife species at risk. In this paper, we propose a novel spatio-temporal multi-pathogen model with continuous spatial movement. The model expands on the Susceptible-Exposed-Infected-Recovered-Dead (SEIRD) framework and accounts for both within-species and cross-species transmission of pathogens, as well as the exploration-exploitation movement dynamics of pigeons, which play a critical role in the spread of infection agents. In addition to model formulation, we also implement it as an agent-based simulation approach and use empirical field data to investigate different biologically realistic scenarios, evaluating the effect of various parameters on the epidemic spread. Namely, in agreement with theoretical expectations, the model predicts that the heterogeneity of the pigeons' movement dynamics can drastically affect both the magnitude and stability of outbreaks. In addition, joint infection by multiple pathogens can have an interactive effect unobservable in single-pathogen SIR models, reflecting a non-intuitive inhibition of the outbreak. Our findings highlight the impact of heterogeneity in host behavior on their pathogens and allow realistic predictions of outbreak dynamics in the multi-pathogen wildlife-livestock interface with consequences to zoonotic diseases in various systems.

Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.

Image segmentation is still an open problem especially when intensities of the interested objects are overlapped due to the presence of intensity inhomogeneity (also known as bias field). To segment images with intensity inhomogeneities, a bias correction embedded level set model is proposed where Inhomogeneities are Estimated by Orthogonal Primary Functions (IEOPF). In the proposed model, the smoothly varying bias is estimated by a linear combination of a given set of orthogonal primary functions. An inhomogeneous intensity clustering energy is then defined and membership functions of the clusters described by the level set function are introduced to rewrite the energy as a data term of the proposed model. Similar to popular level set methods, a regularization term and an arc length term are also included to regularize and smooth the level set function, respectively. The proposed model is then extended to multichannel and multiphase patterns to segment colourful images and images with multiple objects, respectively. It has been extensively tested on both synthetic and real images that are widely used in the literature and public BrainWeb and IBSR datasets. Experimental results and comparison with state-of-the-art methods demonstrate that advantages of the proposed model in terms of bias correction and segmentation accuracy.