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Recently, there has been an upsurge in the research on maritime vision, where a lot of works are influenced by the application of computer vision for Unmanned Surface Vehicles (USVs). Various sensor modalities such as camera, radar, and lidar have been used to perform tasks such as object detection, segmentation, object tracking, and motion planning. A large subset of this research is focused on the video analysis, since most of the current vessel fleets contain the camera's onboard for various surveillance tasks. Due to the vast abundance of the video data, video scene change detection is an initial and crucial stage for scene understanding of USVs. This paper outlines our approach to detect dynamic scene changes in USVs. To the best of our understanding, this work represents the first investigation of scene change detection in the maritime vision application. Our objective is to identify significant changes in the dynamic scenes of maritime video data, particularly those scenes that exhibit a high degree of resemblance. In our system for dynamic scene change detection, we propose completely unsupervised learning method. In contrast to earlier studies, we utilize a modified cutting-edge generative picture model called VQ-VAE-2 to train on multiple marine datasets, aiming to enhance the feature extraction. Next, we introduce our innovative similarity scoring technique for directly calculating the level of similarity in a sequence of consecutive frames by utilizing grid calculation on retrieved features. The experiments were conducted using a nautical video dataset called RoboWhaler to showcase the efficient performance of our technique.

Hindsight Experience Replay (HER) is a technique used in reinforcement learning (RL) that has proven to be very efficient for training off-policy RL-based agents to solve goal-based robotic manipulation tasks using sparse rewards. Even though HER improves the sample efficiency of RL-based agents by learning from mistakes made in past experiences, it does not provide any guidance while exploring the environment. This leads to very large training times due to the volume of experience required to train an agent using this replay strategy. In this paper, we propose a method that uses primitive behaviours that have been previously learned to solve simple tasks in order to guide the agent toward more rewarding actions during exploration while learning other more complex tasks. This guidance, however, is not executed by a manually designed curriculum, but rather using a critic network to decide at each timestep whether or not to use the actions proposed by the previously-learned primitive policies. We evaluate our method by comparing its performance against HER and other more efficient variations of this algorithm in several block manipulation tasks. We demonstrate the agents can learn a successful policy faster when using our proposed method, both in terms of sample efficiency and computation time. Code is available at //github.com/franroldans/qmp-her.

In many applications, sparse and blocky coefficients often occur in regression and classification problems. The fused Lasso was designed to recover these sparse structured features especially when the design matrix encounters the situation of ultrahigh dimension. Quantile loss is well known as a robust loss function in regression and classification. In this paper, we combine quantile loss and fused Lasso penalty together to produce quantile fused Lasso which can achieve sparse and blocky feature selection in both regression and classification. Interestingly, our proposed model has the unified optimization formula for regression and classification. For ultrahigh dimensional collected data, we derive multi-block linearized alternating direction method of multipliers (LADMM) to deal with it. Moreover, we prove convergence and derive convergence rates of the proposed LADMM algorithm through an elegant method. Note that the algorithm can be easily extended to solve many existing fused Lasso models. Finally, we present some numerical results for several synthetic and real world examples, which illustrate the robustness, scalability, and accuracy of the proposed method.

A central task in knowledge compilation is to compile a CNF-SAT instance into a succinct representation format that allows efficient operations such as testing satisfiability, counting, or enumerating all solutions. Useful representation formats studied in this area range from ordered binary decision diagrams (OBDDs) to circuits in decomposable negation normal form (DNNFs). While it is known that there exist CNF formulas that require exponential size representations, the situation is less well studied for other types of constraints than Boolean disjunctive clauses. The constraint satisfaction problem (CSP) is a powerful framework that generalizes CNF-SAT by allowing arbitrary sets of constraints over any finite domain. The main goal of our work is to understand for which type of constraints (also called the constraint language) it is possible to efficiently compute representations of polynomial size. We answer this question completely and prove two tight characterizations of efficiently compilable constraint languages, depending on whether target format is structured. We first identify the combinatorial property of ``strong blockwise decomposability'' and show that if a constraint language has this property, we can compute DNNF representations of linear size. For all other constraint languages we construct families of CSP-instances that provably require DNNFs of exponential size. For a subclass of ``strong uniformly blockwise decomposable'' constraint languages we obtain a similar dichotomy for structured DNNFs. In fact, strong (uniform) blockwise decomposability even allows efficient compilation into multi-valued analogs of OBDDs and FBDDs, respectively. Thus, we get complete characterizations for all knowledge compilation classes between O(B)DDs and DNNFs.

Generative models are used as an alternative data augmentation technique to alleviate the data scarcity problem faced in the medical imaging field. Diffusion models have gathered special attention due to their innovative generation approach, the high quality of the generated images and their relatively less complex training process compared with Generative Adversarial Networks. Still, the implementation of such models in the medical domain remains at early stages. In this work, we propose exploring the use of diffusion models for the generation of high quality full-field digital mammograms using state-of-the-art conditional diffusion pipelines. Additionally, we propose using stable diffusion models for the inpainting of synthetic lesions on healthy mammograms. We introduce MAM-E, a pipeline of generative models for high quality mammography synthesis controlled by a text prompt and capable of generating synthetic lesions on specific regions of the breast. Finally, we provide quantitative and qualitative assessment of the generated images and easy-to-use graphical user interfaces for mammography synthesis.

Orthogonal meta-learners, such as DR-learner, R-learner and IF-learner, are increasingly used to estimate conditional average treatment effects. They improve convergence rates relative to na\"{\i}ve meta-learners (e.g., T-, S- and X-learner) through de-biasing procedures that involve applying standard learners to specifically transformed outcome data. This leads them to disregard the possibly constrained outcome space, which can be particularly problematic for dichotomous outcomes: these typically get transformed to values that are no longer constrained to the unit interval, making it difficult for standard learners to guarantee predictions within the unit interval. To address this, we construct orthogonal meta-learners for the prediction of counterfactual outcomes which respect the outcome space. As such, the obtained i-learner or imputation-learner is more generally expected to outperform existing learners, even when the outcome is unconstrained, as we confirm empirically in simulation studies and an analysis of critical care data. Our development also sheds broader light onto the construction of orthogonal learners for other estimands.

Games have a long history as benchmarks for progress in artificial intelligence. Approaches using search and learning produced strong performance across many perfect information games, and approaches using game-theoretic reasoning and learning demonstrated strong performance for specific imperfect information poker variants. We introduce Student of Games, a general-purpose algorithm that unifies previous approaches, combining guided search, self-play learning, and game-theoretic reasoning. Student of Games achieves strong empirical performance in large perfect and imperfect information games -- an important step towards truly general algorithms for arbitrary environments. We prove that Student of Games is sound, converging to perfect play as available computation and approximation capacity increases. Student of Games reaches strong performance in chess and Go, beats the strongest openly available agent in heads-up no-limit Texas hold'em poker, and defeats the state-of-the-art agent in Scotland Yard, an imperfect information game that illustrates the value of guided search, learning, and game-theoretic reasoning.

Redundant information transfer in a neural network can increase the complexity of the deep learning model, thus increasing its power consumption. We introduce in this paper a novel spiking neuron, termed Variable Spiking Neuron (VSN), which can reduce the redundant firing using lessons from biological neuron inspired Leaky Integrate and Fire Spiking Neurons (LIF-SN). The proposed VSN blends LIF-SN and artificial neurons. It garners the advantage of intermittent firing from the LIF-SN and utilizes the advantage of continuous activation from the artificial neuron. This property of the proposed VSN makes it suitable for regression tasks, which is a weak point for the vanilla spiking neurons, all while keeping the energy budget low. The proposed VSN is tested against both classification and regression tasks. The results produced advocate favorably towards the efficacy of the proposed spiking neuron, particularly for regression tasks.

Incorporating prior knowledge into pre-trained language models has proven to be effective for knowledge-driven NLP tasks, such as entity typing and relation extraction. Current pre-training procedures usually inject external knowledge into models by using knowledge masking, knowledge fusion and knowledge replacement. However, factual information contained in the input sentences have not been fully mined, and the external knowledge for injecting have not been strictly checked. As a result, the context information cannot be fully exploited and extra noise will be introduced or the amount of knowledge injected is limited. To address these issues, we propose MLRIP, which modifies the knowledge masking strategies proposed by ERNIE-Baidu, and introduce a two-stage entity replacement strategy. Extensive experiments with comprehensive analyses illustrate the superiority of MLRIP over BERT-based models in military knowledge-driven NLP tasks.