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

This paper advances theoretical understanding of infinite-dimensional geometrical properties associated with Bayesian inference. First, we introduce a novel class of infinite-dimensional Hamiltonian systems for saddle Hamiltonian functions whose domains are metric spaces. A flow of this system is generated by a Hamiltonian arc field, an analogue of Hamiltonian vector fields formulated based on (i) the first variation of Hamiltonian functions and (ii) the notion of arc fields that extends vector fields to metric spaces. We establish that this system obeys the conservation of energy. We derive a condition for the existence of the flow, which reduces to local Lipschitz continuity of the first variation under sufficient regularity. Second, we present a system of a Hamiltonian function, called the minimum free energy, whose domain is a metric space of negative log-likelihoods and probability measures. The difference of the posterior and the prior of Bayesian inference is characterised as the first variation of the minimum free energy. Our result shows that a transition from the prior to the posterior defines an arc field on a space of probability measures, which forms a Hamiltonian arc field together with another corresponding arc field on a space of negative log-likelihoods. This reveals the underlying invariance of the free energy behind the arc field.

Diffusion Probabilistic Models stand as a critical tool in generative modelling, enabling the generation of complex data distributions. This family of generative models yields record-breaking performance in tasks such as image synthesis, video generation, and molecule design. Despite their capabilities, their efficiency, especially in the reverse process, remains a challenge due to slow convergence rates and high computational costs. In this paper, we introduce an approach that leverages continuous dynamical systems to design a novel denoising network for diffusion models that is more parameter-efficient, exhibits faster convergence, and demonstrates increased noise robustness. Experimenting with Denoising Diffusion Probabilistic Models (DDPMs), our framework operates with approximately a quarter of the parameters, and $\sim$ 30\% of the Floating Point Operations (FLOPs) compared to standard U-Nets in DDPMs. Furthermore, our model is notably faster in inference than the baseline when measured in fair and equal conditions. We also provide a mathematical intuition as to why our proposed reverse process is faster as well as a mathematical discussion of the empirical tradeoffs in the denoising downstream task. Finally, we argue that our method is compatible with existing performance enhancement techniques, enabling further improvements in efficiency, quality, and speed.

This paper presents a novel vision-based proprioception approach for a soft robotic finger capable of estimating and reconstructing tactile interactions in terrestrial and aquatic environments. The key to this system lies in the finger's unique metamaterial structure, which facilitates omni-directional passive adaptation during grasping, protecting delicate objects across diverse scenarios. A compact in-finger camera captures high-framerate images of the finger's deformation during contact, extracting crucial tactile data in real time. We present a method of the volumetric discretized model of the soft finger and use the geometry constraints captured by the camera to find the optimal estimation of the deformed shape. The approach is benchmarked with a motion-tracking system with sparse markers and a haptic device with dense measurements. Both results show state-of-the-art accuracies, with a median error of 1.96 mm for overall body deformation, corresponding to 2.1$\%$ of the finger's length. More importantly, the state estimation is robust in both on-land and underwater environments as we demonstrate its usage for underwater object shape sensing. This combination of passive adaptation and real-time tactile sensing paves the way for amphibious robotic grasping applications.

The paper addresses Bayesian inferences in inverse problems with uncertainty quantification involving a computationally expensive forward map associated with solving a partial differential equations. To mitigate the computational cost, the paper proposes a new surrogate model informed by the physics of the problem, specifically when the forward map involves solving a linear elliptic partial differential equation. The study establishes the consistency of the posterior distribution for this surrogate model and demonstrates its effectiveness through numerical examples with synthetic data. The results indicate a substantial improvement in computational speed, reducing the processing time from several months with the exact forward map to a few minutes, while maintaining negligible loss of accuracy in the posterior distribution.

This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions having a physical interpretation through the notion of occupancy, it is intuitive to represent the environment with safety constraints. Hence, there is an ease of use to constructing the planning problem with density. The proposed method uses a simplified model of the robot into an integrator system, where the high-level plan is in a feedback form formulated through an analytically constructed density function. We then use the MPC to optimize the reference trajectory, in which a low-level PID controller is used to obtain the torque level control. The overall framework is implemented in simulation, demonstrating our feedback density planner for legged locomotion. The implementation of work is available at \url{//github.com/AndrewZheng-1011/legged_planner}

While scientists increasingly recognize the importance of metadata in describing their data, spreadsheets remain the preferred tool for supplying this information despite their limitations in ensuring compliance and quality. Various tools have been developed to address these limitations, but they suffer from their own shortcomings, such as steep learning curves and limited customization. In this paper, we describe an end-to-end approach that supports spreadsheet-based entry of metadata while providing rigorous compliance and quality control. Our approach employs several key strategies, including customizable templates for defining metadata, integral support for the use of controlled terminologies when defining these templates, and an interactive Web-based tool that allows users to rapidly identify and fix errors in the spreadsheet-based metadata they supply. We demonstrate how this approach is being deployed in a biomedical consortium to define and collect metadata about scientific experiments.

Automatic recognition of disordered speech remains a highly challenging task to date due to data scarcity. This paper presents a reinforcement learning (RL) based on-the-fly data augmentation approach for training state-of-the-art PyChain TDNN and end-to-end Conformer ASR systems on such data. The handcrafted temporal and spectral mask operations in the standard SpecAugment method that are task and system dependent, together with additionally introduced minimum and maximum cut-offs of these time-frequency masks, are now automatically learned using an RNN-based policy controller and tightly integrated with ASR system training. Experiments on the UASpeech corpus suggest the proposed RL-based data augmentation approach consistently produced performance superior or comparable that obtained using expert or handcrafted SpecAugment policies. Our RL auto-augmented PyChain TDNN system produced an overall WER of 28.79% on the UASpeech test set of 16 dysarthric speakers.

This paper introduces an innovative method for reducing the computational complexity of deep neural networks in real-time speech enhancement on resource-constrained devices. The proposed approach utilizes a two-stage processing framework, employing channelwise feature reorientation to reduce the computational load of convolutional operations. By combining this with a modified power law compression technique for enhanced perceptual quality, this approach achieves noise suppression performance comparable to state-of-the-art methods with significantly less computational requirements. Notably, our algorithm exhibits 3 to 4 times less computational complexity and memory usage than prior state-of-the-art approaches.

The field of computational pathology has witnessed remarkable progress in the development of both task-specific predictive models and task-agnostic self-supervised vision encoders. However, despite the explosive growth of generative artificial intelligence (AI), there has been limited study on building general purpose, multimodal AI assistants tailored to pathology. Here we present PathChat, a vision-language generalist AI assistant for human pathology using an in-house developed foundational vision encoder pretrained on 100 million histology images from over 100,000 patient cases and 1.18 million pathology image-caption pairs. The vision encoder is then combined with a pretrained large language model and the whole system is finetuned on over 250,000 diverse disease agnostic visual language instructions. We compare PathChat against several multimodal vision language AI assistants as well as GPT4V, which powers the commercially available multimodal general purpose AI assistant ChatGPT-4. When relevant clinical context is provided with the histology image, PathChat achieved a diagnostic accuracy of 87% on multiple-choice questions based on publicly available cases of diverse tissue origins and disease models. Additionally, using open-ended questions and human expert evaluation, we found that overall PathChat produced more accurate and pathologist-preferable responses to diverse queries related to pathology. As an interactive and general vision language AI assistant that can flexibly handle both visual and natural language inputs, PathChat can potentially find impactful applications in pathology education, research, and human-in-the-loop clinical decision making.

Recent contrastive representation learning methods rely on estimating mutual information (MI) between multiple views of an underlying context. E.g., we can derive multiple views of a given image by applying data augmentation, or we can split a sequence into views comprising the past and future of some step in the sequence. Contrastive lower bounds on MI are easy to optimize, but have a strong underestimation bias when estimating large amounts of MI. We propose decomposing the full MI estimation problem into a sum of smaller estimation problems by splitting one of the views into progressively more informed subviews and by applying the chain rule on MI between the decomposed views. This expression contains a sum of unconditional and conditional MI terms, each measuring modest chunks of the total MI, which facilitates approximation via contrastive bounds. To maximize the sum, we formulate a contrastive lower bound on the conditional MI which can be approximated efficiently. We refer to our general approach as Decomposed Estimation of Mutual Information (DEMI). We show that DEMI can capture a larger amount of MI than standard non-decomposed contrastive bounds in a synthetic setting, and learns better representations in a vision domain and for dialogue generation.