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Safety is critical in robotic tasks. Energy function based methods have been introduced to address the problem. To ensure safety in the presence of control limits, we need to design an energy function that results in persistently feasible safe control at all system states. However, designing such an energy function for high-dimensional nonlinear systems remains challenging. Considering the fact that there are redundant dynamics in high dimensional systems with respect to the safety specifications, this paper proposes a novel approach called abstract safe control. We propose a system abstraction method that enables the design of energy functions on a low-dimensional model. Then we can synthesize the energy function with respect to the low-dimensional model to ensure persistent feasibility. The resulting safe controller can be directly transferred to other systems with the same abstraction, e.g., when a robot arm holds different tools. The proposed approach is demonstrated on a 7-DoF robot arm (14 states) both in simulation and real-world. Our method always finds feasible control and achieves zero safety violations in 500 trials on 5 different systems.

Body weight, as an essential physiological trait, is of considerable significance in many applications like body management, rehabilitation, and drug dosing for patient-specific treatments. Previous works on the body weight estimation task are mainly vision-based, using 2D/3D, depth, or infrared images, facing problems in illumination, occlusions, and especially privacy issues. The pressure mapping mattress is a non-invasive and privacy-preserving tool to obtain the pressure distribution image over the bed surface, which strongly correlates with the body weight of the lying person. To extract the body weight from this image, we propose a deep learning-based model, including a dual-branch network to extract the deep features and pose features respectively. A contrastive learning module is also combined with the deep-feature branch to help mine the mutual factors across different postures of every single subject. The two groups of features are then concatenated for the body weight regression task. To test the model's performance over different hardware and posture settings, we create a pressure image dataset of 10 subjects and 23 postures, using a self-made pressure-sensing bedsheet. This dataset, which is made public together with this paper, together with a public dataset, are used for the validation. The results show that our model outperforms the state-of-the-art algorithms over both 2 datasets. Our research constitutes an important step toward fully automatic weight estimation in both clinical and at-home practice. Our dataset is available for research purposes at: //github.com/USTCWzy/MassEstimation.

Deep neural networks have become a highly accurate and powerful wavefunction ansatz in combination with variational Monte Carlo methods for solving the electronic Schr\"odinger equation. However, despite their success and favorable scaling, these methods are still computationally too costly for wide adoption. A significant obstacle is the requirement to optimize the wavefunction from scratch for each new system, thus requiring long optimization. In this work, we propose a novel neural network ansatz, which effectively maps uncorrelated, computationally cheap Hartree-Fock orbitals, to correlated, high-accuracy neural network orbitals. This ansatz is inherently capable of learning a single wavefunction across multiple compounds and geometries, as we demonstrate by successfully transferring a wavefunction model pre-trained on smaller fragments to larger compounds. Furthermore, we provide ample experimental evidence to support the idea that extensive pre-training of a such a generalized wavefunction model across different compounds and geometries could lead to a foundation wavefunction model. Such a model could yield high-accuracy ab-initio energies using only minimal computational effort for fine-tuning and evaluation of observables.

Structured recursion schemes such as folds and unfolds have been widely used for structuring both functional programs and program semantics. In this context, it has been customary to implement denotational semantics as folds over an inductive data type to ensure termination and compositionality. Separately, operational models can be given by unfolds, and naturally not all operational models coincide with a given denotational semantics in a meaningful way. To ensure these semantics are coherent it is important to consider the property of full abstraction which relates the denotational and the operational model. In this paper, we show how to engineer a compositional semantics such that full abstraction comes for free. We do this by using distributive laws from which we generate both the operational and the denotational model. The distributive laws ensure the semantics are fully abstract at the type level, thus relieving the programmer from the burden of the proofs.

Agriculture plays an important role in the food and economy of Bangladesh. The rapid growth of population over the years also has increased the demand for food production. One of the major reasons behind low crop production is numerous bacteria, virus and fungal plant diseases. Early detection of plant diseases and proper usage of pesticides and fertilizers are vital for preventing the diseases and boost the yield. Most of the farmers use generalized pesticides and fertilizers in the entire fields without specifically knowing the condition of the plants. Thus the production cost oftentimes increases, and, not only that, sometimes this becomes detrimental to the yield. Deep Learning models are found to be very effective to automatically detect plant diseases from images of plants, thereby reducing the need for human specialists. This paper aims at building a lightweight deep learning model for predicting leaf disease in tomato plants. By modifying the region-based convolutional neural network, we design an efficient and effective model that demonstrates satisfactory empirical performance on a benchmark dataset. Our proposed model can easily be deployed in a larger system where drones take images of leaves and these images will be fed into our model to know the health condition.

Ensembling can improve the performance of Neural Networks, but existing approaches struggle when the architecture likelihood surface has dispersed, narrow peaks. Furthermore, existing methods construct equally weighted ensembles, and this is likely to be vulnerable to the failure modes of the weaker architectures. By viewing ensembling as approximately marginalising over architectures we construct ensembles using the tools of Bayesian Quadrature -- tools which are well suited to the exploration of likelihood surfaces with dispersed, narrow peaks. Additionally, the resulting ensembles consist of architectures weighted commensurate with their performance. We show empirically -- in terms of test likelihood, accuracy, and expected calibration error -- that our method outperforms state-of-the-art baselines, and verify via ablation studies that its components do so independently.

Recent work pre-training Transformers with self-supervised objectives on large text corpora has shown great success when fine-tuned on downstream NLP tasks including text summarization. However, pre-training objectives tailored for abstractive text summarization have not been explored. Furthermore there is a lack of systematic evaluation across diverse domains. In this work, we propose pre-training large Transformer-based encoder-decoder models on massive text corpora with a new self-supervised objective. In PEGASUS, important sentences are removed/masked from an input document and are generated together as one output sequence from the remaining sentences, similar to an extractive summary. We evaluated our best PEGASUS model on 12 downstream summarization tasks spanning news, science, stories, instructions, emails, patents, and legislative bills. Experiments demonstrate it achieves state-of-the-art performance on all 12 downstream datasets measured by ROUGE scores. Our model also shows surprising performance on low-resource summarization, surpassing previous state-of-the-art results on 6 datasets with only 1000 examples. Finally we validated our results using human evaluation and show that our model summaries achieve human performance on multiple datasets.

Graph Neural Networks (GNNs), which generalize deep neural networks to graph-structured data, have drawn considerable attention and achieved state-of-the-art performance in numerous graph related tasks. However, existing GNN models mainly focus on designing graph convolution operations. The graph pooling (or downsampling) operations, that play an important role in learning hierarchical representations, are usually overlooked. In this paper, we propose a novel graph pooling operator, called Hierarchical Graph Pooling with Structure Learning (HGP-SL), which can be integrated into various graph neural network architectures. HGP-SL incorporates graph pooling and structure learning into a unified module to generate hierarchical representations of graphs. More specifically, the graph pooling operation adaptively selects a subset of nodes to form an induced subgraph for the subsequent layers. To preserve the integrity of graph's topological information, we further introduce a structure learning mechanism to learn a refined graph structure for the pooled graph at each layer. By combining HGP-SL operator with graph neural networks, we perform graph level representation learning with focus on graph classification task. Experimental results on six widely used benchmarks demonstrate the effectiveness of our proposed model.

Graphs, which describe pairwise relations between objects, are essential representations of many real-world data such as social networks. In recent years, graph neural networks, which extend the neural network models to graph data, have attracted increasing attention. Graph neural networks have been applied to advance many different graph related tasks such as reasoning dynamics of the physical system, graph classification, and node classification. Most of the existing graph neural network models have been designed for static graphs, while many real-world graphs are inherently dynamic. For example, social networks are naturally evolving as new users joining and new relations being created. Current graph neural network models cannot utilize the dynamic information in dynamic graphs. However, the dynamic information has been proven to enhance the performance of many graph analytical tasks such as community detection and link prediction. Hence, it is necessary to design dedicated graph neural networks for dynamic graphs. In this paper, we propose DGNN, a new {\bf D}ynamic {\bf G}raph {\bf N}eural {\bf N}etwork model, which can model the dynamic information as the graph evolving. In particular, the proposed framework can keep updating node information by capturing the sequential information of edges, the time intervals between edges and information propagation coherently. Experimental results on various dynamic graphs demonstrate the effectiveness of the proposed framework.