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To perform versatile mobile manipulation tasks in human-centered environments, the ability to efficiently transfer learned tasks and experiences from one robot to another or across different environments is key. In this paper, we present MAkEable, a versatile uni- and multi-manual mobile manipulation framework that facilitates the transfer of capabilities and knowledge across different tasks, environments, and robots. Our framework integrates an affordance-based task description into the memory-centric cognitive architecture of the ARMAR humanoid robot family, which supports the sharing of experiences and demonstrations for transfer learning. By representing mobile manipulation actions through affordances, i.e., interaction possibilities of the robot with its environment, we provide a unifying framework for the autonomous uni- and multi-manual manipulation of known and unknown objects in various environments. We demonstrate the applicability of the framework in real-world experiments for multiple robots, tasks, and environments. This includes grasping known and unknown objects, object placing, bimanual object grasping, memory-enabled skill transfer in a drawer opening scenario across two different humanoid robots, and a pouring task learned from human demonstration.

In evolutionary policy search, neural networks are usually represented using a direct mapping: each gene encodes one network weight. Indirect encoding methods, where each gene can encode for multiple weights, shorten the genome to reduce the dimensions of the search space and better exploit permutations and symmetries. The Geometric Encoding for Neural network Evolution (GENE) introduced an indirect encoding where the weight of a connection is computed as the (pseudo-)distance between the two linked neurons, leading to a genome size growing linearly with the number of genes instead of quadratically in direct encoding. However GENE still relies on hand-crafted distance functions with no prior optimization. Here we show that better performing distance functions can be found for GENE using Cartesian Genetic Programming (CGP) in a meta-evolution approach, hence optimizing the encoding to create a search space that is easier to exploit. We show that GENE with a learned function can outperform both direct encoding and the hand-crafted distances, generalizing on unseen problems, and we study how the encoding impacts neural network properties.

Automatic coding patient behaviors is essential to support decision making for psychotherapists during the motivational interviewing (MI), a collaborative communication intervention approach to address psychiatric issues, such as alcohol and drug addiction. While the behavior coding task has rapidly adapted machine learning to predict patient states during the MI sessions, lacking of domain-specific knowledge and overlooking patient-therapist interactions are major challenges in developing and deploying those models in real practice. To encounter those challenges, we introduce the Chain-of-Interaction (CoI) prompting method aiming to contextualize large language models (LLMs) for psychiatric decision support by the dyadic interactions. The CoI prompting approach systematically breaks down the coding task into three key reasoning steps, extract patient engagement, learn therapist question strategies, and integrates dyadic interactions between patients and therapists. This approach enables large language models to leverage the coding scheme, patient state, and domain knowledge for patient behavioral coding. Experiments on real-world datasets can prove the effectiveness and flexibility of our prompting method with multiple state-of-the-art LLMs over existing prompting baselines. We have conducted extensive ablation analysis and demonstrate the critical role of dyadic interactions in applying LLMs for psychotherapy behavior understanding.

In computer networking, network traffic refers to the amount of data transmitted in the form of packets between internetworked computers or Cyber-Physical Systems. Monitoring and analyzing network traffic is crucial for ensuring the performance, security, and reliability of a network. However, a significant challenge in network traffic analysis is to process diverse data packets including both ciphertext and plaintext. While many methods have been adopted to analyze network traffic, they often rely on different datasets for performance evaluation. This inconsistency results in substantial manual data processing efforts and unfair comparisons. Moreover, some data processing methods may cause data leakage due to improper separation of training and testing data. To address these issues, we introduce the NetBench, a large-scale and comprehensive benchmark dataset for assessing machine learning models, especially foundation models, in both network traffic classification and generation tasks. NetBench is built upon seven publicly available datasets and encompasses a broad spectrum of 20 tasks, including 15 classification tasks and 5 generation tasks. Furthermore, we evaluate eight State-Of-The-Art (SOTA) classification models (including two foundation models) and two generative models using our benchmark. The results show that foundation models significantly outperform the traditional deep learning methods in traffic classification. We believe NetBench will facilitate fair comparisons among various approaches and advance the development of foundation models for network traffic. Our benchmark is available at //github.com/WM-JayLab/NetBench.

One prominent approach toward resolving the adversarial vulnerability of deep neural networks is the two-player zero-sum paradigm of adversarial training, in which predictors are trained against adversarially chosen perturbations of data. Despite the promise of this approach, algorithms based on this paradigm have not engendered sufficient levels of robustness and suffer from pathological behavior like robust overfitting. To understand this shortcoming, we first show that the commonly used surrogate-based relaxation used in adversarial training algorithms voids all guarantees on the robustness of trained classifiers. The identification of this pitfall informs a novel non-zero-sum bilevel formulation of adversarial training, wherein each player optimizes a different objective function. Our formulation yields a simple algorithmic framework that matches and in some cases outperforms state-of-the-art attacks, attains comparable levels of robustness to standard adversarial training algorithms, and does not suffer from robust overfitting.

With the recent growth in demand for large-scale deep neural networks, compute in-memory (CiM) has come up as a prominent solution to alleviate bandwidth and on-chip interconnect bottlenecks that constrain Von-Neuman architectures. However, the construction of CiM hardware poses a challenge as any specific memory hierarchy in terms of cache sizes and memory bandwidth at different interfaces may not be ideally matched to any neural network's attributes such as tensor dimension and arithmetic intensity, thus leading to suboptimal and under-performing systems. Despite the success of neural architecture search (NAS) techniques in yielding efficient sub-networks for a given hardware metric budget (e.g., DNN execution time or latency), it assumes the hardware configuration to be frozen, often yielding sub-optimal sub-networks for a given budget. In this paper, we present CiMNet, a framework that jointly searches for optimal sub-networks and hardware configurations for CiM architectures creating a Pareto optimal frontier of downstream task accuracy and execution metrics (e.g., latency). The proposed framework can comprehend the complex interplay between a sub-network's performance and the CiM hardware configuration choices including bandwidth, processing element size, and memory size. Exhaustive experiments on different model architectures from both CNN and Transformer families demonstrate the efficacy of the CiMNet in finding co-optimized sub-networks and CiM hardware configurations. Specifically, for similar ImageNet classification accuracy as baseline ViT-B, optimizing only the model architecture increases performance (or reduces workload execution time) by 1.7x while optimizing for both the model architecture and hardware configuration increases it by 3.1x.

The incredible development of federated learning (FL) has benefited various tasks in the domains of computer vision and natural language processing, and the existing frameworks such as TFF and FATE has made the deployment easy in real-world applications. However, federated graph learning (FGL), even though graph data are prevalent, has not been well supported due to its unique characteristics and requirements. The lack of FGL-related framework increases the efforts for accomplishing reproducible research and deploying in real-world applications. Motivated by such strong demand, in this paper, we first discuss the challenges in creating an easy-to-use FGL package and accordingly present our implemented package FederatedScope-GNN (FS-G), which provides (1) a unified view for modularizing and expressing FGL algorithms; (2) comprehensive DataZoo and ModelZoo for out-of-the-box FGL capability; (3) an efficient model auto-tuning component; and (4) off-the-shelf privacy attack and defense abilities. We validate the effectiveness of FS-G by conducting extensive experiments, which simultaneously gains many valuable insights about FGL for the community. Moreover, we employ FS-G to serve the FGL application in real-world E-commerce scenarios, where the attained improvements indicate great potential business benefits. We publicly release FS-G, as submodules of FederatedScope, at //github.com/alibaba/FederatedScope to promote FGL's research and enable broad applications that would otherwise be infeasible due to the lack of a dedicated package.

Unsupervised domain adaptation has recently emerged as an effective paradigm for generalizing deep neural networks to new target domains. However, there is still enormous potential to be tapped to reach the fully supervised performance. In this paper, we present a novel active learning strategy to assist knowledge transfer in the target domain, dubbed active domain adaptation. We start from an observation that energy-based models exhibit free energy biases when training (source) and test (target) data come from different distributions. Inspired by this inherent mechanism, we empirically reveal that a simple yet efficient energy-based sampling strategy sheds light on selecting the most valuable target samples than existing approaches requiring particular architectures or computation of the distances. Our algorithm, Energy-based Active Domain Adaptation (EADA), queries groups of targe data that incorporate both domain characteristic and instance uncertainty into every selection round. Meanwhile, by aligning the free energy of target data compact around the source domain via a regularization term, domain gap can be implicitly diminished. Through extensive experiments, we show that EADA surpasses state-of-the-art methods on well-known challenging benchmarks with substantial improvements, making it a useful option in the open world. Code is available at //github.com/BIT-DA/EADA.

Recently, neural networks have been widely used in e-commerce recommender systems, owing to the rapid development of deep learning. We formalize the recommender system as a sequential recommendation problem, intending to predict the next items that the user might be interacted with. Recent works usually give an overall embedding from a user's behavior sequence. However, a unified user embedding cannot reflect the user's multiple interests during a period. In this paper, we propose a novel controllable multi-interest framework for the sequential recommendation, called ComiRec. Our multi-interest module captures multiple interests from user behavior sequences, which can be exploited for retrieving candidate items from the large-scale item pool. These items are then fed into an aggregation module to obtain the overall recommendation. The aggregation module leverages a controllable factor to balance the recommendation accuracy and diversity. We conduct experiments for the sequential recommendation on two real-world datasets, Amazon and Taobao. Experimental results demonstrate that our framework achieves significant improvements over state-of-the-art models. Our framework has also been successfully deployed on the offline Alibaba distributed cloud platform.

Ensembles over neural network weights trained from different random initialization, known as deep ensembles, achieve state-of-the-art accuracy and calibration. The recently introduced batch ensembles provide a drop-in replacement that is more parameter efficient. In this paper, we design ensembles not only over weights, but over hyperparameters to improve the state of the art in both settings. For best performance independent of budget, we propose hyper-deep ensembles, a simple procedure that involves a random search over different hyperparameters, themselves stratified across multiple random initializations. Its strong performance highlights the benefit of combining models with both weight and hyperparameter diversity. We further propose a parameter efficient version, hyper-batch ensembles, which builds on the layer structure of batch ensembles and self-tuning networks. The computational and memory costs of our method are notably lower than typical ensembles. On image classification tasks, with MLP, LeNet, and Wide ResNet 28-10 architectures, our methodology improves upon both deep and batch ensembles.