Reviewerly/exHarmony huggingface dataset:
A Framework for Real-World Multi-Robot Systems Running Decentralized GNN-Based Policies

GNNs are a paradigm-shifting neural architecture to facilitate the learning of complex multi-agent behaviors. Recent work has demonstrated remarkable performance in tasks such as flocking, multi-agent path planning and cooperative coverage. However, the policies derived through GNN-based learning schemes have not yet been deployed to the real-world on physical multi-robot systems. In this work, we present the design of a system that allows for fully decentralized execution of GNN-based policies. We create a framework based on ROS2 and elaborate its details in this paper. We demonstrate our framework on a case-study that requires tight coordination between robots, and present first-of-a-kind results that show successful real-world deployment of GNN-based policies on a decentralized multi-robot system relying on Adhoc communication. A video demonstration of this case-study, as well as the accompanying source code repository, can be found online. https://www.youtube.com/watch?v=COh-WLn4iO4 https://github.com/proroklab/ros2_multi_agent_passage https://github.com/proroklab/rl_multi_agent_passage
Towards A Reliable Ground-Truth For Biased Language Detection

Reference texts such as encyclopedias and news articles can manifest biased language when objective reporting is substituted by subjective writing. Existing methods to detect bias mostly rely on annotated data to train machine learning models. However, low annotator agreement and comparability is a substantial drawback in available media bias corpora. To evaluate data collection options, we collect and compare labels obtained from two popular crowdsourcing platforms. Our results demonstrate the existing crowdsourcing approaches' lack of data quality, underlining the need for a trained expert framework to gather a more reliable dataset. By creating such a framework and gathering a first dataset, we are able to improve Krippendorff's $\alpha$ = 0.144 (crowdsourcing labels) to $\alpha$ = 0.419 (expert labels). We conclude that detailed annotator training increases data quality, improving the performance of existing bias detection systems. We will continue to extend our dataset in the future.
Scribble-Supervised LiDAR Semantic Segmentation

Densely annotating LiDAR point clouds remains too expensive and time-consuming to keep up with the ever growing volume of data. While current literature focuses on fully-supervised performance, developing efficient methods that take advantage of realistic weak supervision have yet to be explored. In this paper, we propose using scribbles to annotate LiDAR point clouds and release ScribbleKITTI, the first scribble-annotated dataset for LiDAR semantic segmentation. Furthermore, we present a pipeline to reduce the performance gap that arises when using such weak annotations. Our pipeline comprises of three stand-alone contributions that can be combined with any LiDAR semantic segmentation model to achieve up to 95.7% of the fully-supervised performance while using only 8% labeled points. Our scribble annotations and code are available at github.com/ouenal/scribblekitti.
Graph-based Active Learning for Semi-supervised Classification of SAR Data

We present a novel method for classification of Synthetic Aperture Radar (SAR) data by combining ideas from graph-based learning and neural network methods within an active learning framework. Graph-based methods in machine learning are based on a similarity graph constructed from the data. When the data consists of raw images composed of scenes, extraneous information can make the classification task more difficult. In recent years, neural network methods have been shown to provide a promising framework for extracting patterns from SAR images. These methods, however, require ample training data to avoid overfitting. At the same time, such training data are often unavailable for applications of interest, such as automatic target recognition (ATR) and SAR data. We use a Convolutional Neural Network Variational Autoencoder (CNNVAE) to embed SAR data into a feature space, and then construct a similarity graph from the embedded data and apply graph-based semi-supervised learning techniques. The CNNVAE feature embedding and graph construction requires no labeled data, which reduces overfitting and improves the generalization performance of graph learning at low label rates. Furthermore, the method easily incorporates a human-in-the-loop for active learning in the data-labeling process. We present promising results and compare them to other standard machine learning methods on the Moving and Stationary Target Acquisition and Recognition (MSTAR) dataset for ATR with small amounts of labeled data.
Detection, Recognition, and Tracking: A Survey

For humans, object detection, recognition, and tracking are innate. These provide the ability for human to perceive their environment and objects within their environment. This ability however doesn't translate well in computers. In Computer Vision and Multimedia, it is becoming increasingly more important to detect, recognize and track objects in images and/or videos. Many of these applications, such as facial recognition, surveillance, animation, are used for tracking features and/or people. However, these tasks prove challenging for computers to do effectively, as there is a significant amount of data to parse through. Therefore, many techniques and algorithms are needed and therefore researched to try to achieve human like perception. In this literature review, we focus on some novel techniques on object detection and recognition, and how to apply tracking algorithms to the detected features to track the objects' movements.
L-SVRG and L-Katyusha with Adaptive Sampling

Stochastic gradient-based optimization methods, such as L-SVRG and its accelerated variant L-Katyusha (Kovalev et al., 2020), are widely used to train machine learning models.The theoretical and empirical performance of L-SVRG and L-Katyusha can be improved by sampling observations from a non-uniform distribution (Qian et al., 2021). However,designing a desired sampling distribution requires prior knowledge of smoothness constants, which can be computationally intractable to obtain in practice when the dimension of the model parameter is high. To address this issue, we propose an adaptive sampling strategy for L-SVRG and L-Katyusha that can learn the sampling distribution with little computational overhead, while allowing it to change with iterates, and at the same time does not require any prior knowledge of the problem parameters. We prove convergence guarantees for L-SVRG and L-Katyusha for convex objectives when the sampling distribution changes with iterates. Our results show that even without prior information, the proposed adaptive sampling strategy matches, and in some cases even surpasses, the performance of the sampling scheme in Qian et al. (2021). Extensive simulations support our theory and the practical utility of the proposed sampling scheme on real data.
FLIX: A Simple and Communication-Efficient Alternative to Local Methods in Federated Learning

Federated Learning (FL) is an increasingly popular machine learning paradigm in which multiple nodes try to collaboratively learn under privacy, communication and multiple heterogeneity constraints. A persistent problem in federated learning is that it is not clear what the optimization objective should be: the standard average risk minimization of supervised learning is inadequate in handling several major constraints specific to federated learning, such as communication adaptivity and personalization control. We identify several key desiderata in frameworks for federated learning and introduce a new framework, FLIX, that takes into account the unique challenges brought by federated learning. FLIX has a standard finite-sum form, which enables practitioners to tap into the immense wealth of existing (potentially non-local) methods for distributed optimization. Through a smart initialization that does not require any communication, FLIX does not require the use of local steps but is still provably capable of performing dissimilarity regularization on par with local methods. We give several algorithms for solving the FLIX formulation efficiently under communication constraints. Finally, we corroborate our theoretical results with extensive experimentation.
Answer Generation for Questions With Multiple Information Sources in  E-Commerce

Automatic question answering is an important yet challenging task in E-commerce given the millions of questions posted by users about the product that they are interested in purchasing. Hence, there is a great demand for automatic answer generation systems that provide quick responses using related information about the product. There are three sources of knowledge available for answering a user posted query, they are reviews, duplicate or similar questions, and specifications. Effectively utilizing these information sources will greatly aid us in answering complex questions. However, there are two main challenges present in exploiting these sources: (i) The presence of irrelevant information and (ii) the presence of ambiguity of sentiment present in reviews and similar questions. Through this work we propose a novel pipeline (MSQAP) that utilizes the rich information present in the aforementioned sources by separately performing relevancy and ambiguity prediction before generating a response. Experimental results show that our relevancy prediction model (BERT-QA) outperforms all other variants and has an improvement of 12.36% in F1 score compared to the BERT-base baseline. Our generation model (T5-QA) outperforms the baselines in all content preservation metrics such as BLEU, ROUGE and has an average improvement of 35.02% in ROUGE and 198.75% in BLEU compared to the highest performing baseline (HSSC-q). Human evaluation of our pipeline shows us that our method has an overall improvement in accuracy of 30.7% over the generation model (T5-QA), resulting in our full pipeline-based approach (MSQAP) providing more accurate answers. To the best of our knowledge, this is the first work in the e-commerce domain that automatically generates natural language answers combining the information present in diverse sources such as specifications, similar questions, and reviews data.
Differential Assessment of Black-Box AI Agents

Much of the research on learning symbolic models of AI agents focuses on agents with stationary models. This assumption fails to hold in settings where the agent's capabilities may change as a result of learning, adaptation, or other post-deployment modifications. Efficient assessment of agents in such settings is critical for learning the true capabilities of an AI system and for ensuring its safe usage. In this work, we propose a novel approach to "differentially" assess black-box AI agents that have drifted from their previously known models. As a starting point, we consider the fully observable and deterministic setting. We leverage sparse observations of the drifted agent's current behavior and knowledge of its initial model to generate an active querying policy that selectively queries the agent and computes an updated model of its functionality. Empirical evaluation shows that our approach is much more efficient than re-learning the agent model from scratch. We also show that the cost of differential assessment using our method is proportional to the amount of drift in the agent's functionality.
A Moment in the Sun: Solar Nowcasting from Multispectral Satellite Data using Self-Supervised Learning

Solar energy is now the cheapest form of electricity in history. Unfortunately, significantly increasing the grid's fraction of solar energy remains challenging due to its variability, which makes balancing electricity's supply and demand more difficult. While thermal generators' ramp rate -- the maximum rate that they can change their output -- is finite, solar's ramp rate is essentially infinite. Thus, accurate near-term solar forecasting, or nowcasting, is important to provide advance warning to adjust thermal generator output in response to solar variations to ensure a balanced supply and demand. To address the problem, this paper develops a general model for solar nowcasting from abundant and readily available multispectral satellite data using self-supervised learning. Specifically, we develop deep auto-regressive models using convolutional neural networks (CNN) and long short-term memory networks (LSTM) that are globally trained across multiple locations to predict raw future observations of the spatio-temporal data collected by the recently launched GOES-R series of satellites. Our model estimates a location's future solar irradiance based on satellite observations, which we feed to a regression model trained on smaller site-specific solar data to provide near-term solar photovoltaic (PV) forecasts that account for site-specific characteristics. We evaluate our approach for different coverage areas and forecast horizons across 25 solar sites and show that our approach yields errors close to that of a model using ground-truth observations.
Fast and Automatic Object Registration for Human-Robot Collaboration in Industrial Manufacturing

We present an end-to-end framework for fast retraining of object detection models in human-robot-collaboration. Our Faster R-CNN based setup covers the whole workflow of automatic image generation and labeling, model retraining on-site as well as inference on a FPGA edge device. The intervention of a human operator reduces to providing the new object together with its label and starting the training process. Moreover, we present a new loss, the intraspread-objectosphere loss, to tackle the problem of open world recognition. Though it fails to completely solve the problem, it significantly reduces the number of false positive detections of unknown objects.
The Development of SWSeum (Semantic Web Museum) in Mpu Purwa Museum Malang

The research of the Semantic Web of the Mpu Purwa Museum initiated because of the urgency of a more structured data about the records of the artefacts.The current official website of Mpu Purwa Museum is made from a Blogspot site that has no structure or whatsoever.This research intended to build a better website using Semantic Web to give the record a structure so that not only the human could understand the content, but also the machine could have a better understanding about it.This could help the Museum to reach better audiences and users so it could improve the image by building a better system.The method of building this website is using Waterfall Method in which the steps are requirement analysis, design the user interface and the system, coding both of the front-end and the back-end side of the system, testing the system using White Box and Black Box method, and finally the system could be implemented.
A Note on Comparison of F-measures

We comment on a recent TKDE paper "Linear Approximation of F-measure for the Performance Evaluation of Classification Algorithms on Imbalanced Data Sets", and make two improvements related to comparison of F-measures for two prediction rules.
Problem-Solving and Performance Management Tools

Problem-solving consists of using generic or ad hoc methods in an orderly manner to find solutions to problems. Some of the problem-solving techniques developed and used in philosophy, artificial intelligence, computer science, engineering, mathematics, medicine, and societies in general are related to mental problem-solving techniques studied in psychology and cognitive sciences (Helmold, 2021). The term problem-solving has a slightly different meaning depending on the discipline. For instance, it is a mental process in psychology and a computerized process in computer science. There are two different types of problems: ill-defined and well-defined; different approaches are used for each. Well-defined problems have specific end goals and clearly expected solutions, while ill-defined problems do not. Well-defined problems allow for more initial planning than ill-defined problems. Solving problems sometimes involves dealing with pragmatics, the way that context contributes to meaning, and semantics, the interpretation of the problem. The ability to understand what the end goal of the problem is, and what rules could be applied, represents the key to solving the problem. Sometimes the problem requires abstract thinking or coming up with a creative solution.
End-to-end contextual asr based on posterior distribution adaptation for hybrid ctc/attention system

End-to-end (E2E) speech recognition architectures assemble all components of traditional speech recognition system into a single model. Although it simplifies ASR system, it introduces contextual ASR drawback: the E2E model has worse performance on utterances containing infrequent proper nouns. In this work, we propose to add a contextual bias attention (CBA) module to attention based encoder decoder (AED) model to improve its ability of recognizing the contextual phrases. Specifically, CBA utilizes the context vector of source attention in decoder to attend to a specific bias embedding. Jointly learned with the basic AED parameters, CBA can tell the model when and where to bias its output probability distribution. At inference stage, a list of bias phrases is preloaded and we adapt the posterior distributions of both CTC and attention decoder according to the attended bias phrase of CBA. We evaluate the proposed method on GigaSpeech and achieve a consistent relative improvement on recall rate of bias phrases ranging from 15% to 28% compared to the baseline model. Meanwhile, our method shows a strong anti-bias ability as the performance on general tests only degrades 1.7% even 2,000 bias phrases are present.
A Review: Data Mining Techniques and Its Applications

Data mining is a set of processes by which knowledge is extracted from huge amounts of data. Data mining is used to extract useful patterns and hidden information from this data. Machine learning techniques help in the comprehension of the hidden knowledge in the data. Data mining is considered an important field of research and is used in many different fields such as fraud detection, financial banking, education, healthcare, agriculture, industry, etc. In this paper, we will highlight some fundamentals of data mining and its applications. Also, we will conduct a comparative study among different reviews, combining literary studies that employed data mining techniques in various fields and reviewing the latest developments in this field.
Two pointsets in $\mathrm{PG}(2,q^n)$ and the associated codes

In this paper we consider two pointsets in $\mathrm{PG}(2,q^n)$ arising from a linear set $L$ of rank $n$ contained in a line of $\mathrm{PG}(2,q^n)$: the first one is a linear blocking set of R\'edei type, the second one extends the construction of translation KM-arcs. We point out that their intersections pattern with lines is related to the weight distribution of the considered linear set $L$. We then consider the Hamming metric codes associated with both these constructions, for which we can completely describe their weight distributions. By choosing $L$ to be an $\mathbb{F}_q$-linear set with a short weight distribution, then the associated codes have few weights. We conclude the paper by providing a connection between the $\Gamma\mathrm{L}$-class of $L$ and the number of inequivalent codes we can construct starting from it.
Emotions and Thinking

The living world, just like the inanimate one, belongs to nature. However, all liv­ing systems, in contrast to the inanimate ones, are unbalanced: they exist in the sta­te of non-equilibrium. Their existence requires constant interaction with the exter­nal environment for consumption of energy and various substances as building materials. It is determined by evolutionarily developed programs in the form of in­stinctive (single-variant) and intellectual (multi-variant) responses to external in­fluences (changes in the external environment). In humans and some other highly developed representatives of the living world, the main reactions are of the intel­lectual type. At the final stage of such responses, one optimal variant is selected. Examples from real life of positive and negative emotional choice determined by the social experience of the individual are given. In this article I explore the idea that the selection criterion for choice optimisation is the emotions associated with the virtual representations of the subjects experience accumulated in their memory. Thus, we solve the problem of understanding of the selection criterion and the vo­litional component of the thinking process at a whole. The role and necessity of emotions in every act of the thinking process becomes more understandable.
DST: Dynamic Substitute Training for Data-free Black-box Attack

With the wide applications of deep neural network models in various computer vision tasks, more and more works study the model vulnerability to adversarial examples. For data-free black box attack scenario, existing methods are inspired by the knowledge distillation, and thus usually train a substitute model to learn knowledge from the target model using generated data as input. However, the substitute model always has a static network structure, which limits the attack ability for various target models and tasks. In this paper, we propose a novel dynamic substitute training attack method to encourage substitute model to learn better and faster from the target model. Specifically, a dynamic substitute structure learning strategy is proposed to adaptively generate optimal substitute model structure via a dynamic gate according to different target models and tasks. Moreover, we introduce a task-driven graph-based structure information learning constrain to improve the quality of generated training data, and facilitate the substitute model learning structural relationships from the target model multiple outputs. Extensive experiments have been conducted to verify the efficacy of the proposed attack method, which can achieve better performance compared with the state-of-the-art competitors on several datasets.
Graph augmented Deep Reinforcement Learning in the GameRLand3D environment

We address planning and navigation in challenging 3D video games featuring maps with disconnected regions reachable by agents using special actions. In this setting, classical symbolic planners are not applicable or difficult to adapt. We introduce a hybrid technique combining a low level policy trained with reinforcement learning and a graph based high level classical planner. In addition to providing human-interpretable paths, the approach improves the generalization performance of an end-to-end approach in unseen maps, where it achieves a 20% absolute increase in success rate over a recurrent end-to-end agent on a point to point navigation task in yet unseen large-scale maps of size 1km x 1km. In an in-depth experimental study, we quantify the limitations of end-to-end Deep RL approaches in vast environments and we also introduce "GameRLand3D", a new benchmark and soon to be released environment can generate complex procedural 3D maps for navigation tasks.
FORMATION OF THE PROFESSIONAL ORIENTATION OF FUTURE PHARMACISTS IN THE CONDITIONS OF THE UNIVERSITY:THEORETICAL ANALYSIS

Рецензируемые научные журналы МГОУ. Журналы МГОУ входящие в перечень ВАК: География, История, Международные отношения, Политология, Лингвистика, Педагогика, Психология, Филология, Физика-математика, Философия, Экономика, Юриспруденция