A naiveimplementation of this approach leads to the dynamic component taking over the static one as the representation of the former is inherently more general and prone to overfitting.

Class diagram: methods inherited by the concrete implementations from the interface are omitted for brevity getGravityVector: returns g ( q); getDynamicComponents: returns ( H, C q, g) getTorques: returns τ = H (q) q + C (q, q) q + g (q) . As mentioned in Section I-B, this class is derived by three solvers we provide. The KDL-based one is tailored for simulated robots, and discussed in Section II-B2. Two solvers for real robots, specifically UR10 and Franka, are presented in Section II-B3. It is worth highlighting that users in the ROS2 community are allowed to inherit the base class with their own implementations, possibly including the estimated models of other manipulators.

The growing prevalence of inverter-based resources (IBRs) for renewable energy integration and electrification greatly challenges power system dynamic analysis. To account for both synchronous generators (SGs) and IBRs, this work presents an approach for learning the model of an individual dynamic component. The recurrent neural network (RNN) model is used to match the recursive structure in predicting the key dynamical states of a component from its terminal bus voltage and set-point input. To deal with the fast transients especially due to IBRs, we develop a Stable Integral (SI-)RNN to mimic high-order integral methods that can enhance the stability and accuracy for the dynamic learning task. We demonstrate that the proposed SI-RNN model not only can successfully predict the component's dynamic behaviors, but also offers the possibility of efficiently computing the dynamic sensitivity relative to a set-point change. These capabilities have been numerically validated based on full-order Electromagnetic Transient (EMT) simulations on a small test system with both SGs and IBRs, particularly for predicting the dynamics of grid-forming inverters.

Agnostic domain shift is the main reason of model degradation on the unknown target domains, which brings an urgent need to develop Domain Generalization (DG). Recent advances at DG use dynamic networks to achieve training-free adaptation on the unknown target domains, termed Dynamic Domain Generalization (DDG), which compensates for the lack of self-adaptability in static models with fixed weights. The parameters of dynamic networks can be decoupled into a static and a dynamic component, which are designed to learn domain-invariant and domain-specific features, respectively. Based on the existing arts, in this work, we try to push the limits of DDG by disentangling the static and dynamic components more thoroughly from an optimization perspective. Our main consideration is that we can enable the static component to learn domain-invariant features more comprehensively by augmenting the domain-specific information. As a result, the more comprehensive domain-invariant features learned by the static component can then enforce the dynamic component to focus more on learning adaptive domain-specific features. To this end, we propose a simple yet effective Parameter Exchange (PE) method to perturb the combination between the static and dynamic components. We optimize the model using the gradients from both the perturbed and non-perturbed feed-forward jointly to implicitly achieve the aforementioned disentanglement. In this way, the two components can be optimized in a mutually-beneficial manner, which can resist the agnostic domain shifts and improve the self-adaptability on the unknown target domain. Extensive experiments show that PE can be easily plugged into existing dynamic networks to improve their generalization ability without bells and whistles.

The introduction of large-scale audio datasets, such as AudioSet, paved the way for Transformers to conquer the audio domain and replace CNNs as the state-of-the-art neural network architecture for many tasks. Audio Spectrogram Transformers are excellent at exploiting large datasets, creating powerful pre-trained models that surpass CNNs when fine-tuned on downstream tasks. However, current popular Audio Spectrogram Transformers are demanding in terms of computational complexity compared to CNNs. Recently, we have shown that, by employing Transformer-to-CNN Knowledge Distillation, efficient CNNs can catch up with and even outperform Transformers on large datasets. In this work, we extend this line of research and increase the capacity of efficient CNNs by introducing dynamic CNN blocks, constructed of dynamic non-linearities, dynamic convolutions and attention mechanisms. We show that these dynamic CNNs outperform traditional efficient CNNs, in terms of the performance-complexity trade-off and parameter efficiency, at the task of audio tagging on the large-scale AudioSet. Our experiments further indicate that the introduced dynamic CNNs achieve better performance on downstream tasks and scale up well, attaining Transformer performance and even outperforming them on AudioSet and several downstream tasks.

We study the standard problem of recommending relevant items to users; a user is someone who seeks recommendation, and an item is something which should be recommended. In today's modern world, both users and items are 'rich' multi-faceted entities but existing literature, for ease of modeling, views these facets in silos. In this paper, we provide a general formulation of the recommendation problem that captures the complexities of modern systems and encompasses most of the existing recommendation system formulations. In our formulation, each user and item is modeled via a set of static entities and a dynamic component. The relationships between entities are captured by multiple weighted bipartite graphs. To effectively exploit these complex interactions for recommendations, we propose MEDRES -- a multiple graph-CNN based novel deep-learning architecture. In addition, we propose a new metric, pAp@k, that is critical for a variety of classification+ranking scenarios. We also provide an optimization algorithm that directly optimizes the proposed metric and trains MEDRES in an end-to-end framework. We demonstrate the effectiveness of our method on two benchmarks as well as on a message recommendation system deployed in Microsoft Teams where it improves upon the existing production-grade model by 3%.

Neural signals are characterized by rich temporal and spatiotemporal dynamics that reflect the organization of cortical networks. Theoretical research has shown how neural networks can operate at different dynamic ranges that correspond to specific types of information processing. Here we present a data analysis framework that uses a linearized model of these dynamic states in order to decompose the measured neural signal into a series of components that capture both rhythmic and non-rhythmic neural activity. The method is based on stochastic differential equations and Gaussian process regression. Through computer simulations and analysis of magnetoencephalographic data, we demonstrate the efficacy of the method in identifying meaningful modulations of oscillatory signals corrupted by structured temporal and spatiotemporal noise. These results suggest that the method is particularly suitable for the analysis and interpretation of complex temporal and spatiotemporal neural signals.

Dempster-Shafer's model aims at quantifying degrees of belief But there are so many interpretations of Dempster-Shafer's theory in the literature that it seems useful to present the various contenders in order to clarify their respective positions. We shall successively consider the classical probability model, the upper and lower probabilities model, Dempster's model, the transferable belief model, the evidentiary value model, the provability or necessity model. None of these models has received the qualification of Dempster-Shafer. In fact the transferable belief model is our interpretation not of Dempster's work but of Shafer's work as presented in his book (Shafer 1976, Smets 1988). It is a ?purified' form of Dempster-Shafer's model in which any connection with probability concept has been deleted. Any model for belief has at least two components: one static that describes our state of belief, the other dynamic that explains how to update our belief given new pieces of information. We insist on the fact that both components must be considered in order to study these models. Too many authors restrict themselves to the static component and conclude that Dempster-Shafer theory is the same as some other theory. But once the dynamic component is considered, these conclusions break down. Any comparison based only on the static component is too restricted. The dynamic component must also be considered as the originality of the models based on belief functions lies in its dynamic component.