BERT4REC是基于变压器体系结构的顺序推荐的有效模型。在原始出版物中，Bert4Rec声称比其他可用的顺序推荐方法优越（例如Sasrec），现在经常将其用作顺序建议的最先进的基线。但是，并非所有随后的出版物都证实了这一结果，并提出了其他模型，这些模型被证明在有效性方面表现优于Bert4Rec。在本文中，我们会系统地回顾所有将Bert4Rec与另一个受欢迎的基于变压器的模型（即Sasrec）进行比较的出版物，并表明BERT4REC结果在这些出版物中不一致。为了了解这种不一致的原因，我们分析了BERT4REC的可用实现，并表明我们在使用默认配置参数时未能重现原始Bert4Rec出版物的结果。但是，与默认配置相比，如果训练更长的时间（最高30倍），我们可以用原始代码复制报告的结果。我们还根据拥抱面孔变压器库提出了自己的BERT4REC实施，我们证明了在3个OUT 4数据集中重复了最初报告的结果，同时需要减少95％的培训时间来收敛。总体而言，从我们的系统审查和详细的实验中，我们得出结论，Bert4Rec确实确实表现出了序列建议的最新有效性，但只有在经过足够的时间进行培训时。此外，我们表明，我们的实现可以通过调整拥抱面孔库中可用的其他变压器体系结构（例如，使用Deberta提供的散布注意力或更大的隐藏层大小参见Albert）。

许多现代的顺序推荐系统使用深层神经网络，可以有效地估计项目的相关性，但需要大量时间进行训练。慢速培训增加了费用，阻碍了产品开发时间表，并防止该模型定期更新以适应不断变化的用户偏好。培训这样的顺序模型涉及对过去的用户互动进行适当采样以创建现实的培训目标。现有的培训目标有局限性。例如，下一个项目预测永远不会将序列的开头用作学习目标，从而可能丢弃有价值的数据。另一方面，Bert4Rec使用的项目掩盖仅与顺序建议的目标无关。因此，它需要更多的时间来获得有效的模型。因此，我们提出了一个基于新颖的序列训练目标采样，以解决这两个局限性。我们将我们的方法应用于最近和最新的模型架构，例如Gru4Rec，Caser和Sasrec。我们表明，通过我们的方法增强的模型可以实现超过或非常接近bert4rec的状态的性能，但训练时间却少得多。

Many challenging reinforcement learning (RL) problems require designing a distribution of tasks that can be applied to train effective policies. This distribution of tasks can be specified by the curriculum. A curriculum is meant to improve the results of learning and accelerate it. We introduce Success Induced Task Prioritization (SITP), a framework for automatic curriculum learning, where a task sequence is created based on the success rate of each task. In this setting, each task is an algorithmically created environment instance with a unique configuration. The algorithm selects the order of tasks that provide the fastest learning for agents. The probability of selecting any of the tasks for the next stage of learning is determined by evaluating its performance score in previous stages. Experiments were carried out in the Partially Observable Grid Environment for Multiple Agents (POGEMA) and Procgen benchmark. We demonstrate that SITP matches or surpasses the results of other curriculum design methods. Our method can be implemented with handful of minor modifications to any standard RL framework and provides useful prioritization with minimal computational overhead.

We present a novel dataset named as HPointLoc, specially designed for exploring capabilities of visual place recognition in indoor environment and loop detection in simultaneous localization and mapping. The loop detection sub-task is especially relevant when a robot with an on-board RGB-D camera can drive past the same place (``Point") at different angles. The dataset is based on the popular Habitat simulator, in which it is possible to generate photorealistic indoor scenes using both own sensor data and open datasets, such as Matterport3D. To study the main stages of solving the place recognition problem on the HPointLoc dataset, we proposed a new modular approach named as PNTR. It first performs an image retrieval with the Patch-NetVLAD method, then extracts keypoints and matches them using R2D2, LoFTR or SuperPoint with SuperGlue, and finally performs a camera pose optimization step with TEASER++. Such a solution to the place recognition problem has not been previously studied in existing publications. The PNTR approach has shown the best quality metrics on the HPointLoc dataset and has a high potential for real use in localization systems for unmanned vehicles. The proposed dataset and framework are publicly available: https://github.com/metra4ok/HPointLoc.

This paper addresses the kinodynamic motion planning for non-holonomic robots in dynamic environments with both static and dynamic obstacles -- a challenging problem that lacks a universal solution yet. One of the promising approaches to solve it is decomposing the problem into the smaller sub problems and combining the local solutions into the global one. The crux of any planning method for non-holonomic robots is the generation of motion primitives that generates solutions to local planning sub-problems. In this work we introduce a novel learnable steering function (policy), which takes into account kinodynamic constraints of the robot and both static and dynamic obstacles. This policy is efficiently trained via the policy optimization. Empirically, we show that our steering function generalizes well to unseen problems. We then plug in the trained policy into the sampling-based and lattice-based planners, and evaluate the resultant POLAMP algorithm (Policy Optimization that Learns Adaptive Motion Primitives) in a range of challenging setups that involve a car-like robot operating in the obstacle-rich parking-lot environments. We show that POLAMP is able to plan collision-free kinodynamic trajectories with success rates higher than 92%, when 50 simultaneously moving obstacles populate the environment showing better performance than the state-of-the-art competitors.

Heuristic search algorithms, e.g. A*, are the commonly used tools for pathfinding on grids, i.e. graphs of regular structure that are widely employed to represent environments in robotics, video games etc. Instance-independent heuristics for grid graphs, e.g. Manhattan distance, do not take the obstacles into account and, thus, the search led by such heuristics performs poorly in the obstacle-rich environments. To this end, we suggest learning the instance-dependent heuristic proxies that are supposed to notably increase the efficiency of the search. The first heuristic proxy we suggest to learn is the correction factor, i.e. the ratio between the instance independent cost-to-go estimate and the perfect one (computed offline at the training phase). Unlike learning the absolute values of the cost-to-go heuristic function, which was known before, when learning the correction factor the knowledge of the instance-independent heuristic is utilized. The second heuristic proxy is the path probability, which indicates how likely the grid cell is lying on the shortest path. This heuristic can be utilized in the Focal Search framework as the secondary heuristic, allowing us to preserve the guarantees on the bounded sub-optimality of the solution. We learn both suggested heuristics in a supervised fashion with the state-of-the-art neural networks containing attention blocks (transformers). We conduct a thorough empirical evaluation on a comprehensive dataset of planning tasks, showing that the suggested techniques i) reduce the computational effort of the A* up to a factor of $4$x while producing the solutions, which costs exceed the costs of the optimal solutions by less than $0.3$% on average; ii) outperform the competitors, which include the conventional techniques from the heuristic search, i.e. weighted A*, as well as the state-of-the-art learnable planners.

This paper presents a class of new fast non-trainable entropy-based confidence estimation methods for automatic speech recognition. We show how per-frame entropy values can be normalized and aggregated to obtain a confidence measure per unit and per word for Connectionist Temporal Classification (CTC) and Recurrent Neural Network Transducer (RNN-T) models. Proposed methods have similar computational complexity to the traditional method based on the maximum per-frame probability, but they are more adjustable, have a wider effective threshold range, and better push apart the confidence distributions of correct and incorrect words. We evaluate the proposed confidence measures on LibriSpeech test sets, and show that they are up to 2 and 4 times better than confidence estimation based on the maximum per-frame probability at detecting incorrect words for Conformer-CTC and Conformer-RNN-T models, respectively.

Large language models (LLMs) have shown impressive results across a variety of tasks while requiring little or no direct supervision. Further, there is mounting evidence that LLMs may have potential in information-seeking scenarios. We believe the ability of an LLM to attribute the text that it generates is likely to be crucial for both system developers and users in this setting. We propose and study Attributed QA as a key first step in the development of attributed LLMs. We develop a reproducable evaluation framework for the task, using human annotations as a gold standard and a correlated automatic metric that we show is suitable for development settings. We describe and benchmark a broad set of architectures for the task. Our contributions give some concrete answers to two key questions (How to measure attribution?, and How well do current state-of-the-art methods perform on attribution?), and give some hints as to how to address a third key question (How to build LLMs with attribution?).

Independence testing is a fundamental and classical statistical problem that has been extensively studied in the batch setting when one fixes the sample size before collecting data. However, practitioners often prefer procedures that adapt to the complexity of a problem at hand instead of setting sample size in advance. Ideally, such procedures should (a) allow stopping earlier on easy tasks (and later on harder tasks), hence making better use of available resources, and (b) continuously monitor the data and efficiently incorporate statistical evidence after collecting new data, while controlling the false alarm rate. It is well known that classical batch tests are not tailored for streaming data settings, since valid inference after data peeking requires correcting for multiple testing, but such corrections generally result in low power. In this paper, we design sequential kernelized independence tests (SKITs) that overcome such shortcomings based on the principle of testing by betting. We exemplify our broad framework using bets inspired by kernelized dependence measures such as the Hilbert-Schmidt independence criterion (HSIC) and the constrained-covariance criterion (COCO). Importantly, we also generalize the framework to non-i.i.d. time-varying settings, for which there exist no batch tests. We demonstrate the power of our approaches on both simulated and real data.

The paper discusses the improvement of the accuracy of an inertial navigation system created on the basis of MEMS sensors using machine learning (ML) methods. As input data for the classifier, we used infor-mation obtained from a developed laboratory setup with MEMS sensors on a sealed platform with the ability to adjust its tilt angles. To assess the effectiveness of the models, test curves were constructed with different values of the parameters of these models for each core in the case of a linear, polynomial radial basis function. The inverse regularization parameter was used as a parameter. The proposed algorithm based on MO has demonstrated its ability to correctly classify in the presence of noise typical for MEMS sensors, where good classification results were obtained when choosing the optimal values of hyperpa-rameters.