SIM到现实的转移是机器人增强学习的强大范式。在模拟中训练政策的能力可以以低成本快速探索和大规模数据收集。但是，机器人策略的SIM到现实转移的先前工作通常不涉及任何人类机器人的相互作用，因为准确模拟人类行为是一个空旷的问题。在这项工作中，我们的目标是利用模拟的力量来训练熟练在部署时与人类互动的机器人政策。但是有一个鸡肉和鸡蛋问题 - 我们如何收集人与物理机器人互动的例子，以在模拟中对人类行为进行建模，而没有已经有能够与人相互作用的机器人？我们提出的方法，即迭代-SIM-to-real（I-S2R），试图解决这个问题。 I-S2R引导程序来自一个简单的人类行为模型和在模拟和在现实世界中部署的训练之间的交替。在每次迭代中，人类行为模型和政策都得到了完善。我们在现实世界的机器人乒乓球环境中评估我们的方法，该机器人的目标是尽可能长时间与人类玩家合作。乒乓球是一项高速，充满活力的任务，要求两名球员对彼此的举动迅速做出反应，从而使测试床具有挑战性，以研究人类机器人互动。我们在一个工业机器人手臂上介绍了结果，该机器人能够与人类球员合作打乒乓球，平均获得22次连续击球的集会，充其量只有150个。此外，对于80％的球员来说，与SIM-TO-REAL（S2R）基线相比，拉力长度长70％至175％。有关我们系统中的视频，请参见https://sites.google.com/view/is2r。

The devastation caused by the coronavirus pandemic makes it imperative to design automated techniques for a fast and accurate detection. We propose a novel non-invasive tool, using deep learning and imaging, for delineating COVID-19 infection in lungs. The Ensembling Attention-based Multi-scaled Convolution network (EAMC), employing Leave-One-Patient-Out (LOPO) training, exhibits high sensitivity and precision in outlining infected regions along with assessment of severity. The Attention module combines contextual with local information, at multiple scales, for accurate segmentation. Ensemble learning integrates heterogeneity of decision through different base classifiers. The superiority of EAMC, even with severe class imbalance, is established through comparison with existing state-of-the-art learning models over four publicly-available COVID-19 datasets. The results are suggestive of the relevance of deep learning in providing assistive intelligence to medical practitioners, when they are overburdened with patients as in pandemics. Its clinical significance lies in its unprecedented scope in providing low-cost decision-making for patients lacking specialized healthcare at remote locations.

A challenge in spoken language translation is that plenty of spoken content is long-form, but short units are necessary for obtaining high-quality translations. To address this mismatch, we fine-tune a general-purpose, large language model to split long ASR transcripts into segments that can be independently translated so as to maximize the overall translation quality. We compare to several segmentation strategies and find that our approach improves BLEU score on three languages by an average of 2.7 BLEU overall compared to an automatic punctuation baseline. Further, we demonstrate the effectiveness of two constrained decoding strategies to improve well-formedness of the model output from above 99% to 100%.

The Conditional Neural Process (CNP) family of models offer a promising direction to tackle few-shot problems by achieving better scalability and competitive predictive performance. However, the current CNP models only capture the overall uncertainty for the prediction made on a target data point. They lack a systematic fine-grained quantification on the distinct sources of uncertainty that are essential for model training and decision-making under the few-shot setting. We propose Evidential Conditional Neural Processes (ECNP), which replace the standard Gaussian distribution used by CNP with a much richer hierarchical Bayesian structure through evidential learning to achieve epistemic-aleatoric uncertainty decomposition. The evidential hierarchical structure also leads to a theoretically justified robustness over noisy training tasks. Theoretical analysis on the proposed ECNP establishes the relationship with CNP while offering deeper insights on the roles of the evidential parameters. Extensive experiments conducted on both synthetic and real-world data demonstrate the effectiveness of our proposed model in various few-shot settings.

Causal phenomena associated with rare events frequently occur across a wide range of engineering and mathematical problems, such as risk-sensitive safety analysis, accident analysis and prevention, and extreme value theory. However, current methods for causal discovery are often unable to uncover causal links between random variables that manifest only when the variables first experience low-probability realizations. To address this issue, we introduce a novel algorithm that performs statistical independence tests on data collected from time-invariant dynamical systems in which rare but consequential events occur. We seek to understand if the state of the dynamical system causally affects the likelihood of the rare event. In particular, we exploit the time-invariance of the underlying data to superimpose the occurrences of rare events, thus creating a new dataset, with rare events are better represented, on which conditional independence tests can be more efficiently performed. We provide non-asymptotic bounds for the consistency of our algorithm, and validate the performance of our algorithm across various simulated scenarios, with applications to traffic accidents.

Automated emotion recognition in speech is a long-standing problem. While early work on emotion recognition relied on hand-crafted features and simple classifiers, the field has now embraced end-to-end feature learning and classification using deep neural networks. In parallel to these models, researchers have proposed several data augmentation techniques to increase the size and variability of existing labeled datasets. Despite many seminal contributions in the field, we still have a poor understanding of the interplay between the network architecture and the choice of data augmentation. Moreover, only a handful of studies demonstrate the generalizability of a particular model across multiple datasets, which is a prerequisite for robust real-world performance. In this paper, we conduct a comprehensive evaluation of popular deep learning approaches for emotion recognition. To eliminate bias, we fix the model architectures and optimization hyperparameters using the VESUS dataset and then use repeated 5-fold cross validation to evaluate the performance on the IEMOCAP and CREMA-D datasets. Our results demonstrate that long-range dependencies in the speech signal are critical for emotion recognition and that speed/rate augmentation offers the most robust performance gain across models.

We report on novel investigations into training models that make sentences concise. We define the task and show that it is different from related tasks such as summarization and simplification. For evaluation, we release two test sets, consisting of 2000 sentences each, that were annotated by two and five human annotators, respectively. We demonstrate that conciseness is a difficult task for which zero-shot setups with large neural language models often do not perform well. Given the limitations of these approaches, we propose a synthetic data generation method based on round-trip translations. Using this data to either train Transformers from scratch or fine-tune T5 models yields our strongest baselines that can be further improved by fine-tuning on an artificial conciseness dataset that we derived from multi-annotator machine translation test sets.

Consider two brands that want to jointly test alternate web experiences for their customers with an A/B test. Such collaborative tests are today enabled using \textit{third-party cookies}, where each brand has information on the identity of visitors to another website. With the imminent elimination of third-party cookies, such A/B tests will become untenable. We propose a two-stage experimental design, where the two brands only need to agree on high-level aggregate parameters of the experiment to test the alternate experiences. Our design respects the privacy of customers. We propose an estimater of the Average Treatment Effect (ATE), show that it is unbiased and theoretically compute its variance. Our demonstration describes how a marketer for a brand can design such an experiment and analyze the results. On real and simulated data, we show that the approach provides valid estimate of the ATE with low variance and is robust to the proportion of visitors overlapping across the brands.

数据驱动的湍流建模正在经历数据科学算法和硬件开发后的兴趣激增。我们讨论了一种使用可区分物理范式的方法，该方法将已知的物理学与机器学习结合起来，以开发汉堡湍流的闭合模型。我们将1D汉堡系统视为一种原型测试问题，用于建模以对流为主的湍流问题中未解决的术语。我们训练一系列模型，这些模型在后验损失函数上结合了不同程度的物理假设，以测试模型在一系列系统参数（包括粘度，时间和网格分辨率）上的疗效。我们发现，以部分微分方程形式的归纳偏差的约束模型包含已知物理或现有闭合方法会产生高度数据效率，准确和可推广的模型，并且表现优于最先进的基准。以物理信息形式添加结构还为模型带来了一定程度的解释性，可能为封闭建模的未来提供了垫脚石。

组织依靠机器学习工程师（MLE）来操作ML，即部署和维护生产中的ML管道。操作ML或MLOP的过程包括（i）数据收集和标记的连续循环，（ii）实验以改善ML性能，（iii）在多阶段部署过程中评估，以及（iv）监视（iv）性能下降。当一起考虑这些责任似乎令人震惊 - 任何人如何进行MLOP，没有解决的挑战，对工具制造商有什么影响？我们对在包括聊天机器人，自动驾驶汽车和金融在内的许多应用程序中工作的18个MLE进行了半结构化的民族志访谈。我们的访谈暴露了三个变量，这些变量控制了生产ML部署的成功：速度，验证和版本。我们总结了成功实验，部署和维持生产绩效的共同实践。最后，我们讨论了受访者的痛点和反图案，对工具设计产生了影响。