When testing conditions differ from those represented in training data, so-called out-of-distribution (OOD) inputs can mar the reliability of black-box learned components in the modern robot autonomy stack. Therefore, coping with OOD data is an important challenge on the path towards trustworthy learning-enabled open-world autonomy. In this paper, we aim to demystify the topic of OOD data and its associated challenges in the context of data-driven robotic systems, drawing connections to emerging paradigms in the ML community that study the effect of OOD data on learned models in isolation. We argue that as roboticists, we should reason about the overall system-level competence of a robot as it performs tasks in OOD conditions. We highlight key research questions around this system-level view of OOD problems to guide future research toward safe and reliable learning-enabled autonomy.

随着输入分布在任务寿命中的发展，保持基于学习的模型的性能变得具有挑战性。本文提出了一个框架，可以通过选择标签的测试输入子集来逐步重新训练模型，从而使模型适应更改输入分布。根据（1）整个任务生命周期的模型性能以及（2）与标签和模型再培训相关的累积成本，对此框架中的算法进行了评估。我们提供了卫星姿势估计模型的开源基准，该基准在空间中的卫星图像中训练并部署在新颖场景中（例如，不同的背景或不良行为的像素），在其中评估了算法，以通过在其能力上通过在其上进行高性能来维持高性能的能力。输入的子集。我们还提出了一种新颖的算法，以通过使用贝叶斯不确定性量化从输入中表征信息获得的信息增益，并选择一个子集，并选择一个子集，该子集使用批处理主动学习中的概念来最大化集体信息增益。我们表明，我们的算法在基准上的表现优于其他算法，例如，达到与100％输入标签的算法相当的性能，而仅标记了50％的输入，从而在任务寿命中产生了低成本和高性能。

我们建议承担义义歧义（WSD）的问题。在语言中，相同形式的单词可能取决于上下文。虽然人类可以通过他们的上下文轻松推断出这些单词的含义或光泽，但机器偶然地推断出这个任务。我们打算在黄等人的结果上复制和扩展他们设计消除这些词语的模型（Huang等人。，2019）。具体来说，我们提出了以下增强：数据集调整（Alpha Hyper-参数），集合方法，用BART和Albert更换BERT。以下GitHub存储库包含本报告中使用的所有代码，它延伸到Huang等人提供的代码。

我们在最近的基于学习的控制方法中确定了一个问题，这些控制的使用随机微分方程重新重新设计了具有不确定动态的系统。具体地，我们讨论用固定但不确定参数（认知源不确定的源）替换模型的近似值，该模型受到作为布朗运动（对应于炼米不确定性）的外部干扰。

Embedding words in vector space is a fundamental first step in state-of-the-art natural language processing (NLP). Typical NLP solutions employ pre-defined vector representations to improve generalization by co-locating similar words in vector space. For instance, Word2Vec is a self-supervised predictive model that captures the context of words using a neural network. Similarly, GLoVe is a popular unsupervised model incorporating corpus-wide word co-occurrence statistics. Such word embedding has significantly boosted important NLP tasks, including sentiment analysis, document classification, and machine translation. However, the embeddings are dense floating-point vectors, making them expensive to compute and difficult to interpret. In this paper, we instead propose to represent the semantics of words with a few defining words that are related using propositional logic. To produce such logical embeddings, we introduce a Tsetlin Machine-based autoencoder that learns logical clauses self-supervised. The clauses consist of contextual words like "black," "cup," and "hot" to define other words like "coffee," thus being human-understandable. We evaluate our embedding approach on several intrinsic and extrinsic benchmarks, outperforming GLoVe on six classification tasks. Furthermore, we investigate the interpretability of our embedding using the logical representations acquired during training. We also visualize word clusters in vector space, demonstrating how our logical embedding co-locate similar words.

Large training data and expensive model tweaking are standard features of deep learning for images. As a result, data owners often utilize cloud resources to develop large-scale complex models, which raises privacy concerns. Existing solutions are either too expensive to be practical or do not sufficiently protect the confidentiality of data and models. In this paper, we study and compare novel \emph{image disguising} mechanisms, DisguisedNets and InstaHide, aiming to achieve a better trade-off among the level of protection for outsourced DNN model training, the expenses, and the utility of data. DisguisedNets are novel combinations of image blocktization, block-level random permutation, and two block-level secure transformations: random multidimensional projection (RMT) and AES pixel-level encryption (AES). InstaHide is an image mixup and random pixel flipping technique \cite{huang20}. We have analyzed and evaluated them under a multi-level threat model. RMT provides a better security guarantee than InstaHide, under the Level-1 adversarial knowledge with well-preserved model quality. In contrast, AES provides a security guarantee under the Level-2 adversarial knowledge, but it may affect model quality more. The unique features of image disguising also help us to protect models from model-targeted attacks. We have done an extensive experimental evaluation to understand how these methods work in different settings for different datasets.

Recent advances in deep learning have enabled us to address the curse of dimensionality (COD) by solving problems in higher dimensions. A subset of such approaches of addressing the COD has led us to solving high-dimensional PDEs. This has resulted in opening doors to solving a variety of real-world problems ranging from mathematical finance to stochastic control for industrial applications. Although feasible, these deep learning methods are still constrained by training time and memory. Tackling these shortcomings, Tensor Neural Networks (TNN) demonstrate that they can provide significant parameter savings while attaining the same accuracy as compared to the classical Dense Neural Network (DNN). In addition, we also show how TNN can be trained faster than DNN for the same accuracy. Besides TNN, we also introduce Tensor Network Initializer (TNN Init), a weight initialization scheme that leads to faster convergence with smaller variance for an equivalent parameter count as compared to a DNN. We benchmark TNN and TNN Init by applying them to solve the parabolic PDE associated with the Heston model, which is widely used in financial pricing theory.

Tsetlin Machine (TM) has been gaining popularity as an inherently interpretable machine leaning method that is able to achieve promising performance with low computational complexity on a variety of applications. The interpretability and the low computational complexity of the TM are inherited from the Boolean expressions for representing various sub-patterns. Although possessing favorable properties, TM has not been the go-to method for AI applications, mainly due to its conceptual and theoretical differences compared with perceptrons and neural networks, which are more widely known and well understood. In this paper, we provide detailed insights for the operational concept of the TM, and try to bridge the gap in the theoretical understanding between the perceptron and the TM. More specifically, we study the operational concept of the TM following the analytical structure of perceptrons, showing the resemblance between the perceptrons and the TM. Through the analysis, we indicated that the TM's weight update can be considered as a special case of the gradient weight update. We also perform an empirical analysis of TM by showing the flexibility in determining the clause length, visualization of decision boundaries and obtaining interpretable boolean expressions from TM. In addition, we also discuss the advantages of TM in terms of its structure and its ability to solve more complex problems.

Spoken language understanding (SLU) tasks have been studied for many decades in the speech research community, but have not received as much attention as lower-level tasks like speech and speaker recognition. In particular, there are not nearly as many SLU task benchmarks, and many of the existing ones use data that is not freely available to all researchers. Recent work has begun to introduce such benchmark datasets for several tasks. In this work, we introduce several new annotated SLU benchmark tasks based on freely available speech data, which complement existing benchmarks and address gaps in the SLU evaluation landscape. We contribute four tasks: question answering and summarization involve inference over longer speech sequences; named entity localization addresses the speech-specific task of locating the targeted content in the signal; dialog act classification identifies the function of a given speech utterance. We follow the blueprint of the Spoken Language Understanding Evaluation (SLUE) benchmark suite. In order to facilitate the development of SLU models that leverage the success of pre-trained speech representations, we will be publishing for each task (i) annotations for a relatively small fine-tuning set, (ii) annotated development and test sets, and (iii) baseline models for easy reproducibility and comparisons. In this work, we present the details of data collection and annotation and the performance of the baseline models. We also perform sensitivity analysis of pipeline models' performance (speech recognizer + text model) to the speech recognition accuracy, using more than 20 state-of-the-art speech recognition models.

Recommendation Systems (RSs) are ubiquitous in modern society and are one of the largest points of interaction between humans and AI. Modern RSs are often implemented using deep learning models, which are infamously difficult to interpret. This problem is particularly exasperated in the context of recommendation scenarios, as it erodes the user's trust in the RS. In contrast, the newly introduced Tsetlin Machines (TM) possess some valuable properties due to their inherent interpretability. TMs are still fairly young as a technology. As no RS has been developed for TMs before, it has become necessary to perform some preliminary research regarding the practicality of such a system. In this paper, we develop the first RS based on TMs to evaluate its practicality in this application domain. This paper compares the viability of TMs with other machine learning models prevalent in the field of RS. We train and investigate the performance of the TM compared with a vanilla feed-forward deep learning model. These comparisons are based on model performance, interpretability/explainability, and scalability. Further, we provide some benchmark performance comparisons to similar machine learning solutions relevant to RSs.