th骨海星（COTS）爆发是大屏障礁（GBR）珊瑚损失的主要原因，并且正在进行实质性的监视和控制计划，以将COTS人群管理至生态可持续的水平。在本文中，我们在边缘设备上介绍了基于水下的水下数据收集和策展系统，以进行COTS监视。特别是，我们利用了基于深度学习的对象检测技术的功能，并提出了一种资源有效的COTS检测器，该检测器在边缘设备上执行检测推断，以帮助海上专家在数据收集阶段进行COTS识别。初步结果表明，可以将改善计算效率的几种策略（例如，批处理处理，帧跳过，模型输入大小）组合在一起，以在Edge硬件上运行拟议的检测模型，资源消耗较低，信息损失较低。

凭借越来越多的计算建模效率，用于管理和保护大障碍礁的计算建模效率，我们通过重新修复包含APSIM模型的输出的现有大型数据集来对APSIM模型进行机会模型模拟使用深神经网络的使用初探运行。数据集未专门针对模型仿真任务量身定制。我们采用了两个神经网络架构进行了仿真任务：密集连接的前馈神经网络（FFNN），以及进料到FFNN（GRU-FFNN）的门控复发单元，一种经常性神经网络。有试验架构的各种配置。最小相关统计用于识别可以聚合以形成模型仿真的训练集的APSIM场景的集群。我们专注于模拟APSIM模型的4个重要产出：径流，土壤，DINRUNOFF，NLEACHED。具有三个隐藏图层的GRU-FFNN架构和每层128个单位提供良好的径流和DINRUNOFF仿真。但是，在广泛的考虑架构下，肮脏和Nlo张化的仿真相对较差;仿真器未能在这两个输出的较高值下捕获可变性。虽然来自过去建模活动的机会主义数据提供了一个大型和有用的数据集，用于探索APSIM仿真，但它可能无法足够丰富，以便成功地学习更复杂的模型动态。可能需要计算机实验设计来生成更具信息性的数据以模拟所有输出变量的感兴趣。我们还建议使用合成气象设置，以允许模型进入各种输入。这些不需要都代表正常条件，但可以提供更密集的，更多的信息数据集，可以学习输入和输出之间的复杂关系。

We study the problem of planning under model uncertainty in an online meta-reinforcement learning (RL) setting where an agent is presented with a sequence of related tasks with limited interactions per task. The agent can use its experience in each task and across tasks to estimate both the transition model and the distribution over tasks. We propose an algorithm to meta-learn the underlying structure across tasks, utilize it to plan in each task, and upper-bound the regret of the planning loss. Our bound suggests that the average regret over tasks decreases as the number of tasks increases and as the tasks are more similar. In the classical single-task setting, it is known that the planning horizon should depend on the estimated model's accuracy, that is, on the number of samples within task. We generalize this finding to meta-RL and study this dependence of planning horizons on the number of tasks. Based on our theoretical findings, we derive heuristics for selecting slowly increasing discount factors, and we validate its significance empirically.

Participants in political discourse employ rhetorical strategies -- such as hedging, attributions, or denials -- to display varying degrees of belief commitments to claims proposed by themselves or others. Traditionally, political scientists have studied these epistemic phenomena through labor-intensive manual content analysis. We propose to help automate such work through epistemic stance prediction, drawn from research in computational semantics, to distinguish at the clausal level what is asserted, denied, or only ambivalently suggested by the author or other mentioned entities (belief holders). We first develop a simple RoBERTa-based model for multi-source stance predictions that outperforms more complex state-of-the-art modeling. Then we demonstrate its novel application to political science by conducting a large-scale analysis of the Mass Market Manifestos corpus of U.S. political opinion books, where we characterize trends in cited belief holders -- respected allies and opposed bogeymen -- across U.S. political ideologies.

Creativity is an indispensable part of human cognition and also an inherent part of how we make sense of the world. Metaphorical abstraction is fundamental in communicating creative ideas through nuanced relationships between abstract concepts such as feelings. While computer vision benchmarks and approaches predominantly focus on understanding and generating literal interpretations of images, metaphorical comprehension of images remains relatively unexplored. Towards this goal, we introduce MetaCLUE, a set of vision tasks on visual metaphor. We also collect high-quality and rich metaphor annotations (abstract objects, concepts, relationships along with their corresponding object boxes) as there do not exist any datasets that facilitate the evaluation of these tasks. We perform a comprehensive analysis of state-of-the-art models in vision and language based on our annotations, highlighting strengths and weaknesses of current approaches in visual metaphor Classification, Localization, Understanding (retrieval, question answering, captioning) and gEneration (text-to-image synthesis) tasks. We hope this work provides a concrete step towards developing AI systems with human-like creative capabilities.

The problem of reversing the compilation process, decompilation, is an important tool in reverse engineering of computer software. Recently, researchers have proposed using techniques from neural machine translation to automate the process in decompilation. Although such techniques hold the promise of targeting a wider range of source and assembly languages, to date they have primarily targeted C code. In this paper we argue that existing neural decompilers have achieved higher accuracy at the cost of requiring language-specific domain knowledge such as tokenizers and parsers to build an abstract syntax tree (AST) for the source language, which increases the overhead of supporting new languages. We explore a different tradeoff that, to the extent possible, treats the assembly and source languages as plain text, and show that this allows us to build a decompiler that is easily retargetable to new languages. We evaluate our prototype decompiler, Beyond The C (BTC), on Go, Fortran, OCaml, and C, and examine the impact of parameters such as tokenization and training data selection on the quality of decompilation, finding that it achieves comparable decompilation results to prior work in neural decompilation with significantly less domain knowledge. We will release our training data, trained decompilation models, and code to help encourage future research into language-agnostic decompilation.

Human operators in human-robot teams are commonly perceived to be critical for mission success. To explore the direct and perceived impact of operator input on task success and team performance, 16 real-world missions (10 hrs) were conducted based on the DARPA Subterranean Challenge. These missions were to deploy a heterogeneous team of robots for a search task to locate and identify artifacts such as climbing rope, drills and mannequins representing human survivors. Two conditions were evaluated: human operators that could control the robot team with state-of-the-art autonomy (Human-Robot Team) compared to autonomous missions without human operator input (Robot-Autonomy). Human-Robot Teams were often in directed autonomy mode (70% of mission time), found more items, traversed more distance, covered more unique ground, and had a higher time between safety-related events. Human-Robot Teams were faster at finding the first artifact, but slower to respond to information from the robot team. In routine conditions, scores were comparable for artifacts, distance, and coverage. Reasons for intervention included creating waypoints to prioritise high-yield areas, and to navigate through error-prone spaces. After observing robot autonomy, operators reported increases in robot competency and trust, but that robot behaviour was not always transparent and understandable, even after high mission performance.

We present a method for controlling a swarm using its spectral decomposition -- that is, by describing the set of trajectories of a swarm in terms of a spatial distribution throughout the operational domain -- guaranteeing scale invariance with respect to the number of agents both for computation and for the operator tasked with controlling the swarm. We use ergodic control, decentralized across the network, for implementation. In the DARPA OFFSET program field setting, we test this interface design for the operator using the STOMP interface -- the same interface used by Raytheon BBN throughout the duration of the OFFSET program. In these tests, we demonstrate that our approach is scale-invariant -- the user specification does not depend on the number of agents; it is persistent -- the specification remains active until the user specifies a new command; and it is real-time -- the user can interact with and interrupt the swarm at any time. Moreover, we show that the spectral/ergodic specification of swarm behavior degrades gracefully as the number of agents goes down, enabling the operator to maintain the same approach as agents become disabled or are added to the network. We demonstrate the scale-invariance and dynamic response of our system in a field relevant simulator on a variety of tactical scenarios with up to 50 agents. We also demonstrate the dynamic response of our system in the field with a smaller team of agents. Lastly, we make the code for our system available.

Privacy noise may negate the benefits of using adaptive optimizers in differentially private model training. Prior works typically address this issue by using auxiliary information (e.g., public data) to boost the effectiveness of adaptive optimization. In this work, we explore techniques to estimate and efficiently adapt to gradient geometry in private adaptive optimization without auxiliary data. Motivated by the observation that adaptive methods can tolerate stale preconditioners, we propose differentially private adaptive training with delayed preconditioners (DP^2), a simple method that constructs delayed but less noisy preconditioners to better realize the benefits of adaptivity. Theoretically, we provide convergence guarantees for our method for both convex and non-convex problems, and analyze trade-offs between delay and privacy noise reduction. Empirically, we explore DP^2 across several real-world datasets, demonstrating that it can improve convergence speed by as much as 4x relative to non-adaptive baselines and match the performance of state-of-the-art optimization methods that require auxiliary data.

Likelihood-based deep generative models have recently been shown to exhibit pathological behaviour under the manifold hypothesis as a consequence of using high-dimensional densities to model data with low-dimensional structure. In this paper we propose two methodologies aimed at addressing this problem. Both are based on adding Gaussian noise to the data to remove the dimensionality mismatch during training, and both provide a denoising mechanism whose goal is to sample from the model as though no noise had been added to the data. Our first approach is based on Tweedie's formula, and the second on models which take the variance of added noise as a conditional input. We show that surprisingly, while well motivated, these approaches only sporadically improve performance over not adding noise, and that other methods of addressing the dimensionality mismatch are more empirically adequate.