Language models are widely deployed to provide automatic text completion services in user products. However, recent research has revealed that language models (especially large ones) bear considerable risk of memorizing private training data, which is then vulnerable to leakage and extraction by adversaries. In this study, we test the efficacy of a range of privacy-preserving techniques to mitigate unintended memorization of sensitive user text, while varying other factors such as model size and adversarial conditions. We test both "heuristic" mitigations (those without formal privacy guarantees) and Differentially Private training, which provides provable levels of privacy at the cost of some model performance. Our experiments show that (with the exception of L2 regularization), heuristic mitigations are largely ineffective in preventing memorization in our test suite, possibly because they make too strong of assumptions about the characteristics that define "sensitive" or "private" text. In contrast, Differential Privacy reliably prevents memorization in our experiments, despite its computational and model-performance costs.

我们制定并测试一种使用概括的多语言模型使用新兴通信（EC）的技术，以改进现代无监督的NMT系统，尤其是对于低资源语言。有人认为，目前在NLP上的主要范式仅在文本语料库上进行预处理，不会产生强大的自然语言理解系统，并且强调了对接地，面向目标和互动语言学习的需求。在我们的方法中，我们将现代的多语言模型（Mbart，Liu etal。2020）嵌入到EC图像引用游戏中，其中该模型被激励使用多语言世代来完成视力基础的任务，并假设有假设是这将使多种语言与共享的任务空间保持一致。我们提出了EC微调的两种变体（Steinert-Threlkeldet。Al。2022），其中一种在6/8翻译设置中优于基于反射的基线，并证明对尼泊尔和尼泊尔和尼泊尔和低资产的语言特别有益僧伽罗。

There are multiple scales of abstraction from which we can describe the same image, depending on whether we are focusing on fine-grained details or a more global attribute of the image. In brain mapping, learning to automatically parse images to build representations of both small-scale features (e.g., the presence of cells or blood vessels) and global properties of an image (e.g., which brain region the image comes from) is a crucial and open challenge. However, most existing datasets and benchmarks for neuroanatomy consider only a single downstream task at a time. To bridge this gap, we introduce a new dataset, annotations, and multiple downstream tasks that provide diverse ways to readout information about brain structure and architecture from the same image. Our multi-task neuroimaging benchmark (MTNeuro) is built on volumetric, micrometer-resolution X-ray microtomography images spanning a large thalamocortical section of mouse brain, encompassing multiple cortical and subcortical regions. We generated a number of different prediction challenges and evaluated several supervised and self-supervised models for brain-region prediction and pixel-level semantic segmentation of microstructures. Our experiments not only highlight the rich heterogeneity of this dataset, but also provide insights into how self-supervised approaches can be used to learn representations that capture multiple attributes of a single image and perform well on a variety of downstream tasks. Datasets, code, and pre-trained baseline models are provided at: https://mtneuro.github.io/ .

Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On the contrary, for multi-link systems, the natural system dynamics might even work against the actual goal. With the introduction of variable stiffness actuators, this problem has been partially addressed. With a suitable optimal control strategy, the approximate decoupling of the motor from the link can be achieved to maximize the energy transfer into the distal link prior to launch. However, such continuous stiffness variation is complex and typically leads to oscillatory swing-up motions instead of clear launch sequences. To circumvent this issue, we investigate decoupling for speed maximization with a dedicated novel actuator concept denoted Bi-Stiffness Actuation. With this, it is possible to fully decouple the link from the joint mechanism by a switch-and-hold clutch and simultaneously keep the elastic energy stored. We show that with this novel paradigm, it is not only possible to reach the same optimal performance as with power-equivalent variable stiffness actuation, but even directly control the energy transfer timing. This is a major step forward compared to previous optimal control approaches, which rely on optimizing the full time-series control input.

In the Earth's magnetosphere, there are fewer than a dozen dedicated probes beyond low-Earth orbit making in-situ observations at any given time. As a result, we poorly understand its global structure and evolution, the mechanisms of its main activity processes, magnetic storms, and substorms. New Artificial Intelligence (AI) methods, including machine learning, data mining, and data assimilation, as well as new AI-enabled missions will need to be developed to meet this Sparse Data challenge.

Dataset scaling, also known as normalization, is an essential preprocessing step in a machine learning pipeline. It is aimed at adjusting attributes scales in a way that they all vary within the same range. This transformation is known to improve the performance of classification models, but there are several scaling techniques to choose from, and this choice is not generally done carefully. In this paper, we execute a broad experiment comparing the impact of 5 scaling techniques on the performances of 20 classification algorithms among monolithic and ensemble models, applying them to 82 publicly available datasets with varying imbalance ratios. Results show that the choice of scaling technique matters for classification performance, and the performance difference between the best and the worst scaling technique is relevant and statistically significant in most cases. They also indicate that choosing an inadequate technique can be more detrimental to classification performance than not scaling the data at all. We also show how the performance variation of an ensemble model, considering different scaling techniques, tends to be dictated by that of its base model. Finally, we discuss the relationship between a model's sensitivity to the choice of scaling technique and its performance and provide insights into its applicability on different model deployment scenarios. Full results and source code for the experiments in this paper are available in a GitHub repository.\footnote{https://github.com/amorimlb/scaling\_matters}

The availability of frequent and cost-free satellite images is in growing demand in the research world. Such satellite constellations as Landsat 8 and Sentinel-2 provide a massive amount of valuable data daily. However, the discrepancy in the sensors' characteristics of these satellites makes it senseless to use a segmentation model trained on either dataset and applied to another, which is why domain adaptation techniques have recently become an active research area in remote sensing. In this paper, an experiment of domain adaptation through style-transferring is conducted using the HRSemI2I model to narrow the sensor discrepancy between Landsat 8 and Sentinel-2. This paper's main contribution is analyzing the expediency of that approach by comparing the results of segmentation using domain-adapted images with those without adaptation. The HRSemI2I model, adjusted to work with 6-band imagery, shows significant intersection-over-union performance improvement for both mean and per class metrics. A second contribution is providing different schemes of generalization between two label schemes - NALCMS 2015 and CORINE. The first scheme is standardization through higher-level land cover classes, and the second is through harmonization validation in the field.

We seek methods to model, control, and analyze robot teams performing environmental monitoring tasks. During environmental monitoring, the goal is to have teams of robots collect various data throughout a fixed region for extended periods of time. Standard bottom-up task assignment methods do not scale as the number of robots and task locations increases and require computationally expensive replanning. Alternatively, top-down methods have been used to combat computational complexity, but most have been limited to the analysis of methods which focus on transition times between tasks. In this work, we study a class of nonlinear macroscopic models which we use to control a time-varying distribution of robots performing different tasks throughout an environment. Our proposed ensemble model and control maintains desired time-varying populations of robots by leveraging naturally occurring interactions between robots performing tasks. We validate our approach at multiple fidelity levels including experimental results, suggesting the effectiveness of our approach to perform environmental monitoring.

Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any torque-commanded robotic manipulator. The proposed controller implements Cartesian impedance control to track a desired end-effector pose. Additionally, joint impedance is projected in the nullspace of the Cartesian robot motion to track a desired robot joint configuration without perturbing the Cartesian motion of the robot. The proposed implementation also allows the robot to apply desired forces and torques to its environment. Several safety features such as filtering, rate limiting, and saturation are included in the proposed implementation. The core functionalities are in a re-usable base library and a Robot Operating System (ROS) ros_control integration is provided on top of that. The implementation was tested with the KUKA LBR iiwa robot and the Franka Emika Robot (Panda) both in simulation and with the physical robots.

Any strategy used to distribute a robot ensemble over a set of sequential tasks is subject to inaccuracy due to robot-level uncertainties and environmental influences on the robots' behavior. We approach the problem of inaccuracy during task allocation by modeling and controlling the overall ensemble behavior. Our model represents the allocation problem as a stochastic jump process and we regulate the mean and variance of such a process. The main contributions of this paper are: Establishing a structure for the transition rates of the equivalent stochastic jump process and formally showing that this approach leads to decoupled parameters that allow us to adjust the first- and second-order moments of the ensemble distribution over tasks, which gives the flexibility to decrease the variance in the desired final distribution. This allows us to directly shape the impact of uncertainties on the group allocation over tasks. We introduce a detailed procedure to design the gains to achieve the desired mean and show how the additional parameters impact the covariance matrix, which is directly associated with the degree of task allocation precision. Our simulation and experimental results illustrate the successful control of several robot ensembles during task allocation.