Large language models (LLMs) have been shown to be able to perform new tasks based on a few demonstrations or natural language instructions. While these capabilities have led to widespread adoption, most LLMs are developed by resource-rich organizations and are frequently kept from the public. As a step towards democratizing this powerful technology, we present BLOOM, a 176B-parameter open-access language model designed and built thanks to a collaboration of hundreds of researchers. BLOOM is a decoder-only Transformer language model that was trained on the ROOTS corpus, a dataset comprising hundreds of sources in 46 natural and 13 programming languages (59 in total). We find that BLOOM achieves competitive performance on a wide variety of benchmarks, with stronger results after undergoing multitask prompted finetuning. To facilitate future research and applications using LLMs, we publicly release our models and code under the Responsible AI License.

We propose an analysis in fair learning that preserves the utility of the data while reducing prediction disparities under the criteria of group sufficiency. We focus on the scenario where the data contains multiple or even many subgroups, each with limited number of samples. As a result, we present a principled method for learning a fair predictor for all subgroups via formulating it as a bilevel objective. Specifically, the subgroup specific predictors are learned in the lower-level through a small amount of data and the fair predictor. In the upper-level, the fair predictor is updated to be close to all subgroup specific predictors. We further prove that such a bilevel objective can effectively control the group sufficiency and generalization error. We evaluate the proposed framework on real-world datasets. Empirical evidence suggests the consistently improved fair predictions, as well as the comparable accuracy to the baselines.

语言模型既展示了定量的改进，又展示了新的定性功能，随着规模的增加。尽管它们具有潜在的变革性影响，但这些新能力的特征却很差。为了为未来的研究提供信息，为破坏性的新模型能力做准备，并改善社会有害的效果，至关重要的是，我们必须了解目前和近乎未来的能力和语言模型的局限性。为了应对这一挑战，我们介绍了超越模仿游戏基准（Big Bench）。 Big Bench目前由204个任务组成，由132家机构的442位作者贡献。任务主题是多样的，从语言学，儿童发展，数学，常识性推理，生物学，物理学，社会偏见，软件开发等等。 Big-Bench专注于被认为超出当前语言模型的功能的任务。我们评估了OpenAI的GPT型号，Google内部密集变压器体系结构和大型基础上的开关稀疏变压器的行为，跨越了数百万到数十亿个参数。此外，一个人类专家评估者团队执行了所有任务，以提供强大的基准。研究结果包括：模型性能和校准都随规模改善，但绝对的术语（以及与评估者的性能相比）；在模型类中的性能非常相似，尽管带有稀疏性。逐渐和预测的任务通常涉及大量知识或记忆成分，而在临界规模上表现出“突破性”行为的任务通常涉及多个步骤或组成部分或脆性指标；社交偏见通常会随着含糊不清的环境而随着规模而增加，但这可以通过提示来改善。

由于其在自主驾驶中的应用，因此基于单眼图像的3D感知已成为一个活跃的研究领域。与基于激光雷达的技术相比，单眼3D感知（包括检测和跟踪）的方法通常会产生较低的性能。通过系统的分析，我们确定了每个对象深度估计精度是界限性能的主要因素。在这种观察过程中，我们提出了一种多级融合方法，该方法将不同的表示（RGB和伪LIDAR）和跨多个对象（Tracklets）的时间信息结合在一起，以增强对目标深度估计。我们提出的融合方法实现了Waymo打开数据集，KITTI检测数据集和Kitti MOT数据集的每个对象深度估计的最新性能。我们进一步证明，通过简单地用融合增强的深度替换估计的深度，我们可以在单眼3D感知任务（包括检测和跟踪）方面取得重大改进。

近几十年来，Camera-IMU（惯性测量单元）传感器融合已经过度研究。已经提出了具有自校准的运动估计的许多可观察性分析和融合方案。然而，它一直不确定是否在一般运动下观察到相机和IMU内在参数。为了回答这个问题，我们首先证明，对于全球快门Camera-IMU系统，所有内在和外在参数都可以观察到未知的地标。鉴于此，滚动快门（RS）相机的时间偏移和读出时间也证明是可观察到的。接下来，为了验证该分析并解决静止期间结构无轨滤波器的漂移问题，我们开发了一种基于关键帧的滑动窗滤波器（KSWF），用于测量和自校准，它适用于单眼RS摄像机或立体声RS摄像机。虽然关键帧概念广泛用于基于视觉的传感器融合，但对于我们的知识，KSWF是支持自我校准的首先。我们的模拟和实际数据测试验证了，可以使用不同运动的机会主义地标的观察来完全校准相机-IMU系统。实际数据测试确认了先前的典故，即保持状态矢量的地标可以弥补静止漂移，并显示基于关键帧的方案是替代治疗方法。

灵巧的操纵仍然是机器人技术中的一个空缺问题。为了协调研究界为解决这个问题的努力，我们提出了共同的基准。我们设计和构建了机器人平台，该平台托管在MPI上供智能系统托管，可以远程访问。每个平台由三个能够敏捷物体操纵的机器人手指组成。用户能够通过提交自动执行的代码（类似于计算群集）来远程控制平台。使用此设置，i）我们举办机器人竞赛，来自世界任何地方的团队访问我们的平台以应对具有挑战性的任务ii）我们发布了在这些比赛中收集的数据集（包括数百个机器人小时），而我们为研究人员提供了访问自己项目的这些平台。

我们探索使用大型预用语言模型作为少量语义解析器。语义解析中的目标是给定自然语言输入的结构化含义表示。但是，培训语言模型以生成自然语言。为了弥合差距，我们使用语言模型来解释进入一个类似于英语的受控的子宫内的输入，可以自动映射到目标含义表示表示。我们的结果表明，只有少量的数据和较少的代码转换为类似英语的代表，我们为快速启动语义解析器的蓝图导致了对多个社区任务的令人惊讶的有效性能，大大超过基线方法也在相同的限制上培训数据。

在本文中，我们着重于分析使用大型材料数据库材料识别的触觉传感的热模式。许多因素会影响热识别性能，包括传感器噪声，传感器和物体的初始温度，材料的热积液以及接触时间。为了分析这些因素对热识别的影响，我们使用了一个半无限固体的热模型来模拟来自CES Edupack Level-1数据库中所有材料的热传输数据。我们使用支持矢量机（SVM）来预测2346个材料对的二元材料识别的F1分数。我们还使用配备了热传感器的真实机器人收集了数据，并分析了其在66个现实世界对的材料识别性能。此外，我们分析了对模型进行模拟数据培训并在实体机器人数据上进行测试时的性能。我们的模型预测了模拟数据的0.980 F1分数的材料识别性能，现实世界中具有恒定初始传感器温度的现实世界数据的0.994 F1得分，现实世界数据的0.966 F1得分具有不同的初始传感器温度，并且0.815 SIM到运行转移的F1分数。最后，我们根据从这些结果中获得的见解提供了一些有关传感器设计和参数选择的准则。我们发布了模拟和实体机器人数据集，以供机器人社区进一步使用。

Coronary Computed Tomography Angiography (CCTA) provides information on the presence, extent, and severity of obstructive coronary artery disease. Large-scale clinical studies analyzing CCTA-derived metrics typically require ground-truth validation in the form of high-fidelity 3D intravascular imaging. However, manual rigid alignment of intravascular images to corresponding CCTA images is both time consuming and user-dependent. Moreover, intravascular modalities suffer from several non-rigid motion-induced distortions arising from distortions in the imaging catheter path. To address these issues, we here present a semi-automatic segmentation-based framework for both rigid and non-rigid matching of intravascular images to CCTA images. We formulate the problem in terms of finding the optimal \emph{virtual catheter path} that samples the CCTA data to recapitulate the coronary artery morphology found in the intravascular image. We validate our co-registration framework on a cohort of $n=40$ patients using bifurcation landmarks as ground truth for longitudinal and rotational registration. Our results indicate that our non-rigid registration significantly outperforms other co-registration approaches for luminal bifurcation alignment in both longitudinal (mean mismatch: 3.3 frames) and rotational directions (mean mismatch: 28.6 degrees). By providing a differentiable framework for automatic multi-modal intravascular data fusion, our developed co-registration modules significantly reduces the manual effort required to conduct large-scale multi-modal clinical studies while also providing a solid foundation for the development of machine learning-based co-registration approaches.

Regularising the parameter matrices of neural networks is ubiquitous in training deep models. Typical regularisation approaches suggest initialising weights using small random values, and to penalise weights to promote sparsity. However, these widely used techniques may be less effective in certain scenarios. Here, we study the Koopman autoencoder model which includes an encoder, a Koopman operator layer, and a decoder. These models have been designed and dedicated to tackle physics-related problems with interpretable dynamics and an ability to incorporate physics-related constraints. However, the majority of existing work employs standard regularisation practices. In our work, we take a step toward augmenting Koopman autoencoders with initialisation and penalty schemes tailored for physics-related settings. Specifically, we propose the "eigeninit" initialisation scheme that samples initial Koopman operators from specific eigenvalue distributions. In addition, we suggest the "eigenloss" penalty scheme that penalises the eigenvalues of the Koopman operator during training. We demonstrate the utility of these schemes on two synthetic data sets: a driven pendulum and flow past a cylinder; and two real-world problems: ocean surface temperatures and cyclone wind fields. We find on these datasets that eigenloss and eigeninit improves the convergence rate by up to a factor of 5, and that they reduce the cumulative long-term prediction error by up to a factor of 3. Such a finding points to the utility of incorporating similar schemes as an inductive bias in other physics-related deep learning approaches.