在本文中，我们将预处理技术应用于具有不同长度的多通道时间序列数据，我们称之为对齐问题，用于下游机器学习。多种原因可能发生多种渠道时间序列数据的未对准，原因有多种原因，例如丢失的数据，变化的采样率或不一致的收集时间。我们考虑从MIT SuperCloud高性能计算（HPC）中心收集的多渠道时间序列数据，其中不同的工作开始时间和HPC作业的运行时间不同，导致数据不对准。这种未对准使得为计算工作负载分类等任务构建AI/ML方法具有挑战性。在先前使用MIT SuperCloud数据集的监督分类工作的基础上，我们通过三种宽阔的低间接空间方法解决了对齐问题：从全职系列中抽样固定子集，在全职系列上执行摘要统计信息，并对系数进行取样。从映射到频域的时间序列。我们最佳性能模型的分类精度大于95％，以先前的方法对MIT SuperCloud数据集的多通道时间序列分类的表现优于5％。这些结果表明，我们的低间接费用方法与标准机器学习技术结合使用，能够达到高水平的分类准确性，并作为解决对齐问题（例如内核方法）的未来方法的基准。

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。

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.

KL-regularized reinforcement learning from expert demonstrations has proved successful in improving the sample efficiency of deep reinforcement learning algorithms, allowing them to be applied to challenging physical real-world tasks. However, we show that KL-regularized reinforcement learning with behavioral reference policies derived from expert demonstrations can suffer from pathological training dynamics that can lead to slow, unstable, and suboptimal online learning. We show empirically that the pathology occurs for commonly chosen behavioral policy classes and demonstrate its impact on sample efficiency and online policy performance. Finally, we show that the pathology can be remedied by non-parametric behavioral reference policies and that this allows KL-regularized reinforcement learning to significantly outperform state-of-the-art approaches on a variety of challenging locomotion and dexterous hand manipulation tasks.

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.

While recent advancements in artificial intelligence (AI) language models demonstrate cutting-edge performance when working with English texts, equivalent models do not exist in other languages or do not reach the same performance level. This undesired effect of AI advancements increases the gap between access to new technology from different populations across the world. This unsought bias mainly discriminates against individuals whose English skills are less developed, e.g., non-English speakers children. Following significant advancements in AI research in recent years, OpenAI has recently presented DALL-E: a powerful tool for creating images based on English text prompts. While DALL-E is a promising tool for many applications, its decreased performance when given input in a different language, limits its audience and deepens the gap between populations. An additional limitation of the current DALL-E model is that it only allows for the creation of a few images in response to a given input prompt, rather than a series of consecutive coherent frames that tell a story or describe a process that changes over time. Here, we present an easy-to-use automatic DALL-E storytelling framework that leverages the existing DALL-E model to enable fast and coherent visualizations of non-English songs and stories, pushing the limit of the one-step-at-a-time option DALL-E currently offers. We show that our framework is able to effectively visualize stories from non-English texts and portray the changes in the plot over time. It is also able to create a narrative and maintain interpretable changes in the description across frames. Additionally, our framework offers users the ability to specify constraints on the story elements, such as a specific location or context, and to maintain a consistent style throughout the visualization.

Computational notebooks, such as Jupyter notebooks, are interactive computing environments that are ubiquitous among data scientists to perform data wrangling and analytic tasks. To measure the performance of AI pair programmers that automatically synthesize programs for those tasks given natural language (NL) intents from users, we build ARCADE, a benchmark of 1082 code generation problems using the pandas data analysis framework in data science notebooks. ARCADE features multiple rounds of NL-to-code problems from the same notebook. It requires a model to understand rich multi-modal contexts, such as existing notebook cells and their execution states as well as previous turns of interaction. To establish a strong baseline on this challenging task, we develop PaChiNCo, a 62B code language model (LM) for Python computational notebooks, which significantly outperforms public code LMs. Finally, we explore few-shot prompting strategies to elicit better code with step-by-step decomposition and NL explanation, showing the potential to improve the diversity and explainability of model predictions.

This paper proposes a perception and path planning pipeline for autonomous racing in an unknown bounded course. The pipeline was initially created for the 2021 evGrandPrix autonomous division and was further improved for the 2022 event, both of which resulting in first place finishes. Using a simple LiDAR-based perception pipeline feeding into an occupancy grid based expansion algorithm, we determine a goal point to drive. This pipeline successfully achieved reliable and consistent laps in addition with occupancy grid algorithm to know the ways around a cone-defined track with an averaging speeds of 6.85 m/s over a distance 434.2 meters for a total lap time of 63.4 seconds.

Transformer models have achieved superior performance in various natural language processing tasks. However, the quadratic computational cost of the attention mechanism limits its practicality for long sequences. There are existing attention variants that improve the computational efficiency, but they have limited ability to effectively compute global information. In parallel to Transformer models, state space models (SSMs) are tailored for long sequences, but they are not flexible enough to capture complicated local information. We propose SPADE, short for $\underline{\textbf{S}}$tate s$\underline{\textbf{P}}$ace $\underline{\textbf{A}}$ugmente$\underline{\textbf{D}}$ Transform$\underline{\textbf{E}}$r. Specifically, we augment a SSM into the bottom layer of SPADE, and we employ efficient local attention methods for the other layers. The SSM augments global information, which complements the lack of long-range dependency issue in local attention methods. Experimental results on the Long Range Arena benchmark and language modeling tasks demonstrate the effectiveness of the proposed method. To further demonstrate the scalability of SPADE, we pre-train large encoder-decoder models and present fine-tuning results on natural language understanding and natural language generation tasks.

This work builds on the models and concepts presented in part 1 to learn approximate dictionary representations of Koopman operators from data. Part I of this paper presented a methodology for arguing the subspace invariance of a Koopman dictionary. This methodology was demonstrated on the state-inclusive logistic lifting (SILL) basis. This is an affine basis augmented with conjunctive logistic functions. The SILL dictionary's nonlinear functions are homogeneous, a norm in data-driven dictionary learning of Koopman operators. In this paper, we discover that structured mixing of heterogeneous dictionary functions drawn from different classes of nonlinear functions achieve the same accuracy and dimensional scaling as the deep-learning-based deepDMD algorithm. We specifically show this by building a heterogeneous dictionary comprised of SILL functions and conjunctive radial basis functions (RBFs). This mixed dictionary achieves the same accuracy and dimensional scaling as deepDMD with an order of magnitude reduction in parameters, while maintaining geometric interpretability. These results strengthen the viability of dictionary-based Koopman models to solving high-dimensional nonlinear learning problems.