水印是保护创作者对数字图像，视频和音频的权利的常用策略。最近，水印方法已扩展到深度学习模型 - 原则上，当对手试图复制该模型时，应保留水印。但是，实际上，智能对手通常可以去除水印。几篇论文提出了水印方法，这些方法声称对不同类型的拆除攻击具有耐药性，但是在面对新的或更好的对手时，这些新技术通常会失败。在本文中，我们提出了一种可认证的水印方法。使用Chiang等人提出的随机平滑技术，我们表明我们的水印是不明显的，除非模型参数的更改超过一定的L2阈值。除了获得认证外，与以前的水印方法相比，我们的水印在经验上也更强。我们的实验可以在https://github.com/arpitbansal297/certified_watermarks上复制。

我们介绍了Dessurt，这是一个相对简单的文档理解变压器，能够在各种文档任务上进行微调，而不是先前的方法。它接收文档映像和任务字符串作为输入，并作为输出以任意文本自动添加。由于Dessurt是端到端体系结构，除了文档理解外，还可以执行文本识别，因此它不需要像先前方法那样需要外部识别模型。Dessurt比先前的方法更灵活，并且能够处理各种文档域和任务。我们表明，该模型可在9种不同的数据集任务组合中有效。

Representing and reasoning about uncertainty is crucial for autonomous agents acting in partially observable environments with noisy sensors. Partially observable Markov decision processes (POMDPs) serve as a general framework for representing problems in which uncertainty is an important factor. Online sample-based POMDP methods have emerged as efficient approaches to solving large POMDPs and have been shown to extend to continuous domains. However, these solutions struggle to find long-horizon plans in problems with significant uncertainty. Exploration heuristics can help guide planning, but many real-world settings contain significant task-irrelevant uncertainty that might distract from the task objective. In this paper, we propose STRUG, an online POMDP solver capable of handling domains that require long-horizon planning with significant task-relevant and task-irrelevant uncertainty. We demonstrate our solution on several temporally extended versions of toy POMDP problems as well as robotic manipulation of articulated objects using a neural perception frontend to construct a distribution of possible models. Our results show that STRUG outperforms the current sample-based online POMDP solvers on several tasks.

Score based approaches to sampling have shown much success as a generative algorithm to produce new samples from a target density given a pool of initial samples. In this work, we consider if we have no initial samples from the target density, but rather $0^{th}$ and $1^{st}$ order oracle access to the log likelihood. Such problems may arise in Bayesian posterior sampling, or in approximate minimization of non-convex functions. Using this knowledge alone, we propose a Monte Carlo method to estimate the score empirically as a particular expectation of a random variable. Using this estimator, we can then run a discrete version of the backward flow SDE to produce samples from the target density. This approach has the benefit of not relying on a pool of initial samples from the target density, and it does not rely on a neural network or other black box model to estimate the score.

In this paper, we examine the problem of visibility-aware robot navigation among movable obstacles (VANAMO). A variant of the well-known NAMO robotic planning problem, VANAMO puts additional visibility constraints on robot motion and object movability. This new problem formulation lifts the restrictive assumption that the map is fully visible and the object positions are fully known. We provide a formal definition of the VANAMO problem and propose the Look and Manipulate Backchaining (LaMB) algorithm for solving such problems. LaMB has a simple vision-based API that makes it more easily transferable to real-world robot applications and scales to the large 3D environments. To evaluate LaMB, we construct a set of tasks that illustrate the complex interplay between visibility and object movability that can arise in mobile base manipulation problems in unknown environments. We show that LaMB outperforms NAMO and visibility-aware motion planning approaches as well as simple combinations of them on complex manipulation problems with partial observability.

Diffusion models have quickly become the go-to paradigm for generative modelling of perceptual signals (such as images and sound) through iterative refinement. Their success hinges on the fact that the underlying physical phenomena are continuous. For inherently discrete and categorical data such as language, various diffusion-inspired alternatives have been proposed. However, the continuous nature of diffusion models conveys many benefits, and in this work we endeavour to preserve it. We propose CDCD, a framework for modelling categorical data with diffusion models that are continuous both in time and input space. We demonstrate its efficacy on several language modelling tasks.

数据是现代机器学习系统的命脉，包括音乐信息检索中的命脉（MIR）。但是，MIR长期以来一直被小型数据集和不可靠的标签所困扰。在这项工作中，我们建议使用生成建模打破这种瓶颈。通过使用室内合奏的结构化合成模型（在URMP上训练的MIDI-DDSP）的结构化合成模型，通过管道说明（在巴赫合唱上训练的椰子）模型，我们演示了一个能够生成无限量的逼真的合唱音乐的系统，其中包括丰富的结合音乐，包括混合，包括混合，，，包括混合，茎，MIDI，笔记级性能属性（Staccato，Vibrato等），甚至是细粒的合成参数（音高，振幅等）。我们称此系统为室内集合发生器（CEG），并使用它来生成来自四个不同腔室合奏（cocochorales）的大型合唱数据集。我们证明，使用我们的方法生成的数据改善了音乐转录和源分离的最新模型，并且我们均发布了系统和数据集作为MIR社区未来工作的开源基础。

预先训练的大语言模型（LLM）（例如OpenAI Codex）通过从非正式自然语言（NL）意图中生成自然代码来自动化编码的重要方面。但是，生成的代码无法满足用户意图的任何正确性保证。实际上，很难定义正确性的概念，因为自然语言可能是模棱两可的，并且缺乏正式的语义。在本文中，我们通过提出测试驱动的用户形式化（TDUIF）的工作流程来解决以上问题的第一步，该工作流利用轻量级用户的反馈共同将用户的意图正式化为测试（部分规范） ），（b）生成符合正式用户意图的代码。要对算法进行可扩展的大规模自动化评估，而无需循环中的用户，我们描述了如何使用参考解决方案模拟用户与高保真性的互动。我们还描述并实施了几种算法组件（包括突变和排名一组测试）的替代实现，这些实现可用于有效解决TDUIF问题。我们已经开发了一个系统的Ticoder，该系统实现了多种解决方案来进行TDUIF，并将其对MBPP学术代码生成基准测试的相对有效性进行了比较。在MBPP上使用OpenAI Codex LLM的结果很有希望：我们的最佳算法将通行证@1代码生成准确度指标从48.39％提高到单个用户查询，最高为85.48％，最多可达55.48％，最多可提供5个用户查询。其次，我们可以生成与用户意图在1.69个用户查询中的非平凡功能单位测试，该数据集为90.40％的示例，用于此数据集。

Transfer learning increasingly becomes an important tool in handling data scarcity often encountered in machine learning. In the application of high-throughput thickness as a downstream process of the high-throughput optimization of optoelectronic thin films with autonomous workflows, data scarcity occurs especially for new materials. To achieve high-throughput thickness characterization, we propose a machine learning model called thicknessML that predicts thickness from UV-Vis spectrophotometry input and an overarching transfer learning workflow. We demonstrate the transfer learning workflow from generic source domain of generic band-gapped materials to specific target domain of perovskite materials, where the target domain data only come from limited number (18) of refractive indices from literature. The target domain can be easily extended to other material classes with a few literature data. Defining thickness prediction accuracy to be within-10% deviation, thicknessML achieves 92.2% (with a deviation of 3.6%) accuracy with transfer learning compared to 81.8% (with a deviation of 3.6%) 11.7% without (lower mean and larger standard deviation). Experimental validation on six deposited perovskite films also corroborates the efficacy of the proposed workflow by yielding a 10.5% mean absolute percentage error (MAPE).

理想的音乐合成器应具有互动性和表现力，并实时产生高保真音频，以进行任意组合仪器和音符。最近的神经合成器在特定于域的模型之间表现出了折衷，这些模型仅对特定仪器或可以训练所有音乐训练但最小的控制和缓慢发电的原始波形模型提供了详细的控制。在这项工作中，我们专注于神经合成器的中间立场，这些基础可以从MIDI序列中产生音频，并实时使用仪器的任意组合。这使得具有单个模型的各种转录数据集的培训，这又提供了对各种仪器的组合和仪器的控制级别的控制。我们使用一个简单的两阶段过程：MIDI到具有编码器变压器的频谱图，然后使用生成对抗网络（GAN）频谱图逆变器将频谱图到音频。我们将训练解码器作为自回归模型进行了比较，并将其视为一种脱氧扩散概率模型（DDPM），并发现DDPM方法在定性上是优越的，并且通过音频重建和fr \'echet距离指标来衡量。鉴于这种方法的互动性和普遍性，我们发现这是迈向互动和表达性神经综合的有前途的第一步，以实现工具和音符的任意组合。