As one of the most popular micro-mobility options, e-scooters are spreading in hundreds of big cities and college towns in the US and worldwide. In the meantime, e-scooters are also posing new challenges to traffic safety. In general, e-scooters are suggested to be ridden in bike lanes/sidewalks or share the road with cars at the maximum speed of about 15-20 mph, which is more flexible and much faster than the pedestrains and bicyclists. These features make e-scooters challenging for human drivers, pedestrians, vehicle active safety modules, and self-driving modules to see and interact. To study this new mobility option and address e-scooter riders' and other road users' safety concerns, this paper proposes a wearable data collection system for investigating the micro-level e-Scooter motion behavior in a Naturalistic road environment. An e-Scooter-based data acquisition system has been developed by integrating LiDAR, cameras, and GPS using the robot operating system (ROS). Software frameworks are developed to support hardware interfaces, sensor operation, sensor synchronization, and data saving. The integrated system can collect data continuously for hours, meeting all the requirements including calibration accuracy and capability of collecting the vehicle and e-Scooter encountering data.

We propose the Detailed Outline Control (DOC) framework for improving long-range plot coherence when automatically generating several-thousand-word-long stories. DOC consists of two complementary components: a detailed outliner and a detailed controller. The detailed outliner creates a more detailed, hierarchically structured outline, shifting creative burden from the main drafting procedure to the planning stage. The detailed controller ensures the more detailed outline is still respected during generation by controlling story passages to align with outline details. In human evaluations of automatically generated stories, DOC substantially outperforms a strong Re3 baseline (Yang et al., 2022) on plot coherence (22.5% absolute gain), outline relevance (28.2%), and interestingness (20.7%). Humans also judged DOC to be much more controllable in an interactive generation setting.

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.

在智能制造中，机器翻译工程图的质量将直接影响其制造精度。目前，大多数工作都是手动翻译的，大大降低了生产效率。本文提出了一种基于环状生成对抗网络（Cyclegan）的焊接结构工程图的自动翻译方法。不成对转移学习的Cyclegan网络模型用于学习真实焊接工程图的功能映射，以实现工程图的自动翻译。 U-NET和PatchGAN分别是生成器和鉴别器的主要网络。基于删除身份映射函数，提出了一个高维稀疏网络，以取代传统的密集网络以改善噪声稳健性。增加残留块隐藏层以增加生成图的分辨率。改进和微调的网络模型经过实验验证，计算实际数据和生成数据之间的差距。它符合焊接工程精度标准，并解决了焊接制造过程中低绘图识别效率的主要问题。结果显示。在我们的模型训练之后，焊接工程图的PSNR，SSIM和MSE分别达到44.89％，99.58％和2.11，它们在训练速度和准确性方面都优于传统网络。

重型设备制造将特定的轮廓分解为图纸，并切割钣金以缩放焊接。当前，手动实现了焊接图轮廓的大多数分割和提取。它的效率大大降低了。因此，我们提出了一种基于U-NET的轮廓分割和用于焊接工程图的提取方法。工程图纸所需的零件的轮廓可以自动划分和清空，从而大大提高了制造效率。 U-NET包括一个编码器，该编码器通过语义差异和编码器和解码器之间的空间位置特征信息实现端到端映射。尽管U-NET擅长于细分医学图像，但我们在焊接结构图数据集上进行的广泛实验表明，经典的U-NET体系结构在细分焊接工程图纸方面缺乏。因此，我们设计了一种新型的通道空间序列注意模块（CSSAM），并在经典的U-NET上进行改进。同时，提出了垂直最大池和平均水平池。通过两个相等的卷积将池操作传递到CSSAM模块中。汇总之前的输出和功能通过语义聚类融合在一起，它取代了传统的跳跃结构，并有效地缩小了编码器和解码器之间的语义差距，从而改善了焊接工程图的分割性能。我们使用VGG16作为骨干网络。与经典的U-NET相比，我们的网络在工程绘图数据集细分方面具有良好的性能。

最近，端到端（E2E）框架在各种自动语音识别（ASR）任务上取得了显着的结果。但是，无格的最大互信息（LF-MMI），作为在混合ASR系统中显示出卓越性能的鉴别性培训标准之一，很少在E2E ASR框架中采用。在这项工作中，我们提出了一种新的方法，将LF-MMI标准集成到培训和解码阶段的E2E ASR框架中。该方法显示了其在两个最广泛使用的E2E框架上的有效性，包括基于注意的编码器解码器（AED）和神经传感器（NTS）。实验表明，LF-MMI标准的引入始终如一地导致各种数据集和不同E2E ASR框架的显着性能改进。我们最好的模型在Aishell-1开发/测试集上实现了4.1 \％/ 4.4 \％的竞争力;我们还在强大的基线上实现了对Aishell-2和Librispeech数据集的显着误差。

Given the increasingly intricate forms of partial differential equations (PDEs) in physics and related fields, computationally solving PDEs without analytic solutions inevitably suffers from the trade-off between accuracy and efficiency. Recent advances in neural operators, a kind of mesh-independent neural-network-based PDE solvers, have suggested the dawn of overcoming this challenge. In this emerging direction, Koopman neural operator (KNO) is a representative demonstration and outperforms other state-of-the-art alternatives in terms of accuracy and efficiency. Here we present KoopmanLab, a self-contained and user-friendly PyTorch module of the Koopman neural operator family for solving partial differential equations. Beyond the original version of KNO, we develop multiple new variants of KNO based on different neural network architectures to improve the general applicability of our module. These variants are validated by mesh-independent and long-term prediction experiments implemented on representative PDEs (e.g., the Navier-Stokes equation and the Bateman-Burgers equation) and ERA5 (i.e., one of the largest high-resolution data sets of global-scale climate fields). These demonstrations suggest the potential of KoopmanLab to be considered in diverse applications of partial differential equations.

Humans have internal models of robots (like their physical capabilities), the world (like what will happen next), and their tasks (like a preferred goal). However, human internal models are not always perfect: for example, it is easy to underestimate a robot's inertia. Nevertheless, these models change and improve over time as humans gather more experience. Interestingly, robot actions influence what this experience is, and therefore influence how people's internal models change. In this work we take a step towards enabling robots to understand the influence they have, leverage it to better assist people, and help human models more quickly align with reality. Our key idea is to model the human's learning as a nonlinear dynamical system which evolves the human's internal model given new observations. We formulate a novel optimization problem to infer the human's learning dynamics from demonstrations that naturally exhibit human learning. We then formalize how robots can influence human learning by embedding the human's learning dynamics model into the robot planning problem. Although our formulations provide concrete problem statements, they are intractable to solve in full generality. We contribute an approximation that sacrifices the complexity of the human internal models we can represent, but enables robots to learn the nonlinear dynamics of these internal models. We evaluate our inference and planning methods in a suite of simulated environments and an in-person user study, where a 7DOF robotic arm teaches participants to be better teleoperators. While influencing human learning remains an open problem, our results demonstrate that this influence is possible and can be helpful in real human-robot interaction.

Reading comprehension of legal text can be a particularly challenging task due to the length and complexity of legal clauses and a shortage of expert-annotated datasets. To address this challenge, we introduce the Merger Agreement Understanding Dataset (MAUD), an expert-annotated reading comprehension dataset based on the American Bar Association's 2021 Public Target Deal Points Study, with over 39,000 examples and over 47,000 total annotations. Our fine-tuned Transformer baselines show promising results, with models performing well above random on most questions. However, on a large subset of questions, there is still room for significant improvement. As the only expert-annotated merger agreement dataset, MAUD is valuable as a benchmark for both the legal profession and the NLP community.

We show for the first time that large-scale generative pretrained transformer (GPT) family models can be pruned to at least 50% sparsity in one-shot, without any retraining, at minimal loss of accuracy. This is achieved via a new pruning method called SparseGPT, specifically designed to work efficiently and accurately on massive GPT-family models. When executing SparseGPT on the largest available open-source models, OPT-175B and BLOOM-176B, we can reach 60% sparsity with negligible increase in perplexity: remarkably, more than 100 billion weights from these models can be ignored at inference time. SparseGPT generalizes to semi-structured (2:4 and 4:8) patterns, and is compatible with weight quantization approaches.