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.

In a spoofing attack, an attacker impersonates a legitimate user to access or tamper with data intended for or produced by the legitimate user. In wireless communication systems, these attacks may be detected by relying on features of the channel and transmitter radios. In this context, a popular approach is to exploit the dependence of the received signal strength (RSS) at multiple receivers or access points with respect to the spatial location of the transmitter. Existing schemes rely on long-term estimates, which makes it difficult to distinguish spoofing from movement of a legitimate user. This limitation is here addressed by means of a deep neural network that implicitly learns the distribution of pairs of short-term RSS vector estimates. The adopted network architecture imposes the invariance to permutations of the input (commutativity) that the decision problem exhibits. The merits of the proposed algorithm are corroborated on a data set that we collected.

无线电贴图在无线通信和移动机器人任务中找到了许多应用，包括资源分配，干扰协调和任务规划。尽管已经提出了许多技术来构造来自空间分布测量的无线电映射，但是预先假定了这种测量的位置的位置。相反，本文提出了频谱测量，其中诸如无人航空车辆（UAV）的移动机器人在主动选择的一组位置处收集测量以在短测量时间内获得高质量地图估计。这是以两步执行的。首先，设计了两种新颖的算法，基于模型的在线贝叶斯估计器和数据驱动的深度学习算法，以更新地图估计和指示每个可能位置的测量信息的信息性。这些算法提供互补的益处，并且每次测量都具有恒定的复杂性。其次，不确定度量用于规划无人机的轨迹，以在最具信息地的位置收集测量。为了克服这个问题的组合复杂性，提出了一种动态编程方法，以通过线性时间的大不确定性的区域获取航路点列表。在现实数据集上进行的数值实验证实了所提出的方案快速构建精确的无线电贴图。

目的：要开发CADIA，一种基于区域提案网络的监督深度学习模型，耦合具有针对计算机断层造影（CTA）颅内动脉瘤（IA）的假阳性减少模块，并评估我们的模型的性能到类似的检测网络。方法：在此回顾性研究中，我们评估了来自两种独立的疾病患者的两种单独的患者患者的囊性IA> = 2.5mm。实施了两步模型：用于初始动脉瘤检测的3D区域提案网络，以及3D DENSENETSFOR虚假阳性降低以及对可疑IA的进一步确定。还进行了自由响应接收器操作特征（FROC）曲线和患者级性能，在既定的假每体积（FPPV）时呈现出误报。 Fisher的确切测试用于与类似的可用模型进行比较。结果：0.25和1 FPPV的Cadia的敏感性分别为63.9％和77.5％。我们的模型的性能随着尺寸和位置而变化，最佳性能是在5-10毫米和前沟通动脉的含量，敏感性分别为95.8％和94％的敏感性。与0.25 FPPV的可用型号相比，我们的模型显示出统计学上更高的患者级精度，灵敏度和特异性。在1 FPPV阈值下，我们的模型显示出更好的准确性和特异性（P <= 0.001）和等效灵敏度。结论：CADIA在IA的检测任务中表现出可比网络。添加假阳性还原模块是改善IA检测模型的可行步骤。

The performance of inertial navigation systems is largely dependent on the stable flow of external measurements and information to guarantee continuous filter updates and bind the inertial solution drift. Platforms in different operational environments may be prevented at some point from receiving external measurements, thus exposing their navigation solution to drift. Over the years, a wide variety of works have been proposed to overcome this shortcoming, by exploiting knowledge of the system current conditions and turning it into an applicable source of information to update the navigation filter. This paper aims to provide an extensive survey of information aided navigation, broadly classified into direct, indirect, and model aiding. Each approach is described by the notable works that implemented its concept, use cases, relevant state updates, and their corresponding measurement models. By matching the appropriate constraint to a given scenario, one will be able to improve the navigation solution accuracy, compensate for the lost information, and uncover certain internal states, that would otherwise remain unobservable.

We consider infinite horizon Markov decision processes (MDPs) with fast-slow structure, meaning that certain parts of the state space move "fast" (and in a sense, are more influential) while other parts transition more "slowly." Such structure is common in real-world problems where sequential decisions need to be made at high frequencies, yet information that varies at a slower timescale also influences the optimal policy. Examples include: (1) service allocation for a multi-class queue with (slowly varying) stochastic costs, (2) a restless multi-armed bandit with an environmental state, and (3) energy demand response, where both day-ahead and real-time prices play a role in the firm's revenue. Models that fully capture these problems often result in MDPs with large state spaces and large effective time horizons (due to frequent decisions), rendering them computationally intractable. We propose an approximate dynamic programming algorithmic framework based on the idea of "freezing" the slow states, solving a set of simpler finite-horizon MDPs (the lower-level MDPs), and applying value iteration (VI) to an auxiliary MDP that transitions on a slower timescale (the upper-level MDP). We also extend the technique to a function approximation setting, where a feature-based linear architecture is used. On the theoretical side, we analyze the regret incurred by each variant of our frozen-state approach. Finally, we give empirical evidence that the frozen-state approach generates effective policies using just a fraction of the computational cost, while illustrating that simply omitting slow states from the decision modeling is often not a viable heuristic.

In the present work we propose an unsupervised ensemble method consisting of oblique trees that can address the task of auto-encoding, namely Oblique Forest AutoEncoders (briefly OF-AE). Our method is a natural extension of the eForest encoder introduced in [1]. More precisely, by employing oblique splits consisting in multivariate linear combination of features instead of the axis-parallel ones, we will devise an auto-encoder method through the computation of a sparse solution of a set of linear inequalities consisting of feature values constraints. The code for reproducing our results is available at https://github.com/CDAlecsa/Oblique-Forest-AutoEncoders.

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features into a single objective. If they try to do both at once from input designed to teach the full reward function, it is easy to end up with a representation that contains spurious correlations in the data, which fails to generalize to new settings. Instead, our ultimate goal is to enable robots to identify and isolate the causal features that people actually care about and use when they represent states and behavior. Our idea is that we can tune into this representation by asking users what behaviors they consider similar: behaviors will be similar if the features that matter are similar, even if low-level behavior is different; conversely, behaviors will be different if even one of the features that matter differs. This, in turn, is what enables the robot to disambiguate between what needs to go into the representation versus what is spurious, as well as what aspects of behavior can be compressed together versus not. The notion of learning representations based on similarity has a nice parallel in contrastive learning, a self-supervised representation learning technique that maps visually similar data points to similar embeddings, where similarity is defined by a designer through data augmentation heuristics. By contrast, in order to learn the representations that people use, so we can learn their preferences and objectives, we use their definition of similarity. In simulation as well as in a user study, we show that learning through such similarity queries leads to representations that, while far from perfect, are indeed more generalizable than self-supervised and task-input alternatives.

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in real-world underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission and make high-impact strategic decisions. We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and re-configurable communications.

Deep learning models are known to put the privacy of their training data at risk, which poses challenges for their safe and ethical release to the public. Differentially private stochastic gradient descent is the de facto standard for training neural networks without leaking sensitive information about the training data. However, applying it to models for graph-structured data poses a novel challenge: unlike with i.i.d. data, sensitive information about a node in a graph cannot only leak through its gradients, but also through the gradients of all nodes within a larger neighborhood. In practice, this limits privacy-preserving deep learning on graphs to very shallow graph neural networks. We propose to solve this issue by training graph neural networks on disjoint subgraphs of a given training graph. We develop three random-walk-based methods for generating such disjoint subgraphs and perform a careful analysis of the data-generating distributions to provide strong privacy guarantees. Through extensive experiments, we show that our method greatly outperforms the state-of-the-art baseline on three large graphs, and matches or outperforms it on four smaller ones.