Large language models (LLMs) have shown impressive results across a variety of tasks while requiring little or no direct supervision. Further, there is mounting evidence that LLMs may have potential in information-seeking scenarios. We believe the ability of an LLM to attribute the text that it generates is likely to be crucial for both system developers and users in this setting. We propose and study Attributed QA as a key first step in the development of attributed LLMs. We develop a reproducable evaluation framework for the task, using human annotations as a gold standard and a correlated automatic metric that we show is suitable for development settings. We describe and benchmark a broad set of architectures for the task. Our contributions give some concrete answers to two key questions (How to measure attribution?, and How well do current state-of-the-art methods perform on attribution?), and give some hints as to how to address a third key question (How to build LLMs with attribution?).

传统的过程挖掘技术将事件数据作为输入，其中每个事件与一个对象完全关联。对象表示过程的实例化。以对象为中心的事件数据包含与表达多个过程相互作用的多个对象关联的事件。由于传统的过程挖掘技术假设与一个对象相关的事件，因此这些技术不能应用于以对象为中心的事件数据。为了使用传统的过程挖掘技术，通过删除所有对象引用，以一种以对象为中心的事件数据来平坦。扁平过程是有损的，导致从扁平数据中提取的不准确的特征。此外，在变平时丢失了以对象事件数据的图形结构。在本文中，我们介绍了一个通用框架，用于从对象事件数据中提取和编码功能。我们在以对象为中心的事件数据上本地计算功能，从而导致准确的度量。此外，我们为这些功能提供了三个编码：基于表格，顺序和图形。尽管表格和顺序编码已在过程挖掘中大量使用，但基于图的编码是一种保留以对象事件数据结构的新技术。我们提供六种用例：为三个编码中的每个编码中的每一个提供可视化和预测用例。我们在预测用例中使用可解释的AI来显示以对象为中心的特征的实用性以及针对预测模型的基于顺序和基于图的编码的结构。

流程的执行留下了信息系统中事件数据的痕迹。这些事件数据可以通过过程挖掘技术进行分析。对于传统的流程​​挖掘技术，必须将每个事件与一个对象（例如公司的客户）相关联。与一个对象相关的事件形成一个称为案例的事件序列。一个案例描述了通过流程进行的端到端运行。事件数据中包含的案例可用于发现过程模型，检测频繁的瓶颈或学习预测模型。但是，在现实生活中遇到的事件，例如ERP系统通常可以与多个对象关联。传统的顺序案例概念缺少这些以对象为中心的事件数据，因为这些数据显示了图形结构。一个人可能会通过使其变色将以对象为中心的事件数据迫使传统案例概念。但是，扁平化操纵数据并删除信息。因此，与传统事件日志的案例概念相似的概念对于启用以对象为中心的事件数据应用不同的过程挖掘任务是必要的。在本文中，我们介绍了以对象为中心的过程挖掘的案例概念：过程执行。这些是基于图形的案例概括，如传统过程采矿中所考虑的。此外，我们提供了提取过程执行的技术。基于这些执行，我们确定了使用图同构的属性相对于属性的等效过程行为。关于事件活动的等效过程执行是以对象为中心的变体，即传统过程挖掘中变体的概括。我们为以对象为中心的变体提供了可视化技术。贡献的可伸缩性和效率得到了广泛的评估。此外，我们提供了一个案例研究，显示了现实生活中最常见的以对象为中心的变体。

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。

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.