是否可以在深网络中重组非线性激活函数以创建硬件有效的模型？为了解决这个问题，我们提出了一个称为重组激活网络（RANS）的新范式，该范式操纵模型中的非线性数量以提高其硬件意识和效率。首先，我们提出了RAN-STHICER（RAN-E） - 一个新的硬件感知搜索空间和半自动搜索算法 - 用硬件感知的块替换效率低下的块。接下来，我们提出了一种称为RAN-IMPLICIC（RAN-I）的无训练模型缩放方法，从理论上讲，我们在非线性单元的数量方面证明了网络拓扑与其表现性之间的联系。我们证明，我们的网络在不同尺度和几种类型的硬件上实现最新的成像网结果。例如，与有效网络-lite-B0相比，RAN-E在ARM Micro-NPU上每秒（FPS）提高了1.5倍，同时提高了类似的精度。另一方面，ran-i以相似或更好的精度表现出#macs的#macs降低2倍。我们还表明，在基于ARM的数据中心CPU上，RAN-I的FPS比Convnext高40％。最后，与基于Convnext的模型相比，基于RAN-I的对象检测网络在数据中心CPU上获得了类似或更高的映射，并且在数据中心CPU上的fps高达33％。

自治系统对深度神经网络（DNN）的各种对抗攻击非常容易受到影响。由于其速度，易于部署以及在许多DNN上工作的能力，自由培训的模型 - 无症防御最近获得了普及。为此，已经出现了一种新技术，用于减轻对图像分类DNN的攻击，即使用超分辨率的预处理对抗性图像 - 将低质量输入提升为高分辨率图像。这种防御需要在受约束的自治系统上运行图像分类器和超分辨率模型。但是，超级分辨率招收了沉重的计算成本。因此，在本文中，我们调查以下问题：如果我们使用小型超分辨率模型，图像分类器的稳健性会受到痛苦吗？为了回答这一点，我们首先审查最近的工作称为超高效的超分辨率（SESR），其比现有技术更好地实现了类似或更好的图像质量，同时需要2x到330倍，乘法累积（MAC）操作较少。我们证明，尽管是比现有模型小的数量级，但SESR实现了与网络更大的稳健性相同。最后，我们在商业臂ETHOS-U55 Micro-NPU上估计基于超分辨率的防御的端到端性能。我们的研究结果表明，SESR在实现类似的稳健性时比基线实现了近3倍。

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.

As language models (LMs) scale, they develop many novel behaviors, good and bad, exacerbating the need to evaluate how they behave. Prior work creates evaluations with crowdwork (which is time-consuming and expensive) or existing data sources (which are not always available). Here, we automatically generate evaluations with LMs. We explore approaches with varying amounts of human effort, from instructing LMs to write yes/no questions to making complex Winogender schemas with multiple stages of LM-based generation and filtering. Crowdworkers rate the examples as highly relevant and agree with 90-100% of labels, sometimes more so than corresponding human-written datasets. We generate 154 datasets and discover new cases of inverse scaling where LMs get worse with size. Larger LMs repeat back a dialog user's preferred answer ("sycophancy") and express greater desire to pursue concerning goals like resource acquisition and goal preservation. We also find some of the first examples of inverse scaling in RL from Human Feedback (RLHF), where more RLHF makes LMs worse. For example, RLHF makes LMs express stronger political views (on gun rights and immigration) and a greater desire to avoid shut down. Overall, LM-written evaluations are high-quality and let us quickly discover many novel LM behaviors.

As AI systems become more capable, we would like to enlist their help to supervise other AIs. We experiment with methods for training a harmless AI assistant through self-improvement, without any human labels identifying harmful outputs. The only human oversight is provided through a list of rules or principles, and so we refer to the method as 'Constitutional AI'. The process involves both a supervised learning and a reinforcement learning phase. In the supervised phase we sample from an initial model, then generate self-critiques and revisions, and then finetune the original model on revised responses. In the RL phase, we sample from the finetuned model, use a model to evaluate which of the two samples is better, and then train a preference model from this dataset of AI preferences. We then train with RL using the preference model as the reward signal, i.e. we use 'RL from AI Feedback' (RLAIF). As a result we are able to train a harmless but non-evasive AI assistant that engages with harmful queries by explaining its objections to them. Both the SL and RL methods can leverage chain-of-thought style reasoning to improve the human-judged performance and transparency of AI decision making. These methods make it possible to control AI behavior more precisely and with far fewer human labels.

Surgery is the only viable treatment for cataract patients with visual acuity (VA) impairment. Clinically, to assess the necessity of cataract surgery, accurately predicting postoperative VA before surgery by analyzing multi-view optical coherence tomography (OCT) images is crucially needed. Unfortunately, due to complicated fundus conditions, determining postoperative VA remains difficult for medical experts. Deep learning methods for this problem were developed in recent years. Although effective, these methods still face several issues, such as not efficiently exploring potential relations between multi-view OCT images, neglecting the key role of clinical prior knowledge (e.g., preoperative VA value), and using only regression-based metrics which are lacking reference. In this paper, we propose a novel Cross-token Transformer Network (CTT-Net) for postoperative VA prediction by analyzing both the multi-view OCT images and preoperative VA. To effectively fuse multi-view features of OCT images, we develop cross-token attention that could restrict redundant/unnecessary attention flow. Further, we utilize the preoperative VA value to provide more information for postoperative VA prediction and facilitate fusion between views. Moreover, we design an auxiliary classification loss to improve model performance and assess VA recovery more sufficiently, avoiding the limitation by only using the regression metrics. To evaluate CTT-Net, we build a multi-view OCT image dataset collected from our collaborative hospital. A set of extensive experiments validate the effectiveness of our model compared to existing methods in various metrics. Code is available at: https://github.com/wjh892521292/Cataract OCT.

Wireless Sensor Network (WSN) applications reshape the trend of warehouse monitoring systems allowing them to track and locate massive numbers of logistic entities in real-time. To support the tasks, classic Radio Frequency (RF)-based localization approaches (e.g. triangulation and trilateration) confront challenges due to multi-path fading and signal loss in noisy warehouse environment. In this paper, we investigate machine learning methods using a new grid-based WSN platform called Sensor Floor that can overcome the issues. Sensor Floor consists of 345 nodes installed across the floor of our logistic research hall with dual-band RF and Inertial Measurement Unit (IMU) sensors. Our goal is to localize all logistic entities, for this study we use a mobile robot. We record distributed sensing measurements of Received Signal Strength Indicator (RSSI) and IMU values as the dataset and position tracking from Vicon system as the ground truth. The asynchronous collected data is pre-processed and trained using Random Forest and Convolutional Neural Network (CNN). The CNN model with regularization outperforms the Random Forest in terms of localization accuracy with aproximate 15 cm. Moreover, the CNN architecture can be configured flexibly depending on the scenario in the warehouse. The hardware, software and the CNN architecture of the Sensor Floor are open-source under https://github.com/FLW-TUDO/sensorfloor.

Recent development of deep neural networks (DNNs) for tabular learning has largely benefited from the capability of DNNs for automatic feature interaction. However, the heterogeneity nature of tabular features makes such features relatively independent, and developing effective methods to promote tabular feature interaction still remains an open problem. In this paper, we propose a novel Graph Estimator, which automatically estimates the relations among tabular features and builds graphs by assigning edges between related features. Such relation graphs organize independent tabular features into a kind of graph data such that interaction of nodes (tabular features) can be conducted in an orderly fashion. Based on our proposed Graph Estimator, we present a bespoke Transformer network tailored for tabular learning, called T2G-Former, which processes tabular data by performing tabular feature interaction guided by the relation graphs. A specific Cross-level Readout collects salient features predicted by the layers in T2G-Former across different levels, and attains global semantics for final prediction. Comprehensive experiments show that our T2G-Former achieves superior performance among DNNs and is competitive with non-deep Gradient Boosted Decision Tree models.

Federated learning allows multiple clients to collaboratively train a model without exchanging their data, thus preserving data privacy. Unfortunately, it suffers significant performance degradation under heterogeneous data at clients. Common solutions in local training involve designing a specific auxiliary loss to regularize weight divergence or feature inconsistency. However, we discover that these approaches fall short of the expected performance because they ignore the existence of a vicious cycle between classifier divergence and feature mapping inconsistency across clients, such that client models are updated in inconsistent feature space with diverged classifiers. We then propose a simple yet effective framework named Federated learning with Feature Anchors (FedFA) to align the feature mappings and calibrate classifier across clients during local training, which allows client models updating in a shared feature space with consistent classifiers. We demonstrate that this modification brings similar classifiers and a virtuous cycle between feature consistency and classifier similarity across clients. Extensive experiments show that FedFA significantly outperforms the state-of-the-art federated learning algorithms on various image classification datasets under label and feature distribution skews.

Recently, machine learning (ML) has become a popular approach to support self-adaptation. ML has been used to deal with several problems in self-adaptation, such as maintaining an up-to-date runtime model under uncertainty and scalable decision-making. Yet, exploiting ML comes with inherent challenges. In this paper, we focus on a particularly important challenge for learning-based self-adaptive systems: drift in adaptation spaces. With adaptation space we refer to the set of adaptation options a self-adaptive system can select from at a given time to adapt based on the estimated quality properties of the adaptation options. Drift of adaptation spaces originates from uncertainties, affecting the quality properties of the adaptation options. Such drift may imply that eventually no adaptation option can satisfy the initial set of the adaptation goals, deteriorating the quality of the system, or adaptation options may emerge that allow enhancing the adaptation goals. In ML, such shift corresponds to novel class appearance, a type of concept drift in target data that common ML techniques have problems dealing with. To tackle this problem, we present a novel approach to self-adaptation that enhances learning-based self-adaptive systems with a lifelong ML layer. We refer to this approach as lifelong self-adaptation. The lifelong ML layer tracks the system and its environment, associates this knowledge with the current tasks, identifies new tasks based on differences, and updates the learning models of the self-adaptive system accordingly. A human stakeholder may be involved to support the learning process and adjust the learning and goal models. We present a reusable architecture for lifelong self-adaptation and apply it to the case of drift of adaptation spaces that affects the decision-making in self-adaptation. We validate the approach for a series of scenarios using the DeltaIoT exemplar.