大型语言模型已被证明可以使用少量学习来实现各种自然语言任务的出色表现，这大大减少了将模型调整到特定应用程序所需的特定任务培训示例的数量。为了进一步了解量表对少量学习的影响，我们培训了一个5400亿个参数，密集激活的变压器语言模型，我们称之为“途径”语言模型棕榈。我们使用Pathways在6144 TPU V4芯片上训练了Palm，这是一种新的ML系统，可在多个TPU POD上进行高效的训练。我们通过在数百种语言理解和产生基准的基准方面实现最先进的学习结果来证明扩展的持续好处。在这些任务中，Palm 540B实现了突破性的表现，在一系列多步推理任务上表现出色，超过了最新的最新表现，并且在最近发布的Big Benchmark上表现优于平均人类表现。大量的大型基础任务显示出与模型量表的不连续改进，这意味着当我们扩展到最大模型时，性能急剧增加。 Palm在多语言任务和源代码生成方面也具有很强的功能，我们在各种基准测试中证明了这一点。我们还提供了有关偏见和毒性的全面分析，并研究了训练数据记忆的程度，相对于模型量表。最后，我们讨论与大语言模型有关的道德考虑，并讨论潜在的缓解策略。

对于开放式对话问题应答（CQA），可以检索最相关的段落来回答问题，但与标准通道检索相比，这是具有挑战性，因为它需要了解完整的对话背景而不是单个查询。此外，重新列车良好的检索者（例如用于非对话查询）最初开发的搜索引擎都可以昂贵。为了便于他们的使用，我们开发了一个查询重写模型Conqrr，可以将上下文中的会话问题重写为独立的问题。它培训了一种新颖的奖励功能，可以直接优化检索，并且可以使用强化学习来适应任何固定的黑箱猎犬。我们展示了Conqrr在最近的开放式CQA数据集上实现了最先进的结果，这是来自三个不同来源的对话组合。我们还开展了广泛的实验，以表明CONQRR为任何给定的固定猎犬的有效性。

大型预先训练的语言模型可以在可以在一个可以“单通”中的任务上进行非常好，例如生成现实文本或合成计算机程序。但是，他们与需要无限的多步计算的任务斗争，例如添加整数或执行程序。令人惊讶的是，我们发现这些相同的模型能够执行复杂的多步计算 - 即使在少量射门中，当被要求执行操作“一步一步”时，表示中间计算的结果。特别是，我们通过询问它们将中间计算步骤发出到“ScratchPad”来执行变压器来执行多步计算。在一系列越来越复杂的任务范围内，从加入任意程序的执行范围，我们表明Scratchpads显着提高了语言模型执行多步计算的能力。

In this paper, we propose a novel technique, namely INVALIDATOR, to automatically assess the correctness of APR-generated patches via semantic and syntactic reasoning. INVALIDATOR reasons about program semantic via program invariants while it also captures program syntax via language semantic learned from large code corpus using the pre-trained language model. Given a buggy program and the developer-patched program, INVALIDATOR infers likely invariants on both programs. Then, INVALIDATOR determines that a APR-generated patch overfits if: (1) it violates correct specifications or (2) maintains errors behaviors of the original buggy program. In case our approach fails to determine an overfitting patch based on invariants, INVALIDATOR utilizes a trained model from labeled patches to assess patch correctness based on program syntax. The benefit of INVALIDATOR is three-fold. First, INVALIDATOR is able to leverage both semantic and syntactic reasoning to enhance its discriminant capability. Second, INVALIDATOR does not require new test cases to be generated but instead only relies on the current test suite and uses invariant inference to generalize the behaviors of a program. Third, INVALIDATOR is fully automated. We have conducted our experiments on a dataset of 885 patches generated on real-world programs in Defects4J. Experiment results show that INVALIDATOR correctly classified 79% overfitting patches, accounting for 23% more overfitting patches being detected by the best baseline. INVALIDATOR also substantially outperforms the best baselines by 14% and 19% in terms of Accuracy and F-Measure, respectively.

The recent increase in public and academic interest in preserving biodiversity has led to the growth of the field of conservation technology. This field involves designing and constructing tools that utilize technology to aid in the conservation of wildlife. In this article, we will use case studies to demonstrate the importance of designing conservation tools with human-wildlife interaction in mind and provide a framework for creating successful tools. These case studies include a range of complexities, from simple cat collars to machine learning and game theory methodologies. Our goal is to introduce and inform current and future researchers in the field of conservation technology and provide references for educating the next generation of conservation technologists. Conservation technology not only has the potential to benefit biodiversity but also has broader impacts on fields such as sustainability and environmental protection. By using innovative technologies to address conservation challenges, we can find more effective and efficient solutions to protect and preserve our planet's resources.

Variational autoencoders model high-dimensional data by positing low-dimensional latent variables that are mapped through a flexible distribution parametrized by a neural network. Unfortunately, variational autoencoders often suffer from posterior collapse: the posterior of the latent variables is equal to its prior, rendering the variational autoencoder useless as a means to produce meaningful representations. Existing approaches to posterior collapse often attribute it to the use of neural networks or optimization issues due to variational approximation. In this paper, we consider posterior collapse as a problem of latent variable non-identifiability. We prove that the posterior collapses if and only if the latent variables are non-identifiable in the generative model. This fact implies that posterior collapse is not a phenomenon specific to the use of flexible distributions or approximate inference. Rather, it can occur in classical probabilistic models even with exact inference, which we also demonstrate. Based on these results, we propose a class of latent-identifiable variational autoencoders, deep generative models which enforce identifiability without sacrificing flexibility. This model class resolves the problem of latent variable non-identifiability by leveraging bijective Brenier maps and parameterizing them with input convex neural networks, without special variational inference objectives or optimization tricks. Across synthetic and real datasets, latent-identifiable variational autoencoders outperform existing methods in mitigating posterior collapse and providing meaningful representations of the data.

Cashews are grown by over 3 million smallholders in more than 40 countries worldwide as a principal source of income. As the third largest cashew producer in Africa, Benin has nearly 200,000 smallholder cashew growers contributing 15% of the country's national export earnings. However, a lack of information on where and how cashew trees grow across the country hinders decision-making that could support increased cashew production and poverty alleviation. By leveraging 2.4-m Planet Basemaps and 0.5-m aerial imagery, newly developed deep learning algorithms, and large-scale ground truth datasets, we successfully produced the first national map of cashew in Benin and characterized the expansion of cashew plantations between 2015 and 2021. In particular, we developed a SpatioTemporal Classification with Attention (STCA) model to map the distribution of cashew plantations, which can fully capture texture information from discriminative time steps during a growing season. We further developed a Clustering Augmented Self-supervised Temporal Classification (CASTC) model to distinguish high-density versus low-density cashew plantations by automatic feature extraction and optimized clustering. Results show that the STCA model has an overall accuracy of 80% and the CASTC model achieved an overall accuracy of 77.9%. We found that the cashew area in Benin has doubled from 2015 to 2021 with 60% of new plantation development coming from cropland or fallow land, while encroachment of cashew plantations into protected areas has increased by 70%. Only half of cashew plantations were high-density in 2021, suggesting high potential for intensification. Our study illustrates the power of combining high-resolution remote sensing imagery and state-of-the-art deep learning algorithms to better understand tree crops in the heterogeneous smallholder landscape.

Coronary Computed Tomography Angiography (CCTA) provides information on the presence, extent, and severity of obstructive coronary artery disease. Large-scale clinical studies analyzing CCTA-derived metrics typically require ground-truth validation in the form of high-fidelity 3D intravascular imaging. However, manual rigid alignment of intravascular images to corresponding CCTA images is both time consuming and user-dependent. Moreover, intravascular modalities suffer from several non-rigid motion-induced distortions arising from distortions in the imaging catheter path. To address these issues, we here present a semi-automatic segmentation-based framework for both rigid and non-rigid matching of intravascular images to CCTA images. We formulate the problem in terms of finding the optimal \emph{virtual catheter path} that samples the CCTA data to recapitulate the coronary artery morphology found in the intravascular image. We validate our co-registration framework on a cohort of $n=40$ patients using bifurcation landmarks as ground truth for longitudinal and rotational registration. Our results indicate that our non-rigid registration significantly outperforms other co-registration approaches for luminal bifurcation alignment in both longitudinal (mean mismatch: 3.3 frames) and rotational directions (mean mismatch: 28.6 degrees). By providing a differentiable framework for automatic multi-modal intravascular data fusion, our developed co-registration modules significantly reduces the manual effort required to conduct large-scale multi-modal clinical studies while also providing a solid foundation for the development of machine learning-based co-registration approaches.

Springs are efficient in storing and returning elastic potential energy but are unable to hold the energy they store in the absence of an external load. Lockable springs use clutches to hold elastic potential energy in the absence of an external load but have not yet been widely adopted in applications, partly because clutches introduce design complexity, reduce energy efficiency, and typically do not afford high-fidelity control over the energy stored by the spring. Here, we present the design of a novel lockable compression spring that uses a small capstan clutch to passively lock a mechanical spring. The capstan clutch can lock up to 1000 N force at any arbitrary deflection, unlock the spring in less than 10 ms with a control force less than 1 % of the maximal spring force, and provide an 80 % energy storage and return efficiency (comparable to a highly efficient electric motor operated at constant nominal speed). By retaining the form factor of a regular spring while providing high-fidelity locking capability even under large spring forces, the proposed design could facilitate the development of energy-efficient spring-based actuators and robots.

Springs can provide force at zero net energy cost by recycling negative mechanical work to benefit motor-driven robots or spring-augmented humans. However, humans have limited force and range of motion, and motors have a limited ability to produce force. These limits constrain how much energy a conventional spring can store and, consequently, how much assistance a spring can provide. In this paper, we introduce an approach to accumulating negative work in assistive springs over several motion cycles. We show that, by utilizing a novel floating spring mechanism, the weight of a human or robot can be used to iteratively increase spring compression, irrespective of the potential energy stored by the spring. Decoupling the force required to compress a spring from the energy stored by a spring advances prior works, and could enable spring-driven robots and humans to perform physically demanding tasks without the use of large actuators.