建立机器人假体的核心挑战是创建基于传感器的系统，能够从下肢读取生理信号，并指示机器人手执行各种任务。现有系统通常通过采用肌电图（EMG）或超声（US）技术来分析肌肉状态，进行诸如指向或抓握之类的离散手势。虽然过去通过检测突出的手势来估算手势手势，但我们对检测或推理感兴趣，在随着时间的流逝而发展的精细运动的背景下进行。示例包括执行精细且灵巧的任务（例如键盘打字或钢琴弹奏）时发生的动作。我们将这项任务视为朝着臂截肢者中机器人假体提高采用率的重要一步，因为它有可能显着提高执行日常任务的功能。为此，我们提出了一个端到端的机器人系统，可以成功推断出精细的手指运动。这是通过将手作为机器人操纵器建模并将其用作中间表示来实现的，以从美国图像序列中编码肌肉的动力学。我们通过收集一组主题的数据来评估我们的方法，并演示如何使用它来重播播放或键入文字。据我们所知，这是第一个研究端到端系统中这些下游任务的第一项研究。

Datasets for training recommender systems are often subject to distribution shift induced by users' and recommenders' selection biases. In this paper, we study the impact of selection bias on datasets with different quantization. We then leverage two differently quantized datasets from different source distributions to mitigate distribution shift by applying the inverse probability scoring method from causal inference. Empirically, our approach gains significant performance improvement over single-dataset methods and alternative ways of combining two datasets.

One of the main challenges in deep learning-based underwater image enhancement is the limited availability of high-quality training data. Underwater images are difficult to capture and are often of poor quality due to the distortion and loss of colour and contrast in water. This makes it difficult to train supervised deep learning models on large and diverse datasets, which can limit the model's performance. In this paper, we explore an alternative approach to supervised underwater image enhancement. Specifically, we propose a novel unsupervised underwater image enhancement framework that employs a conditional variational autoencoder (cVAE) to train a deep learning model with probabilistic adaptive instance normalization (PAdaIN) and statistically guided multi-colour space stretch that produces realistic underwater images. The resulting framework is composed of a U-Net as a feature extractor and a PAdaIN to encode the uncertainty, which we call UDnet. To improve the visual quality of the images generated by UDnet, we use a statistically guided multi-colour space stretch module that ensures visual consistency with the input image and provides an alternative to training using a ground truth image. The proposed model does not need manual human annotation and can learn with a limited amount of data and achieves state-of-the-art results on underwater images. We evaluated our proposed framework on eight publicly-available datasets. The results show that our proposed framework yields competitive performance compared to other state-of-the-art approaches in quantitative as well as qualitative metrics. Code available at https://github.com/alzayats/UDnet .

Supervised machine learning-based medical image computing applications necessitate expert label curation, while unlabelled image data might be relatively abundant. Active learning methods aim to prioritise a subset of available image data for expert annotation, for label-efficient model training. We develop a controller neural network that measures priority of images in a sequence of batches, as in batch-mode active learning, for multi-class segmentation tasks. The controller is optimised by rewarding positive task-specific performance gain, within a Markov decision process (MDP) environment that also optimises the task predictor. In this work, the task predictor is a segmentation network. A meta-reinforcement learning algorithm is proposed with multiple MDPs, such that the pre-trained controller can be adapted to a new MDP that contains data from different institutes and/or requires segmentation of different organs or structures within the abdomen. We present experimental results using multiple CT datasets from more than one thousand patients, with segmentation tasks of nine different abdominal organs, to demonstrate the efficacy of the learnt prioritisation controller function and its cross-institute and cross-organ adaptability. We show that the proposed adaptable prioritisation metric yields converging segmentation accuracy for the novel class of kidney, unseen in training, using between approximately 40\% to 60\% of labels otherwise required with other heuristic or random prioritisation metrics. For clinical datasets of limited size, the proposed adaptable prioritisation offers a performance improvement of 22.6\% and 10.2\% in Dice score, for tasks of kidney and liver vessel segmentation, respectively, compared to random prioritisation and alternative active sampling strategies.

Multi-agent artificial intelligence research promises a path to develop intelligent technologies that are more human-like and more human-compatible than those produced by "solipsistic" approaches, which do not consider interactions between agents. Melting Pot is a research tool developed to facilitate work on multi-agent artificial intelligence, and provides an evaluation protocol that measures generalization to novel social partners in a set of canonical test scenarios. Each scenario pairs a physical environment (a "substrate") with a reference set of co-players (a "background population"), to create a social situation with substantial interdependence between the individuals involved. For instance, some scenarios were inspired by institutional-economics-based accounts of natural resource management and public-good-provision dilemmas. Others were inspired by considerations from evolutionary biology, game theory, and artificial life. Melting Pot aims to cover a maximally diverse set of interdependencies and incentives. It includes the commonly-studied extreme cases of perfectly-competitive (zero-sum) motivations and perfectly-cooperative (shared-reward) motivations, but does not stop with them. As in real-life, a clear majority of scenarios in Melting Pot have mixed incentives. They are neither purely competitive nor purely cooperative and thus demand successful agents be able to navigate the resulting ambiguity. Here we describe Melting Pot 2.0, which revises and expands on Melting Pot. We also introduce support for scenarios with asymmetric roles, and explain how to integrate them into the evaluation protocol. This report also contains: (1) details of all substrates and scenarios; (2) a complete description of all baseline algorithms and results. Our intention is for it to serve as a reference for researchers using Melting Pot 2.0.

This technical report presents GPS++, the first-place solution to the Open Graph Benchmark Large-Scale Challenge (OGB-LSC 2022) for the PCQM4Mv2 molecular property prediction task. Our approach implements several key principles from the prior literature. At its core our GPS++ method is a hybrid MPNN/Transformer model that incorporates 3D atom positions and an auxiliary denoising task. The effectiveness of GPS++ is demonstrated by achieving 0.0719 mean absolute error on the independent test-challenge PCQM4Mv2 split. Thanks to Graphcore IPU acceleration, GPS++ scales to deep architectures (16 layers), training at 3 minutes per epoch, and large ensemble (112 models), completing the final predictions in 1 hour 32 minutes, well under the 4 hour inference budget allocated. Our implementation is publicly available at: https://github.com/graphcore/ogb-lsc-pcqm4mv2.

We study the problem of efficient generative inference for Transformer models, in one of its most challenging settings: large deep models, with tight latency targets and long sequence lengths. Better understanding of the engineering tradeoffs for inference for large Transformer-based models is important as use cases of these models are growing rapidly throughout application areas. We develop a simple analytical model for inference efficiency to select the best multi-dimensional partitioning techniques optimized for TPU v4 slices based on the application requirements. We combine these with a suite of low-level optimizations to achieve a new Pareto frontier on the latency and model FLOPS utilization (MFU) tradeoffs on 500B+ parameter models that outperforms the FasterTransformer suite of benchmarks. We further show that with appropriate partitioning, the lower memory requirements of multiquery attention (i.e. multiple query heads share single key/value head) enables scaling up to 32x larger context lengths. Finally, we achieve a low-batch-size latency of 29ms per token during generation (using int8 weight quantization) and a 76% MFU during large-batch-size processing of input tokens, while supporting a long 2048-token context length on the PaLM 540B parameter model.

Three-dimensional (3D) freehand ultrasound (US) reconstruction without a tracker can be advantageous over its two-dimensional or tracked counterparts in many clinical applications. In this paper, we propose to estimate 3D spatial transformation between US frames from both past and future 2D images, using feed-forward and recurrent neural networks (RNNs). With the temporally available frames, a further multi-task learning algorithm is proposed to utilise a large number of auxiliary transformation-predicting tasks between them. Using more than 40,000 US frames acquired from 228 scans on 38 forearms of 19 volunteers in a volunteer study, the hold-out test performance is quantified by frame prediction accuracy, volume reconstruction overlap, accumulated tracking error and final drift, based on ground-truth from an optical tracker. The results show the importance of modelling the temporal-spatially correlated input frames as well as output transformations, with further improvement owing to additional past and/or future frames. The best performing model was associated with predicting transformation between moderately-spaced frames, with an interval of less than ten frames at 20 frames per second (fps). Little benefit was observed by adding frames more than one second away from the predicted transformation, with or without LSTM-based RNNs. Interestingly, with the proposed approach, explicit within-sequence loss that encourages consistency in composing transformations or minimises accumulated error may no longer be required. The implementation code and volunteer data will be made publicly available ensuring reproducibility and further research.

Besides accuracy, recent studies on machine learning models have been addressing the question on how the obtained results can be interpreted. Indeed, while complex machine learning models are able to provide very good results in terms of accuracy even in challenging applications, it is difficult to interpret them. Aiming at providing some interpretability for such models, one of the most famous methods, called SHAP, borrows the Shapley value concept from game theory in order to locally explain the predicted outcome of an instance of interest. As the SHAP values calculation needs previous computations on all possible coalitions of attributes, its computational cost can be very high. Therefore, a SHAP-based method called Kernel SHAP adopts an efficient strategy that approximate such values with less computational effort. In this paper, we also address local interpretability in machine learning based on Shapley values. Firstly, we provide a straightforward formulation of a SHAP-based method for local interpretability by using the Choquet integral, which leads to both Shapley values and Shapley interaction indices. Moreover, we also adopt the concept of $k$-additive games from game theory, which contributes to reduce the computational effort when estimating the SHAP values. The obtained results attest that our proposal needs less computations on coalitions of attributes to approximate the SHAP values.

Finetuning language models on a collection of datasets phrased as instructions has been shown to improve model performance and generalization to unseen tasks. In this paper we explore instruction finetuning with a particular focus on (1) scaling the number of tasks, (2) scaling the model size, and (3) finetuning on chain-of-thought data. We find that instruction finetuning with the above aspects dramatically improves performance on a variety of model classes (PaLM, T5, U-PaLM), prompting setups (zero-shot, few-shot, CoT), and evaluation benchmarks (MMLU, BBH, TyDiQA, MGSM, open-ended generation). For instance, Flan-PaLM 540B instruction-finetuned on 1.8K tasks outperforms PALM 540B by a large margin (+9.4% on average). Flan-PaLM 540B achieves state-of-the-art performance on several benchmarks, such as 75.2% on five-shot MMLU. We also publicly release Flan-T5 checkpoints, which achieve strong few-shot performance even compared to much larger models, such as PaLM 62B. Overall, instruction finetuning is a general method for improving the performance and usability of pretrained language models.