基于学习的控制方案最近表现出了出色的效力执行复杂的任务。但是，为了将它们部署在实际系统中，保证该系统在在线培训和执行过程中将保持安全至关重要。因此，我们需要安全的在线学习框架，能够自主地理论当前的信息是否足以确保安全或需要新的测量。在本文中，我们提出了一个由两个部分组成的框架：首先，在需要时积极收集测量的隔离外检测机制，以确保至少一个安全备份方向始终可供使用；其次，基于高斯的基于过程的概率安全 - 关键控制器可确保系统始终保持安全的可能性。我们的方法通过使用控制屏障功能来利用模型知识，并以事件触发的方式从在线数据流中收集测量，以确保学习的安全至关重要控制器的递归可行性。反过来，这又使我们能够提供具有很高概率的安全集的正式结果，即使在先验未开发的区域中也是如此。最后，我们在自适应巡航控制系统的数值模拟中验证了所提出的框架。

我们提出了Memprop，即采用基于梯度的学习来培训完全的申请尖峰神经网络（MSNNS）。我们的方法利用固有的设备动力学来触发自然产生的电压尖峰。这些由回忆动力学发出的尖峰本质上是类似物，因此完全可区分，这消除了尖峰神经网络（SNN）文献中普遍存在的替代梯度方法的需求。回忆性神经网络通常将备忘录集成为映射离线培训网络的突触，或者以其他方式依靠关联学习机制来训练候选神经元的网络。相反，我们直接在循环神经元和突触的模拟香料模型上应用了通过时间（BPTT）训练算法的反向传播。我们的实现是完全的综合性，因为突触重量和尖峰神经元都集成在电阻RAM（RRAM）阵列上，而无需其他电路来实现尖峰动态，例如模数转换器（ADCS）或阈值比较器。结果，高阶电物理效应被充分利用，以在运行时使用磁性神经元的状态驱动动力学。通过朝着非同一梯度的学习迈进，我们在以前报道的几个基准上的轻巧密集的完全MSNN中获得了高度竞争的准确性。

在训练数据的分布中评估时，学到的模型和政策可以有效地概括，但可以在分布输入输入的情况下产生不可预测且错误的输出。为了避免在部署基于学习的控制算法时分配变化，我们寻求一种机制将代理商限制为类似于受过训练的国家和行动的机制。在控制理论中，Lyapunov稳定性和控制不变的集合使我们能够保证稳定系统周围系统的控制器，而在机器学习中，密度模型使我们能够估算培训数据分布。我们可以将这两个概念结合起来，产生基于学习的控制算法，这些算法仅使用分配动作将系统限制为分布状态？在这项工作中，我们建议通过结合Lyapunov稳定性和密度估计的概念来做到这一点，引入Lyapunov密度模型：控制Lyapunov函数和密度模型的概括，这些函数和密度模型可以保证代理商在其整个轨迹上保持分布的能力。

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。

Many recent works on understanding deep learning try to quantify how much individual data instances influence the optimization and generalization of a model, either by analyzing the behavior of the model during training or by measuring the performance gap of the model when the instance is removed from the dataset. Such approaches reveal characteristics and importance of individual instances, which may provide useful information in diagnosing and improving deep learning. However, most of the existing works on data valuation require actual training of a model, which often demands high-computational cost. In this paper, we provide a training-free data valuation score, called complexity-gap score, which is a data-centric score to quantify the influence of individual instances in generalization of two-layer overparameterized neural networks. The proposed score can quantify irregularity of the instances and measure how much each data instance contributes in the total movement of the network parameters during training. We theoretically analyze and empirically demonstrate the effectiveness of the complexity-gap score in finding 'irregular or mislabeled' data instances, and also provide applications of the score in analyzing datasets and diagnosing training dynamics.

Data-centric AI has shed light on the significance of data within the machine learning (ML) pipeline. Acknowledging its importance, various research and policies are suggested by academia, industry, and government departments. Although the capability of utilizing existing data is essential, the capability to build a dataset has become more important than ever. In consideration of this trend, we propose a "Data Management Operation and Recipes" that will guide the industry regardless of the task or domain. In other words, this paper presents the concept of DMOps derived from real-world experience. By offering a baseline for building data, we want to help the industry streamline its data operation optimally.

Generative AI has matured to a point where large-scale models can generate text that seems indistinguishable from human-written text and remarkably photorealistic images. Automatically measuring how close the distribution of generated data is to the target real data distribution is a key step in diagnosing existing models and developing better models. We present MAUVE, a family of comparison measures between pairs of distributions such as those encountered in the generative modeling of text or images. These scores are statistical summaries of divergence frontiers capturing two types of errors in generative modeling. We explore four approaches to statistically estimate these scores: vector quantization, non-parametric estimation, classifier-based estimation, and parametric Gaussian approximations. We provide statistical bounds for the vector quantization approach. Empirically, we find that the proposed scores paired with a range of $f$-divergences and statistical estimation methods can quantify the gaps between the distributions of human-written text and those of modern neural language models by correlating with human judgments and identifying known properties of the generated texts. We conclude the paper by demonstrating its applications to other AI domains and discussing practical recommendations.

In robotics and computer vision communities, extensive studies have been widely conducted regarding surveillance tasks, including human detection, tracking, and motion recognition with a camera. Additionally, deep learning algorithms are widely utilized in the aforementioned tasks as in other computer vision tasks. Existing public datasets are insufficient to develop learning-based methods that handle various surveillance for outdoor and extreme situations such as harsh weather and low illuminance conditions. Therefore, we introduce a new large-scale outdoor surveillance dataset named eXtremely large-scale Multi-modAl Sensor dataset (X-MAS) containing more than 500,000 image pairs and the first-person view data annotated by well-trained annotators. Moreover, a single pair contains multi-modal data (e.g. an IR image, an RGB image, a thermal image, a depth image, and a LiDAR scan). This is the first large-scale first-person view outdoor multi-modal dataset focusing on surveillance tasks to the best of our knowledge. We present an overview of the proposed dataset with statistics and present methods of exploiting our dataset with deep learning-based algorithms. The latest information on the dataset and our study are available at https://github.com/lge-robot-navi, and the dataset will be available for download through a server.

While inferring common actor states (such as position or velocity) is an important and well-explored task of the perception system aboard a self-driving vehicle (SDV), it may not always provide sufficient information to the SDV. This is especially true in the case of active emergency vehicles (EVs), where light-based signals also need to be captured to provide a full context. We consider this problem and propose a sequential methodology for the detection of active EVs, using an off-the-shelf CNN model operating at a frame level and a downstream smoother that accounts for the temporal aspect of flashing EV lights. We also explore model improvements through data augmentation and training with additional hard samples.

Efficient exploration strategy is one of essential issues in cooperative multi-agent reinforcement learning (MARL) algorithms requiring complex coordination. In this study, we introduce a new exploration method with the strangeness that can be easily incorporated into any centralized training and decentralized execution (CTDE)-based MARL algorithms. The strangeness refers to the degree of unfamiliarity of the observations that an agent visits. In order to give the observation strangeness a global perspective, it is also augmented with the the degree of unfamiliarity of the visited entire state. The exploration bonus is obtained from the strangeness and the proposed exploration method is not much affected by stochastic transitions commonly observed in MARL tasks. To prevent a high exploration bonus from making the MARL training insensitive to extrinsic rewards, we also propose a separate action-value function trained by both extrinsic reward and exploration bonus, on which a behavioral policy to generate transitions is designed based. It makes the CTDE-based MARL algorithms more stable when they are used with an exploration method. Through a comparative evaluation in didactic examples and the StarCraft Multi-Agent Challenge, we show that the proposed exploration method achieves significant performance improvement in the CTDE-based MARL algorithms.