我们研究了一种新颖的方法，用于在网络控制系统中使用二次成本进行弹性分布式优化的方法，容易出现使代理行为不良的外源性攻击。与普遍采用的过滤策略相反，我们从共识问题的游戏理论表述中汲取灵感，并认为在恶意药物的存在下增加竞争可以提高韧性。分析和数值结果证实了我们的直觉，表明（i）我们的策略揭示了完全协作和全面竞争之间的非平凡性能权衡，（ii）基于竞争的方法可以超越基于平均值的最先进算法子序列减少。最后，我们研究了通信拓扑和连接性对性能的影响，并指出了对强大的网络设计的见解。

我们提供了机器人智能系统和控制（RISC）LAB MULTIAGEGGENT测试，用于在室外环境中的可靠搜索和救援和空中运输。该系统包括三个多陆无人机（无人机）的团队，能够在室外场中自主搜索，拾取和运输随机分布的物体。该方法涉及基于视觉的物体检测和定位，具有我们的新颖设计，基于GPS的UAV导航和下降区的物体的安全释放。我们的合作策略可确保无人机之间安全的空间分离，我们可以使用已启用的通信共识，防止下落区域的冲突。所有计算都在每个UAV上执行。我们描述了系统的完整软件和硬件架构，并使用全面的户外实验展示其可靠的性能，并通过将我们的结果与最近的一些类似的作品进行比较。

Large language models (LLMs) have been shown to be able to perform new tasks based on a few demonstrations or natural language instructions. While these capabilities have led to widespread adoption, most LLMs are developed by resource-rich organizations and are frequently kept from the public. As a step towards democratizing this powerful technology, we present BLOOM, a 176B-parameter open-access language model designed and built thanks to a collaboration of hundreds of researchers. BLOOM is a decoder-only Transformer language model that was trained on the ROOTS corpus, a dataset comprising hundreds of sources in 46 natural and 13 programming languages (59 in total). We find that BLOOM achieves competitive performance on a wide variety of benchmarks, with stronger results after undergoing multitask prompted finetuning. To facilitate future research and applications using LLMs, we publicly release our models and code under the Responsible AI License.

二进制恒星经历各种相互作用和进化阶段，对于预测和解释观察到的特性至关重要。具有完整恒星结构和进化模拟的二元种群合成在计算上需要大量的质量转移序列。最近开发的二元种群综合代码Posydon结合了梅萨二元星模拟的网格，然后将其插值以模拟大型大型二进制文件。计算高密度直线网格的传统方法对于高维网格，不可扩展，这是一系列金属性，旋转和偏心率的范围。我们提出了一种新的活跃学习算法PSY-CRI，该算法使用数据收集过程中的机器学习来适应和迭代选择目标模拟以运行，从而导致自定义，高性能的训练集。我们在玩具问题上测试PSY-CRIS，发现所得的训练集比常规或随机采样网格所需的模拟更少以进行准确的分类和回归。我们进一步将psy-cris应用于构建Mesa模拟动态网格的目标问题，我们证明，即使没有微调，仅$ \ sim 1/4 $的模拟集也足以足以达到相同的分类精度。当针对目标应用程序优化算法参数时，我们预计将进一步增益。我们发现，仅对分类进行优化可能会导致回归中的绩效损失，反之亦然。降低产生网格的计算成本将使Posydon的未来版本涵盖更多的输入参数，同时保留插值精度。

在医学成像领域越来越多地探索联合学习，以培训在不同数据中心分布在不同数据中心的大规模数据集上的深入学习模型，同时通过避免转移敏感患者信息来保护隐私。在此稿件中，我们在多域的多域的多任务设置中探索联合学习，其中不同的参与节点可以包含来自不同域的数据集，并训练以解决不同的任务。我们评估了两种不同实验设置的对象检测和分段任务的跨域联合学习：多模态和多器官。我们对跨领域联合学习框架的实验的结果非常令人鼓舞，对于器官定位，0.79的重叠相似性和0.65用于病变分割。我们的结果展示了在不共享来自不同域的数据的多域，多任务深度学习模型中联合学习的潜力。

Despite progress in perceptual tasks such as image classification, computers still perform poorly on cognitive tasks such as image description and question answering. Cognition is core to tasks that involve not just recognizing, but reasoning about our visual world. However, models used to tackle the rich content in images for cognitive tasks are still being trained using the same datasets designed for perceptual tasks. To achieve success at cognitive tasks, models need to understand the interactions and relationships between objects in

Designing experiments often requires balancing between learning about the true treatment effects and earning from allocating more samples to the superior treatment. While optimal algorithms for the Multi-Armed Bandit Problem (MABP) provide allocation policies that optimally balance learning and earning, they tend to be computationally expensive. The Gittins Index (GI) is a solution to the MABP that can simultaneously attain optimality and computationally efficiency goals, and it has been recently used in experiments with Bernoulli and Gaussian rewards. For the first time, we present a modification of the GI rule that can be used in experiments with exponentially-distributed rewards. We report its performance in simulated 2- armed and 3-armed experiments. Compared to traditional non-adaptive designs, our novel GI modified design shows operating characteristics comparable in learning (e.g. statistical power) but substantially better in earning (e.g. direct benefits). This illustrates the potential that designs using a GI approach to allocate participants have to improve participant benefits, increase efficiencies, and reduce experimental costs in adaptive multi-armed experiments with exponential rewards.

Quadruped robots are currently used in industrial robotics as mechanical aid to automate several routine tasks. However, presently, the usage of such a robot in a domestic setting is still very much a part of the research. This paper discusses the understanding and virtual simulation of such a robot capable of detecting and understanding human emotions, generating its gait, and responding via sounds and expression on a screen. To this end, we use a combination of reinforcement learning and software engineering concepts to simulate a quadruped robot that can understand emotions, navigate through various terrains and detect sound sources, and respond to emotions using audio-visual feedback. This paper aims to establish the framework of simulating a quadruped robot that is emotionally intelligent and can primarily respond to audio-visual stimuli using motor or audio response. The emotion detection from the speech was not as performant as ERANNs or Zeta Policy learning, still managing an accuracy of 63.5%. The video emotion detection system produced results that are almost at par with the state of the art, with an accuracy of 99.66%. Due to its "on-policy" learning process, the PPO algorithm was extremely rapid to learn, allowing the simulated dog to demonstrate a remarkably seamless gait across the different cadences and variations. This enabled the quadruped robot to respond to generated stimuli, allowing us to conclude that it functions as predicted and satisfies the aim of this work.

Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping action, leading to the generation of wrong or inaccurate grasp poses. We propose a novel grasping strategy, named 3DSGrasp, that predicts the missing geometry from the partial PCD to produce reliable grasp poses. Our proposed PCD completion network is a Transformer-based encoder-decoder network with an Offset-Attention layer. Our network is inherently invariant to the object pose and point's permutation, which generates PCDs that are geometrically consistent and completed properly. Experiments on a wide range of partial PCD show that 3DSGrasp outperforms the best state-of-the-art method on PCD completion tasks and largely improves the grasping success rate in real-world scenarios. The code and dataset will be made available upon acceptance.

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.