合成健康数据在共享数据以支持生物医学研究和创新医疗保健应用的发展时有可能减轻隐私问题。基于机器学习，尤其是生成对抗网络（GAN）方法的现代方法生成的现代方法继续发展并表现出巨大的潜力。然而，缺乏系统的评估框架来基准测试方法，并确定哪些方法最合适。在这项工作中，我们引入了一个可推广的基准测试框架，以评估综合健康数据的关键特征在实用性和隐私指标方面。我们将框架应用框架来评估来自两个大型学术医疗中心的电子健康记录（EHRS）数据的合成数据生成方法。结果表明，共享合成EHR数据存在公用事业私人关系权衡。结果进一步表明，在每个用例中，在所有标准上都没有明确的方法是最好的，这使得为什么需要在上下文中评估合成数据生成方法。

目的是对临床文本去识别的自然语言处理（NLP）模型的评估取决于临床注释的可用性，临床注释通常由于隐私问题而受到限制。 NLP沙盒是一种通过采用联合模型到数据的方法来减轻NLP模型缺乏数据和评估框架的方法。这使得无偏见的联合模型评估无需共享多个机构的敏感数据。材料和方法我们利用Synapse协作框架，容器化软件和OpenAPI Generator来构建NLP沙盒（NLPSANDBOX.IO）。我们使用来自三个机构的数据评估了两个最先进的NLP去识别注释模型Philter和Neuroner。我们使用来自外部验证站点的数据进一步验证了模型性能。结果我们通过去识别临床模型评估证明了NLP沙箱的有用性。外部开发人员能够将其模型纳入NLP沙盒模板中，并提供用户体验反馈。讨论我们证明了使用NLP沙箱对临床文本去识别模型进行多站点评估的可行性，而无需共享数据。标准化模型和数据模式可以使模型传输和实现平稳。为了概括NLP沙箱，数据所有者和模型开发人员需要进行工作，以开发合适和标准化的模式，并调整其数据或模型以适合模式。结论NLP沙箱降低了利用临床数据进行NLP模型评估的障碍，并促进了联合会的NLP模型的联合，多站点，无偏见的评估。

Participants in political discourse employ rhetorical strategies -- such as hedging, attributions, or denials -- to display varying degrees of belief commitments to claims proposed by themselves or others. Traditionally, political scientists have studied these epistemic phenomena through labor-intensive manual content analysis. We propose to help automate such work through epistemic stance prediction, drawn from research in computational semantics, to distinguish at the clausal level what is asserted, denied, or only ambivalently suggested by the author or other mentioned entities (belief holders). We first develop a simple RoBERTa-based model for multi-source stance predictions that outperforms more complex state-of-the-art modeling. Then we demonstrate its novel application to political science by conducting a large-scale analysis of the Mass Market Manifestos corpus of U.S. political opinion books, where we characterize trends in cited belief holders -- respected allies and opposed bogeymen -- across U.S. political ideologies.

3D shapes have complementary abstractions from low-level geometry to part-based hierarchies to languages, which convey different levels of information. This paper presents a unified framework to translate between pairs of shape abstractions: $\textit{Text}$ $\Longleftrightarrow$ $\textit{Point Cloud}$ $\Longleftrightarrow$ $\textit{Program}$. We propose $\textbf{Neural Shape Compiler}$ to model the abstraction transformation as a conditional generation process. It converts 3D shapes of three abstract types into unified discrete shape code, transforms each shape code into code of other abstract types through the proposed $\textit{ShapeCode Transformer}$, and decodes them to output the target shape abstraction. Point Cloud code is obtained in a class-agnostic way by the proposed $\textit{Point}$VQVAE. On Text2Shape, ShapeGlot, ABO, Genre, and Program Synthetic datasets, Neural Shape Compiler shows strengths in $\textit{Text}$ $\Longrightarrow$ $\textit{Point Cloud}$, $\textit{Point Cloud}$ $\Longrightarrow$ $\textit{Text}$, $\textit{Point Cloud}$ $\Longrightarrow$ $\textit{Program}$, and Point Cloud Completion tasks. Additionally, Neural Shape Compiler benefits from jointly training on all heterogeneous data and tasks.

In order for artificial neural networks to begin accurately mimicking biological ones, they must be able to adapt to new exigencies without forgetting what they have learned from previous training. Lifelong learning approaches to artificial neural networks attempt to strive towards this goal, yet have not progressed far enough to be realistically deployed for natural language processing tasks. The proverbial roadblock of catastrophic forgetting still gate-keeps researchers from an adequate lifelong learning model. While efforts are being made to quell catastrophic forgetting, there is a lack of research that looks into the importance of class ordering when training on new classes for incremental learning. This is surprising as the ordering of "classes" that humans learn is heavily monitored and incredibly important. While heuristics to develop an ideal class order have been researched, this paper examines class ordering as it relates to priming as a scheme for incremental class learning. By examining the connections between various methods of priming found in humans and how those are mimicked yet remain unexplained in life-long machine learning, this paper provides a better understanding of the similarities between our biological systems and the synthetic systems while simultaneously improving current practices to combat catastrophic forgetting. Through the merging of psychological priming practices with class ordering, this paper is able to identify a generalizable method for class ordering in NLP incremental learning tasks that consistently outperforms random class ordering.

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to identify driving preferences and produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently account for safety and reliability concerns. In this paper, we show how imitation learning combined with reinforcement learning using simple rewards can substantially improve the safety and reliability of driving policies over those learned from imitation alone. In particular, we use a combination of imitation and reinforcement learning to train a policy on over 100k miles of urban driving data, and measure its effectiveness in test scenarios grouped by different levels of collision risk. To our knowledge, this is the first application of a combined imitation and reinforcement learning approach in autonomous driving that utilizes large amounts of real-world human driving data.

Reinforcement Learning is a powerful tool to model decision-making processes. However, it relies on an exploration-exploitation trade-off that remains an open challenge for many tasks. In this work, we study neighboring state-based, model-free exploration led by the intuition that, for an early-stage agent, considering actions derived from a bounded region of nearby states may lead to better actions when exploring. We propose two algorithms that choose exploratory actions based on a survey of nearby states, and find that one of our methods, ${\rho}$-explore, consistently outperforms the Double DQN baseline in an discrete environment by 49\% in terms of Eval Reward Return.

Diffusion models have achieved great success in modeling continuous data modalities such as images, audio, and video, but have seen limited use in discrete domains such as language. Recent attempts to adapt diffusion to language have presented diffusion as an alternative to autoregressive language generation. We instead view diffusion as a complementary method that can augment the generative capabilities of existing pre-trained language models. We demonstrate that continuous diffusion models can be learned in the latent space of a pre-trained encoder-decoder model, enabling us to sample continuous latent representations that can be decoded into natural language with the pre-trained decoder. We show that our latent diffusion models are more effective at sampling novel text from data distributions than a strong autoregressive baseline and also enable controllable generation.

We introduce MegaPose, a method to estimate the 6D pose of novel objects, that is, objects unseen during training. At inference time, the method only assumes knowledge of (i) a region of interest displaying the object in the image and (ii) a CAD model of the observed object. The contributions of this work are threefold. First, we present a 6D pose refiner based on a render&compare strategy which can be applied to novel objects. The shape and coordinate system of the novel object are provided as inputs to the network by rendering multiple synthetic views of the object's CAD model. Second, we introduce a novel approach for coarse pose estimation which leverages a network trained to classify whether the pose error between a synthetic rendering and an observed image of the same object can be corrected by the refiner. Third, we introduce a large-scale synthetic dataset of photorealistic images of thousands of objects with diverse visual and shape properties and show that this diversity is crucial to obtain good generalization performance on novel objects. We train our approach on this large synthetic dataset and apply it without retraining to hundreds of novel objects in real images from several pose estimation benchmarks. Our approach achieves state-of-the-art performance on the ModelNet and YCB-Video datasets. An extensive evaluation on the 7 core datasets of the BOP challenge demonstrates that our approach achieves performance competitive with existing approaches that require access to the target objects during training. Code, dataset and trained models are available on the project page: https://megapose6d.github.io/.

Video provides us with the spatio-temporal consistency needed for visual learning. Recent approaches have utilized this signal to learn correspondence estimation from close-by frame pairs. However, by only relying on close-by frame pairs, those approaches miss out on the richer long-range consistency between distant overlapping frames. To address this, we propose a self-supervised approach for correspondence estimation that learns from multiview consistency in short RGB-D video sequences. Our approach combines pairwise correspondence estimation and registration with a novel SE(3) transformation synchronization algorithm. Our key insight is that self-supervised multiview registration allows us to obtain correspondences over longer time frames; increasing both the diversity and difficulty of sampled pairs. We evaluate our approach on indoor scenes for correspondence estimation and RGB-D pointcloud registration and find that we perform on-par with supervised approaches.