在本文中，我们建议采用MDE范式来开发机器学习（ML）的软件系统，重点关注物联网（IoT）域。我们说明了如何将两种最先进的开源建模工具，即蒙蒂安娜和ML-Quadrat用于此目的，如案例研究所证明的那样。案例研究说明了使用ML使用MNIST参考数据集对手写数字的自动图像识别的ML，特别是深人造神经网络（ANN），并将机器学习组件集成到物联网系统中。随后，我们对两个框架进行了功能比较，设置了一个分析基础，以包括广泛的设计考虑因素，例如问题域，ML集成到较大系统中的方法以及支持的ML方法以及主题最近对ML社区的强烈兴趣，例如Automl和MLOP。因此，本文的重点是阐明ML域中MDE方法的潜力。这支持ML工程师开发（ML/软件）模型而不是实施代码，并通过启用ML功能作为IoT或IoT的组件的现成集成来实现设计的可重复性和模块化。网络物理系统。

多目标优化中的当前最新技术假设具有给定的效用函数，可以交互性地学习效用函数或试图确定完整的帕累托前部，需要对首选结果进行后启发。但是，现实世界中的问题的结果通常是基于隐式和明确的专家知识，因此很难定义效用功能，而交互式学习或启发后需要重复且昂贵的专家参与。为了减轻这种情况，我们使用偏好学习的专家知识来离线学习实用功能。与其他作品相比，我们不仅使用（成对）结果偏好，而且还使用有关实用程序功能空间的粗略信息。这使我们能够改善效用函数估计，尤其是在使用很少的结果时。此外，我们对实用程序功能学习任务中发生的不确定性进行建模，并通过整个优化链传播它们。我们学习公用事业功能的方法消除了重复专家参与的需求，同时仍导致高质量的结果。我们显示了在4个域中提出的方法的样本效率和质量提高，尤其是在替代效用函数无法精确捕获真正的专家效用函数的情况下。我们还表明，要获得良好的结果，重要的是要考虑诱发的不确定性并分析偏置样本的效果，这在现实世界中是一个常见的问题。

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。

在许多机器学习的情况下，研究表明，培训数据的开发可能比分类器本身的选择和建模更高。因此，已经开发了数据增强方法来通过人为创建的培训数据来改善分类器。在NLP中，为提供新的语言模式的文本转换建立通用规则存在挑战。在本文中，我们介绍并评估一种适合于长期和短文的分类器的性能的文本生成方法。通过我们的文本生成方法的增强，我们在评估简短和长期文本任务时取得了令人鼓舞的改进。尤其是在小型数据分析方面，与NO增强基线和其他数据增强技术相比，在构建的低数据状态下，添加精度的提高到达15.53％和3.56％。由于这些构建制度的当前轨道并非普遍适用，因此我们还显示了几个现实世界中低数据任务（高达+4.84 F1得分）的重大改进。由于我们从许多角度（总共11个数据集）评估了该方法，因此我们还观察到该方法可能不合适的情况。我们讨论了在不同类型的数据集上成功应用我们的方法的含义和模式。

Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity, especially for solving unexpected problems. A main challenge in teleoperation consists of providing enough feedback to the human operator for situation awareness and thus create full immersion, as well as offering the operator suitable control interfaces to achieve efficient and robust task fulfillment. We present a bimanual telemanipulation system consisting of an anthropomorphic avatar robot and an operator station providing force and haptic feedback to the human operator. The avatar arms are controlled in Cartesian space with a direct mapping of the operator movements. The measured forces and torques on the avatar side are haptically displayed to the operator. We developed a predictive avatar model for limit avoidance which runs on the operator side, ensuring low latency. The system was successfully evaluated during the ANA Avatar XPRIZE competition semifinals. In addition, we performed in lab experiments and carried out a small user study with mostly untrained operators.

The purpose of this work was to tackle practical issues which arise when using a tendon-driven robotic manipulator with a long, passive, flexible proximal section in medical applications. A separable robot which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. A control input which resolves the redundancy in the kinematics and a physical interpretation of this redundancy are provided. The effect of a static change in the proximal section angle on bending angle error was explored under four testing conditions for a sinusoidal input. Bending angle error increased for increasing proximal section angle for all testing conditions with an average error reduction of 41.48% for retension, 4.28% for hysteresis, and 52.35% for re-tension + hysteresis compensation relative to the baseline case. Two major sources of error in tracking the bending angle were identified: time delay from hysteresis and DC offset from the proximal section angle. Examination of these error sources revealed that the simple hysteresis compensation was most effective for removing time delay and re-tension compensation for removing DC offset, which was the primary source of increasing error. The re-tension compensation was also tested for dynamic changes in the proximal section and reduced error in the final configuration of the tip by 89.14% relative to the baseline case.

Learning enabled autonomous systems provide increased capabilities compared to traditional systems. However, the complexity of and probabilistic nature in the underlying methods enabling such capabilities present challenges for current systems engineering processes for assurance, and test, evaluation, verification, and validation (TEVV). This paper provides a preliminary attempt to map recently developed technical approaches in the assurance and TEVV of learning enabled autonomous systems (LEAS) literature to a traditional systems engineering v-model. This mapping categorizes such techniques into three main approaches: development, acquisition, and sustainment. We review the latest techniques to develop safe, reliable, and resilient learning enabled autonomous systems, without recommending radical and impractical changes to existing systems engineering processes. By performing this mapping, we seek to assist acquisition professionals by (i) informing comprehensive test and evaluation planning, and (ii) objectively communicating risk to leaders.

In inverse reinforcement learning (IRL), a learning agent infers a reward function encoding the underlying task using demonstrations from experts. However, many existing IRL techniques make the often unrealistic assumption that the agent has access to full information about the environment. We remove this assumption by developing an algorithm for IRL in partially observable Markov decision processes (POMDPs). We address two limitations of existing IRL techniques. First, they require an excessive amount of data due to the information asymmetry between the expert and the learner. Second, most of these IRL techniques require solving the computationally intractable forward problem -- computing an optimal policy given a reward function -- in POMDPs. The developed algorithm reduces the information asymmetry while increasing the data efficiency by incorporating task specifications expressed in temporal logic into IRL. Such specifications may be interpreted as side information available to the learner a priori in addition to the demonstrations. Further, the algorithm avoids a common source of algorithmic complexity by building on causal entropy as the measure of the likelihood of the demonstrations as opposed to entropy. Nevertheless, the resulting problem is nonconvex due to the so-called forward problem. We solve the intrinsic nonconvexity of the forward problem in a scalable manner through a sequential linear programming scheme that guarantees to converge to a locally optimal policy. In a series of examples, including experiments in a high-fidelity Unity simulator, we demonstrate that even with a limited amount of data and POMDPs with tens of thousands of states, our algorithm learns reward functions and policies that satisfy the task while inducing similar behavior to the expert by leveraging the provided side information.

Speech-driven 3D facial animation has been widely explored, with applications in gaming, character animation, virtual reality, and telepresence systems. State-of-the-art methods deform the face topology of the target actor to sync the input audio without considering the identity-specific speaking style and facial idiosyncrasies of the target actor, thus, resulting in unrealistic and inaccurate lip movements. To address this, we present Imitator, a speech-driven facial expression synthesis method, which learns identity-specific details from a short input video and produces novel facial expressions matching the identity-specific speaking style and facial idiosyncrasies of the target actor. Specifically, we train a style-agnostic transformer on a large facial expression dataset which we use as a prior for audio-driven facial expressions. Based on this prior, we optimize for identity-specific speaking style based on a short reference video. To train the prior, we introduce a novel loss function based on detected bilabial consonants to ensure plausible lip closures and consequently improve the realism of the generated expressions. Through detailed experiments and a user study, we show that our approach produces temporally coherent facial expressions from input audio while preserving the speaking style of the target actors.

We study the problem of graph clustering under a broad class of objectives in which the quality of a cluster is defined based on the ratio between the number of edges in the cluster, and the total weight of vertices in the cluster. We show that our definition is closely related to popular clustering measures, namely normalized associations, which is a dual of the normalized cut objective, and normalized modularity. We give a linear time constant-approximate algorithm for our objective, which implies the first constant-factor approximation algorithms for normalized modularity and normalized associations.