促进辅助（AAN）控制旨在通过鼓励患者积极参与促进机器人辅助康复的治疗结果。大多数AAN控制器使用阻抗控制来在目标运动周围创建柔性的力字段，以确保在允许中等运动错误的同时进行跟踪精度。然而，由于控制力场的形状的参数通常根据关于关于对象学习能力的简单假设在线手动调整或在线调整，因此可以限制传统AAN控制器的有效性。在这项工作中，我们提出了一种新颖的自适应AAN控制器，其能够根据每个单独的电动机能力和任务要求自动重塑力场以相位相关的方式重塑力场。该拟议的控制器包括使用路径积分算法的修改策略改进，一种无模型的采样的增强学习方法，该方法实时地学习了特定于主题的阻抗景观，以及嵌入AAN PARADIGM的分层策略参数评估结构通过指定性能驱动的学习目标。通过跑步机培训课程通过具有能够在动力踝足矫形器的协助学习改变的步态模式的跑步机培训课程，通过跑步机培训课程进行实验验证，拟议的控制策略及其促进短期运动适应能力的适应性。

Recent neural compression methods have been based on the popular hyperprior framework. It relies on Scalar Quantization and offers a very strong compression performance. This contrasts from recent advances in image generation and representation learning, where Vector Quantization is more commonly employed. In this work, we attempt to bring these lines of research closer by revisiting vector quantization for image compression. We build upon the VQ-VAE framework and introduce several modifications. First, we replace the vanilla vector quantizer by a product quantizer. This intermediate solution between vector and scalar quantization allows for a much wider set of rate-distortion points: It implicitly defines high-quality quantizers that would otherwise require intractably large codebooks. Second, inspired by the success of Masked Image Modeling (MIM) in the context of self-supervised learning and generative image models, we propose a novel conditional entropy model which improves entropy coding by modelling the co-dependencies of the quantized latent codes. The resulting PQ-MIM model is surprisingly effective: its compression performance on par with recent hyperprior methods. It also outperforms HiFiC in terms of FID and KID metrics when optimized with perceptual losses (e.g. adversarial). Finally, since PQ-MIM is compatible with image generation frameworks, we show qualitatively that it can operate under a hybrid mode between compression and generation, with no further training or finetuning. As a result, we explore the extreme compression regime where an image is compressed into 200 bytes, i.e., less than a tweet.

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.

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。

预测人类运动对于辅助机器人和AR/VR应用至关重要，在这种机器人和AR/VR应用中，与人类的互动需要安全舒适。同时，准确的预测取决于理解场景上下文和人类意图。尽管许多作品研究场景 - 意识到人类的运动预测，但由于缺乏以自我为中心的观点，这些观点揭示了人类意图以及运动和场景的多样性有限，因此后者在很大程度上并没有得到充实的影响。为了减少差距，我们提出了一个大规模的人类运动数据集，该数据集可提供高质量的身体姿势序列，场景扫描以及以自我为中心的视图，目光注视，这是推断人类意图的代孕。通过使用惯性传感器进行运动捕获，我们的数据收集与特定场景无关，这进一步增强了从主题中观察到的运动动力学。我们对利用眼睛目光进行以自我为中心的人类运动预测的优势进行了广泛的研究，并进行了各种最新的架构。此外，为了实现目光的全部潜力，我们提出了一种新型的网络体系结构，该架构可以在目光和运动分支之间进行双向交流。我们的网络在拟议的数据集上实现了人类运动预测的最高性能，这要归功于眼睛凝视的意图信息以及动作调制的DeNocied Ceaze特征。代码和数据可以在https://github.com/y-zheng18/gimo上找到。

口语语言理解（SLU）任务涉及从语音音频信号映射到语义标签。鉴于此类任务的复杂性，可能预期良好的性能需要大量标记的数据集，这很难为每个新任务和域收集。但是，最近的自我监督讲话表现的进步使得考虑使用有限标记的数据学习SLU模型是可行的。在这项工作中，我们专注于低资源讨论（ner）并解决问题：超越自我监督的预培训，我们如何使用未为任务注释的外部语音和/或文本数据？我们借鉴了各种方法，包括自我训练，知识蒸馏和转移学习，并考虑其对端到端模型和管道（语音识别后跟文本型号）的适用性。我们发现，这些方法中的几种方法可以在资源受限的环境中提高绩效，超出了训练有素的表示的福利。与事先工作相比，我们发现改进的F1分数高达16％。虽然最好的基线模型是一种管道方法，但使用外部数据时最终通过端到端模型实现的最佳性能。我们提供了详细的比较和分析，例如，端到端模型能够专注于更加立列人的单词。

通过共享数据集和基准，已经促进了语音处理的进展。历史上，这些都集中在自动语音识别（ASR），扬声器标识或其他较低级别的任务上。兴趣在更高层次的口语中越来越多，理解任务，包括使用端到端模型，但是此类任务的注释数据集较少。与此同时，最近的工作显示了预先培训通用表示的可能性，然后使用相对较少标记的数据进行微调的多个任务。我们建议为口语语言理解（屠宰）创建一套基准任务，由有限尺寸标记的培训集和相应的评估集组成。该资源将允许研究界跟踪进度，评估高级任务的预先接受预期的表示，并研究开放的问题，例如管道与端到端方法的实用性。我们介绍了雪橇基准套件的第一阶段，包括指定实体识别，情感分析和相应数据集上的ASR。我们专注于自然产生的（未读取或综合）语音和自由可用的数据集。我们为VoxceReb和Voxpopuli数据集的子集提供新的转录和注释，基线模型的评估指标和结果，以及重现基线的开源工具包，并评估新模型。

We demonstrate a proof-of-concept of a large language model conducting corporate lobbying related activities. We use an autoregressive large language model (OpenAI's text-davinci-003) to determine if proposed U.S. Congressional bills are relevant to specific public companies and provide explanations and confidence levels. For the bills the model deems as relevant, the model drafts a letter to the sponsor of the bill in an attempt to persuade the congressperson to make changes to the proposed legislation. We use hundreds of ground-truth labels of the relevance of a bill to a company to benchmark the performance of the model, which outperforms the baseline of predicting the most common outcome of irrelevance. However, we test the ability to determine the relevance of a bill with the previous OpenAI GPT-3 model (text-davinci-002), which was state-of-the-art on many language tasks until text-davinci-003 was released on November 28, 2022. The performance of text-davinci-002 is worse than simply always predicting that a bill is irrelevant to a company. These results suggest that, as large language models continue to improve core natural language understanding capabilities, performance on corporate lobbying related tasks will continue to improve. We then discuss why this could be problematic for societal-AI alignment.

In the past years, deep learning has seen an increase of usage in the domain of histopathological applications. However, while these approaches have shown great potential, in high-risk environments deep learning models need to be able to judge their own uncertainty and be able to reject inputs when there is a significant chance of misclassification. In this work, we conduct a rigorous evaluation of the most commonly used uncertainty and robustness methods for the classification of Whole-Slide-Images under domain shift using the H\&E stained Camelyon17 breast cancer dataset. Although it is known that histopathological data can be subject to strong domain shift and label noise, to our knowledge this is the first work that compares the most common methods for uncertainty estimation under these aspects. In our experiments, we compare Stochastic Variational Inference, Monte-Carlo Dropout, Deep Ensembles, Test-Time Data Augmentation as well as combinations thereof. We observe that ensembles of methods generally lead to higher accuracies and better calibration and that Test-Time Data Augmentation can be a promising alternative when choosing an appropriate set of augmentations. Across methods, a rejection of the most uncertain tiles leads to a significant increase in classification accuracy on both in-distribution as well as out-of-distribution data. Furthermore, we conduct experiments comparing these methods under varying conditions of label noise. We observe that the border regions of the Camelyon17 dataset are subject to label noise and evaluate the robustness of the included methods against different noise levels. Lastly, we publish our code framework to facilitate further research on uncertainty estimation on histopathological data.

In large-scale machine learning, recent works have studied the effects of compressing gradients in stochastic optimization in order to alleviate the communication bottleneck. These works have collectively revealed that stochastic gradient descent (SGD) is robust to structured perturbations such as quantization, sparsification, and delays. Perhaps surprisingly, despite the surge of interest in large-scale, multi-agent reinforcement learning, almost nothing is known about the analogous question: Are common reinforcement learning (RL) algorithms also robust to similar perturbations? In this paper, we investigate this question by studying a variant of the classical temporal difference (TD) learning algorithm with a perturbed update direction, where a general compression operator is used to model the perturbation. Our main technical contribution is to show that compressed TD algorithms, coupled with an error-feedback mechanism used widely in optimization, exhibit the same non-asymptotic theoretical guarantees as their SGD counterparts. We then extend our results significantly to nonlinear stochastic approximation algorithms and multi-agent settings. In particular, we prove that for multi-agent TD learning, one can achieve linear convergence speedups in the number of agents while communicating just $\tilde{O}(1)$ bits per agent at each time step. Our work is the first to provide finite-time results in RL that account for general compression operators and error-feedback in tandem with linear function approximation and Markovian sampling. Our analysis hinges on studying the drift of a novel Lyapunov function that captures the dynamics of a memory variable introduced by error feedback.