本文考虑了从野外单视图像中无监督的3D对象重建的问题。由于歧义性和内在的不良性，这个问题本质上难以解决，因此需要强大的正则化以实现不同潜在因素的分离。与现有的作品将明确的正规化引入目标功能不同，我们研究了一个不同的空间进行隐式正则化 - 潜在空间的结构。具体而言，我们限制了潜在空间的结构，以捕获潜在因素的拓扑因果排序（即代表因果关系作为定向无环形图）。我们首先表明，不同的因果顺序对于3D重建至关重要，然后探索几种方法以找到与任务有关的因果因素排序。我们的实验表明，潜在空间结构确实是隐式正规化，并引入了有益于重建的电感偏见。

3D场景图（3DSG）是新兴的描述；统一符号，拓扑和度量场景表示。但是，典型的3DSG即使在小环境中包含数百个对象和符号。完整图上的任务计划是不切实际的。我们构建任务法，这是第一个大规模的机器人任务计划基准3DSGS。尽管大多数基准在该领域的基准努力都集中在基于愿景的计划上，但我们系统地研究了符号计划，以使计划绩效与视觉表示学习相结合。我们观察到，在现有方法中，基于经典和学习的计划者都不能在完整的3DSG上实时计划。实现实时计划需要（a）稀疏3DSG进行可拖动计划的进展，以及（b）设计更好利用3DSG层次结构的计划者。针对前一个目标，我们提出了磨砂膏，这是一种由任务条件的3DSG稀疏方法。使经典计划者能够匹配，在某些情况下可以超过最新的学习计划者。我们提出寻求后一个目标，这是一种使学习计划者能够利用3DSG结构的程序，从而减少了当前最佳方法所需的重型查询数量的数量级。我们将开放所有代码和基线，以刺激机器人任务计划，学习和3DSGS的交叉点进行进一步的研究。

在无模型的深度加强学习（RL）算法中，利用嘈杂的值估计监督政策评估和优化对样品效率有害。由于这种噪声是异源的，因此可以在优化过程中使用基于不确定性的权重来缓解其效果。以前的方法依赖于采样的合奏，这不会捕获不确定性的所有方面。我们对在RL的嘈杂监管中提供了对不确定性的不确定性来源的系统分析，并引入了诸如将概率集合和批处理逆差加权组合的贝叶斯框架的逆差异RL。我们提出了一种方法，其中两个互补的不确定性估计方法占Q值和环境随机性，以更好地减轻嘈杂监督的负面影响。我们的结果表明，对离散和连续控制任务的采样效率方面显着改进。

在本文中，我们考虑了迭代机教学问题，教师根据当前迭代学习者顺序提供示例。与必须扫描整个池并在每次迭代中选择教学示例的先前方法相比，我们提出了一个标签综合教学框架，其中教师随机选择输入教学示例（例如，图像），然后合成合适的输出（例如，，标签）为他们。我们表明，此框架可以避免昂贵的示例选择，同时仍然可以获得指数的可行性。我们在本框架中提出了多种新颖的教学算法。最后，我们经验证明了我们框架的价值。

通常，基于学习的拓扑导航方法产生了本地政策，同时通过拓扑图保留了空间的一些松散连通性。然而，拓扑图中的伪造或缺失的边缘通常会导致导航故障。在这项工作中，我们提出了一种基于抽样的图形构建方法，与基线方法相比，导致较为稀疏的图形却具有更高的导航性能。我们还提出了图形维护策略，以消除伪边缘并根据需要扩展图形，从而改善终身导航性能。与从固定培训环境中学习的控制器不同，我们表明我们的模型只能使用来自部署代理的现实世界环境中的少量收集的轨迹图像进行微调。我们在现实世界环境进行了微调后证明了成功的导航，并且通过应用我们的终身图形维护策略，随着时间的推移，随着时间的推移表现出显着的导航改进。

As text generated by large language models proliferates, it becomes vital to understand how humans engage with such text, and whether or not they are able to detect when the text they are reading did not originate with a human writer. Prior work on human detection of generated text focuses on the case where an entire passage is either human-written or machine-generated. In this paper, we study a more realistic setting where text begins as human-written and transitions to being generated by state-of-the-art neural language models. We show that, while annotators often struggle at this task, there is substantial variance in annotator skill and that given proper incentives, annotators can improve at this task over time. Furthermore, we conduct a detailed comparison study and analyze how a variety of variables (model size, decoding strategy, fine-tuning, prompt genre, etc.) affect human detection performance. Finally, we collect error annotations from our participants and use them to show that certain textual genres influence models to make different types of errors and that certain sentence-level features correlate highly with annotator selection. We release the RoFT dataset: a collection of over 21,000 human annotations paired with error classifications to encourage future work in human detection and evaluation of generated text.

Drawing from the resources of psychoanalysis and critical media studies, in this paper we develop an analysis of Large Language Models (LLMs) as automated subjects. We argue the intentional fictional projection of subjectivity onto LLMs can yield an alternate frame through which AI behaviour, including its productions of bias and harm, can be analysed. First, we introduce language models, discuss their significance and risks, and outline our case for interpreting model design and outputs with support from psychoanalytic concepts. We trace a brief history of language models, culminating with the releases, in 2022, of systems that realise state-of-the-art natural language processing performance. We engage with one such system, OpenAI's InstructGPT, as a case study, detailing the layers of its construction and conducting exploratory and semi-structured interviews with chatbots. These interviews probe the model's moral imperatives to be helpful, truthful and harmless by design. The model acts, we argue, as the condensation of often competing social desires, articulated through the internet and harvested into training data, which must then be regulated and repressed. This foundational structure can however be redirected via prompting, so that the model comes to identify with, and transfer, its commitments to the immediate human subject before it. In turn, these automated productions of language can lead to the human subject projecting agency upon the model, effecting occasionally further forms of countertransference. We conclude that critical media methods and psychoanalytic theory together offer a productive frame for grasping the powerful new capacities of AI-driven language systems.

Multimodal integration of text, layout and visual information has achieved SOTA results in visually rich document understanding (VrDU) tasks, including relation extraction (RE). However, despite its importance, evaluation of the relative predictive capacity of these modalities is less prevalent. Here, we demonstrate the value of shared representations for RE tasks by conducting experiments in which each data type is iteratively excluded during training. In addition, text and layout data are evaluated in isolation. While a bimodal text and layout approach performs best (F1=0.684), we show that text is the most important single predictor of entity relations. Additionally, layout geometry is highly predictive and may even be a feasible unimodal approach. Despite being less effective, we highlight circumstances where visual information can bolster performance. In total, our results demonstrate the efficacy of training joint representations for RE.

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.

有限混合物建模是聚类领域的一种流行方法，并且在很大程度上是由于其软聚类成员资格概率所致。但是，EM算法是适合有限混合模型的最常见算法，是许多问题的受害者。我们解决了使用有限混合模型的困扰聚类的这些问题，包括在高维情况下与局部最大值和算法速度问题相对应的解决方案的收敛。这是通过开发两种新型算法来完成的，这些算法结合了数据矩阵的光谱分解和非参数bootstrap采样方案。模拟显示了我们的算法的有效性，不仅证明了它们的灵活性，而且还证明了与其他（自举）聚类算法相比，它们避免了与局部墨西哥相对应的溶液的能力。我们的新型算法通常具有更一致的收敛标准，并且在适合有限混合模型的其他自举算法中，速度显着提高。