有希望的方法来改善气候模型中的云参数化，因此气候预测是使用深度学习与来自Storm-解析模型（SRM）模拟的培训数据结合使用。 ICOSAHEDRAL非静水压（图标）建模框架允许模拟从数值天气预报到气候投影，使其成为开发基于神经网络（NN）的子网比例过程的参数化的理想目标。在图标框架内，我们通过基于逼真的区域和全局图标SRM模拟培训基于NN的云覆盖参数化。我们设置了三种不同类型的NNS，其垂直局部程度不同，它们假设从粗粒粒度大气状态变量诊断云盖。 NNS精确地从粗粒数据中估计子网格尺度云覆盖，该数据具有与其训练数据相似的地理特征。此外，全球培训的NNS可以再现区域SRM仿真的子网格级云覆盖。使用基于游戏理论的可解释性库福芙添加剂解释，我们识别特定湿度和云冰上的过分传播，以及我们基于列的NN不能从全局到区域粗粒度SRM数据完全概括的原因。该解释工具还有助于可视化区域和全球训练的基于列的NNS之间的特征重要性的相似性和差异，并在其云覆盖预测和热力学环境之间揭示了本地关系。我们的结果表明，深度学习的潜力从全球SRMS获得准确但可解释的云覆盖参数化，并表明基于邻域的模型可能是精度和概括性之间的良好折衷。

When testing conditions differ from those represented in training data, so-called out-of-distribution (OOD) inputs can mar the reliability of black-box learned components in the modern robot autonomy stack. Therefore, coping with OOD data is an important challenge on the path towards trustworthy learning-enabled open-world autonomy. In this paper, we aim to demystify the topic of OOD data and its associated challenges in the context of data-driven robotic systems, drawing connections to emerging paradigms in the ML community that study the effect of OOD data on learned models in isolation. We argue that as roboticists, we should reason about the overall system-level competence of a robot as it performs tasks in OOD conditions. We highlight key research questions around this system-level view of OOD problems to guide future research toward safe and reliable learning-enabled autonomy.

The recent emergence of new algorithms for permuting models into functionally equivalent regions of the solution space has shed some light on the complexity of error surfaces, and some promising properties like mode connectivity. However, finding the right permutation is challenging, and current optimization techniques are not differentiable, which makes it difficult to integrate into a gradient-based optimization, and often leads to sub-optimal solutions. In this paper, we propose a Sinkhorn re-basin network with the ability to obtain the transportation plan that better suits a given objective. Unlike the current state-of-art, our method is differentiable and, therefore, easy to adapt to any task within the deep learning domain. Furthermore, we show the advantage of our re-basin method by proposing a new cost function that allows performing incremental learning by exploiting the linear mode connectivity property. The benefit of our method is compared against similar approaches from the literature, under several conditions for both optimal transport finding and linear mode connectivity. The effectiveness of our continual learning method based on re-basin is also shown for several common benchmark datasets, providing experimental results that are competitive with state-of-art results from the literature.

Digital media have enabled the access to unprecedented literary knowledge. Authors, readers, and scholars are now able to discover and share an increasing amount of information about books and their authors. Notwithstanding, digital archives are still unbalanced: writers from non-Western countries are less represented, and such a condition leads to the perpetration of old forms of discrimination. In this paper, we present the Under-Represented Writers Knowledge Graph (URW-KG), a resource designed to explore and possibly amend this lack of representation by gathering and mapping information about works and authors from Wikidata and three other sources: Open Library, Goodreads, and Google Books. The experiments based on KG embeddings showed that the integrated information encoded in the graph allows scholars and users to be more easily exposed to non-Western literary works and authors with respect to Wikidata alone. This opens to the development of fairer and effective tools for author discovery and exploration.

The local optima network model has proved useful in the past in connection with combinatorial optimization problems. Here we examine its extension to the real continuous function domain. Through a sampling process, the model builds a weighted directed graph which captures the function's minima basin structure and its interconnection and which can be easily manipulated with the help of complex networks metrics. We show that the model provides a complementary view of function spaces that is easier to analyze and visualize, especially at higher dimension. In particular, we show that function hardness as represented by algorithm performance, is strongly related to several graph properties of the corresponding local optima network, opening the way for a classification of problem difficulty according to the corresponding graph structure and with possible extensions in the design of better metaheuristic approaches.

The study of the attention mechanism has sparked interest in many fields, such as language modeling and machine translation. Although its patterns have been exploited to perform different tasks, from neural network understanding to textual alignment, no previous work has analysed the encoder-decoder attention behavior in speech translation (ST) nor used it to improve ST on a specific task. In this paper, we fill this gap by proposing an attention-based policy (EDAtt) for simultaneous ST (SimulST) that is motivated by an analysis of the existing attention relations between audio input and textual output. Its goal is to leverage the encoder-decoder attention scores to guide inference in real time. Results on en->{de, es} show that the EDAtt policy achieves overall better results compared to the SimulST state of the art, especially in terms of computational-aware latency.

The correct functioning of photovoltaic (PV) cells is critical to ensuring the optimal performance of a solar plant. Anomaly detection techniques for PV cells can result in significant cost savings in operation and maintenance (O&M). Recent research has focused on deep learning techniques for automatically detecting anomalies in Electroluminescence (EL) images. Automated anomaly annotations can improve current O&M methodologies and help develop decision-making systems to extend the life-cycle of the PV cells and predict failures. This paper addresses the lack of anomaly segmentation annotations in the literature by proposing a combination of state-of-the-art data-driven techniques to create a Golden Standard benchmark. The proposed method stands out for (1) its adaptability to new PV cell types, (2) cost-efficient fine-tuning, and (3) leverage public datasets to generate advanced annotations. The methodology has been validated in the annotation of a widely used dataset, obtaining a reduction of the annotation cost by 60%.

Autonomous vehicle (AV) stacks are typically built in a modular fashion, with explicit components performing detection, tracking, prediction, planning, control, etc. While modularity improves reusability, interpretability, and generalizability, it also suffers from compounding errors, information bottlenecks, and integration challenges. To overcome these challenges, a prominent approach is to convert the AV stack into an end-to-end neural network and train it with data. While such approaches have achieved impressive results, they typically lack interpretability and reusability, and they eschew principled analytical components, such as planning and control, in favor of deep neural networks. To enable the joint optimization of AV stacks while retaining modularity, we present DiffStack, a differentiable and modular stack for prediction, planning, and control. Crucially, our model-based planning and control algorithms leverage recent advancements in differentiable optimization to produce gradients, enabling optimization of upstream components, such as prediction, via backpropagation through planning and control. Our results on the nuScenes dataset indicate that end-to-end training with DiffStack yields substantial improvements in open-loop and closed-loop planning metrics by, e.g., learning to make fewer prediction errors that would affect planning. Beyond these immediate benefits, DiffStack opens up new opportunities for fully data-driven yet modular and interpretable AV architectures. Project website: https://sites.google.com/view/diffstack

We introduce M-VADER: a diffusion model (DM) for image generation where the output can be specified using arbitrary combinations of images and text. We show how M-VADER enables the generation of images specified using combinations of image and text, and combinations of multiple images. Previously, a number of successful DM image generation algorithms have been introduced that make it possible to specify the output image using a text prompt. Inspired by the success of those models, and led by the notion that language was already developed to describe the elements of visual contexts that humans find most important, we introduce an embedding model closely related to a vision-language model. Specifically, we introduce the embedding model S-MAGMA: a 13 billion parameter multimodal decoder combining components from an autoregressive vision-language model MAGMA and biases finetuned for semantic search.

The Codex model has demonstrated extraordinary competence in synthesizing code from natural language problem descriptions. However, in order to reveal unknown failure modes and hidden biases, such large-scale models must be systematically subjected to multiple and diverse evaluation studies. In this work, we evaluate the code synthesis capabilities of the Codex model based on a set of 115 Python problem statements from a popular competitive programming portal: HackerRank. Our evaluation shows that Codex is indeed proficient in Python, solving 96% of the problems in a zero-shot setting, and 100% of the problems in a few-shot setting. However, Codex exhibits clear signs of generating memorized code based on our evaluation. This is alarming, especially since the adoption and use of such models could directly impact how code is written and produced in the foreseeable future. With this in mind, we further discuss and highlight some of the prominent risks associated with large-scale models of source code. Finally, we propose a framework for code-synthesis evaluation using variations of problem statements based on mutations.