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.

在本文中，我们考虑了分布式多机器人系统（MRSS）的两个耦合问题，与有限的视野（FOV）传感器协调：交互的自适应调整和传感器攻击的拒绝。首先，分布式控制框架（例如，潜在字段）的典型缺点是整体系统行为对分配给相对交互的增益非常敏感。其次，有限的FOV传感器MRSS可以更容易受到针对他们的FOV的传感器攻击，因此必须适应这种攻击。基于这些缺点，我们提出了一个全面的解决方案，将自适应增益调整和攻击恢复能力结合在拓扑控制中，为有限的FOVS拓扑控制问题。具体地，我们首先基于满足标称成对相互作用来得出自适应增益调谐方案，这产生了机器人邻域中的相互作用强度的动态平衡。然后，我们通过采用静态输出反馈技术来模拟附加传感器和执行器攻击（或故障）并导出H无限控制协议，保证受攻击（故障）信号引起的误差的界限L2增益。最后，提供了使用ROS Gazebo的仿真结果来支持我们的理论发现。

最近已被证明大型语言模型在各种任务集中获得合理的零射普通化（Brown等，2020）。它已经假设这是语言模型的隐式多任务学习的结果，在语言模型中的预押（Radford等，2019）。可以通过明确的多任务学习直接引起零拍常规化？为了以缩放测试这个问题，我们开发一个系统，以便轻松地将任何自然语言任务映射到人类可读的提示表单中。我们转换一组大量的监督数据集，每个数据集都有多个提示，具有不同的措辞。这些提示的数据集允许基准测试模型执行完全看不见的任务的能力。我们介绍了一个普拉克尔编码器 - 解码器模型（Raffel等，2020; Lester等，2021），覆盖各种任务。该模型在多个标准数据集中达到强大的零点性能，通常优于其尺寸的型号超过16倍。此外，我们的方法对来自Big-替补基准测试的任务子集具有强烈性能，优于其尺寸的6倍。所有提示和培训的型号都可以在https://github.com/ bigscience-workshop / protectsource / httpsource / https：//huggingface.co/bigscience/t0pp。

Computational units in artificial neural networks follow a simplified model of biological neurons. In the biological model, the output signal of a neuron runs down the axon, splits following the many branches at its end, and passes identically to all the downward neurons of the network. Each of the downward neurons will use their copy of this signal as one of many inputs dendrites, integrate them all and fire an output, if above some threshold. In the artificial neural network, this translates to the fact that the nonlinear filtering of the signal is performed in the upward neuron, meaning that in practice the same activation is shared between all the downward neurons that use that signal as their input. Dendrites thus play a passive role. We propose a slightly more complex model for the biological neuron, where dendrites play an active role: the activation in the output of the upward neuron becomes optional, and instead the signals going through each dendrite undergo independent nonlinear filterings, before the linear combination. We implement this new model into a ReLU computational unit and discuss its biological plausibility. We compare this new computational unit with the standard one and describe it from a geometrical point of view. We provide a Keras implementation of this unit into fully connected and convolutional layers and estimate their FLOPs and weights change. We then use these layers in ResNet architectures on CIFAR-10, CIFAR-100, Imagenette, and Imagewoof, obtaining performance improvements over standard ResNets up to 1.73%. Finally, we prove a universal representation theorem for continuous functions on compact sets and show that this new unit has more representational power than its standard counterpart.

Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping action, leading to the generation of wrong or inaccurate grasp poses. We propose a novel grasping strategy, named 3DSGrasp, that predicts the missing geometry from the partial PCD to produce reliable grasp poses. Our proposed PCD completion network is a Transformer-based encoder-decoder network with an Offset-Attention layer. Our network is inherently invariant to the object pose and point's permutation, which generates PCDs that are geometrically consistent and completed properly. Experiments on a wide range of partial PCD show that 3DSGrasp outperforms the best state-of-the-art method on PCD completion tasks and largely improves the grasping success rate in real-world scenarios. The code and dataset will be made available upon acceptance.

Uncertainty quantification is crucial to inverse problems, as it could provide decision-makers with valuable information about the inversion results. For example, seismic inversion is a notoriously ill-posed inverse problem due to the band-limited and noisy nature of seismic data. It is therefore of paramount importance to quantify the uncertainties associated to the inversion process to ease the subsequent interpretation and decision making processes. Within this framework of reference, sampling from a target posterior provides a fundamental approach to quantifying the uncertainty in seismic inversion. However, selecting appropriate prior information in a probabilistic inversion is crucial, yet non-trivial, as it influences the ability of a sampling-based inference in providing geological realism in the posterior samples. To overcome such limitations, we present a regularized variational inference framework that performs posterior inference by implicitly regularizing the Kullback-Leibler divergence loss with a CNN-based denoiser by means of the Plug-and-Play methods. We call this new algorithm Plug-and-Play Stein Variational Gradient Descent (PnP-SVGD) and demonstrate its ability in producing high-resolution, trustworthy samples representative of the subsurface structures, which we argue could be used for post-inference tasks such as reservoir modelling and history matching. To validate the proposed method, numerical tests are performed on both synthetic and field post-stack seismic data.

Explainability is a vibrant research topic in the artificial intelligence community, with growing interest across methods and domains. Much has been written about the topic, yet explainability still lacks shared terminology and a framework capable of providing structural soundness to explanations. In our work, we address these issues by proposing a novel definition of explanation that is a synthesis of what can be found in the literature. We recognize that explanations are not atomic but the product of evidence stemming from the model and its input-output and the human interpretation of this evidence. Furthermore, we fit explanations into the properties of faithfulness (i.e., the explanation being a true description of the model's decision-making) and plausibility (i.e., how much the explanation looks convincing to the user). Using our proposed theoretical framework simplifies how these properties are ope rationalized and provide new insight into common explanation methods that we analyze as case studies.

Fruit is a key crop in worldwide agriculture feeding millions of people. The standard supply chain of fruit products involves quality checks to guarantee freshness, taste, and, most of all, safety. An important factor that determines fruit quality is its stage of ripening. This is usually manually classified by experts in the field, which makes it a labor-intensive and error-prone process. Thus, there is an arising need for automation in the process of fruit ripeness classification. Many automatic methods have been proposed that employ a variety of feature descriptors for the food item to be graded. Machine learning and deep learning techniques dominate the top-performing methods. Furthermore, deep learning can operate on raw data and thus relieve the users from having to compute complex engineered features, which are often crop-specific. In this survey, we review the latest methods proposed in the literature to automatize fruit ripeness classification, highlighting the most common feature descriptors they operate on.

Objective: Accurate visual classification of bladder tissue during Trans-Urethral Resection of Bladder Tumor (TURBT) procedures is essential to improve early cancer diagnosis and treatment. During TURBT interventions, White Light Imaging (WLI) and Narrow Band Imaging (NBI) techniques are used for lesion detection. Each imaging technique provides diverse visual information that allows clinicians to identify and classify cancerous lesions. Computer vision methods that use both imaging techniques could improve endoscopic diagnosis. We address the challenge of tissue classification when annotations are available only in one domain, in our case WLI, and the endoscopic images correspond to an unpaired dataset, i.e. there is no exact equivalent for every image in both NBI and WLI domains. Method: We propose a semi-surprised Generative Adversarial Network (GAN)-based method composed of three main components: a teacher network trained on the labeled WLI data; a cycle-consistency GAN to perform unpaired image-to-image translation, and a multi-input student network. To ensure the quality of the synthetic images generated by the proposed GAN we perform a detailed quantitative, and qualitative analysis with the help of specialists. Conclusion: The overall average classification accuracy, precision, and recall obtained with the proposed method for tissue classification are 0.90, 0.88, and 0.89 respectively, while the same metrics obtained in the unlabeled domain (NBI) are 0.92, 0.64, and 0.94 respectively. The quality of the generated images is reliable enough to deceive specialists. Significance: This study shows the potential of using semi-supervised GAN-based classification to improve bladder tissue classification when annotations are limited in multi-domain data.

Semi-Supervised Learning (SSL) has recently accomplished successful achievements in various fields such as image classification, object detection, and semantic segmentation, which typically require a lot of labour to construct ground-truth. Especially in the depth estimation task, annotating training data is very costly and time-consuming, and thus recent SSL regime seems an attractive solution. In this paper, for the first time, we introduce a novel framework for semi-supervised learning of monocular depth estimation networks, using consistency regularization to mitigate the reliance on large ground-truth depth data. We propose a novel data augmentation approach, called K-way disjoint masking, which allows the network for learning how to reconstruct invisible regions so that the model not only becomes robust to perturbations but also generates globally consistent output depth maps. Experiments on the KITTI and NYU-Depth-v2 datasets demonstrate the effectiveness of each component in our pipeline, robustness to the use of fewer and fewer annotated images, and superior results compared to other state-of-the-art, semi-supervised methods for monocular depth estimation. Our code is available at https://github.com/KU-CVLAB/MaskingDepth.