正如GPT-3和T5所证明的那样，随着参数空间变得越来越大，变压器具有能力。但是，对于需要大量知识的任务，非参数存储器允许模型在计算成本和GPU内存需求的次线性增加中急剧增长。诸如RAG和Realm之类的最新模型已将检索引入条件生成。这些模型结合了从一系列语料库中的神经初始检索。我们基于这一研究，提出了RE2G，该研究将神经初始检索和重新融合到基于巴特的序列到序列的生成中。我们的阅读方法还允许从无与伦比分数的来源合并结果，从而实现BM25和神经初始检索的合奏。为了训练我们的系统端到端，我们引入了一种新颖的知识蒸馏变体，以在目标序列输出上仅使用地面真理来训练初始检索，重读者和生成。我们在四个不同的任务中发现了很大的收益：零击插槽填充，问答，事实检查和对话，相对增长了9％至34％，比以前的苏格兰短裙排行榜上的最先前的排行榜相比。我们将代码作为开源提供，网址为https://github.com/ibm/kgi-slot-filling/tree/re2g。

在本文中，我们介绍了一个系统，以展示最新的最新检索增强生成模型的功能，该模型接受了知识密集型语言任务的培训，例如插槽填充，开放式域问题答案，对话和事实检查。此外，鉴于用户查询，我们显示如何将这些不同模型的输出组合在一起以互相盘问彼此的输出。特别是，我们展示了使用问题答案模型如何提高对话的准确性。我们还将发布演示中使用的所有模型作为本文的贡献。一个简短的视频，展示了该系统，请访问https://ibm.box.com/v/emnlp2022-demo。

在本文中，我们探索从教学视频中学习的自我监督的视听模型。事先工作表明，这些模型可以在视频的大规模数据集训练后与视觉内容相关联，但它们仅在英语中进行培训和评估。为了学习多语言视听表示，我们提出了一种级联方法，它利用了在英语视频上培训的模型，并将其应用于其他语言的视听数据，例如日本视频。通过我们的级联方法，与日语视频培训相比，我们展示了近10倍的检索性能提高。我们还将培训的模型应用于英语视频培训到日语和印地文口语字幕的图像，实现最先进的性能。

Dataset distillation has emerged as a prominent technique to improve data efficiency when training machine learning models. It encapsulates the knowledge from a large dataset into a smaller synthetic dataset. A model trained on this smaller distilled dataset can attain comparable performance to a model trained on the original training dataset. However, the existing dataset distillation techniques mainly aim at achieving the best trade-off between resource usage efficiency and model utility. The security risks stemming from them have not been explored. This study performs the first backdoor attack against the models trained on the data distilled by dataset distillation models in the image domain. Concretely, we inject triggers into the synthetic data during the distillation procedure rather than during the model training stage, where all previous attacks are performed. We propose two types of backdoor attacks, namely NAIVEATTACK and DOORPING. NAIVEATTACK simply adds triggers to the raw data at the initial distillation phase, while DOORPING iteratively updates the triggers during the entire distillation procedure. We conduct extensive evaluations on multiple datasets, architectures, and dataset distillation techniques. Empirical evaluation shows that NAIVEATTACK achieves decent attack success rate (ASR) scores in some cases, while DOORPING reaches higher ASR scores (close to 1.0) in all cases. Furthermore, we conduct a comprehensive ablation study to analyze the factors that may affect the attack performance. Finally, we evaluate multiple defense mechanisms against our backdoor attacks and show that our attacks can practically circumvent these defense mechanisms.

We present a dynamic path planning algorithm to navigate an amphibious rotor craft through a concave time-invariant obstacle field while attempting to minimize energy usage. We create a nonlinear quaternion state model that represents the rotor craft dynamics above and below the water. The 6 degree of freedom dynamics used within a layered architecture to generate motion paths for the vehicle to follow and the required control inputs. The rotor craft has a 3 dimensional map of its surroundings that is updated via limited range onboard sensor readings within the current medium (air or water). Path planning is done via PRM and D* Lite.

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in real-world underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission and make high-impact strategic decisions. We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and re-configurable communications.

We present Muse, a text-to-image Transformer model that achieves state-of-the-art image generation performance while being significantly more efficient than diffusion or autoregressive models. Muse is trained on a masked modeling task in discrete token space: given the text embedding extracted from a pre-trained large language model (LLM), Muse is trained to predict randomly masked image tokens. Compared to pixel-space diffusion models, such as Imagen and DALL-E 2, Muse is significantly more efficient due to the use of discrete tokens and requiring fewer sampling iterations; compared to autoregressive models, such as Parti, Muse is more efficient due to the use of parallel decoding. The use of a pre-trained LLM enables fine-grained language understanding, translating to high-fidelity image generation and the understanding of visual concepts such as objects, their spatial relationships, pose, cardinality etc. Our 900M parameter model achieves a new SOTA on CC3M, with an FID score of 6.06. The Muse 3B parameter model achieves an FID of 7.88 on zero-shot COCO evaluation, along with a CLIP score of 0.32. Muse also directly enables a number of image editing applications without the need to fine-tune or invert the model: inpainting, outpainting, and mask-free editing. More results are available at https://muse-model.github.io

The visual dimension of cities has been a fundamental subject in urban studies, since the pioneering work of scholars such as Sitte, Lynch, Arnheim, and Jacobs. Several decades later, big data and artificial intelligence (AI) are revolutionizing how people move, sense, and interact with cities. This paper reviews the literature on the appearance and function of cities to illustrate how visual information has been used to understand them. A conceptual framework, Urban Visual Intelligence, is introduced to systematically elaborate on how new image data sources and AI techniques are reshaping the way researchers perceive and measure cities, enabling the study of the physical environment and its interactions with socioeconomic environments at various scales. The paper argues that these new approaches enable researchers to revisit the classic urban theories and themes, and potentially help cities create environments that are more in line with human behaviors and aspirations in the digital age.

Logic Mill is a scalable and openly accessible software system that identifies semantically similar documents within either one domain-specific corpus or multi-domain corpora. It uses advanced Natural Language Processing (NLP) techniques to generate numerical representations of documents. Currently it leverages a large pre-trained language model to generate these document representations. The system focuses on scientific publications and patent documents and contains more than 200 million documents. It is easily accessible via a simple Application Programming Interface (API) or via a web interface. Moreover, it is continuously being updated and can be extended to text corpora from other domains. We see this system as a general-purpose tool for future research applications in the social sciences and other domains.

The release of ChatGPT, a language model capable of generating text that appears human-like and authentic, has gained significant attention beyond the research community. We expect that the convincing performance of ChatGPT incentivizes users to apply it to a variety of downstream tasks, including prompting the model to simplify their own medical reports. To investigate this phenomenon, we conducted an exploratory case study. In a questionnaire, we asked 15 radiologists to assess the quality of radiology reports simplified by ChatGPT. Most radiologists agreed that the simplified reports were factually correct, complete, and not potentially harmful to the patient. Nevertheless, instances of incorrect statements, missed key medical findings, and potentially harmful passages were reported. While further studies are needed, the initial insights of this study indicate a great potential in using large language models like ChatGPT to improve patient-centered care in radiology and other medical domains.