自从首次引入多层感知器以来，连接主义者社区一直在不确定性的概念以及如何在这些类型的模型中代表这一概念。在过去的十年中，试图将概率建模的原则性方法与深度神经网络的可扩展性相结合在一起。尽管这种合并的理论利益很明显，但这些努力也有一些重要的实际方面。即强迫我们创建的模型来代表，学习和报告所做的每个预测中的不确定性。这些努力中有许多是基于扩展现有框架的其他结构。我们提出了Borch，这是一种可扩展的通用概率编程语言，它建在Pytorch之上。该代码可在我们的存储库中下载和使用https://gitlab.com/desupervise/borch。

通常通过过去的选择来告知机器学习中的评估，例如要使用哪些数据集或指标。该标准化可以使用排行榜对平等基础进行比较，但是随着出现更好的替代方案，评估选择变得不佳。这个问题在自然语言生成中尤其相关，该语言需要不断改善的数据集，指标和人类评估以提出确定性的主张。为了使遵循最佳模型评估实践更加容易，我们介绍了GEMV2。新版本的一代，评估和指标基准为数据集，模型和指标开发人员提供了模块化基础架构，以使彼此受益。GEMV2支持40种记录的数据集中51种语言。所有数据集的模型都可以在线评估，我们的交互式数据卡创建和渲染工具使得在Living Benchmark中添加新数据集变得更加容易。

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。

大型预先训练的语言模型已经显示了几次拍摄学习的承诺，只提供了几个任务特定示例给出了基于文本的任务。款式将很快解决到目前为止为人类研究助理保留的分类任务吗？现有的基准标记不设计用于衡量应用设置的进度，因此不要直接回答这个问题。 RAFT基准（现实世界注释的少量拍摄任务）侧重于自然发生的任务，并使用镜像部署的评估设置。 RAFT的基线评估揭示了当前技术斗争的地区：推理在许多班级的长篇文章和任务上。人类基线表明，非专家人类难以反映出一些分类任务，反映了现实世界的价值有时依赖于域名专业知识。甚至非专业人类基线F1分数超过GPT-3平均为0.11。 RAFT DataSets和排行榜将跟踪哪些模型改进在https://raft.elict.org中转化为现实世界的优势。

在强化学习培训的设置代理神经学可以通过分立令牌相互通信，实现作为一个团队有哪些代理将无法独自做到。然而，使用一个热向量作为离散的通信的当前标准从获取作为零次理解通信这样的更理想的方面令牌防止剂。通过嵌入一词从自然语言处理技术的启发，我们提出了神经代理架构，使他们能够通过从了解到，连续的空间衍生离散令牌进行通信。我们显示了在决策理论框架，我们的技术优化通信在大范围的场景，而一个热令牌是唯一最佳的下严格的假设。在自我发挥的实验，我们验证了我们的培训的工作人员学习集群令牌语义有意义的方式，让他们在其他技术无法嘈杂的环境中交流。最后，我们证明这两种，用我们的方法代理可以有效地应对新的人际交往和人类可以理解未标记的应急代理通信，跑赢使用一个热的沟通。

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.