Temporal Graph Neural Network (TGNN) has been receiving a lot of attention recently due to its capability in modeling time-evolving graph-related tasks. Similar to Graph Neural Networks, it is also non-trivial to interpret predictions made by a TGNN due to its black-box nature. A major approach tackling this problems in GNNs is by analyzing the model' responses on some perturbations of the model's inputs, called perturbation-based explanation methods. While these methods are convenient and flexible since they do not need internal access to the model, does this lack of internal access prevent them from revealing some important information of the predictions? Motivated by that question, this work studies the limit of some classes of perturbation-based explanation methods. Particularly, by constructing some specific instances of TGNNs, we show (i) node-perturbation cannot reliably identify the paths carrying out the prediction, (ii) edge-perturbation is not reliable in determining all nodes contributing to the prediction and (iii) perturbing both nodes and edges does not reliably help us identify the graph's components carrying out the temporal aggregation in TGNNs.

在过去的几年中，已经引入了许多基于输入数据扰动的解释方法，以提高我们对黑盒模型做出的决策的理解。这项工作的目的是引入一种新颖的扰动方案，以便可以获得更忠实和强大的解释。我们的研究重点是扰动方向对数据拓扑的影响。我们表明，在对离散的Gromov-Hausdorff距离的最坏情况分析以及通过持久的同源性的平均分析中，沿输入歧管的正交方向的扰动更好地保留了数据拓扑。从这些结果中，我们引入EMAP算法，实现正交扰动方案。我们的实验表明，EMAP不仅改善了解释者的性能，而且还可以帮助他们克服最近对基于扰动的方法的攻击。

尽管最近关于了解深神经网络（DNN）的研究，但关于DNN如何产生其预测的问题仍然存在许多问题。特别是，给定对不同输入样本的类似预测，基本机制是否会产生这些预测？在这项工作中，我们提出了Neucept，这是一种局部发现关键神经元的方法，该神经元在模型的预测中起着重要作用，并确定模型的机制在产生这些预测中。我们首先提出一个关键的神经元识别问题，以最大程度地提高相互信息目标的序列，并提供一个理论框架，以有效地解决关键神经元，同时控制精度。Neucept接下来以无监督的方式学习了不同模型的机制。我们的实验结果表明，Neucept鉴定的神经元不仅对模型的预测具有强大的影响，而且还具有有关模型机制的有意义的信息。

时间图神经网络（TGNN）由于能够捕获图形拓扑依赖性和非线性时间动力学的能力而广泛用于建模与图形相关的任务。TGNN的解释对于透明和值得信赖的模型至关重要。但是，复杂的拓扑结构和时间依赖性使解释TGNN模型非常具有挑战性。在本文中，我们为TGNN模型提出了一个新颖的解释器框架。给定图表上的时间序列待解释，该框架可以在一个时间段内以概率图形模型的形式识别出主要的解释。关于运输域的案例研究表明，所提出的方法可以在一段时间内发现道路网络中的动态依赖性结构。

近年来，知识蒸馏（KD）被认为是模型压缩和加速度的关键解决方案。在KD中，通过最大限度地减少两者的概率输出之间的分歧，一项小学生模型通常从大师模型中培训。然而，如我们实验中所示，现有的KD方法可能不会将老师的批判性解释知识转移给学生，即两种模型所做的预测的解释并不一致。在本文中，我们提出了一种新颖的可解释的知识蒸馏模型，称为XDistillation，通过该模型，解释信息都从教师模型转移到学生模型。 Xdistillation模型利用卷积的自动统计学器的想法来近似教师解释。我们的实验表明，由Xdistillation培训的模型优于传统KD方法的那些不仅在预测准确性的术语，而且对教师模型的忠诚度。

客户端之间的非独立和相同分布（非IID）数据分布被视为降低联合学习（FL）性能的关键因素。处理非IID数据（如个性化FL和联邦多任务学习（FMTL）的几种方法对研究社区有很大兴趣。在这项工作中，首先，我们使用Laplacian正规化制定FMTL问题，明确地利用客户模型之间的关系进行多任务学习。然后，我们介绍了FMTL问题的新视图，首次表明配制的FMTL问题可用于传统的FL和个性化FL。我们还提出了两种算法FEDU和DFEDU，分别解决了通信集中和分散方案中的配制FMTL问题。从理论上讲，我们证明了两种算法的收敛速率实现了用于非凸起目标的强大凸起和载位加速的线性加速。实验，我们表明我们的算法优于FL设置的传统算法FedVG，在FMTL设置中的Mocha，以及个性化流程中的PFEDME和PER-FEDAVG。

This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*) algorithm and the Line-of-Sight (LOS) algorithm are employed to generate a collision-free path consisting of multiple waypoints. Then, in the second step, constrained quadratic programming is utilized to compute a smooth trajectory that passes through all computed waypoints. The main contribution of this work is the development of a flexible trajectory planning framework that can detect changes in the environment, such as new obstacles, and compute alternative trajectories in real time. The proposed algorithm actively considers all changes in the environment and performs the replanning process only on waypoints that are occupied by new obstacles. This helps to reduce the computation time and realize the proposed approach in real time. The feasibility of the proposed algorithm is evaluated using the Intel Aero Ready-to-Fly (RTF) quadcopter in simulation and in a real-world experiment.

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.

Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a difficult problem in robotics since its solution for a given target pose is not unique. Moreover, choosing the optimal IK solution with respect to application-specific demands helps to improve the robustness and to increase the success rate when driving the manipulator from its current configuration towards a desired pose. This is necessary, especially in high-dynamic tasks like catching objects in mid-flights. To compute a suitable target configuration in the joint space for a given target pose in the trajectory planning context, various factors such as travel time or manipulability must be considered. However, these factors increase the complexity of the overall problem which impedes real-time implementation. In this paper, a real-time framework to compute the analytical inverse kinematics of a redundant robot is presented. To this end, the analytical IK of the redundant manipulator is parameterized by so-called redundancy parameters, which are combined with a target pose to yield a unique IK solution. Most existing works in the literature either try to approximate the direct mapping from the desired pose of the manipulator to the solution of the IK or cluster the entire workspace to find IK solutions. In contrast, the proposed framework directly learns these redundancy parameters by using a neural network (NN) that provides the optimal IK solution with respect to the manipulability and the closeness to the current robot configuration. Monte Carlo simulations show the effectiveness of the proposed approach which is accurate and real-time capable ($\approx$ \SI{32}{\micro\second}) on the KUKA LBR iiwa 14 R820.

This work proposes a novel singularity avoidance approach for real-time trajectory optimization based on known singular configurations. The focus of this work lies on analyzing kinematically singular configurations for three robots with different kinematic structures, i.e., the Comau Racer 7-1.4, the KUKA LBR iiwa R820, and the Franka Emika Panda, and exploiting these configurations in form of tailored potential functions for singularity avoidance. Monte Carlo simulations of the proposed method and the commonly used manipulability maximization approach are performed for comparison. The numerical results show that the average computing time can be reduced and shorter trajectories in both time and path length are obtained with the proposed approach