Our education system comprises a series of curricula. For example, when we learn mathematics at school, we learn in order from addition, to multiplication, and later to integration. Delineating a curriculum for teaching either a human or a machine shares the underlying goal of maximizing the positive knowledge transfer from early to later tasks and minimizing forgetting of the early tasks. Here, we exhaustively surveyed the effect of curricula on existing continual learning algorithms in the class-incremental setting, where algorithms must learn classes one at a time from a continuous stream of data. We observed that across a breadth of possible class orders (curricula), curricula influence the retention of information and that this effect is not just a product of stochasticity. Further, as a primary effort toward automated curriculum design, we proposed a method capable of designing and ranking effective curricula based on inter-class feature similarities. We compared the predicted curricula against empirically determined effectual curricula and observed significant overlaps between the two. To support the study of a curriculum designer, we conducted a series of human psychophysics experiments and contributed a new Continual Learning benchmark in object recognition. We assessed the degree of agreement in effective curricula between humans and machines. Surprisingly, our curriculum designer successfully predicts an optimal set of curricula that is effective for human learning. There are many considerations in curriculum design, such as timely student feedback and learning with multiple modalities. Our study is the first attempt to set a standard framework for the community to tackle the problem of teaching humans and machines to learn to learn continuously.

在不忘记以前的任务的情况下不断获得新知识的能力仍然是计算机视觉系统的具有挑战性问题。标准的持续学习基准专注于在离线设置中从静态IID图像学习。在这里，我们研究了一个更具挑战性和现实的在线持续学习问题，称为在线流学习。像人类一样，一些AI代理必须从连续的不重复数据流逐步学习。我们提出了一种新颖的模型，假设驱动的增强存储器网络（HAMN），其有效地使用“假设”的增强内存矩阵来巩固先前的知识，并重播重建的图像特征以避免灾难性的遗忘。与像素级和生成的重播方法相比，Hamn的优点是两倍。首先，基于假设的知识合并避免了图像像素空间中的冗余信息，并使内存使用更有效。其次，增强记忆中的假设可以重新用于学习新任务，提高泛化和转移学习能力。鉴于视频流缺乏在线增量类学习数据集，我们介绍并调整两个额外的视频数据集，Toybox和Ilab，用于在线流学习。我们还在Core50和在线CIFAR100数据集上评估我们的方法。我们的方法显着优于所有最先进的方法，同时提供更有效的内存使用情况。所有源代码和数据都在https://github.com/kreimanlab/augmem公开使用

Adversarial attacks hamper the decision-making ability of neural networks by perturbing the input signal. The addition of calculated small distortion to images, for instance, can deceive a well-trained image classification network. In this work, we propose a novel attack technique called Sparse Adversarial and Interpretable Attack Framework (SAIF). Specifically, we design imperceptible attacks that contain low-magnitude perturbations at a small number of pixels and leverage these sparse attacks to reveal the vulnerability of classifiers. We use the Frank-Wolfe (conditional gradient) algorithm to simultaneously optimize the attack perturbations for bounded magnitude and sparsity with $O(1/\sqrt{T})$ convergence. Empirical results show that SAIF computes highly imperceptible and interpretable adversarial examples, and outperforms state-of-the-art sparse attack methods on the ImageNet dataset.

Human operators in human-robot teams are commonly perceived to be critical for mission success. To explore the direct and perceived impact of operator input on task success and team performance, 16 real-world missions (10 hrs) were conducted based on the DARPA Subterranean Challenge. These missions were to deploy a heterogeneous team of robots for a search task to locate and identify artifacts such as climbing rope, drills and mannequins representing human survivors. Two conditions were evaluated: human operators that could control the robot team with state-of-the-art autonomy (Human-Robot Team) compared to autonomous missions without human operator input (Robot-Autonomy). Human-Robot Teams were often in directed autonomy mode (70% of mission time), found more items, traversed more distance, covered more unique ground, and had a higher time between safety-related events. Human-Robot Teams were faster at finding the first artifact, but slower to respond to information from the robot team. In routine conditions, scores were comparable for artifacts, distance, and coverage. Reasons for intervention included creating waypoints to prioritise high-yield areas, and to navigate through error-prone spaces. After observing robot autonomy, operators reported increases in robot competency and trust, but that robot behaviour was not always transparent and understandable, even after high mission performance.

We study representation learning for efficient imitation learning over linear systems. In particular, we consider a setting where learning is split into two phases: (a) a pre-training step where a shared $k$-dimensional representation is learned from $H$ source policies, and (b) a target policy fine-tuning step where the learned representation is used to parameterize the policy class. We find that the imitation gap over trajectories generated by the learned target policy is bounded by $\tilde{O}\left( \frac{k n_x}{HN_{\mathrm{shared}}} + \frac{k n_u}{N_{\mathrm{target}}}\right)$, where $n_x > k$ is the state dimension, $n_u$ is the input dimension, $N_{\mathrm{shared}}$ denotes the total amount of data collected for each policy during representation learning, and $N_{\mathrm{target}}$ is the amount of target task data. This result formalizes the intuition that aggregating data across related tasks to learn a representation can significantly improve the sample efficiency of learning a target task. The trends suggested by this bound are corroborated in simulation.

Artificial intelligence (AI) has enormous potential to improve Air Force pilot training by providing actionable feedback to pilot trainees on the quality of their maneuvers and enabling instructor-less flying familiarization for early-stage trainees in low-cost simulators. Historically, AI challenges consisting of data, problem descriptions, and example code have been critical to fueling AI breakthroughs. The Department of the Air Force-Massachusetts Institute of Technology AI Accelerator (DAF-MIT AI Accelerator) developed such an AI challenge using real-world Air Force flight simulator data. The Maneuver ID challenge assembled thousands of virtual reality simulator flight recordings collected by actual Air Force student pilots at Pilot Training Next (PTN). This dataset has been publicly released at Maneuver-ID.mit.edu and represents the first of its kind public release of USAF flight training data. Using this dataset, we have applied a variety of AI methods to separate "good" vs "bad" simulator data and categorize and characterize maneuvers. These data, algorithms, and software are being released as baselines of model performance for others to build upon to enable the AI ecosystem for flight simulator training.

We present a retrospective on the state of Embodied AI research. Our analysis focuses on 13 challenges presented at the Embodied AI Workshop at CVPR. These challenges are grouped into three themes: (1) visual navigation, (2) rearrangement, and (3) embodied vision-and-language. We discuss the dominant datasets within each theme, evaluation metrics for the challenges, and the performance of state-of-the-art models. We highlight commonalities between top approaches to the challenges and identify potential future directions for Embodied AI research.

我们介绍了新的新闻文章集合，该文章源自伪造和真实的新闻媒体来源，以分析和预测新闻病毒性。与现有的伪造新闻数据集不同，该数据集包含索赔或新闻文章的标题和正文，在此集合中，每篇文章都得到了Facebook参与数的支持，我们认为这是文章病毒性的指标。此外，我们还提供了文章说明和缩略图图像，与该文章在Facebook上共享。这些图像是用对象标签和颜色属性自动注释的。使用基于云的视觉分析工具，还分析了面部的缩略图图像，并用面部属性注释了检测到的面部。我们从经验上研究了该集合对文章病毒性预测的示例任务的使用。

目的：本研究评估了市售可解释的AI算法在增强临床医生在胸部X射线（CXR）上鉴定肺癌的能力的影响。设计：这项回顾性研究评估了11位临床医生在胸部X光片中检测肺癌的表现，并在有和没有市售的AI算法的帮助下（红点，观察到），预测CXRS可疑的肺癌。根据临床确定的诊断评估了临床医生的表现。设置：该研究分析了NHS医院的匿名患者数据；该数据集由成年患者（18岁及以上）的400张胸部X光片组成，他们在2020年进行了CXR，并提供相应的临床文本报告。参与者：由11位临床医生（放射科医生，放射科医生受训者和报告射线照相师）组成的读者小组参加。主要结果指标：临床医生在CXR上检测肺癌的总体准确性，敏感性，特异性和精度，有或没有AI输入。还评估了有或没有AI输入的临床医生与绩效标准偏差之间的协议率。结果：临床医生对AI算法的使用导致肺部肿瘤检测的总体性能提高，从而达到了在CXR上鉴定出的肺癌的总体增长17.4％ ，分别增加了13％和13％的阶段1和2期肺癌的检测，以及临床医生表现的标准化。结论：这项研究在AI算法的临床实用性方面表现出了巨大的希望，可以通过整体改善读者表现来改善早期肺癌诊断和促进健康平等，而不会影响下游成像资源。

我们探索不同的策略，将先前的领域知识整合到深神经网络（DNN）的设计中。我们专注于图形神经网络（GNN），其用例是估计表示为图的化学系统（分子和晶体）的势能。我们将域知识的两个要素集成到GNN的设计中，以限制和正规化其学习，以提高准确性和泛化。首先，关于原子之间不同类型关系（化学键）存在的知识用于调节GNN中的节点的相互作用。其次，对某些物理数量的相关性的知识用于使用简单的多任务范式将学习的特征限制为更高的物理相关性。我们通过将它们应用于两个依赖不同机制来传播节点和更新节点状态的不同机制的架构来证明我们的知识集成的一般适用性。