在神经密度估计的进展之后，近年来，已经取得了相当大的进步，该方法是基于模拟的推断（SBI）方法，能够对随机仿真模型进行柔性，黑盒，近似贝叶斯的推断。尽管已经证明神经SBI方法可以提供准确的后近似值，但建立这些结果的仿真研究仅考虑了明确指定的问题 - 即模型和数据生成过程完全重合的地方。但是，在模型错误指定的情况下，这种算法的行为很少受到关注。在这项工作中，我们提供了对神经SBI算法在存在各种模型错误指定的情况下的行为的首次全面研究。我们发现，错误指定会对性能产生深远的影响。探索了一些缓解策略，但是未经测试的方法在所有情况下都可以防止失败。我们得出的结论是，如果要依靠神经SBI算法来得出准确的科学结论，则需要新的方法来解决模型错误指定。

多代理增强学习实验和开源培训环境通常受到限制，支撑数十个或有时甚至多达数百种相互作用的代理。在本文中，我们证明了Vogue的使用，Vogue是一个基于高性能代理的模型（ABM）框架。Vogue是一个多代理培训环境，为成千上万的互动代理提供了支持，同时通过在GPU上运行环境和增强学习（RL）代理来维持高训练吞吐量。在此规模的高性能多机构环境有可能使可靠和灵活的策略学习在复杂系统的ABM和模拟中使用。我们通过两个新开发的大型多代理培训环境展示了培训表现。此外，我们表明这些环境可以在数分钟和数小时的时间范围内训练共享的RL政策。

将基于代理的模型（ABM）校准到数据是确保模型实现其所需目的的最基本要求之一。近年来，基于模拟的推理方法已成为强大的工具，可以在模型可能性函数棘手时执行此任务，就像ABMS一样。在ABMS的一些现实世界中，观察到的数据和ABM输出都由代理的状态及其相互作用随着时间的推移而组成。在这种情况下，一方面，渴望充分利用这种粒状数据的丰富信息内容与减少数据维度的需求以防止与高维学习任务相关的困难之间存在紧张关系另一个。一个可能的分辨率是通过使用摘要统计数据来构建较低维度的时间序列，这些汇总统计数据描述了每个时间点的宏观染色。但是，摘要统计数据的糟糕选择可能导致原始数据集中的信息丢失不可接受，从而大大降低了所得校准的质量。在这项工作中，我们建议使用时间图神经网络直接学习与粒状微型数据相关的参数后期。我们将证明，这种方法为贝叶斯推断提供了高度引人注目的感应偏见，该方法使用RAW ABM微杆菌作为输出。

We consider the contextual bandit problem on general action and context spaces, where the learner's rewards depend on their selected actions and an observable context. This generalizes the standard multi-armed bandit to the case where side information is available, e.g., patients' records or customers' history, which allows for personalized treatment. We focus on consistency -- vanishing regret compared to the optimal policy -- and show that for large classes of non-i.i.d. contexts, consistency can be achieved regardless of the time-invariant reward mechanism, a property known as universal consistency. Precisely, we first give necessary and sufficient conditions on the context-generating process for universal consistency to be possible. Second, we show that there always exists an algorithm that guarantees universal consistency whenever this is achievable, called an optimistically universal learning rule. Interestingly, for finite action spaces, learnable processes for universal learning are exactly the same as in the full-feedback setting of supervised learning, previously studied in the literature. In other words, learning can be performed with partial feedback without any generalization cost. The algorithms balance a trade-off between generalization (similar to structural risk minimization) and personalization (tailoring actions to specific contexts). Lastly, we consider the case of added continuity assumptions on rewards and show that these lead to universal consistency for significantly larger classes of data-generating processes.

In this paper, we present a novel visual SLAM and long-term localization benchmark for autonomous driving in challenging conditions based on the large-scale 4Seasons dataset. The proposed benchmark provides drastic appearance variations caused by seasonal changes and diverse weather and illumination conditions. While significant progress has been made in advancing visual SLAM on small-scale datasets with similar conditions, there is still a lack of unified benchmarks representative of real-world scenarios for autonomous driving. We introduce a new unified benchmark for jointly evaluating visual odometry, global place recognition, and map-based visual localization performance which is crucial to successfully enable autonomous driving in any condition. The data has been collected for more than one year, resulting in more than 300 km of recordings in nine different environments ranging from a multi-level parking garage to urban (including tunnels) to countryside and highway. We provide globally consistent reference poses with up to centimeter-level accuracy obtained from the fusion of direct stereo-inertial odometry with RTK GNSS. We evaluate the performance of several state-of-the-art visual odometry and visual localization baseline approaches on the benchmark and analyze their properties. The experimental results provide new insights into current approaches and show promising potential for future research. Our benchmark and evaluation protocols will be available at https://www.4seasons-dataset.com/.

Implicit Neural Representations (INR) have recently shown to be powerful tool for high-quality video compression. However, existing works are limiting as they do not explicitly exploit the temporal redundancy in videos, leading to a long encoding time. Additionally, these methods have fixed architectures which do not scale to longer videos or higher resolutions. To address these issues, we propose NIRVANA, which treats videos as groups of frames and fits separate networks to each group performing patch-wise prediction. This design shares computation within each group, in the spatial and temporal dimensions, resulting in reduced encoding time of the video. The video representation is modeled autoregressively, with networks fit on a current group initialized using weights from the previous group's model. To further enhance efficiency, we perform quantization of the network parameters during training, requiring no post-hoc pruning or quantization. When compared with previous works on the benchmark UVG dataset, NIRVANA improves encoding quality from 37.36 to 37.70 (in terms of PSNR) and the encoding speed by 12X, while maintaining the same compression rate. In contrast to prior video INR works which struggle with larger resolution and longer videos, we show that our algorithm is highly flexible and scales naturally due to its patch-wise and autoregressive designs. Moreover, our method achieves variable bitrate compression by adapting to videos with varying inter-frame motion. NIRVANA achieves 6X decoding speed and scales well with more GPUs, making it practical for various deployment scenarios.

Recent advances in upper limb prostheses have led to significant improvements in the number of movements provided by the robotic limb. However, the method for controlling multiple degrees of freedom via user-generated signals remains challenging. To address this issue, various machine learning controllers have been developed to better predict movement intent. As these controllers become more intelligent and take on more autonomy in the system, the traditional approach of representing the human-machine interface as a human controlling a tool becomes limiting. One possible approach to improve the understanding of these interfaces is to model them as collaborative, multi-agent systems through the lens of joint action. The field of joint action has been commonly applied to two human partners who are trying to work jointly together to achieve a task, such as singing or moving a table together, by effecting coordinated change in their shared environment. In this work, we compare different prosthesis controllers (proportional electromyography with sequential switching, pattern recognition, and adaptive switching) in terms of how they present the hallmarks of joint action. The results of the comparison lead to a new perspective for understanding how existing myoelectric systems relate to each other, along with recommendations for how to improve these systems by increasing the collaborative communication between each partner.

Large language models have ushered in a golden age of semantic parsing. The seq2seq paradigm allows for open-schema and abstractive attribute and relation extraction given only small amounts of finetuning data. Language model pretraining has simultaneously enabled great strides in natural language inference, reasoning about entailment and implication in free text. These advances motivate us to construct ImPaKT, a dataset for open-schema information extraction, consisting of around 2500 text snippets from the C4 corpus, in the shopping domain (product buying guides), professionally annotated with extracted attributes, types, attribute summaries (attribute schema discovery from idiosyncratic text), many-to-one relations between compound and atomic attributes, and implication relations. We release this data in hope that it will be useful in fine tuning semantic parsers for information extraction and knowledge base construction across a variety of domains. We evaluate the power of this approach by fine-tuning the open source UL2 language model on a subset of the dataset, extracting a set of implication relations from a corpus of product buying guides, and conducting human evaluations of the resulting predictions.

Dialogue models are able to generate coherent and fluent responses, but they can still be challenging to control and may produce non-engaging, unsafe results. This unpredictability diminishes user trust and can hinder the use of the models in the real world. To address this, we introduce DialGuide, a novel framework for controlling dialogue model behavior using natural language rules, or guidelines. These guidelines provide information about the context they are applicable to and what should be included in the response, allowing the models to generate responses that are more closely aligned with the developer's expectations and intent. We evaluate DialGuide on three tasks in open-domain dialogue response generation: guideline selection, response generation, and response entailment verification. Our dataset contains 10,737 positive and 15,467 negative dialogue context-response-guideline triplets across two domains - chit-chat and safety. We provide baseline models for the tasks and benchmark their performance. We also demonstrate that DialGuide is effective in the dialogue safety domain, producing safe and engaging responses that follow developer guidelines.

Prior work has shown that it is possible to expand pretrained Masked Language Models (MLMs) to new languages by learning a new set of embeddings, while keeping the transformer body frozen. Despite learning a small subset of parameters, this approach is not compute-efficient, as training the new embeddings requires a full forward and backward pass over the entire model. In this work, we propose mini-model adaptation, a compute-efficient alternative that builds a shallow mini-model from a fraction of a large model's parameters. New language-specific embeddings can then be efficiently trained over the mini-model, and plugged into the aligned large model for rapid cross-lingual transfer. We explore two approaches to learn mini-models: MiniJoint, which jointly pretrains the primary model and the mini-model using a single transformer with a secondary MLM head at a middle layer; and MiniPost, where we start from a regular pretrained model and build a mini-model by extracting and freezing a few layers and learning a small number of parameters on top. Experiments on XNLI, MLQA and PAWS-X show that mini-model adaptation matches the performance of the standard approach using up to 2.4x less compute.