光谱嵌入基于其邻接或拉普拉斯矩阵的特征向量的网络节点的矢量表示，并在整个科学中找到了应用程序。许多这样的网络是多部分的，这意味着它们的节点可以分为组，并且同一组的节点永远不会连接。当网络是多部分时，本文证明了通过光谱嵌入获得的节点表示，生存的较高维度环境空间的群体特异性低维子空间附近。因此，我们提出了光谱嵌入后的后续步骤，以在其内在的而不是环境维度中恢复节点表示形式，从而证明在低级别的，不均匀的随机图模型下均匀的一致性。我们的方法自然概括了两分光谱嵌入，其中通过双jaCencency或Bi-Laplacian矩阵的奇异值分解获得了节点表示。

给定图形或相似性矩阵，我们考虑了恢复节点之间真实距离的概念以及它们的真实位置的问题。我们证明这可以通过两个步骤完成：矩阵分解，然后进行非线性尺寸降低。这种组合之所以有效，是因为在第一步中获得的点云一直生活在歧管上，其中潜在距离被编码为地球距离。因此，一个非线性降低尺寸的工具，即近似地球距离，可以恢复潜在位置，直至简单的转换。我们详细说明了使用光谱嵌入，其次是ISOMAP的情况，并为其他技术组合提供了令人鼓舞的实验证据。

光谱嵌入是可用于获得图形节点的矢量表示的过程。本文提出了称为随机点产品图的潜在网络模型的概括，以允许将这些载体表示的解释为潜在位置估计。需要泛化异化连接（例如，“对立面”）并更普遍地应对负特征值。我们表明，是否使用邻接或归一化的拉普拉斯矩阵，光谱嵌入产生均匀一致的潜在估计，渐近高斯误差（最高可识别性）。标准和混合会员随机块模型是特殊情况，其中潜在的位置只需要k $不同的向量值，代表社区，或以$（k-1）$ - simplex与那些顶点一起生活。在随机块模型下，我们的理论建议使用高斯混合模型（而不是$ k $ -means），并且根据混合成员资格，拟合封闭单纯x的最小卷，此前仅在非负面明确假设下支持的现有建议。在网络安全示例中，在网络安全示例中证明了链路预测（在随机点产品图中）的经验改进（在随机点产品图中），以及露出更丰富的潜在结构（比标准或混合隶属块模型的位置）。

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.