我们提出了6D（种子）中系列弹性末端效应器的框架，其将空间兼容的元素结合在粘合性感觉中，以掌握和操纵野外的工具。我们的框架将串联弹性的益处推广到6- DOF，同时提供使用粘液触觉感测的控制抽象。我们提出了一种用于粘合性感测的相对姿势估计的算法，以及能够实现与环境的稳定力相互作用的空间混合力力位置控制器。我们展示了我们对需要监管空间力量的工具的效果。视频链接：https://youtu.be/2-yuifspdrk

The success of neural networks builds to a large extent on their ability to create internal knowledge representations from real-world high-dimensional data, such as images, sound, or text. Approaches to extract and present these representations, in order to explain the neural network's decisions, is an active and multifaceted research field. To gain a deeper understanding of a central aspect of this field, we have performed a targeted review focusing on research that aims to associate internal representations with human understandable concepts. In doing this, we added a perspective on the existing research by using primarily deductive nomological explanations as a proposed taxonomy. We find this taxonomy and theories of causality, useful for understanding what can be expected, and not expected, from neural network explanations. The analysis additionally uncovers an ambiguity in the reviewed literature related to the goal of model explainability; is it understanding the ML model or, is it actionable explanations useful in the deployment domain?

Many problems in machine learning involve bilevel optimization (BLO), including hyperparameter optimization, meta-learning, and dataset distillation. Bilevel problems consist of two nested sub-problems, called the outer and inner problems, respectively. In practice, often at least one of these sub-problems is overparameterized. In this case, there are many ways to choose among optima that achieve equivalent objective values. Inspired by recent studies of the implicit bias induced by optimization algorithms in single-level optimization, we investigate the implicit bias of gradient-based algorithms for bilevel optimization. We delineate two standard BLO methods -- cold-start and warm-start -- and show that the converged solution or long-run behavior depends to a large degree on these and other algorithmic choices, such as the hypergradient approximation. We also show that the inner solutions obtained by warm-start BLO can encode a surprising amount of information about the outer objective, even when the outer parameters are low-dimensional. We believe that implicit bias deserves as central a role in the study of bilevel optimization as it has attained in the study of single-level neural net optimization.

An expansion of aberrant brain cells is referred to as a brain tumor. The brain's architecture is extremely intricate, with several regions controlling various nervous system processes. Any portion of the brain or skull can develop a brain tumor, including the brain's protective coating, the base of the skull, the brainstem, the sinuses, the nasal cavity, and many other places. Over the past ten years, numerous developments in the field of computer-aided brain tumor diagnosis have been made. Recently, instance segmentation has attracted a lot of interest in numerous computer vision applications. It seeks to assign various IDs to various scene objects, even if they are members of the same class. Typically, a two-stage pipeline is used to perform instance segmentation. This study shows brain cancer segmentation using YOLOv5. Yolo takes dataset as picture format and corresponding text file. You Only Look Once (YOLO) is a viral and widely used algorithm. YOLO is famous for its object recognition properties. You Only Look Once (YOLO) is a popular algorithm that has gone viral. YOLO is well known for its ability to identify objects. YOLO V2, V3, V4, and V5 are some of the YOLO latest versions that experts have published in recent years. Early brain tumor detection is one of the most important jobs that neurologists and radiologists have. However, it can be difficult and error-prone to manually identify and segment brain tumors from Magnetic Resonance Imaging (MRI) data. For making an early diagnosis of the condition, an automated brain tumor detection system is necessary. The model of the research paper has three classes. They are respectively Meningioma, Pituitary, Glioma. The results show that, our model achieves competitive accuracy, in terms of runtime usage of M2 10 core GPU.

Large language models (LLMs) have demonstrated impressive capabilities in natural language understanding and generation, but the quality bar for medical and clinical applications is high. Today, attempts to assess models' clinical knowledge typically rely on automated evaluations on limited benchmarks. There is no standard to evaluate model predictions and reasoning across a breadth of tasks. To address this, we present MultiMedQA, a benchmark combining six existing open question answering datasets spanning professional medical exams, research, and consumer queries; and HealthSearchQA, a new free-response dataset of medical questions searched online. We propose a framework for human evaluation of model answers along multiple axes including factuality, precision, possible harm, and bias. In addition, we evaluate PaLM (a 540-billion parameter LLM) and its instruction-tuned variant, Flan-PaLM, on MultiMedQA. Using a combination of prompting strategies, Flan-PaLM achieves state-of-the-art accuracy on every MultiMedQA multiple-choice dataset (MedQA, MedMCQA, PubMedQA, MMLU clinical topics), including 67.6% accuracy on MedQA (US Medical License Exam questions), surpassing prior state-of-the-art by over 17%. However, human evaluation reveals key gaps in Flan-PaLM responses. To resolve this we introduce instruction prompt tuning, a parameter-efficient approach for aligning LLMs to new domains using a few exemplars. The resulting model, Med-PaLM, performs encouragingly, but remains inferior to clinicians. We show that comprehension, recall of knowledge, and medical reasoning improve with model scale and instruction prompt tuning, suggesting the potential utility of LLMs in medicine. Our human evaluations reveal important limitations of today's models, reinforcing the importance of both evaluation frameworks and method development in creating safe, helpful LLM models for clinical applications.

Migraine is a high-prevalence and disabling neurological disorder. However, information migraine management in real-world settings could be limited to traditional health information sources. In this paper, we (i) verify that there is substantial migraine-related chatter available on social media (Twitter and Reddit), self-reported by migraine sufferers; (ii) develop a platform-independent text classification system for automatically detecting self-reported migraine-related posts, and (iii) conduct analyses of the self-reported posts to assess the utility of social media for studying this problem. We manually annotated 5750 Twitter posts and 302 Reddit posts. Our system achieved an F1 score of 0.90 on Twitter and 0.93 on Reddit. Analysis of information posted by our 'migraine cohort' revealed the presence of a plethora of relevant information about migraine therapies and patient sentiments associated with them. Our study forms the foundation for conducting an in-depth analysis of migraine-related information using social media data.

Human linguistic capacity is often characterized by compositionality and the generalization it enables -- human learners can produce and comprehend novel complex expressions by composing known parts. Several benchmarks exploit distributional control across training and test to gauge compositional generalization, where certain lexical items only occur in limited contexts during training. While recent work using these benchmarks suggests that pretrained models achieve impressive generalization performance, we argue that exposure to pretraining data may break the aforementioned distributional control. Using the COGS benchmark of Kim and Linzen (2020), we test two modified evaluation setups that control for this issue: (1) substituting context-controlled lexical items with novel character sequences, and (2) substituting them with special tokens represented by novel embeddings. We find that both of these setups lead to lower generalization performance in T5 (Raffel et al., 2020), suggesting that previously reported results have been overestimated due to uncontrolled lexical exposure during pretraining. The performance degradation is more extreme with novel embeddings, and the degradation increases with the amount of pretraining data, highlighting an interesting case of inverse scaling.

Machine learning model development and optimisation can be a rather cumbersome and resource-intensive process. Custom models are often more difficult to build and deploy, and they require infrastructure and expertise which are often costly to acquire and maintain. Machine learning product development lifecycle must take into account the need to navigate the difficulties of developing and deploying machine learning models. evoML is an AI-powered tool that provides automated functionalities in machine learning model development, optimisation, and model code optimisation. Core functionalities of evoML include data cleaning, exploratory analysis, feature analysis and generation, model optimisation, model evaluation, model code optimisation, and model deployment. Additionally, a key feature of evoML is that it embeds code and model optimisation into the model development process, and includes multi-objective optimisation capabilities.

Despite recent progress towards scaling up multimodal vision-language models, these models are still known to struggle on compositional generalization benchmarks such as Winoground. We find that a critical component lacking from current vision-language models is relation-level alignment: the ability to match directional semantic relations in text (e.g., "mug in grass") with spatial relationships in the image (e.g., the position of the mug relative to the grass). To tackle this problem, we show that relation alignment can be enforced by encouraging the directed language attention from 'mug' to 'grass' (capturing the semantic relation 'in') to match the directed visual attention from the mug to the grass. Tokens and their corresponding objects are softly identified using the cross-modal attention. We prove that this notion of soft relation alignment is equivalent to enforcing congruence between vision and language attention matrices under a 'change of basis' provided by the cross-modal attention matrix. Intuitively, our approach projects visual attention into the language attention space to calculate its divergence from the actual language attention, and vice versa. We apply our Cross-modal Attention Congruence Regularization (CACR) loss to UNITER and improve on the state-of-the-art approach to Winoground.

A learned system uses machine learning (ML) internally to improve performance. We can expect such systems to be vulnerable to some adversarial-ML attacks. Often, the learned component is shared between mutually-distrusting users or processes, much like microarchitectural resources such as caches, potentially giving rise to highly-realistic attacker models. However, compared to attacks on other ML-based systems, attackers face a level of indirection as they cannot interact directly with the learned model. Additionally, the difference between the attack surface of learned and non-learned versions of the same system is often subtle. These factors obfuscate the de-facto risks that the incorporation of ML carries. We analyze the root causes of potentially-increased attack surface in learned systems and develop a framework for identifying vulnerabilities that stem from the use of ML. We apply our framework to a broad set of learned systems under active development. To empirically validate the many vulnerabilities surfaced by our framework, we choose 3 of them and implement and evaluate exploits against prominent learned-system instances. We show that the use of ML caused leakage of past queries in a database, enabled a poisoning attack that causes exponential memory blowup in an index structure and crashes it in seconds, and enabled index users to snoop on each others' key distributions by timing queries over their own keys. We find that adversarial ML is a universal threat against learned systems, point to open research gaps in our understanding of learned-systems security, and conclude by discussing mitigations, while noting that data leakage is inherent in systems whose learned component is shared between multiple parties.