自2015年首次介绍以来，深入增强学习（DRL）方案的使用已大大增加。尽管在许多不同的应用中使用了使用，但他们仍然存在缺乏可解释性的问题。面包缺乏对研究人员和公众使用DRL解决方案的使用。为了解决这个问题，已经出现了可解释的人工智能（XAI）领域。这是各种不同的方法，它们希望打开DRL黑框，范围从使用可解释的符号决策树到诸如Shapley值之类的数值方法。这篇评论研究了使用哪些方法以及使用了哪些应用程序。这样做是为了确定哪些模型最适合每个应用程序，或者是否未充分利用方法。

在公共场合开展业务的未受保护的未受保护的无飞机特工（UAV）的对抗性攻击的危险正在增长。采用基于AI的技术和更具体的深度学习（DL）方法来控制和指导这些无人机可能在性能方面有益，但对这些技术的安全性及其对对抗性攻击的脆弱性增加了更多的担忧，从而导致碰撞的机会增加随着代理人变得困惑。本文提出了一种基于DL方法的解释性来建立有效检测器的创新方法，该方法将保护这些DL方案，从而使它们采用它们免受潜在攻击。代理商正在采用深入的强化学习（DRL）计划进行指导和计划。它是由深层确定性政策梯度（DDPG）组成和培训的，并具有优先的经验重播（PER）DRL计划，该计划利用人工潜在领域（APF）来改善训练时间和避免障碍的绩效。对抗性攻击是通过快速梯度标志方法（FGSM）和基本迭代方法（BIM）算法产生的，并将障碍物课程的完成率从80 \％降低至35 \％。建立了无人机基于无人体DRL的计划和指导的现实合成环境，包括障碍和对抗性攻击。提出了两个对抗攻击探测器。第一个采用卷积神经网络（CNN）体系结构，并实现了80 \％的检测准确性。第二个检测器是根据长期记忆（LSTM）网络开发的，与基于CNN的检测器相比，计算时间更快地达到了91 \％的精度。

Reading comprehension of legal text can be a particularly challenging task due to the length and complexity of legal clauses and a shortage of expert-annotated datasets. To address this challenge, we introduce the Merger Agreement Understanding Dataset (MAUD), an expert-annotated reading comprehension dataset based on the American Bar Association's 2021 Public Target Deal Points Study, with over 39,000 examples and over 47,000 total annotations. Our fine-tuned Transformer baselines show promising results, with models performing well above random on most questions. However, on a large subset of questions, there is still room for significant improvement. As the only expert-annotated merger agreement dataset, MAUD is valuable as a benchmark for both the legal profession and the NLP community.

When testing conditions differ from those represented in training data, so-called out-of-distribution (OOD) inputs can mar the reliability of black-box learned components in the modern robot autonomy stack. Therefore, coping with OOD data is an important challenge on the path towards trustworthy learning-enabled open-world autonomy. In this paper, we aim to demystify the topic of OOD data and its associated challenges in the context of data-driven robotic systems, drawing connections to emerging paradigms in the ML community that study the effect of OOD data on learned models in isolation. We argue that as roboticists, we should reason about the overall system-level competence of a robot as it performs tasks in OOD conditions. We highlight key research questions around this system-level view of OOD problems to guide future research toward safe and reliable learning-enabled autonomy.

Pioneers of autonomous vehicles (AVs) promised to revolutionize the driving experience and driving safety. However, milestones in AVs have materialized slower than forecast. Two culprits are (1) the lack of verifiability of proposed state-of-the-art AV components, and (2) stagnation of pursuing next-level evaluations, e.g., vehicle-to-infrastructure (V2I) and multi-agent collaboration. In part, progress has been hampered by: the large volume of software in AVs, the multiple disparate conventions, the difficulty of testing across datasets and simulators, and the inflexibility of state-of-the-art AV components. To address these challenges, we present AVstack, an open-source, reconfigurable software platform for AV design, implementation, test, and analysis. AVstack solves the validation problem by enabling first-of-a-kind trade studies on datasets and physics-based simulators. AVstack solves the stagnation problem as a reconfigurable AV platform built on dozens of open-source AV components in a high-level programming language. We demonstrate the power of AVstack through longitudinal testing across multiple benchmark datasets and V2I-collaboration case studies that explore trade-offs of designing multi-sensor, multi-agent algorithms.

Large language models show improved downstream task performance when prompted to generate step-by-step reasoning to justify their final answers. These reasoning steps greatly improve model interpretability and verification, but objectively studying their correctness (independent of the final answer) is difficult without reliable methods for automatic evaluation. We simply do not know how often the stated reasoning steps actually support the final end task predictions. In this work, we present ROSCOE, a suite of interpretable, unsupervised automatic scores that improve and extend previous text generation evaluation metrics. To evaluate ROSCOE against baseline metrics, we design a typology of reasoning errors and collect synthetic and human evaluation scores on commonly used reasoning datasets. In contrast with existing metrics, ROSCOE can measure semantic consistency, logicality, informativeness, fluency, and factuality - among other traits - by leveraging properties of step-by-step rationales. We empirically verify the strength of our metrics on five human annotated and six programmatically perturbed diagnostics datasets - covering a diverse set of tasks that require reasoning skills and show that ROSCOE can consistently outperform baseline metrics.

Estimating the probability of failure for complex real-world systems using high-fidelity computational models is often prohibitively expensive, especially when the probability is small. Exploiting low-fidelity models can make this process more feasible, but merging information from multiple low-fidelity and high-fidelity models poses several challenges. This paper presents a robust multi-fidelity surrogate modeling strategy in which the multi-fidelity surrogate is assembled using an active learning strategy using an on-the-fly model adequacy assessment set within a subset simulation framework for efficient reliability analysis. The multi-fidelity surrogate is assembled by first applying a Gaussian process correction to each low-fidelity model and assigning a model probability based on the model's local predictive accuracy and cost. Three strategies are proposed to fuse these individual surrogates into an overall surrogate model based on model averaging and deterministic/stochastic model selection. The strategies also dictate which model evaluations are necessary. No assumptions are made about the relationships between low-fidelity models, while the high-fidelity model is assumed to be the most accurate and most computationally expensive model. Through two analytical and two numerical case studies, including a case study evaluating the failure probability of Tristructural isotropic-coated (TRISO) nuclear fuels, the algorithm is shown to be highly accurate while drastically reducing the number of high-fidelity model calls (and hence computational cost).

We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems commonly model the nonlinear effects of an unknown environment on a nominal system. We optimize over a class of nonlinear feedback policies inspired by certainty equivalent "estimate-and-cancel" control laws pioneered in classical adaptive control to achieve significant performance improvements in the presence of uncertainties of large magnitude, a setting in which existing learning-based predictive control algorithms often struggle to guarantee safety. In contrast to previous work in robust adaptive MPC, our approach allows us to take advantage of structure (i.e., the numerical predictions) in the a priori unknown dynamics learned online through function approximation. Our approach also extends typical nonlinear adaptive control methods to systems with state and input constraints even when we cannot directly cancel the additive uncertain function from the dynamics. We apply contemporary statistical estimation techniques to certify the system's safety through persistent constraint satisfaction with high probability. Moreover, we propose using Bayesian meta-learning algorithms that learn calibrated model priors to help satisfy the assumptions of the control design in challenging settings. Finally, we show in simulation that our method can accommodate more significant unknown dynamics terms than existing methods and that the use of Bayesian meta-learning allows us to adapt to the test environments more rapidly.

Controlled automated story generation seeks to generate natural language stories satisfying constraints from natural language critiques or preferences. Existing methods to control for story preference utilize prompt engineering which is labor intensive and often inconsistent. They may also use logit-manipulation methods which require annotated datasets to exist for the desired attributes. To address these issues, we first train a contrastive bi-encoder model to align stories with corresponding human critiques, named CARP, building a general purpose preference model. This is subsequently used as a reward function to fine-tune a generative language model via reinforcement learning. However, simply fine-tuning a generative language model with a contrastive reward model does not always reliably result in a story generation system capable of generating stories that meet user preferences. To increase story generation robustness we further fine-tune the contrastive reward model using a prompt-learning technique. A human participant study is then conducted comparing generations from our full system, ablations, and two baselines. We show that the full fine-tuning pipeline results in a story generator preferred over a LLM 20x as large as well as logit-based methods. This motivates the use of contrastive learning for general purpose human preference modeling.

我们提供了证据表明，学到的密度功能理论（``dft'）的力场已准备好进行基态催化剂发现。我们的关键发现是，尽管预测的力与地面真相有很大差异，但使用从超过50 \％的评估系统中使用RPBE功能的能量与使用RPBE功能相似或较低能量的力量的力量与使用RPBE功能相似或较低的力量放松。这具有令人惊讶的含义，即学习的潜力可能已经准备好在挑战性的催化系统中替换DFT，例如在Open Catalyst 2020数据集中发现的电位。此外，我们表明，在局部谐波能量表面上具有与目标DFT能量相同的局部谐波能量表面训练的力场也能够在50 \％的情况下找到较低或相似的能量结构。与在真实能量和力量训练的标准模型相比，这种``简易电位''的收敛步骤更少，这进一步加速了计算。它的成功说明了一个关键：即使模型具有高力误差，学到的电位也可以定位能量最小值。结构优化的主要要求仅仅是学到的电位具有正确的最小值。由于学到的电位与系统大小的速度快速且尺寸为线性，因此我们的结果开辟了快速找到大型系统基础状态的可能性。