最先进的神经（RE）排名者是众所周知的渴望数据，鉴于缺乏英语以外的其他语言培训数据 - 使它们很少用于多语言和跨语性检索设置。因此，当前的方法通常是通过多语言编码器培训的英语数据和跨语言设置的通常转移排名者：它们通过对英语相关性判断的所有预审预周化的多语言变压器（例如MMT，例如多语言BERT）的所有参数微调所有参数。用目标语言部署它们。在这项工作中，我们表明了两种参数效率的跨语性转移方法，即稀疏的微调蒙版（SFTM）和适配器，允许更轻巧，更有效的零拍传输到多语言和跨语言检索任务。我们首先通过蒙版语言建模来训练语言适配器（或SFTM），然后在最上方训练检索（即重新固定）适配器（SFTM），同时将所有其他参数保持固定。在推断时，这种模块化设计使我们能够通过应用（或SFTM）与源语言数据一起训练的（RE）排名适配器（或SFTM）以及目标语言的语言适配器（或SFTM）。我们对CLEF-2003和HC4基准进行了大规模的评估，此外，作为另一个贡献，我们还用三种新语言进行查询：吉尔吉斯，Uyghur和Turkish。所提出的参数效率方法的表现优于标准零射击传输，并具有完整的MMT微调，同时是模块化和减少训练时间。对于低资源语言，收益特别明显，我们的方法也大大优于基于竞争的机器翻译的排名。

在这项工作中，我们提出了一个系统的实证研究，专注于最先进的多语言编码器在跨越多种不同语言对的交叉语言文档和句子检索任务的适用性。我们首先将这些模型视为多语言文本编码器，并在无监督的ad-hoc句子和文档级CLIR中基准性能。与监督语言理解相比，我们的结果表明，对于无监督的文档级CLIR - 一个没有针对IR特定的微调 - 预训练的多语言编码器的相关性判断，平均未能基于CLWE显着优于早期模型。对于句子级检索，我们确实获得了最先进的性能：然而，通过多语言编码器来满足高峰分数，这些编码器已经进一步专注于监督的时尚，以便句子理解任务，而不是使用他们的香草'现货'变体。在这些结果之后，我们介绍了文档级CLIR的本地化相关性匹配，在那里我们独立地对文件部分进行了查询。在第二部分中，我们评估了在一系列零拍语言和域转移CLIR实验中的英语相关数据中进行微调的微调编码器精细调整的微调我们的结果表明，监督重新排名很少提高多语言变压器作为无监督的基数。最后，只有在域名对比度微调（即，同一域名，只有语言转移），我们设法提高排名质量。我们在目标语言中单次检索的交叉定向检索结果和结果（零拍摄）交叉传输之间的显着实证差异，这指出了在单机数据上训练的检索模型的“单声道过度装备”。

We present a dynamic path planning algorithm to navigate an amphibious rotor craft through a concave time-invariant obstacle field while attempting to minimize energy usage. We create a nonlinear quaternion state model that represents the rotor craft dynamics above and below the water. The 6 degree of freedom dynamics used within a layered architecture to generate motion paths for the vehicle to follow and the required control inputs. The rotor craft has a 3 dimensional map of its surroundings that is updated via limited range onboard sensor readings within the current medium (air or water). Path planning is done via PRM and D* Lite.

Nine language-vision AI models trained on web scrapes with the Contrastive Language-Image Pretraining (CLIP) objective are evaluated for evidence of a bias studied by psychologists: the sexual objectification of girls and women, which occurs when a person's human characteristics are disregarded and the person is treated as a body or a collection of body parts. A first experiment uses standardized images of women from the Sexual OBjectification and EMotion Database, and finds that, commensurate with prior research in psychology, human characteristics are disassociated from images of objectified women: the model's recognition of emotional state is mediated by whether the subject is fully or partially clothed. Embedding association tests (EATs) return significant effect sizes for both anger (d >.8) and sadness (d >.5). A second experiment measures the effect in a representative application: an automatic image captioner (Antarctic Captions) includes words denoting emotion less than 50% as often for images of partially clothed women than for images of fully clothed women. A third experiment finds that images of female professionals (scientists, doctors, executives) are likely to be associated with sexual descriptions relative to images of male professionals. A fourth experiment shows that a prompt of "a [age] year old girl" generates sexualized images (as determined by an NSFW classifier) up to 73% of the time for VQGAN-CLIP (age 17), and up to 40% of the time for Stable Diffusion (ages 14 and 18); the corresponding rate for boys never surpasses 9%. The evidence indicates that language-vision AI models trained on automatically collected web scrapes learn biases of sexual objectification, which propagate to downstream applications.

Algorithms that involve both forecasting and optimization are at the core of solutions to many difficult real-world problems, such as in supply chains (inventory optimization), traffic, and in the transition towards carbon-free energy generation in battery/load/production scheduling in sustainable energy systems. Typically, in these scenarios we want to solve an optimization problem that depends on unknown future values, which therefore need to be forecast. As both forecasting and optimization are difficult problems in their own right, relatively few research has been done in this area. This paper presents the findings of the ``IEEE-CIS Technical Challenge on Predict+Optimize for Renewable Energy Scheduling," held in 2021. We present a comparison and evaluation of the seven highest-ranked solutions in the competition, to provide researchers with a benchmark problem and to establish the state of the art for this benchmark, with the aim to foster and facilitate research in this area. The competition used data from the Monash Microgrid, as well as weather data and energy market data. It then focused on two main challenges: forecasting renewable energy production and demand, and obtaining an optimal schedule for the activities (lectures) and on-site batteries that lead to the lowest cost of energy. The most accurate forecasts were obtained by gradient-boosted tree and random forest models, and optimization was mostly performed using mixed integer linear and quadratic programming. The winning method predicted different scenarios and optimized over all scenarios jointly using a sample average approximation method.

We apply the vision transformer, a deep machine learning model build around the attention mechanism, on mel-spectrogram representations of raw audio recordings. When adding mel-based data augmentation techniques and sample-weighting, we achieve comparable performance on both (PRS and CCS challenge) tasks of ComParE21, outperforming most single model baselines. We further introduce overlapping vertical patching and evaluate the influence of parameter configurations. Index Terms: audio classification, attention, mel-spectrogram, unbalanced data-sets, computational paralinguistics

Common to all different kinds of recurrent neural networks (RNNs) is the intention to model relations between data points through time. When there is no immediate relationship between subsequent data points (like when the data points are generated at random, e.g.), we show that RNNs are still able to remember a few data points back into the sequence by memorizing them by heart using standard backpropagation. However, we also show that for classical RNNs, LSTM and GRU networks the distance of data points between recurrent calls that can be reproduced this way is highly limited (compared to even a loose connection between data points) and subject to various constraints imposed by the type and size of the RNN in question. This implies the existence of a hard limit (way below the information-theoretic one) for the distance between related data points within which RNNs are still able to recognize said relation.

The proliferation of automatic faithfulness metrics for summarization has produced a need for benchmarks to evaluate them. While existing benchmarks measure the correlation with human judgements of faithfulness on model-generated summaries, they are insufficient for diagnosing whether metrics are: 1) consistent, i.e., decrease as errors are introduced into a summary, 2) effective on human-written texts, and 3) sensitive to different error types (as summaries can contain multiple errors). To address these needs, we present a benchmark of unfaithful minimal pairs (BUMP), a dataset of 889 human-written, minimally different summary pairs, where a single error (from an ontology of 7 types) is introduced to a summary from the CNN/DailyMail dataset to produce an unfaithful summary. We find BUMP complements existing benchmarks in a number of ways: 1) the summaries in BUMP are harder to discriminate and less probable under SOTA summarization models, 2) BUMP enables measuring the consistency of metrics, and reveals that the most discriminative metrics tend not to be the most consistent, 3) BUMP enables the measurement of metrics' performance on individual error types and highlights areas of weakness for future work.

Earthquakes, fire, and floods often cause structural collapses of buildings. The inspection of damaged buildings poses a high risk for emergency forces or is even impossible, though. We present three recent selected missions of the Robotics Task Force of the German Rescue Robotics Center, where both ground and aerial robots were used to explore destroyed buildings. We describe and reflect the missions as well as the lessons learned that have resulted from them. In order to make robots from research laboratories fit for real operations, realistic test environments were set up for outdoor and indoor use and tested in regular exercises by researchers and emergency forces. Based on this experience, the robots and their control software were significantly improved. Furthermore, top teams of researchers and first responders were formed, each with realistic assessments of the operational and practical suitability of robotic systems.

The number of international benchmarking competitions is steadily increasing in various fields of machine learning (ML) research and practice. So far, however, little is known about the common practice as well as bottlenecks faced by the community in tackling the research questions posed. To shed light on the status quo of algorithm development in the specific field of biomedical imaging analysis, we designed an international survey that was issued to all participants of challenges conducted in conjunction with the IEEE ISBI 2021 and MICCAI 2021 conferences (80 competitions in total). The survey covered participants' expertise and working environments, their chosen strategies, as well as algorithm characteristics. A median of 72% challenge participants took part in the survey. According to our results, knowledge exchange was the primary incentive (70%) for participation, while the reception of prize money played only a minor role (16%). While a median of 80 working hours was spent on method development, a large portion of participants stated that they did not have enough time for method development (32%). 25% perceived the infrastructure to be a bottleneck. Overall, 94% of all solutions were deep learning-based. Of these, 84% were based on standard architectures. 43% of the respondents reported that the data samples (e.g., images) were too large to be processed at once. This was most commonly addressed by patch-based training (69%), downsampling (37%), and solving 3D analysis tasks as a series of 2D tasks. K-fold cross-validation on the training set was performed by only 37% of the participants and only 50% of the participants performed ensembling based on multiple identical models (61%) or heterogeneous models (39%). 48% of the respondents applied postprocessing steps.