Household environments are visually diverse. Embodied agents performing Vision-and-Language Navigation (VLN) in the wild must be able to handle this diversity, while also following arbitrary language instructions. Recently, Vision-Language models like CLIP have shown great performance on the task of zero-shot object recognition. In this work, we ask if these models are also capable of zero-shot language grounding. In particular, we utilize CLIP to tackle the novel problem of zero-shot VLN using natural language referring expressions that describe target objects, in contrast to past work that used simple language templates describing object classes. We examine CLIP's capability in making sequential navigational decisions without any dataset-specific finetuning, and study how it influences the path that an agent takes. Our results on the coarse-grained instruction following task of REVERIE demonstrate the navigational capability of CLIP, surpassing the supervised baseline in terms of both success rate (SR) and success weighted by path length (SPL). More importantly, we quantitatively show that our CLIP-based zero-shot approach generalizes better to show consistent performance across environments when compared to SOTA, fully supervised learning approaches when evaluated via Relative Change in Success (RCS).

物理重新安排的物体是体现剂的重要功能。视觉室的重新安排评估了代理在房间中重新安排对象的能力，仅基于视觉输入而获得所需的目标。我们为此问题提出了一种简单而有效的方法：（1）搜索并映射需要重新排列哪些对象，以及（2）重新排列每个对象，直到任务完成为止。我们的方法包括一个现成的语义分割模型，基于体素的语义图和语义搜索策略，以有效地找到需要重新排列的对象。在AI2 - 重新排列的挑战中，我们的方法改进了当前最新的端到端增强学习方法，这些方法从0.53％的正确重排达到16.56％，学习视觉重排政策，仅使用2.7％，仅使用2.7％来自环境的样本。

在人类空间中运营的机器人必须能够与人的自然语言互动，既有理解和执行指示，也可以使用对话来解决歧义并从错误中恢复。为此，我们介绍了教学，一个超过3,000人的互动对话的数据集，以完成模拟中的家庭任务。一个有关任务的Oracle信息的指挥官以自然语言与追随者通信。追随者通过环境导航并与环境进行互动，以完成从“咖啡”到“准备早餐”的复杂性不同的任务，提出问题并从指挥官获取其他信息。我们提出三个基准使用教学研究体现了智能挑战，我们评估了对话理解，语言接地和任务执行中的初始模型的能力。

This volume contains revised versions of the papers selected for the third volume of the Online Handbook of Argumentation for AI (OHAAI). Previously, formal theories of argument and argument interaction have been proposed and studied, and this has led to the more recent study of computational models of argument. Argumentation, as a field within artificial intelligence (AI), is highly relevant for researchers interested in symbolic representations of knowledge and defeasible reasoning. The purpose of this handbook is to provide an open access and curated anthology for the argumentation research community. OHAAI is designed to serve as a research hub to keep track of the latest and upcoming PhD-driven research on the theory and application of argumentation in all areas related to AI.

Human operators in human-robot teams are commonly perceived to be critical for mission success. To explore the direct and perceived impact of operator input on task success and team performance, 16 real-world missions (10 hrs) were conducted based on the DARPA Subterranean Challenge. These missions were to deploy a heterogeneous team of robots for a search task to locate and identify artifacts such as climbing rope, drills and mannequins representing human survivors. Two conditions were evaluated: human operators that could control the robot team with state-of-the-art autonomy (Human-Robot Team) compared to autonomous missions without human operator input (Robot-Autonomy). Human-Robot Teams were often in directed autonomy mode (70% of mission time), found more items, traversed more distance, covered more unique ground, and had a higher time between safety-related events. Human-Robot Teams were faster at finding the first artifact, but slower to respond to information from the robot team. In routine conditions, scores were comparable for artifacts, distance, and coverage. Reasons for intervention included creating waypoints to prioritise high-yield areas, and to navigate through error-prone spaces. After observing robot autonomy, operators reported increases in robot competency and trust, but that robot behaviour was not always transparent and understandable, even after high mission performance.

Cryo Focused Ion-Beam Scanning Electron Microscopy (cryo FIB-SEM) enables three-dimensional and nanoscale imaging of biological specimens via a slice and view mechanism. The FIB-SEM experiments are, however, limited by a slow (typically, several hours) acquisition process and the high electron doses imposed on the beam sensitive specimen can cause damage. In this work, we present a compressive sensing variant of cryo FIB-SEM capable of reducing the operational electron dose and increasing speed. We propose two Targeted Sampling (TS) strategies that leverage the reconstructed image of the previous sample layer as a prior for designing the next subsampling mask. Our image recovery is based on a blind Bayesian dictionary learning approach, i.e., Beta Process Factor Analysis (BPFA). This method is experimentally viable due to our ultra-fast GPU-based implementation of BPFA. Simulations on artificial compressive FIB-SEM measurements validate the success of proposed methods: the operational electron dose can be reduced by up to 20 times. These methods have large implications for the cryo FIB-SEM community, in which the imaging of beam sensitive biological materials without beam damage is crucial.

Finetuning language models on a collection of datasets phrased as instructions has been shown to improve model performance and generalization to unseen tasks. In this paper we explore instruction finetuning with a particular focus on (1) scaling the number of tasks, (2) scaling the model size, and (3) finetuning on chain-of-thought data. We find that instruction finetuning with the above aspects dramatically improves performance on a variety of model classes (PaLM, T5, U-PaLM), prompting setups (zero-shot, few-shot, CoT), and evaluation benchmarks (MMLU, BBH, TyDiQA, MGSM, open-ended generation). For instance, Flan-PaLM 540B instruction-finetuned on 1.8K tasks outperforms PALM 540B by a large margin (+9.4% on average). Flan-PaLM 540B achieves state-of-the-art performance on several benchmarks, such as 75.2% on five-shot MMLU. We also publicly release Flan-T5 checkpoints, which achieve strong few-shot performance even compared to much larger models, such as PaLM 62B. Overall, instruction finetuning is a general method for improving the performance and usability of pretrained language models.

随着数据的不断增加，将现代机器学习方法应用于建模和控制等领域的兴趣爆炸。但是，尽管这种黑盒模型具有灵活性和令人惊讶的准确性，但仍然很难信任它们。结合两种方法的最新努力旨在开发灵活的模型，这些模型仍然可以很好地推广。我们称为混合分析和建模（HAM）的范式。在这项工作中，我们调查了使用数据驱动模型纠正基于错误的物理模型的纠正源术语方法（COSTA）。这使我们能够开发出可以进行准确预测的模型，即使问题的基本物理学尚未得到充分理解。我们将Costa应用于铝电解电池中的Hall-H \'Eroult工艺。我们证明该方法提高了准确性和预测稳定性，从而产生了总体可信赖的模型。

多语言转移技术通常改善低资源机器翻译（MT）。这些技术中的许多是不考虑数据特征的情况下应用的。我们在海地对英语翻译的背景下显示，转移效率与知识共享语言之间的培训数据和关系数量相关。我们的实验表明，对于超出真实数据阈值的某些语言，反向翻译的增强方法是适得其反的，而从足够相关的语言中的跨语言转移则是优选的。我们通过贡献了基于规则的法国人行曲拼字和句法引擎以及一种新颖的语音嵌入方法来补充这一发现。当与多语言技术一起使用时，拼字法转换使对常规方法的统计学显着改善。在非常低的牙买加MT中，用传输语言进行矫正相似的代码转换可产生6.63的BLEU点优势。

通用数据模型解决了标准化电子健康记录（EHR）数据的许多挑战，但无法将其集成深度表型所需的资源。开放的生物学和生物医学本体论（OBO）铸造本体论提供了可用于生物学知识的语义计算表示，并能够整合多种生物医学数据。但是，将EHR数据映射到OBO Foundry本体论需要大量的手动策展和域专业知识。我们介绍了一个框架，用于将观察性医学成果合作伙伴关系（OMOP）标准词汇介绍给OBO铸造本体。使用此框架，我们制作了92,367条条件，8,615种药物成分和10,673个测量结果的映射。域专家验证了映射准确性，并且在24家医院进行检查时，映射覆盖了99％的条件和药物成分和68％的测量结果。最后，我们证明OMOP2OBO映射可以帮助系统地识别可能受益于基因检测的未诊断罕见病患者。