我们检查了来自水下滑翔机的声学多普勒电流探测器（ADCP）测量，以确定滑翔机位置，滑翔机速度和地下电流。但是，ADCP并未直接观察关注的量；相反，他们测量车辆和水柱的相对运动。我们研究了以前已应用于此问题的数学创新的谱系，发现了独立性的未陈述但不正确的假设。我们重新构建了一种形成当前和车辆导航联合概率模型的方法，该方法使我们能够纠正此假设并扩展经典的Kalman平滑方法。详细的模拟肯定了我们方法对计算估计的疗效及其不确定性。此处开发的联合模型为将来的工作奠定了基础，以结合限制，范围测量和稳健的统计模型。

There has been great recent advancement in human-computer chat. However, proper evaluation currently requires human judgements that produce notoriously high-variance metrics due to their inherent subjectivity. Furthermore, there is little standardization in the methods and labels used for evaluation, with an overall lack of work to compare and assess the validity of various evaluation approaches. As a consequence, existing evaluation results likely leave an incomplete picture of the strengths and weaknesses of open-domain chatbots. We aim towards a dimensional evaluation of human-computer chat that can reliably measure several distinct aspects of chat quality. To this end, we present our novel human evaluation method that quantifies the rate of several quality-related chatbot behaviors. Our results demonstrate our method to be more suitable for dimensional chat evaluation than alternative likert-style or comparative methods. We then use our validated method and existing methods to evaluate four open-domain chat models from the recent literature.

语言模型既展示了定量的改进，又展示了新的定性功能，随着规模的增加。尽管它们具有潜在的变革性影响，但这些新能力的特征却很差。为了为未来的研究提供信息，为破坏性的新模型能力做准备，并改善社会有害的效果，至关重要的是，我们必须了解目前和近乎未来的能力和语言模型的局限性。为了应对这一挑战，我们介绍了超越模仿游戏基准（Big Bench）。 Big Bench目前由204个任务组成，由132家机构的442位作者贡献。任务主题是多样的，从语言学，儿童发展，数学，常识性推理，生物学，物理学，社会偏见，软件开发等等。 Big-Bench专注于被认为超出当前语言模型的功能的任务。我们评估了OpenAI的GPT型号，Google内部密集变压器体系结构和大型基础上的开关稀疏变压器的行为，跨越了数百万到数十亿个参数。此外，一个人类专家评估者团队执行了所有任务，以提供强大的基准。研究结果包括：模型性能和校准都随规模改善，但绝对的术语（以及与评估者的性能相比）；在模型类中的性能非常相似，尽管带有稀疏性。逐渐和预测的任务通常涉及大量知识或记忆成分，而在临界规模上表现出“突破性”行为的任务通常涉及多个步骤或组成部分或脆性指标；社交偏见通常会随着含糊不清的环境而随着规模而增加，但这可以通过提示来改善。

通过实现灵活的按需系统，预计自动车辆（AVS）将增加交通安全和交通效率等。这在新加坡尤其重要，是世界上最稠密的国家之一，这就是为什么新加坡当局目前正在积极促进AVS的部署。但是，由于正式的AV路公路审批程序所需所需。为此，提出了一种安全评估框架，这与基于交通场景的方法相结合了标准化功能安全设计方法的方面。后者涉及使用驱动数据来提取AV相关的流量方案。底层方法基于将场景分解为基本事件，随后的场景参数化和采样场景参数的估计概率密度函数来创建测试场景。随后，由此产生的测试场景用于模拟环境中的虚拟测试，并在证明地面和现实生活中进行物理测试。结果，所提出的评估管线因此由于基于模拟的方法而在相对短的时间帧中为AV性能提供统计相关和定量措施。最终，拟议的方法提供了AVS的正式道路审批程序的当局。特别是，拟议的方法将支持新加坡土地运输机构进行AVS的道路批准。

提高对话系统的用户体验通常需要密集的开发人员努力读取对话日志，运行统计分析，并激活系统缺点的相对重要性。本文介绍了一种自动分析对话日志的新方法，了解用户系统交互与总体对话质量之间的关系。与在话语级别质量预测上的事先工作不同，我们的方法了解每个互动的影响，没有话语级注释的整体用户评级，允许基于经验证据和低成本获得所得模型结论。我们的模型识别与Chatbot设置中的与整体对话质量有着强烈相关的交互。实验表明，我们模型的自动分析同意专家判决，使这项工作首先表明这种弱监督的话语级质量预测学习是高度可取的。

我们展示了一个基于逻辑推理的新型对话管理方法的聊天栏。除了帧对话一系列响应生成任务，我们将对话作为协作推断过程，其中扬声器共享信息以实时地合成新知识。我们的Chatbot管道在三个广泛的阶段完成了这种建模。第一阶段将用户话语转换为符号谓词表示。然后，第二阶段与更大的知识库结合使用这种结构化表示来合成使用有效的图形匹配来扫描新谓词。在第三阶段和最后阶段，我们的机器人选择一个小的谓词子集并将它们转化为英语响应。这种方法为了解用户输入的潜在语义，灵活的主动措施以及与对话背景相干的响应。

Logic Mill is a scalable and openly accessible software system that identifies semantically similar documents within either one domain-specific corpus or multi-domain corpora. It uses advanced Natural Language Processing (NLP) techniques to generate numerical representations of documents. Currently it leverages a large pre-trained language model to generate these document representations. The system focuses on scientific publications and patent documents and contains more than 200 million documents. It is easily accessible via a simple Application Programming Interface (API) or via a web interface. Moreover, it is continuously being updated and can be extended to text corpora from other domains. We see this system as a general-purpose tool for future research applications in the social sciences and other domains.

This paper proposes a novel observer-based controller for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) designed to directly receive measurements from a Vision-Aided Inertial Navigation System (VA-INS) and produce the required thrust and rotational torque inputs. The VA-INS is composed of a vision unit (monocular or stereo camera) and a typical low-cost 6-axis Inertial Measurement Unit (IMU) equipped with an accelerometer and a gyroscope. A major benefit of this approach is its applicability for environments where the Global Positioning System (GPS) is inaccessible. The proposed VTOL-UAV observer utilizes IMU and feature measurements to accurately estimate attitude (orientation), gyroscope bias, position, and linear velocity. Ability to use VA-INS measurements directly makes the proposed observer design more computationally efficient as it obviates the need for attitude and position reconstruction. Once the motion components are estimated, the observer-based controller is used to control the VTOL-UAV attitude, angular velocity, position, and linear velocity guiding the vehicle along the desired trajectory in six degrees of freedom (6 DoF). The closed-loop estimation and the control errors of the observer-based controller are proven to be exponentially stable starting from almost any initial condition. To achieve global and unique VTOL-UAV representation in 6 DoF, the proposed approach is posed on the Lie Group and the design in unit-quaternion is presented. Although the proposed approach is described in a continuous form, the discrete version is provided and tested. Keywords: Vision-aided inertial navigation system, unmanned aerial vehicle, vertical take-off and landing, stochastic, noise, Robotics, control systems, air mobility, observer-based controller algorithm, landmark measurement, exponential stability.

Remote sensing imagery provides comprehensive views of the Earth, where different sensors collect complementary data at different spatial scales. Large, pretrained models are commonly finetuned with imagery that is heavily augmented to mimic different conditions and scales, with the resulting models used for various tasks with imagery from a range of spatial scales. Such models overlook scale-specific information in the data. In this paper, we present Scale-MAE, a pretraining method that explicitly learns relationships between data at different, known scales throughout the pretraining process. Scale-MAE pretrains a network by masking an input image at a known input scale, where the area of the Earth covered by the image determines the scale of the ViT positional encoding, not the image resolution. Scale-MAE encodes the masked image with a standard ViT backbone, and then decodes the masked image through a bandpass filter to reconstruct low/high frequency images at lower/higher scales. We find that tasking the network with reconstructing both low/high frequency images leads to robust multiscale representations for remote sensing imagery. Scale-MAE achieves an average of a $5.0\%$ non-parametric kNN classification improvement across eight remote sensing datasets compared to current state-of-the-art and obtains a $0.9$ mIoU to $3.8$ mIoU improvement on the SpaceNet building segmentation transfer task for a range of evaluation scales.

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.