自动驾驶汽车和自主驾驶研究一直受到现代人工智能应用中主要有希望的前景。根据先进的驾驶员辅助系统（ADAS）的演变，自动驾驶车辆和自主驱动系统的设计变得复杂和安全至关重要。通常，智能系统同时和有效地激活ADAS功能。因此，必须考虑可靠的ADAS功能协调，安全地控制驱动系统。为了处理这个问题，本文提出了一种随机的对抗性模仿学习（RAIL）算法。铁路是一种新的无衍生仿制学习方法，用于具有各种ADAS功能协调的自主驾驶;因此，它模仿决策者的运作，可以使用各种ADAS功能控制自动驾驶。该方法能够培训涉及激光雷达数据的决策者，并控制多车道复合道环境中的自主驾驶。基于仿真的评估验证了所提出的方法实现了所需的性能。

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in real-world underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission and make high-impact strategic decisions. We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and re-configurable communications.

We consider the problem of constructing minimax rate-optimal estimators for a doubly robust nonparametric functional that has witnessed applications across the causal inference and conditional independence testing literature. Minimax rate-optimal estimators for such functionals are typically constructed through higher-order bias corrections of plug-in and one-step type estimators and, in turn, depend on estimators of nuisance functions. In this paper, we consider a parallel question of interest regarding the optimality and/or sub-optimality of plug-in and one-step bias-corrected estimators for the specific doubly robust functional of interest. Specifically, we verify that by using undersmoothing and sample splitting techniques when constructing nuisance function estimators, one can achieve minimax rates of convergence in all H\"older smoothness classes of the nuisance functions (i.e. the propensity score and outcome regression) provided that the marginal density of the covariates is sufficiently regular. Additionally, by demonstrating suitable lower bounds on these classes of estimators, we demonstrate the necessity to undersmooth the nuisance function estimators to obtain minimax optimal rates of convergence.

Several leading methods on public benchmarks for depth-from-stereo rely on memory-demanding 4D cost volumes and computationally intensive 3D convolutions for feature matching. We suggest a new way to process the 4D cost volume where we merge two different concepts in one deeply integrated framework to achieve a symbiotic relationship. A feature matching part is responsible for identifying matching pixels pairs along the baseline while a concurrent image volume part is inspired by depth-from-mono CNNs. However, instead of predicting depth directly from image features, it provides additional context to resolve ambiguities during pixel matching. More technically, the processing of the 4D cost volume is separated into a 2D propagation and a 3D propagation part. Starting from feature maps of the left image, the 2D propagation assists the 3D propagation part of the cost volume at different layers by adding visual features to the geometric context. By combining both parts, we can safely reduce the scale of 3D convolution layers in the matching part without sacrificing accuracy. Experiments demonstrate that our end-to-end trained CNN is ranked 2nd on KITTI2012 and ETH3D benchmarks while being significantly faster than the 1st-ranked method. Furthermore, we notice that the coupling of image and matching-volume improves fine-scale details as demonstrated by our qualitative analysis.

Generative AI has matured to a point where large-scale models can generate text that seems indistinguishable from human-written text and remarkably photorealistic images. Automatically measuring how close the distribution of generated data is to the target real data distribution is a key step in diagnosing existing models and developing better models. We present MAUVE, a family of comparison measures between pairs of distributions such as those encountered in the generative modeling of text or images. These scores are statistical summaries of divergence frontiers capturing two types of errors in generative modeling. We explore four approaches to statistically estimate these scores: vector quantization, non-parametric estimation, classifier-based estimation, and parametric Gaussian approximations. We provide statistical bounds for the vector quantization approach. Empirically, we find that the proposed scores paired with a range of $f$-divergences and statistical estimation methods can quantify the gaps between the distributions of human-written text and those of modern neural language models by correlating with human judgments and identifying known properties of the generated texts. We conclude the paper by demonstrating its applications to other AI domains and discussing practical recommendations.

Tensor robust principal component analysis (RPCA), which seeks to separate a low-rank tensor from its sparse corruptions, has been crucial in data science and machine learning where tensor structures are becoming more prevalent. While powerful, existing tensor RPCA algorithms can be difficult to use in practice, as their performance can be sensitive to the choice of additional hyperparameters, which are not straightforward to tune. In this paper, we describe a fast and simple self-supervised model for tensor RPCA using deep unfolding by only learning four hyperparameters. Despite its simplicity, our model expunges the need for ground truth labels while maintaining competitive or even greater performance compared to supervised deep unfolding. Furthermore, our model is capable of operating in extreme data-starved scenarios. We demonstrate these claims on a mix of synthetic data and real-world tasks, comparing performance against previously studied supervised deep unfolding methods and Bayesian optimization baselines.

Uniform-precision neural network quantization has gained popularity since it simplifies densely packed arithmetic unit for high computing capability. However, it ignores heterogeneous sensitivity to the impact of quantization errors across the layers, resulting in sub-optimal inference accuracy. This work proposes a novel neural architecture search called neural channel expansion that adjusts the network structure to alleviate accuracy degradation from ultra-low uniform-precision quantization. The proposed method selectively expands channels for the quantization sensitive layers while satisfying hardware constraints (e.g., FLOPs, PARAMs). Based on in-depth analysis and experiments, we demonstrate that the proposed method can adapt several popular networks channels to achieve superior 2-bit quantization accuracy on CIFAR10 and ImageNet. In particular, we achieve the best-to-date Top-1/Top-5 accuracy for 2-bit ResNet50 with smaller FLOPs and the parameter size.

Mathematical reasoning is a fundamental aspect of human intelligence and is applicable in various fields, including science, engineering, finance, and everyday life. The development of artificial intelligence (AI) systems capable of solving math problems and proving theorems has garnered significant interest in the fields of machine learning and natural language processing. For example, mathematics serves as a testbed for aspects of reasoning that are challenging for powerful deep learning models, driving new algorithmic and modeling advances. On the other hand, recent advances in large-scale neural language models have opened up new benchmarks and opportunities to use deep learning for mathematical reasoning. In this survey paper, we review the key tasks, datasets, and methods at the intersection of mathematical reasoning and deep learning over the past decade. We also evaluate existing benchmarks and methods, and discuss future research directions in this domain.

Many real-world applications of language models (LMs), such as code autocomplete and writing assistance, involve human-LM interaction, but the main LM benchmarks are non-interactive, where a system produces output without human intervention. To evaluate human-LM interaction, we develop a framework, Human-AI Language-based Interaction Evaluation (H-LINE), that expands non-interactive evaluation along three dimensions, capturing (i) the interactive process, not only the final output; (ii) the first-person subjective experience, not just a third-party assessment; and (iii) notions of preference beyond quality. We then design five tasks ranging from goal-oriented to open-ended to capture different forms of interaction. On four state-of-the-art LMs (three variants of OpenAI's GPT-3 and AI21's J1-Jumbo), we find that non-interactive performance does not always result in better human-LM interaction and that first-person and third-party metrics can diverge, suggesting the importance of examining the nuances of human-LM interaction.

Cartoonization is a task that renders natural photos into cartoon styles. Previous deep cartoonization methods only have focused on end-to-end translation, which may hinder editability. Instead, we propose a novel solution with editing features of texture and color based on the cartoon creation process. To do that, we design a model architecture to have separate decoders, texture and color, to decouple these attributes. In the texture decoder, we propose a texture controller, which enables a user to control stroke style and abstraction to generate diverse cartoon textures. We also introduce an HSV color augmentation to induce the networks to generate diverse and controllable color translation. To the best of our knowledge, our work is the first deep approach to control the cartoonization at inference while showing profound quality improvement over to baselines.