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。

联合学习（FL）是一种分布式机器学习技术，可以在避免明确的数据共享的同时进行协作模型培训。 FL算法的固有保护属性使其对医疗领域特别有吸引力。但是，如果有异质的客户数据分布，则标准FL方法是不稳定的，需要密集的超参数调整以实现最佳性能。常规的超参数优化算法在现实世界中的FL应用中是不切实际的，因为它们涉及大量的培训试验，而计算预算有限，这些试验通常是不起作用的。在这项工作中，我们提出了一种有效的增强学习（RL）的联合次数超参数优化算法，称为自动FEDRL，其中在线RL代理可以根据当前的培训进度动态调整每个客户的超参数。进行了广泛的实验以研究不同的搜索策略和RL代理。该方法的有效性在CIFAR-10数据集的异质数据分配以及两个现实世界中的医学图像分割数据集上进行了验证，用于胸部CT中的COVID-19变病变分段，腹部CT中的胰腺细分。

多机器人边界型螺丝术需要及时协调机器人团队成员。符号运动规划（SMP）可以提供具有高级时间逻辑任务要求的机器人运动规划可提供正确的解决方案。本文旨在为多机器人系统（MRS）的安全可靠的SMP开发一个框架，以满足受时间逻辑受限约束的复杂边界初级任务。首先提出了一个分散的SMP框架，它保证了MRS的复杂边界泛粉任务的正确性和并行执行。然后通过参考地形中的机器人的遍历和视线来构造计算信任模型。信任模式预测每个机器人团队在执行任务计划时的潜在行为的可信度。探索了最值得信赖的任务和运动计划，并使用Dijkstra搜索策略来保证横向纵向初级初级的可靠性。 ROS Gazebo中实施了机器人仿真，以展示所提出的框架的有效性。

Despite the success of large language models (LLMs) in various natural language processing (NLP) tasks, the stored knowledge in these models may inevitably be incomplete, out-of-date, or incorrect. This motivates the need to utilize external knowledge to assist LLMs. Unfortunately, current methods for incorporating external knowledge often require additional training or fine-tuning, which can be costly and may not be feasible for LLMs. To address this issue, we propose a novel post-processing approach, rethinking with retrieval (RR), which retrieves relevant external knowledge based on the decomposed reasoning steps obtained from the chain-of-thought (CoT) prompting. This lightweight approach does not require additional training or fine-tuning and is not limited by the input length of LLMs. We evaluate the effectiveness of RR through extensive experiments with GPT-3 on three complex reasoning tasks: commonsense reasoning, temporal reasoning, and tabular reasoning. Our results show that RR can produce more faithful explanations and improve the performance of LLMs.

The widely studied task of Natural Language Inference (NLI) requires a system to recognize whether one piece of text is textually entailed by another, i.e. whether the entirety of its meaning can be inferred from the other. In current NLI datasets and models, textual entailment relations are typically defined on the sentence- or paragraph-level. However, even a simple sentence often contains multiple propositions, i.e. distinct units of meaning conveyed by the sentence. As these propositions can carry different truth values in the context of a given premise, we argue for the need to recognize the textual entailment relation of each proposition in a sentence individually. We propose PropSegmEnt, a corpus of over 35K propositions annotated by expert human raters. Our dataset structure resembles the tasks of (1) segmenting sentences within a document to the set of propositions, and (2) classifying the entailment relation of each proposition with respect to a different yet topically-aligned document, i.e. documents describing the same event or entity. We establish strong baselines for the segmentation and entailment tasks. Through case studies on summary hallucination detection and document-level NLI, we demonstrate that our conceptual framework is potentially useful for understanding and explaining the compositionality of NLI labels.

Temporal reasoning is the task of predicting temporal relations of event pairs with corresponding contexts. While some temporal reasoning models perform reasonably well on in-domain benchmarks, we have little idea of the systems' generalizability due to existing datasets' limitations. In this work, we introduce a novel task named TODAY that bridges this gap with temporal differential analysis, which as the name suggests, evaluates if systems can correctly understand the effect of incremental changes. Specifically, TODAY makes slight context changes for given event pairs, and systems need to tell how this subtle contextual change will affect temporal relation distributions. To facilitate learning, TODAY also annotates human explanations. We show that existing models, including GPT-3, drop to random guessing on TODAY, suggesting that they heavily rely on spurious information rather than proper reasoning for temporal predictions. On the other hand, we show that TODAY's supervision style and explanation annotations can be used in joint learning and encourage models to use more appropriate signals during training and outperform across several benchmarks. TODAY can also be used to train models to solicit incidental supervision from noisy sources such as GPT-3 and moves farther towards generic temporal reasoning systems.

Estimating the 6D pose of objects is one of the major fields in 3D computer vision. Since the promising outcomes from instance-level pose estimation, the research trends are heading towards category-level pose estimation for more practical application scenarios. However, unlike well-established instance-level pose datasets, available category-level datasets lack annotation quality and provided pose quantity. We propose the new category level 6D pose dataset HouseCat6D featuring 1) Multi-modality of Polarimetric RGB+P and Depth, 2) Highly diverse 194 objects of 10 household object categories including 2 photometrically challenging categories, 3) High-quality pose annotation with an error range of only 1.35 mm to 1.74 mm, 4) 41 large scale scenes with extensive viewpoint coverage, 5) Checkerboard-free environment throughout the entire scene. We also provide benchmark results of state-of-the-art category-level pose estimation networks.

Code generation models have achieved impressive performance. However, they tend to be brittle as slight edits to a prompt could lead to very different generations; these robustness properties, critical for user experience when deployed in real-life applications, are not well understood. Most existing works on robustness in text or code tasks have focused on classification, while robustness in generation tasks is an uncharted area and to date there is no comprehensive benchmark for robustness in code generation. In this paper, we propose ReCode, a comprehensive robustness evaluation benchmark for code generation models. We customize over 30 transformations specifically for code on docstrings, function and variable names, code syntax, and code format. They are carefully designed to be natural in real-life coding practice, preserve the original semantic meaning, and thus provide multifaceted assessments of a model's robustness performance. With human annotators, we verified that over 90% of the perturbed prompts do not alter the semantic meaning of the original prompt. In addition, we define robustness metrics for code generation models considering the worst-case behavior under each type of perturbation, taking advantage of the fact that executing the generated code can serve as objective evaluation. We demonstrate ReCode on SOTA models using HumanEval, MBPP, as well as function completion tasks derived from them. Interesting observations include: better robustness for CodeGen over InCoder and GPT-J; models are most sensitive to syntax perturbations; more challenging robustness evaluation on MBPP over HumanEval.

Recently it has been shown that state-of-the-art NLP models are vulnerable to adversarial attacks, where the predictions of a model can be drastically altered by slight modifications to the input (such as synonym substitutions). While several defense techniques have been proposed, and adapted, to the discrete nature of text adversarial attacks, the benefits of general-purpose regularization methods such as label smoothing for language models, have not been studied. In this paper, we study the adversarial robustness provided by various label smoothing strategies in foundational models for diverse NLP tasks in both in-domain and out-of-domain settings. Our experiments show that label smoothing significantly improves adversarial robustness in pre-trained models like BERT, against various popular attacks. We also analyze the relationship between prediction confidence and robustness, showing that label smoothing reduces over-confident errors on adversarial examples.

While pre-trained language models (LM) for code have achieved great success in code completion, they generate code conditioned only on the contents within the file, i.e., in-file context, but ignore the rich semantics in other files within the same project, i.e., cross-file context, a critical source of information that is especially useful in modern modular software development. Such overlooking constrains code language models' capacity in code completion, leading to unexpected behaviors such as generating hallucinated class member functions or function calls with unexpected arguments. In this work, we develop a cross-file context finder tool, CCFINDER, that effectively locates and retrieves the most relevant cross-file context. We propose CoCoMIC, a framework that incorporates cross-file context to learn the in-file and cross-file context jointly on top of pretrained code LMs. CoCoMIC successfully improves the existing code LM with a 19.30% relative increase in exact match and a 15.41% relative increase in identifier matching for code completion when the cross-file context is provided.