我们提出了具有可拖动的对数密度的集合数据值数据的新型，有条件的生成概率模型。该模型是由置换模化动力学控制的连续归一化流。这些动力学是由可学习的每集元素项和成对相互作用的驱动的，均通过深神经网络参数化。我们通过应用程序说明了该模型的实用性，包括（1）以视觉上指定的地图信息为条件的复杂交通场景生成，以及（2）直接在图像上调节的对象边界框生成。我们借助罚款，可确保动力学平稳并因此有效解决，我们通过最大程度地提高标记有条件数据标记的条件数据的预期可能性来训练我们的模型。我们的方法在对数的可能性和特定于域特异性指标（越野，碰撞和违规违规）方面极大地超过了非渗透不变基线，从而产生了很难与真实数据区分的现实样本。

贝叶斯核心通过构建数据点的一个较小的加权子集近似后验分布。任何在整个后验上运行的推理过程在计算上昂贵，都可以在核心上廉价地运行，其结果近似于完整数据上的结果。但是，当前方法受到大量运行时的限制，或者需要用户指定向完整后部的低成本近似值。我们提出了一种贝叶斯核心结构算法，该算法首先选择均匀随机的数据子集，然后使用新型的准Newton方法优化权重。我们的算法是一种易于实现的黑框方法，不需要用户指定低成本后近似。它是第一个在输出核心后部的KL差异上带有一般高概率构成的。实验表明，我们的方法可与具有可比的施工时间的替代方案相比，核心质量有显着改善，所需的存储成本和用户输入要少得多。

Adversarial imitation learning (AIL) has become a popular alternative to supervised imitation learning that reduces the distribution shift suffered by the latter. However, AIL requires effective exploration during an online reinforcement learning phase. In this work, we show that the standard, naive approach to exploration can manifest as a suboptimal local maximum if a policy learned with AIL sufficiently matches the expert distribution without fully learning the desired task. This can be particularly catastrophic for manipulation tasks, where the difference between an expert and a non-expert state-action pair is often subtle. We present Learning from Guided Play (LfGP), a framework in which we leverage expert demonstrations of multiple exploratory, auxiliary tasks in addition to a main task. The addition of these auxiliary tasks forces the agent to explore states and actions that standard AIL may learn to ignore. Additionally, this particular formulation allows for the reusability of expert data between main tasks. Our experimental results in a challenging multitask robotic manipulation domain indicate that LfGP significantly outperforms both AIL and behaviour cloning, while also being more expert sample efficient than these baselines. To explain this performance gap, we provide further analysis of a toy problem that highlights the coupling between a local maximum and poor exploration, and also visualize the differences between the learned models from AIL and LfGP.

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.

This paper presents a novel framework for planning in unknown and occluded urban spaces. We specifically focus on turns and intersections where occlusions significantly impact navigability. Our approach uses an inpainting model to fill in a sparse, occluded, semantic lidar point cloud and plans dynamically feasible paths for a vehicle to traverse through the open and inpainted spaces. We demonstrate our approach using a car's lidar data with real-time occlusions, and show that by inpainting occluded areas, we can plan longer paths, with more turn options compared to without inpainting; in addition, our approach more closely follows paths derived from a planner with no occlusions (called the ground truth) compared to other state of the art approaches.

Machine learning methods have seen increased application to geospatial environmental problems, such as precipitation nowcasting, haze forecasting, and crop yield prediction. However, many of the machine learning methods applied to mosquito population and disease forecasting do not inherently take into account the underlying spatial structure of the given data. In our work, we apply a spatially aware graph neural network model consisting of GraphSAGE layers to forecast the presence of West Nile virus in Illinois, to aid mosquito surveillance and abatement efforts within the state. More generally, we show that graph neural networks applied to irregularly sampled geospatial data can exceed the performance of a range of baseline methods including logistic regression, XGBoost, and fully-connected neural networks.

Are extralinguistic signals such as image pixels crucial for inducing constituency grammars? While past work has shown substantial gains from multimodal cues, we investigate whether such gains persist in the presence of rich information from large language models (LLMs). We find that our approach, LLM-based C-PCFG (LC-PCFG), outperforms previous multi-modal methods on the task of unsupervised constituency parsing, achieving state-of-the-art performance on a variety of datasets. Moreover, LC-PCFG results in an over 50% reduction in parameter count, and speedups in training time of 1.7x for image-aided models and more than 5x for video-aided models, respectively. These results challenge the notion that extralinguistic signals such as image pixels are needed for unsupervised grammar induction, and point to the need for better text-only baselines in evaluating the need of multi-modality for the task.

Action recognition models have achieved impressive results by incorporating scene-level annotations, such as objects, their relations, 3D structure, and more. However, obtaining annotations of scene structure for videos requires a significant amount of effort to gather and annotate, making these methods expensive to train. In contrast, synthetic datasets generated by graphics engines provide powerful alternatives for generating scene-level annotations across multiple tasks. In this work, we propose an approach to leverage synthetic scene data for improving video understanding. We present a multi-task prompt learning approach for video transformers, where a shared video transformer backbone is enhanced by a small set of specialized parameters for each task. Specifically, we add a set of ``task prompts'', each corresponding to a different task, and let each prompt predict task-related annotations. This design allows the model to capture information shared among synthetic scene tasks as well as information shared between synthetic scene tasks and a real video downstream task throughout the entire network. We refer to this approach as ``Promptonomy'', since the prompts model a task-related structure. We propose the PromptonomyViT model (PViT), a video transformer that incorporates various types of scene-level information from synthetic data using the ``Promptonomy'' approach. PViT shows strong performance improvements on multiple video understanding tasks and datasets.

Entrainment is the phenomenon by which an interlocutor adapts their speaking style to align with their partner in conversations. It has been found in different dimensions as acoustic, prosodic, lexical or syntactic. In this work, we explore and utilize the entrainment phenomenon to improve spoken dialogue systems for voice assistants. We first examine the existence of the entrainment phenomenon in human-to-human dialogues in respect to acoustic feature and then extend the analysis to emotion features. The analysis results show strong evidence of entrainment in terms of both acoustic and emotion features. Based on this findings, we implement two entrainment policies and assess if the integration of entrainment principle into a Text-to-Speech (TTS) system improves the synthesis performance and the user experience. It is found that the integration of the entrainment principle into a TTS system brings performance improvement when considering acoustic features, while no obvious improvement is observed when considering emotion features.

We introduce an imitation learning-based physical human-robot interaction algorithm capable of predicting appropriate robot responses in complex interactions involving a superposition of multiple interactions. Our proposed algorithm, Blending Bayesian Interaction Primitives (B-BIP) allows us to achieve responsive interactions in complex hugging scenarios, capable of reciprocating and adapting to a hugs motion and timing. We show that this algorithm is a generalization of prior work, for which the original formulation reduces to the particular case of a single interaction, and evaluate our method through both an extensive user study and empirical experiments. Our algorithm yields significantly better quantitative prediction error and more-favorable participant responses with respect to accuracy, responsiveness, and timing, when compared to existing state-of-the-art methods.