在这项工作中，我们提出了一个端到端的异质多机器人系统框架，地面机器人能够在高空四个四极管实时创建的语义图中进行本地化，计划和导航。地面机器人在没有任何外部干预的情况下独立选择并解散目标。此外，他们通过使用语义将其本地地图与高架图匹配，执行跨视图本地化。通信主链是机会主义的，并且可以分配，使整个系统除了四型四型GPS之外没有外部基础架构，没有外部基础架构。我们通过在不同环境中的多个实验上执行不同的任务，通过执行不同的任务，对系统进行了广泛的测试。我们的地面机器人在现实世界中最少的干预和96公里的模拟无需干预即可自主行驶以上超过6公里。

High content imaging assays can capture rich phenotypic response data for large sets of compound treatments, aiding in the characterization and discovery of novel drugs. However, extracting representative features from high content images that can capture subtle nuances in phenotypes remains challenging. The lack of high-quality labels makes it difficult to achieve satisfactory results with supervised deep learning. Self-Supervised learning methods, which learn from automatically generated labels has shown great success on natural images, offer an attractive alternative also to microscopy images. However, we find that self-supervised learning techniques underperform on high content imaging assays. One challenge is the undesirable domain shifts present in the data known as batch effects, which may be caused by biological noise or uncontrolled experimental conditions. To this end, we introduce Cross-Domain Consistency Learning (CDCL), a novel approach that is able to learn in the presence of batch effects. CDCL enforces the learning of biological similarities while disregarding undesirable batch-specific signals, which leads to more useful and versatile representations. These features are organised according to their morphological changes and are more useful for downstream tasks - such as distinguishing treatments and mode of action.

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.

Large "instruction-tuned" language models (finetuned to respond to instructions) have demonstrated a remarkable ability to generalize zero-shot to new tasks. Nevertheless, they depend heavily on human-written instruction data that is limited in quantity, diversity, and creativity, therefore hindering the generality of the tuned model. We introduce Self-Instruct, a framework for improving the instruction-following capabilities of pretrained language models by bootstrapping off its own generations. Our pipeline generates instruction, input, and output samples from a language model, then prunes them before using them to finetune the original model. Applying our method to vanilla GPT3, we demonstrate a 33% absolute improvement over the original model on Super-NaturalInstructions, on par with the performance of InstructGPT_001, which is trained with private user data and human annotations. For further evaluation, we curate a set of expert-written instructions for novel tasks, and show through human evaluation that tuning GPT3 with Self-Instruct outperforms using existing public instruction datasets by a large margin, leaving only a 5% absolute gap behind InstructGPT_001. Self-Instruct provides an almost annotation-free method for aligning pre-trained language models with instructions, and we release our large synthetic dataset to facilitate future studies on instruction tuning.

Recent times have witnessed an increasing number of applications of deep neural networks towards solving tasks that require superior cognitive abilities, e.g., playing Go, generating art, question answering (such as ChatGPT), etc. Such a dramatic progress raises the question: how generalizable are neural networks in solving problems that demand broad skills? To answer this question, we propose SMART: a Simple Multimodal Algorithmic Reasoning Task and the associated SMART-101 dataset, for evaluating the abstraction, deduction, and generalization abilities of neural networks in solving visuo-linguistic puzzles designed specifically for children in the 6-8 age group. Our dataset consists of 101 unique puzzles; each puzzle comprises a picture and a question, and their solution needs a mix of several elementary skills, including arithmetic, algebra, and spatial reasoning, among others. To scale our dataset towards training deep neural networks, we programmatically generate entirely new instances for each puzzle while retaining their solution algorithm. To benchmark the performance on the SMART-101 dataset, we propose a vision and language meta-learning model using varied state-of-the-art backbone neural networks. Our experiments reveal that while powerful deep models offer reasonable performances on puzzles that they are trained on, they are not better than random accuracy when analyzed for generalization. We also evaluate the recent ChatGPT large language model on a subset of our dataset and find that while ChatGPT produces convincing reasoning abilities, the answers are often incorrect.

We introduce INSTRUCTOR, a new method for computing text embeddings given task instructions: every text input is embedded together with instructions explaining the use case (e.g., task and domain descriptions). Unlike encoders from prior work that are more specialized, INSTRUCTOR is a single embedder that can generate text embeddings tailored to different downstream tasks and domains, without any further training. We first annotate instructions for 330 diverse tasks and train INSTRUCTOR on this multitask mixture with a contrastive loss. We evaluate INSTRUCTOR on 70 embedding evaluation tasks (66 of which are unseen during training), ranging from classification and information retrieval to semantic textual similarity and text generation evaluation. INSTRUCTOR, while having an order of magnitude fewer parameters than the previous best model, achieves state-of-the-art performance, with an average improvement of 3.4% compared to the previous best results on the 70 diverse datasets. Our analysis suggests that INSTRUCTOR is robust to changes in instructions, and that instruction finetuning mitigates the challenge of training a single model on diverse datasets.

Hyperparameter tuning is critical to the success of federated learning applications. Unfortunately, appropriately selecting hyperparameters is challenging in federated networks. Issues of scale, privacy, and heterogeneity introduce noise in the tuning process and make it difficult to evaluate the performance of various hyperparameters. In this work, we perform the first systematic study on the effect of noisy evaluation in federated hyperparameter tuning. We first identify and rigorously explore key sources of noise, including client subsampling, data and systems heterogeneity, and data privacy. Surprisingly, our results indicate that even small amounts of noise can significantly impact tuning methods-reducing the performance of state-of-the-art approaches to that of naive baselines. To address noisy evaluation in such scenarios, we propose a simple and effective approach that leverages public proxy data to boost the evaluation signal. Our work establishes general challenges, baselines, and best practices for future work in federated hyperparameter tuning.

Calorimeter shower simulations are often the bottleneck in simulation time for particle physics detectors. A lot of effort is currently spent on optimizing generative architectures for specific detector geometries, which generalize poorly. We develop a geometry-aware autoregressive model on a range of calorimeter geometries such that the model learns to adapt its energy deposition depending on the size and position of the cells. This is a key proof-of-concept step towards building a model that can generalize to new unseen calorimeter geometries with little to no additional training. Such a model can replace the hundreds of generative models used for calorimeter simulation in a Large Hadron Collider experiment. For the study of future detectors, such a model will dramatically reduce the large upfront investment usually needed to generate simulations.

We consider the problem of finding an accurate representation of neuron shapes, extracting sub-cellular features, and classifying neurons based on neuron shapes. In neuroscience research, the skeleton representation is often used as a compact and abstract representation of neuron shapes. However, existing methods are limited to getting and analyzing "curve" skeletons which can only be applied for tubular shapes. This paper presents a 3D neuron morphology analysis method for more general and complex neuron shapes. First, we introduce the concept of skeleton mesh to represent general neuron shapes and propose a novel method for computing mesh representations from 3D surface point clouds. A skeleton graph is then obtained from skeleton mesh and is used to extract sub-cellular features. Finally, an unsupervised learning method is used to embed the skeleton graph for neuron classification. Extensive experiment results are provided and demonstrate the robustness of our method to analyze neuron morphology.

To train deep learning models, which often outperform traditional approaches, large datasets of a specified medium, e.g., images, are used in numerous areas. However, for light field-specific machine learning tasks, there is a lack of such available datasets. Therefore, we create our own light field datasets, which have great potential for a variety of applications due to the abundance of information in light fields compared to singular images. Using the Unity and C# frameworks, we develop a novel approach for generating large, scalable, and reproducible light field datasets based on customizable hardware configurations to accelerate light field deep learning research.