机器学习（ML）研究出版物通常在GitHub上提供开源实现，使他们的受众可以复制，验证甚至扩展机器学习算法，数据集和元数据。但是，到目前为止，关于此类ML研究存储库的协作活动程度知之甚少，特别是（1）此类存储库从叉子获得贡献的程度，（2）此类贡献的性质（即类型，变化），以及（3）变更的性质，这些变化未归还给叉子，这可能代表了错过的机会。在本文中，我们对1,346毫升研究存储库及其67,369叉进行了验证，无论是定量还是定性（通过Hindle等人的构建代码更改的开创性分类法）。我们发现，尽管ML研究存储库是大量分叉的，但只有9％的叉子对叉子存储库进行了修改。后者的42％发送给家长存储库的更改，其中一半（52％）被父家存储库接受。我们对539个贡献的定性分析和378个本地（仅叉）变化，扩展了Hindle等人的分类法，其中一个与ML（数据）相关的新顶级变更类别和15个新的子类别，包括9个ML--特定的（输入数据，输出数据，程序数据，共享，变更评估，参数调整，性能，预处理，模型培训）。虽然没有由叉子造成的更改主要是涉及域特定于域的定制和本地实验（例如，参数调整），但原点ML存储库确实错过了不可忽视的15.4％文档更改的13.6％的功能更改，而功能更改的13.6％和11.4％的错误修复更改。本文中的发现将对从业者，研究人员，工具匠和教育者有用。

通用数据模型解决了标准化电子健康记录（EHR）数据的许多挑战，但无法将其集成深度表型所需的资源。开放的生物学和生物医学本体论（OBO）铸造本体论提供了可用于生物学知识的语义计算表示，并能够整合多种生物医学数据。但是，将EHR数据映射到OBO Foundry本体论需要大量的手动策展和域专业知识。我们介绍了一个框架，用于将观察性医学成果合作伙伴关系（OMOP）标准词汇介绍给OBO铸造本体。使用此框架，我们制作了92,367条条件，8,615种药物成分和10,673个测量结果的映射。域专家验证了映射准确性，并且在24家医院进行检查时，映射覆盖了99％的条件和药物成分和68％的测量结果。最后，我们证明OMOP2OBO映射可以帮助系统地识别可能受益于基因检测的未诊断罕见病患者。

在不失去先前学习的情况下学习新任务和技能（即灾难性遗忘）是人为和生物神经网络的计算挑战，但是人工系统努力与其生物学类似物达成平等。哺乳动物的大脑采用众多神经手术来支持睡眠期间的持续学习。这些是人工适应的成熟。在这里，我们研究了建模哺乳动物睡眠的三个不同组成部分如何影响人工神经网络中的持续学习：（1）在非比型眼运动（NREM）睡眠期间观察到的垂直记忆重播过程； （2）链接到REM睡眠的生成记忆重播过程； （3）已提出的突触降压过程，以调整信噪比和支持神经保养。在评估持续学习CIFAR-100图像分类基准上的性能时，我们发现将所有三个睡眠组件的包含在内。在以后的任务期间，训练和灾难性遗忘在训练过程中提高了最高准确性。尽管某些灾难性遗忘在网络培训过程中持续存在，但更高水平的突触缩减水平会导致更好地保留早期任务，并进一步促进随后培训期间早期任务准确性的恢复。一个关键的要点是，在考虑使用突触缩小范围的水平时，手头有一个权衡 - 更具侵略性的缩减更好地保护早期任务，但较少的缩减可以增强学习新任务的能力。中级水平可以在训练过程中与最高的总体精度达到平衡。总体而言，我们的结果都提供了有关如何适应睡眠组件以增强人工连续学习系统的洞察力，并突出了未来神经科学睡眠研究的领域，以进一步进一步进行此类系统。

过去的十年充分证明了通过学习复杂的输入/输出关系可以实现的显着功能。从算法上讲，最重要，最不透明的关系之一是问题的结构与有效的解决方案方法之间。在这里，我们将计划问题的结构定量地连接到基于给定抽样的运动计划（SBMP）算法的性能。我们证明，运动计划问题的几何关系可以通过图神经网络（GNN）很好地捕获，以预测SBMP运行时。通过使用算法投资组合，我们表明可以利用GNN对特定问题的运行时预测，以在导航和操纵任务中加速在线运动计划。此外，可以倒置问题到倒及地图，以识别易于通过特定SBMP求解的子问题。我们提供了一个激励人物的例子，说明如何使用这些知识来改善模拟示例的集成任务和运动计划。这些成功依赖于GNN的关系结构来捕获从低维导航任务到3D环境中高度自由度操纵任务的可扩展概括。

There is an increasing interest in developing artificial intelligence (AI) systems to process and interpret electronic health records (EHRs). Natural language processing (NLP) powered by pretrained language models is the key technology for medical AI systems utilizing clinical narratives. However, there are few clinical language models, the largest of which trained in the clinical domain is comparatively small at 110 million parameters (compared with billions of parameters in the general domain). It is not clear how large clinical language models with billions of parameters can help medical AI systems utilize unstructured EHRs. In this study, we develop from scratch a large clinical language model - GatorTron - using >90 billion words of text (including >82 billion words of de-identified clinical text) and systematically evaluate it on 5 clinical NLP tasks including clinical concept extraction, medical relation extraction, semantic textual similarity, natural language inference (NLI), and medical question answering (MQA). We examine how (1) scaling up the number of parameters and (2) scaling up the size of the training data could benefit these NLP tasks. GatorTron models scale up the clinical language model from 110 million to 8.9 billion parameters and improve 5 clinical NLP tasks (e.g., 9.6% and 9.5% improvement in accuracy for NLI and MQA), which can be applied to medical AI systems to improve healthcare delivery. The GatorTron models are publicly available at: https://catalog.ngc.nvidia.com/orgs/nvidia/teams/clara/models/gatortron_og.

制定了具有机器学习模拟（骆驼）项目的宇宙学和天体物理学，通过数千名宇宙的流体动力模拟和机器学习将宇宙学与天体物理学结合起来。骆驼包含4,233个宇宙学仿真，2,049个n-body和2,184个最先进的流体动力模拟，在参数空间中采样巨大的体积。在本文中，我们介绍了骆驼公共数据发布，描述了骆驼模拟的特性和由它们产生的各种数据产品，包括光环，次麦，银河系和空隙目录，功率谱，Bispectra，Lyman - $ \ Alpha $光谱，概率分布函数，光环径向轮廓和X射线光子列表。我们还释放了超过骆驼 - 山姆的数十亿个星系的目录：与Santa Cruz半分析模型相结合的大量N身体模拟。我们释放包含350多个Terabytes的所有数据，并包含143,922个快照，数百万光环，星系和摘要统计数据。我们提供有关如何访问，下载，读取和处理数据AT \ URL {https://camels.readthedocs.io}的进一步技术详细信息。

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 present Muse, a text-to-image Transformer model that achieves state-of-the-art image generation performance while being significantly more efficient than diffusion or autoregressive models. Muse is trained on a masked modeling task in discrete token space: given the text embedding extracted from a pre-trained large language model (LLM), Muse is trained to predict randomly masked image tokens. Compared to pixel-space diffusion models, such as Imagen and DALL-E 2, Muse is significantly more efficient due to the use of discrete tokens and requiring fewer sampling iterations; compared to autoregressive models, such as Parti, Muse is more efficient due to the use of parallel decoding. The use of a pre-trained LLM enables fine-grained language understanding, translating to high-fidelity image generation and the understanding of visual concepts such as objects, their spatial relationships, pose, cardinality etc. Our 900M parameter model achieves a new SOTA on CC3M, with an FID score of 6.06. The Muse 3B parameter model achieves an FID of 7.88 on zero-shot COCO evaluation, along with a CLIP score of 0.32. Muse also directly enables a number of image editing applications without the need to fine-tune or invert the model: inpainting, outpainting, and mask-free editing. More results are available at https://muse-model.github.io

We introduce Argoverse 2 (AV2) - a collection of three datasets for perception and forecasting research in the self-driving domain. The annotated Sensor Dataset contains 1,000 sequences of multimodal data, encompassing high-resolution imagery from seven ring cameras, and two stereo cameras in addition to lidar point clouds, and 6-DOF map-aligned pose. Sequences contain 3D cuboid annotations for 26 object categories, all of which are sufficiently-sampled to support training and evaluation of 3D perception models. The Lidar Dataset contains 20,000 sequences of unlabeled lidar point clouds and map-aligned pose. This dataset is the largest ever collection of lidar sensor data and supports self-supervised learning and the emerging task of point cloud forecasting. Finally, the Motion Forecasting Dataset contains 250,000 scenarios mined for interesting and challenging interactions between the autonomous vehicle and other actors in each local scene. Models are tasked with the prediction of future motion for "scored actors" in each scenario and are provided with track histories that capture object location, heading, velocity, and category. In all three datasets, each scenario contains its own HD Map with 3D lane and crosswalk geometry - sourced from data captured in six distinct cities. We believe these datasets will support new and existing machine learning research problems in ways that existing datasets do not. All datasets are released under the CC BY-NC-SA 4.0 license.

There are multiple scales of abstraction from which we can describe the same image, depending on whether we are focusing on fine-grained details or a more global attribute of the image. In brain mapping, learning to automatically parse images to build representations of both small-scale features (e.g., the presence of cells or blood vessels) and global properties of an image (e.g., which brain region the image comes from) is a crucial and open challenge. However, most existing datasets and benchmarks for neuroanatomy consider only a single downstream task at a time. To bridge this gap, we introduce a new dataset, annotations, and multiple downstream tasks that provide diverse ways to readout information about brain structure and architecture from the same image. Our multi-task neuroimaging benchmark (MTNeuro) is built on volumetric, micrometer-resolution X-ray microtomography images spanning a large thalamocortical section of mouse brain, encompassing multiple cortical and subcortical regions. We generated a number of different prediction challenges and evaluated several supervised and self-supervised models for brain-region prediction and pixel-level semantic segmentation of microstructures. Our experiments not only highlight the rich heterogeneity of this dataset, but also provide insights into how self-supervised approaches can be used to learn representations that capture multiple attributes of a single image and perform well on a variety of downstream tasks. Datasets, code, and pre-trained baseline models are provided at: https://mtneuro.github.io/ .