Prior work has looked at applying reinforcement learning and imitation learning approaches to autonomous driving scenarios, but either the safety or the efficiency of the algorithm is compromised. With the use of control barrier functions embedded into the reinforcement learning policy, we arrive at safe policies to optimize the performance of the autonomous driving vehicle. However, control barrier functions need a good approximation of the model of the car. We use probabilistic control barrier functions as an estimate of the model uncertainty. The algorithm is implemented as an online version in the CARLA (Dosovitskiy et al., 2017) Simulator and as an offline version on a dataset extracted from the NGSIM Database. The proposed algorithm is not just a safe ramp merging algorithm but a safe autonomous driving algorithm applied to address ramp merging on highways.

Pretrained language models have demonstrated extraordinary capabilities in language generation. However, real-world tasks often require controlling the distribution of generated text in order to mitigate bias, promote fairness, and achieve personalization. Existing techniques for controlling the distribution of generated text only work with quantified distributions, which require pre-defined categories, proportions of the distribution, or an existing corpus following the desired distributions. However, many important distributions, such as personal preferences, are unquantified. In this work, we tackle the problem of generating text following arbitrary distributions (quantified and unquantified) by proposing Nano, a few-shot human-in-the-loop training algorithm that continuously learns from human feedback. Nano achieves state-of-the-art results on single topic/attribute as well as quantified distribution control compared to previous works. We also show that Nano is able to learn unquantified distributions, achieves personalization, and captures differences between different individuals' personal preferences with high sample efficiency.

多模型对现实世界应用的承诺激发了可视化和理解其内部力学的研究，其最终目标是使利益相关者能够可视化模型行为，执行模型调试并促进对机器学习模型的信任。但是，现代的多模型模型通常是黑盒神经网络，这使得了解其内部力学变得具有挑战性。我们如何能在这些模型中可视化多模式相互作用的内部建模？我们的论文旨在通过提出Multiviz来填补这一空白，这是一种通过将可解释性问题分为4个阶段来分析多模型模型行为的方法：（1）单峰的重要性：每种模式如何有助于下游建模和预测，（2）交叉交叉。 - 模式相互作用：不同模态如何相互关系，（3）多模式表示：如何在决策级特征中表示单峰和跨模式的交互作用，以及（4）多模式预测：决策级特征如何组成以制造一个预言。 Multiviz旨在在不同的模式，模型，任务和研究领域进行操作。通过对6个现实世界任务的8个训练模型的实验，我们表明，Multiviz中的互补阶段共同使用户能够（1）模拟模型预测，（2）将可解释的概念分配给功能，（3）对模型错误分析执行错误分析，（4）使用错误分析到调试模型的见解。 Multiviz公开可用，将定期使用新的解释工具和指标进行更新，并欢迎社区的意见。

本文介绍了一个新颖的社会偏好意识分散的安全控制框架，以解决避免多机构碰撞的责任分配问题。考虑到代理不一定会以对称方式进行合作，本文着重于具有不同合作水平的异质代理之间的半合作行为。利用社会价值取向（SVO）来量化个人自私的思想，我们提出了一个新颖的责任相关社会价值取向（R-SVO）的新颖概念，以表达成对代理之间的预期相对社会含义。这用于根据相应的责任份额来重新定义每个代理商的社会偏好或个性，以促进协调方案，例如所有代理商以不对称方式互动的半合件碰撞避免。通过通过拟议的本地成对责任权重纳入这种相对的社会影响，我们为个人代理人开发了与责任相关的控制屏障功能的安全控制框架，并通过正式可证明的安全保证可以实现多代理碰撞的避免。提供了模拟来证明在多个多代理导航任务中所提出的框架的有效性和效率，例如位置交换游戏，自动驾驶汽车公路公路坡道合并方案以及圆形交换游戏。

Many real-world problems are inherently multimodal, from the communicative modalities humans use to express social and emotional states to the force, proprioception, and visual sensors ubiquitous on robots. While there has been an explosion of interest in multimodal representation learning, these methods are still largely focused on a small set of modalities, primarily in the language, vision, and audio space. In order to accelerate generalization towards diverse and understudied modalities, this paper studies efficient representation learning for high-modality scenarios. Since adding new models for every new modality or task becomes prohibitively expensive, a critical technical challenge is heterogeneity quantification: how can we measure which modalities encode similar information and interactions in order to permit parameter sharing with previous modalities? We propose two new information-theoretic metrics for heterogeneity quantification: (1) modality heterogeneity studies how similar 2 modalities $\{X_1,X_2\}$ are by measuring how much information can be transferred from $X_1$ to $X_2$, while (2) interaction heterogeneity studies how similarly pairs of modalities $\{X_1,X_2\}, \{X_3,X_4\}$ interact by measuring how much interaction information can be transferred from $\{X_1,X_2\}$ to $\{X_3,X_4\}$. We show the importance of these proposed metrics in high-modality scenarios as a way to automatically prioritize the fusion of modalities that contain unique information or interactions. The result is a single model, HighMMT, that scales up to $10$ modalities and $15$ tasks from $5$ different research areas. Not only does HighMMT outperform prior methods on the tradeoff between performance and efficiency, it also demonstrates a crucial scaling behavior: performance continues to improve with each modality added, and transfers to entirely new modalities and tasks during fine-tuning.

学习多模式表示涉及从多个异构数据来源集成信息。这是一个充满挑战的重要领域，具有多媒体，情感计算，机器人，金融，人机互动和医疗保健的众多现实世界应用。不幸的是，多式化研究已经有限的资源研究（1）跨领域的概括和方式，（2）在训练和推理期间的复杂性，（3）嘈杂和缺少方式的鲁棒性。为了加速进展到深入的方式和任务，同时确保实现现实世界的稳健性，我们释放多麂，系统和统一的大规模基准，跨越15个数据集，10个模态，20个预测任务和6个研究领域。 Multibench提供自动端到端的机器学习管道，简化和标准化数据加载，实验设置和模型评估。为了使整体评价能够进行全博，提供综合方法，以评估（1）泛化，（2）时间和空间复杂度，以及（3）模型鲁棒性。 Multibench对未来的研究引入了积极的挑战，包括对大规模多模式数据集的可扩展性以及对现实缺陷的鲁棒性。要伴随该基准，我们还提供了多式化学习中的20个核心方法的标准化实现。简单地应用于不同研究领域提出的方法可以提高9/15数据集的最先进的性能。因此，Multibench介绍了一个里程碑，以统一多模式研究中的抗议努力，并铺平了更好地了解多式式模型的能力和限制，所有的易于使用，可访问性和再现性。将公开可用的多班，我们的标准化代码和排行榜将经常更新，并欢迎来自社区的投入。

Nine language-vision AI models trained on web scrapes with the Contrastive Language-Image Pretraining (CLIP) objective are evaluated for evidence of a bias studied by psychologists: the sexual objectification of girls and women, which occurs when a person's human characteristics are disregarded and the person is treated as a body or a collection of body parts. A first experiment uses standardized images of women from the Sexual OBjectification and EMotion Database, and finds that, commensurate with prior research in psychology, human characteristics are disassociated from images of objectified women: the model's recognition of emotional state is mediated by whether the subject is fully or partially clothed. Embedding association tests (EATs) return significant effect sizes for both anger (d >.8) and sadness (d >.5). A second experiment measures the effect in a representative application: an automatic image captioner (Antarctic Captions) includes words denoting emotion less than 50% as often for images of partially clothed women than for images of fully clothed women. A third experiment finds that images of female professionals (scientists, doctors, executives) are likely to be associated with sexual descriptions relative to images of male professionals. A fourth experiment shows that a prompt of "a [age] year old girl" generates sexualized images (as determined by an NSFW classifier) up to 73% of the time for VQGAN-CLIP (age 17), and up to 40% of the time for Stable Diffusion (ages 14 and 18); the corresponding rate for boys never surpasses 9%. The evidence indicates that language-vision AI models trained on automatically collected web scrapes learn biases of sexual objectification, which propagate to downstream applications.

Although large language models can be prompted for both zero- and few-shot learning, performance drops significantly when no demonstrations are available. In this paper, we introduce Z-ICL, a new zero-shot method that closes the gap by constructing pseudo-demonstrations for a given test input using a raw text corpus. Concretely, pseudo-demonstrations are constructed by (1) finding the nearest neighbors to the test input from the corpus and pairing them with random task labels, and (2) applying a set of techniques to reduce the amount of direct copying the model does from the resulting demonstrations. Evaluation on nine classification datasets shows that Z-ICL outperforms previous zero-shot methods by a significant margin, and is on par with in-context learning with labeled training data in the few-shot setting. Overall, Z-ICL provides a significantly higher estimate of the zero-shot performance levels of a model, and supports future efforts to develop better pseudo-demonstrations that further improve zero-shot results.

User and product information associated with a review is useful for sentiment polarity prediction. Typical approaches incorporating such information focus on modeling users and products as implicitly learned representation vectors. Most do not exploit the potential of historical reviews, or those that currently do require unnecessary modifications to model architecture or do not make full use of user/product associations. The contribution of this work is twofold: i) a method to explicitly employ historical reviews belonging to the same user/product to initialize representations, and ii) efficient incorporation of textual associations between users and products via a user-product cross-context module. Experiments on IMDb, Yelp-2013 and Yelp-2014 benchmarks show that our approach substantially outperforms previous state-of-the-art. Since we employ BERT-base as the encoder, we additionally provide experiments in which our approach performs well with Span-BERT and Longformer. Furthermore, experiments where the reviews of each user/product in the training data are downsampled demonstrate the effectiveness of our approach under a low-resource setting.

Deep Neural Networks have been widely used in many fields. However, studies have shown that DNNs are easily attacked by adversarial examples, which have tiny perturbations and greatly mislead the correct judgment of DNNs. Furthermore, even if malicious attackers cannot obtain all the underlying model parameters, they can use adversarial examples to attack various DNN-based task systems. Researchers have proposed various defense methods to protect DNNs, such as reducing the aggressiveness of adversarial examples by preprocessing or improving the robustness of the model by adding modules. However, some defense methods are only effective for small-scale examples or small perturbations but have limited defense effects for adversarial examples with large perturbations. This paper assigns different defense strategies to adversarial perturbations of different strengths by grading the perturbations on the input examples. Experimental results show that the proposed method effectively improves defense performance. In addition, the proposed method does not modify any task model, which can be used as a preprocessing module, which significantly reduces the deployment cost in practical applications.