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Motivated by the success of Transformers when applied to sequences of discrete symbols, token-based world models (TBWMs) were recently proposed as sample-efficient methods. In TBWMs, the world model consumes agent experience as a language-like sequence of tokens, where each observation constitutes a sub-sequence. However, during imagination, the sequential token-by-token generation of next observations results in a severe bottleneck, leading to long training times, poor GPU utilization, and limited representations. To resolve this bottleneck, we devise a novel Parallel Observation Prediction (POP) mechanism. POP augments a Retentive Network (RetNet) with a novel forward mode tailored to our reinforcement learning setting. We incorporate POP in a novel TBWM agent named REM (Retentive Environment Model), showcasing a 15.4x faster imagination compared to prior TBWMs. REM attains superhuman performance on 12 out of 26 games of the Atari 100K benchmark, while training in less than 12 hours. Our code is available at \url{//github.com/leor-c/REM}.

One of the challenges in robotics is to enable robotic units with the reasoning capability that would be robust enough to execute complex tasks in dynamic environments. Recent advances in LLMs have positioned them as go-to tools for simple reasoning tasks, motivating the pioneering work of Liang et al. [35] that uses an LLM to translate natural language commands into low-level static execution plans for robotic units. Using LLMs inside robotics systems brings their generalization to a new level, enabling zero-shot generalization to new tasks. This paper extends this prior work to dynamic environments. We propose InCoRo, a system that uses a classical robotic feedback loop composed of an LLM controller, a scene understanding unit, and a robot. Our system continuously analyzes the state of the environment and provides adapted execution commands, enabling the robot to adjust to changing environmental conditions and correcting for controller errors. Our system does not require any iterative optimization to learn to accomplish a task as it leverages in-context learning with an off-the-shelf LLM model. Through an extensive validation process involving two standardized industrial robotic units -- SCARA and DELTA types -- we contribute knowledge about these robots, not popular in the community, thereby enriching it. We highlight the generalization capabilities of our system and show that (1) in-context learning in combination with the current state-of-the-art LLMs is an effective way to implement a robotic controller; (2) in static environments, InCoRo surpasses the prior art in terms of the success rate; (3) in dynamic environments, we establish new state-of-the-art for the SCARA and DELTA units, respectively. This research paves the way towards building reliable, efficient, intelligent autonomous systems that adapt to dynamic environments.

The partially observable generalized linear model (POGLM) is a powerful tool for understanding neural connectivity under the assumption of existing hidden neurons. With spike trains only recorded from visible neurons, existing works use variational inference to learn POGLM meanwhile presenting the difficulty of learning this latent variable model. There are two main issues: (1) the sampled Poisson hidden spike count hinders the use of the pathwise gradient estimator in VI; and (2) the existing design of the variational model is neither expressive nor time-efficient, which further affects the performance. For (1), we propose a new differentiable POGLM, which enables the pathwise gradient estimator, better than the score function gradient estimator used in existing works. For (2), we propose the forward-backward message-passing sampling scheme for the variational model. Comprehensive experiments show that our differentiable POGLMs with our forward-backward message passing produce a better performance on one synthetic and two real-world datasets. Furthermore, our new method yields more interpretable parameters, underscoring its significance in neuroscience.

Linear regression adjustment is commonly used to analyse randomised controlled experiments due to its efficiency and robustness against model misspecification. Current testing and interval estimation procedures leverage the asymptotic distribution of such estimators to provide Type-I error and coverage guarantees that hold only at a single sample size. Here, we develop the theory for the anytime-valid analogues of such procedures, enabling linear regression adjustment in the sequential analysis of randomised experiments. We first provide sequential $F$-tests and confidence sequences for the parametric linear model, which provide time-uniform Type-I error and coverage guarantees that hold for all sample sizes. We then relax all linear model parametric assumptions in randomised designs and provide nonparametric model-free sequential tests and confidence sequences for treatment effects. This formally allows experiments to be continuously monitored for significance, stopped early, and safeguards against statistical malpractices in data collection. A particular feature of our results is their simplicity. Our test statistics and confidence sequences all emit closed-form expressions, which are functions of statistics directly available from a standard linear regression table. We illustrate our methodology with the sequential analysis of software A/B experiments at Netflix, performing regression adjustment with pre-treatment outcomes.

Anomaly detection in decision-making sequences is a challenging problem due to the complexity of normality representation learning and the sequential nature of the task. Most existing methods based on Reinforcement Learning (RL) are difficult to implement in the real world due to unrealistic assumptions, such as having access to environment dynamics, reward signals, and online interactions with the environment. To address these limitations, we propose an unsupervised method named Offline Imitation Learning based Anomaly Detection (OIL-AD), which detects anomalies in decision-making sequences using two extracted behaviour features: action optimality and sequential association. Our offline learning model is an adaptation of behavioural cloning with a transformer policy network, where we modify the training process to learn a Q function and a state value function from normal trajectories. We propose that the Q function and the state value function can provide sufficient information about agents' behavioural data, from which we derive two features for anomaly detection. The intuition behind our method is that the action optimality feature derived from the Q function can differentiate the optimal action from others at each local state, and the sequential association feature derived from the state value function has the potential to maintain the temporal correlations between decisions (state-action pairs). Our experiments show that OIL-AD can achieve outstanding online anomaly detection performance with up to 34.8% improvement in F1 score over comparable baselines.

The flexibility of Simultaneous Localization and Mapping (SLAM) algorithms in various environments has consistently been a significant challenge. To address the issue of LiDAR odometry drift in high-noise settings, integrating clustering methods to filter out unstable features has become an effective module of SLAM frameworks. However, reducing the amount of point cloud data can lead to potential loss of information and possible degeneration. As a result, this research proposes a LiDAR odometry that can dynamically assess the point cloud's reliability. The algorithm aims to improve adaptability in diverse settings by selecting important feature points with sensitivity to the level of environmental degeneration. Firstly, a fast adaptive Euclidean clustering algorithm based on range image is proposed, which, combined with depth clustering, extracts the primary structural points of the environment defined as ambient skeleton points. Then, the environmental degeneration level is computed through the dense normal features of the skeleton points, and the point cloud cleaning is dynamically adjusted accordingly. The algorithm is validated on the KITTI benchmark and real environments, demonstrating higher accuracy and robustness in different environments.

We consider a model convection-diffusion problem and present useful connections between the finite differences and finite element discretization methods. We introduce a general upwinding Petrov-Galerkin discretization based on bubble modification of the test space and connect the method with the general upwinding approach used in finite difference discretization. We write the finite difference and the finite element systems such that the two corresponding linear systems have the same stiffness matrices, and compare the right hand side load vectors for the two methods. This new approach allows for improving well known upwinding finite difference methods and for obtaining new error estimates. We prove that the exponential bubble Petrov-Galerkin discretization can recover the interpolant of the exact solution. As a consequence, we estimate the closeness of the related finite difference solutions to the interpolant. The ideas we present in this work, can lead to building efficient new discretization methods for multidimensional convection dominated problems.

Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis, thereby allowing manual manipulation in predicting the final answer.

Object detection typically assumes that training and test data are drawn from an identical distribution, which, however, does not always hold in practice. Such a distribution mismatch will lead to a significant performance drop. In this work, we aim to improve the cross-domain robustness of object detection. We tackle the domain shift on two levels: 1) the image-level shift, such as image style, illumination, etc, and 2) the instance-level shift, such as object appearance, size, etc. We build our approach based on the recent state-of-the-art Faster R-CNN model, and design two domain adaptation components, on image level and instance level, to reduce the domain discrepancy. The two domain adaptation components are based on H-divergence theory, and are implemented by learning a domain classifier in adversarial training manner. The domain classifiers on different levels are further reinforced with a consistency regularization to learn a domain-invariant region proposal network (RPN) in the Faster R-CNN model. We evaluate our newly proposed approach using multiple datasets including Cityscapes, KITTI, SIM10K, etc. The results demonstrate the effectiveness of our proposed approach for robust object detection in various domain shift scenarios.

Image segmentation is still an open problem especially when intensities of the interested objects are overlapped due to the presence of intensity inhomogeneity (also known as bias field). To segment images with intensity inhomogeneities, a bias correction embedded level set model is proposed where Inhomogeneities are Estimated by Orthogonal Primary Functions (IEOPF). In the proposed model, the smoothly varying bias is estimated by a linear combination of a given set of orthogonal primary functions. An inhomogeneous intensity clustering energy is then defined and membership functions of the clusters described by the level set function are introduced to rewrite the energy as a data term of the proposed model. Similar to popular level set methods, a regularization term and an arc length term are also included to regularize and smooth the level set function, respectively. The proposed model is then extended to multichannel and multiphase patterns to segment colourful images and images with multiple objects, respectively. It has been extensively tested on both synthetic and real images that are widely used in the literature and public BrainWeb and IBSR datasets. Experimental results and comparison with state-of-the-art methods demonstrate that advantages of the proposed model in terms of bias correction and segmentation accuracy.