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We present Adaptive Skill Coordination (ASC) -- an approach for accomplishing long-horizon tasks like mobile pick-and-place (i.e., navigating to an object, picking it, navigating to another location, and placing it). ASC consists of three components -- (1) a library of basic visuomotor skills (navigation, pick, place), (2) a skill coordination policy that chooses which skill to use when, and (3) a corrective policy that adapts pre-trained skills in out-of-distribution states. All components of ASC rely only on onboard visual and proprioceptive sensing, without requiring information like detailed maps with obstacle layouts or precise object locations, easing real-world deployment. We train ASC in simulated indoor environments, and deploy it zero-shot (without any real-world experience or fine-tuning) on the Boston Dynamics Spot robot in 8 novel real-world environments (1 apartment, 1 lab, 2 microkitchens, 2 lounges, 1 office space, 1 outdoor courtyard). In rigorous quantitative comparisons in 2 environments, ASC achieves near-perfect performance (59/60 episodes, or 98%), while sequentially executing skills succeeds in only 44/60 (73%) episodes. Extensive perturbation experiments show that ASC is robust to hand-off errors, changes in the environment layout, dynamic obstacles (e.g., people), and unexpected disturbances. Supplementary videos at adaptiveskillcoordination.github.io.

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Structural re-parameterization is a general training scheme for Convolutional Neural Networks (CNNs), which achieves performance improvement without increasing inference cost. As Vision Transformers (ViTs) are gradually surpassing CNNs in various visual tasks, one may question: if a training scheme specifically for ViTs exists that can also achieve performance improvement without increasing inference cost? Recently, Mixture-of-Experts (MoE) has attracted increasing attention, as it can efficiently scale up the capacity of Transformers at a fixed cost through sparsely activated experts. Considering that MoE can also be viewed as a multi-branch structure, can we utilize MoE to implement a ViT training scheme similar to structural re-parameterization? In this paper, we affirmatively answer these questions, with a new general training strategy for ViTs. Specifically, we decouple the training and inference phases of ViTs. During training, we replace some Feed-Forward Networks (FFNs) of the ViT with specially designed, more efficient MoEs that assign tokens to experts by random uniform partition, and perform Experts Weights Averaging (EWA) on these MoEs at the end of each iteration. After training, we convert each MoE into an FFN by averaging the experts, transforming the model back into original ViT for inference. We further provide a theoretical analysis to show why and how it works. Comprehensive experiments across various 2D and 3D visual tasks, ViT architectures, and datasets validate the effectiveness and generalizability of the proposed training scheme. Besides, our training scheme can also be applied to improve performance when fine-tuning ViTs. Lastly, but equally important, the proposed EWA technique can significantly improve the effectiveness of naive MoE in various 2D visual small datasets and 3D visual tasks.

We release Code Llama, a family of large language models for code based on Llama 2 providing state-of-the-art performance among open models, infilling capabilities, support for large input contexts, and zero-shot instruction following ability for programming tasks. We provide multiple flavors to cover a wide range of applications: foundation models (Code Llama), Python specializations (Code Llama - Python), and instruction-following models (Code Llama - Instruct) with 7B, 13B and 34B parameters each. All models are trained on sequences of 16k tokens and show improvements on inputs with up to 100k tokens. 7B and 13B Code Llama and Code Llama - Instruct variants support infilling based on surrounding content. Code Llama reaches state-of-the-art performance among open models on several code benchmarks, with scores of up to 53% and 55% on HumanEval and MBPP, respectively. Notably, Code Llama - Python 7B outperforms Llama 2 70B on HumanEval and MBPP, and all our models outperform every other publicly available model on MultiPL-E. We release Code Llama under a permissive license that allows for both research and commercial use.

Knowledge Graph Embedding (KGE) models are used to learn continuous representations of entities and relations. A key task in the literature is predicting missing links between entities. However, Knowledge Graphs are not just sets of links but also have semantics underlying their structure. Semantics is crucial in several downstream tasks, such as query answering or reasoning. We introduce the subgraph inference task, where a model has to generate likely and semantically valid subgraphs. We propose IntelliGraphs, a set of five new Knowledge Graph datasets. The IntelliGraphs datasets contain subgraphs with semantics expressed in logical rules for evaluating subgraph inference. We also present the dataset generator that produced the synthetic datasets. We designed four novel baseline models, which include three models based on traditional KGEs. We evaluate their expressiveness and show that these models cannot capture the semantics. We believe this benchmark will encourage the development of machine learning models that emphasize semantic understanding.

Multi-Camera Multi-Object Tracking (MC-MOT) utilizes information from multiple views to better handle problems with occlusion and crowded scenes. Recently, the use of graph-based approaches to solve tracking problems has become very popular. However, many current graph-based methods do not effectively utilize information regarding spatial and temporal consistency. Instead, they rely on single-camera trackers as input, which are prone to fragmentation and ID switch errors. In this paper, we propose a novel reconfigurable graph model that first associates all detected objects across cameras spatially before reconfiguring it into a temporal graph for Temporal Association. This two-stage association approach enables us to extract robust spatial and temporal-aware features and address the problem with fragmented tracklets. Furthermore, our model is designed for online tracking, making it suitable for real-world applications. Experimental results show that the proposed graph model is able to extract more discriminating features for object tracking, and our model achieves state-of-the-art performance on several public datasets.

We present a novel defense, against backdoor attacks on Deep Neural Networks (DNNs), wherein adversaries covertly implant malicious behaviors (backdoors) into DNNs. Our defense falls within the category of post-development defenses that operate independently of how the model was generated. The proposed defense is built upon a novel reverse engineering approach that can directly extract backdoor functionality of a given backdoored model to a backdoor expert model. The approach is straightforward -- finetuning the backdoored model over a small set of intentionally mislabeled clean samples, such that it unlearns the normal functionality while still preserving the backdoor functionality, and thus resulting in a model (dubbed a backdoor expert model) that can only recognize backdoor inputs. Based on the extracted backdoor expert model, we show the feasibility of devising highly accurate backdoor input detectors that filter out the backdoor inputs during model inference. Further augmented by an ensemble strategy with a finetuned auxiliary model, our defense, BaDExpert (Backdoor Input Detection with Backdoor Expert), effectively mitigates 16 SOTA backdoor attacks while minimally impacting clean utility. The effectiveness of BaDExpert has been verified on multiple datasets (CIFAR10, GTSRB and ImageNet) across various model architectures (ResNet, VGG, MobileNetV2 and Vision Transformer).

Smart homes are powered by numerous programmable IoT platforms. Despite tremendous innovations, these platforms often suffer from safety and security issues. One class of defense solutions dynamically enforces safety and security policies, which essentially capture the expected behavior of the IoT system. While many proposed works were built on this runtime approach, they all are under-vetted. The primary reason lies in their evaluation approach. They are mostly self-evaluated in isolation using a virtual testbed combined with manually orchestrated test scenarios that rely on user interactions with the platform's UI. Such hand-crafted and non-uniform evaluation setups are limiting not only the reproducibility but also a comparative analysis of their efficacy results. Closing this gap in the traditional way requires a huge upfront manual effort, which causes the researchers turn away from any large-scale comparative empirical evaluation. Therefore, in this paper, we propose a highly-automated uniform evaluation platform, dubbed VetIoT, to vet the defense solutions that hinge on runtime policy enforcement. Given a defense solution, VetIoT easily instantiates a virtual testbed inside which the solution is empirically evaluated. VetIoT replaces manual UI-based interactions with an automated event simulator and manual inspection of test outcomes with an automated comparator. We developed a fully-functional prototype of VetIoT and applied it on three runtime policy enforcement solutions: Expat, Patriot, and IoTguard. VetIoT reproduced their individual prior results and assessed their efficacy results via stress testing and differential testing. We believe VetIoT can foster future research/evaluation.

Recently, the fast development of Large Language Models (LLMs) such as ChatGPT has significantly advanced NLP tasks by enhancing the capabilities of conversational models. However, the application of LLMs in the recommendation domain has not been thoroughly investigated. To bridge this gap, we propose LLMRec, a LLM-based recommender system designed for benchmarking LLMs on various recommendation tasks. Specifically, we benchmark several popular off-the-shelf LLMs, such as ChatGPT, LLaMA, ChatGLM, on five recommendation tasks, including rating prediction, sequential recommendation, direct recommendation, explanation generation, and review summarization. Furthermore, we investigate the effectiveness of supervised finetuning to improve LLMs' instruction compliance ability. The benchmark results indicate that LLMs displayed only moderate proficiency in accuracy-based tasks such as sequential and direct recommendation. However, they demonstrated comparable performance to state-of-the-art methods in explainability-based tasks. We also conduct qualitative evaluations to further evaluate the quality of contents generated by different models, and the results show that LLMs can truly understand the provided information and generate clearer and more reasonable results. We aspire that this benchmark will serve as an inspiration for researchers to delve deeper into the potential of LLMs in enhancing recommendation performance. Our codes, processed data and benchmark results are available at //github.com/williamliujl/LLMRec.

Few-shot Knowledge Graph (KG) completion is a focus of current research, where each task aims at querying unseen facts of a relation given its few-shot reference entity pairs. Recent attempts solve this problem by learning static representations of entities and references, ignoring their dynamic properties, i.e., entities may exhibit diverse roles within task relations, and references may make different contributions to queries. This work proposes an adaptive attentional network for few-shot KG completion by learning adaptive entity and reference representations. Specifically, entities are modeled by an adaptive neighbor encoder to discern their task-oriented roles, while references are modeled by an adaptive query-aware aggregator to differentiate their contributions. Through the attention mechanism, both entities and references can capture their fine-grained semantic meanings, and thus render more expressive representations. This will be more predictive for knowledge acquisition in the few-shot scenario. Evaluation in link prediction on two public datasets shows that our approach achieves new state-of-the-art results with different few-shot sizes.

Generative Adversarial Networks (GANs) have recently achieved impressive results for many real-world applications, and many GAN variants have emerged with improvements in sample quality and training stability. However, they have not been well visualized or understood. How does a GAN represent our visual world internally? What causes the artifacts in GAN results? How do architectural choices affect GAN learning? Answering such questions could enable us to develop new insights and better models. In this work, we present an analytic framework to visualize and understand GANs at the unit-, object-, and scene-level. We first identify a group of interpretable units that are closely related to object concepts using a segmentation-based network dissection method. Then, we quantify the causal effect of interpretable units by measuring the ability of interventions to control objects in the output. We examine the contextual relationship between these units and their surroundings by inserting the discovered object concepts into new images. We show several practical applications enabled by our framework, from comparing internal representations across different layers, models, and datasets, to improving GANs by locating and removing artifact-causing units, to interactively manipulating objects in a scene. We provide open source interpretation tools to help researchers and practitioners better understand their GAN models.

We present Generative Adversarial Capsule Network (CapsuleGAN), a framework that uses capsule networks (CapsNets) instead of the standard convolutional neural networks (CNNs) as discriminators within the generative adversarial network (GAN) setting, while modeling image data. We provide guidelines for designing CapsNet discriminators and the updated GAN objective function, which incorporates the CapsNet margin loss, for training CapsuleGAN models. We show that CapsuleGAN outperforms convolutional-GAN at modeling image data distribution on the MNIST dataset of handwritten digits, evaluated on the generative adversarial metric and at semi-supervised image classification.

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