Map-based methods for autonomous racing estimate the vehicle's location, which is used to follow a high-level plan. While map-based optimisation methods demonstrate high-performance results, they are limited by requiring a map of the environment. In contrast, mapless methods can operate in unmapped contexts since they directly process raw sensor data (often LiDAR) to calculate commands. However, a major limitation in mapless methods is poor performance due to a lack of optimisation. In response, we propose the local map framework that uses easily extractable, low-level features to build local maps of the visible region that form the input to optimisation-based controllers. Our local map generation extracts the visible racetrack boundaries and calculates a centreline and track widths used for planning. We evaluate our method for simulated F1Tenth autonomous racing using a two-stage trajectory optimisation and tracking strategy and a model predictive controller. Our method achieves lap times that are 8.8% faster than the Follow-The-Gap method and 3.22% faster than end-to-end neural networks due to the optimisation resulting in a faster speed profile. The local map planner is 3.28% slower than global methods that have access to an entire map of the track that can be used for planning. Critically, our approach enables high-speed autonomous racing on unmapped tracks, achieving performance similar to global methods without requiring a track map.

Despite their exceptional capabilities, large language models (LLMs) are prone to generating unintended text due to false or outdated knowledge. Given the resource-intensive nature of retraining LLMs, there has been a notable increase in the development of knowledge editing. However, current approaches and evaluations rarely explore the perturbation of editing on neighboring knowledge. This paper studies whether updating new knowledge to LLMs perturbs the neighboring knowledge encapsulated within them. Specifically, we seek to figure out whether appending a new answer into an answer list to a factual question leads to catastrophic forgetting of original correct answers in this list, as well as unintentional inclusion of incorrect answers. A metric of additivity is introduced and a benchmark dubbed as Perturbation Evaluation of Appending Knowledge (PEAK) is constructed to evaluate the degree of perturbation to neighboring knowledge when appending new knowledge. Besides, a plug-and-play framework termed Appending via Preservation and Prevention (APP) is proposed to mitigate the neighboring perturbation by maintaining the integrity of the answer list. Experiments demonstrate the effectiveness of APP coupling with four editing methods on three LLMs.

The Sustainable Development Goals (SDGs) of the United Nations provide a blueprint of a better future by 'leaving no one behind', and, to achieve the SDGs by 2030, poor countries require immense volumes of development aid. In this paper, we develop a causal machine learning framework for predicting heterogeneous treatment effects of aid disbursements to inform effective aid allocation. Specifically, our framework comprises three components: (i) a balancing autoencoder that uses representation learning to embed high-dimensional country characteristics while addressing treatment selection bias; (ii) a counterfactual generator to compute counterfactual outcomes for varying aid volumes to address small sample-size settings; and (iii) an inference model that is used to predict heterogeneous treatment-response curves. We demonstrate the effectiveness of our framework using data with official development aid earmarked to end HIV/AIDS in 105 countries, amounting to more than USD 5.2 billion. For this, we first show that our framework successfully computes heterogeneous treatment-response curves using semi-synthetic data. Then, we demonstrate our framework using real-world HIV data. Our framework points to large opportunities for a more effective aid allocation, suggesting that the total number of new HIV infections could be reduced by up to 3.3% (~50,000 cases) compared to the current allocation practice.

The Copernicus Regional Reanalysis for Europe, CERRA, is a high-resolution regional reanalysis dataset for the European domain. In recent years it has shown significant utility across various climate-related tasks, ranging from forecasting and climate change research to renewable energy prediction, resource management, air quality risk assessment, and the forecasting of rare events, among others. Unfortunately, the availability of CERRA is lagging two years behind the current date, due to constraints in acquiring the requisite external data and the intensive computational demands inherent in its generation. As a solution, this paper introduces a novel method using diffusion models to approximate CERRA downscaling in a data-driven manner, without additional informations. By leveraging the lower resolution ERA5 dataset, which provides boundary conditions for CERRA, we approach this as a super-resolution task. Focusing on wind speed around Italy, our model, trained on existing CERRA data, shows promising results, closely mirroring original CERRA data. Validation with in-situ observations further confirms the model's accuracy in approximating ground measurements.

Large Language Models (LLMs) have demonstrated remarkable capabilities in important tasks such as natural language understanding, language generation, and complex reasoning and have the potential to make a substantial impact on our society. Such capabilities, however, come with the considerable resources they demand, highlighting the strong need to develop effective techniques for addressing their efficiency challenges.In this survey, we provide a systematic and comprehensive review of efficient LLMs research. We organize the literature in a taxonomy consisting of three main categories, covering distinct yet interconnected efficient LLMs topics from model-centric, data-centric, and framework-centric perspective, respectively. We have also created a GitHub repository where we compile the papers featured in this survey at https://github.com/AIoT-MLSys-Lab/Efficient-LLMs-Survey, and will actively maintain this repository and incorporate new research as it emerges. We hope our survey can serve as a valuable resource to help researchers and practitioners gain a systematic understanding of the research developments in efficient LLMs and inspire them to contribute to this important and exciting field.

Accurate crop type maps are an essential source of information for monitoring yield progress at scale, projecting global crop production, and planning effective policies. To date, however, crop type maps remain challenging to create in low and middle-income countries due to a lack of ground truth labels for training machine learning models. Field surveys are the gold standard in terms of accuracy but require an often-prohibitively large amount of time, money, and statistical capacity. In recent years, street-level imagery, such as Google Street View, KartaView, and Mapillary, has become available around the world. Such imagery contains rich information about crop types grown at particular locations and times. In this work, we develop an automated system to generate crop type ground references using deep learning and Google Street View imagery. The method efficiently curates a set of street view images containing crop fields, trains a model to predict crop type by utilizing weakly-labelled images from disparate out-of-domain sources, and combines predicted labels with remote sensing time series to create a wall-to-wall crop type map. We show that, in Thailand, the resulting country-wide map of rice, cassava, maize, and sugarcane achieves an accuracy of 93%. We publicly release the first-ever crop type map for all of Thailand 2022 at 10m-resolution with no gaps. To our knowledge, this is the first time a 10m-resolution, multi-crop map has been created for any smallholder country. As the availability of roadside imagery expands, our pipeline provides a way to map crop types at scale around the globe, especially in underserved smallholder regions.

An Iran-backed militia group in Iraq says it is suspending attacks on U.S. troops after a drone attack killed three soldiers early Sunday, but the Department of Defense is casting doubt on those claims. The Iraq-based Kataeb Hezbollah said Tuesday it was suspending "military and security operations against the occupying forces to avoid any embarrassment for the Iraqi government." Gen. Ryder speaks during a press briefing at the Pentagon on Tuesday, Jan. 23, 2024 in Washington. The group is one of multiple Iranian proxies in the region that are believed responsible for carrying out attacks on U.S. targets in Iraq, Syria, and, most recently, Jordan over the past several months. The groups say the attacks are in retaliation for U.S. support of Israel in its ongoing offensive against Hamas militants in Gaza and the mounting death toll of Palestinian civilians.

On Sunday, January 28, The Islamic Resistance in Iraq, an umbrella group that includes the militias Kataib Hezbollah and Harakat al-Nujaba among others, claimed responsibility for a drone attack that killed three US military personnel and injured 34 others in a base in northeastern Jordan, near the Syria border. In the media coverage of the attack, it was repeatedly mentioned that these militias have launched 165 attacks on US troops – 66 in Iraq and 98 in Syria – since October 2023. While it helps put the attack in context, this is a misleading figure. This conflict began much earlier than last October, and thus the total number of attacks the US has faced from these militias is actually much higher. Indeed, Sunday's drone attack was just the latest episode in an undeclared war between the United States and Iran-affiliated Iraqi Shia militias that has been raging across the region for more than five years. More than six years ago, in October 2017, in an article published on this very page, I predicted that US President Donald Trump's controversial decision to withdraw from the Joint Comprehensive Plan of Action, or the "Iran nuclear deal", would result in attacks by Iran-backed Iraqi militias on US forces in Iraq and across the region.

Oneida and Shawn Sanders remember their daughter, 24-year-old Spc. Kennedy Ladon Sanders, as a goal-oriented and competitive person who loved serving her country. The parents of one of the U.S. soldiers killed in a drone strike in Jordan spoke out Tuesday morning about the loss of their daughter, as they await a phone call from President Biden. Kennedy's parents, Oneida and Shawn Sanders joined "Fox & Friends" to discuss the unexpected loss and how they want America to respond to the deadly attack that took their daughter's life. "As a grieving parent, I would not want to see any other parent go through what we're going through right now, but given the circumstances, our child and the others who lost their lives are considered heroes in this situation," Oneida said.

Leo Prieto's passion for nature started during his childhood by the sea. "I was obsessed with what was under the surface. I'd anchor myself to a rock with my snorkel, and I was fascinated by all the little animals doing things that go unnoticed." His teenage years coincided with the arrival of the internet in Chile, where he became a web pioneer, launching and selling several startups. Inevitably, his interests in the environment, the internet and business merged, driven by the feeling that technological advances should not be wasted.