Surprisingly a number of Earth's waterways remain unmapped, with a significant number in low and middle income countries. Here we build a computer vision model (WaterNet) to learn the location of waterways in the United States, based on high resolution satellite imagery and digital elevation models, and then deploy this in novel environments in the African continent. Our outputs provide detail of waterways structures hereto unmapped. When assessed against community needs requests for rural bridge building related to access to schools, health care facilities and agricultural markets, we find these newly generated waterways capture on average 93% (country range: 88-96%) of these requests whereas Open Street Map, and the state of the art data from TDX-Hydro, capture only 36% (5-72%) and 62% (37% - 85%), respectively. Because these new machine learning enabled maps are built on public and operational data acquisition this approach offers promise for capturing humanitarian needs and planning for social development in places where cartographic efforts have so far failed to deliver. The improved performance in identifying community needs missed by existing data suggests significant value for rural infrastructure development and better targeting of development interventions.

We propose an error-correcting model for the microprice, a high-frequency estimator of future prices given higher order information of imbalances in the orderbook. The model takes into account a current microprice estimate given the spread and best bid to ask imbalance, and adjusts the microprice based on recent dynamics of higher price rank imbalances. We introduce a computationally fast estimator using a recently proposed hyperdimensional vector Tsetlin machine framework and demonstrate empirically that this estimator can provide a robust estimate of future prices in the orderbook.

We address the issue of the testability of instrumental variables derived from observational data. Most existing testable implications are centered on scenarios where the treatment is a discrete variable, e.g., instrumental inequality (Pearl, 1995), or where the effect is assumed to be constant, e.g., instrumental variables condition based on the principle of independent mechanisms (Burauel, 2023). However, treatments can often be continuous variables, such as drug dosages or nutritional content levels, and non-constant effects may occur in many real-world scenarios. In this paper, we consider an additive nonlinear, non-constant effects model with unmeasured confounders, in which treatments can be either discrete or continuous, and propose an Auxiliary-based Independence Test (AIT) condition to test whether a variable is a valid instrument. We first show that if the candidate instrument is valid, then the AIT condition holds. Moreover, we illustrate the implications of the AIT condition and demonstrate that, in certain conditions, AIT conditions are necessary and sufficient to detect all invalid IVs. We also extend the AIT condition to include covariates and introduce a practical testing algorithm. Experimental results on both synthetic and three different real-world datasets show the effectiveness of our proposed condition.

In this paper, the method of gaps, a technique for deriving closed-form expressions in terms of information measures for the generalization error of machine learning algorithms is introduced. The method relies on two central observations: $(a)$~The generalization error is an average of the variation of the expected empirical risk with respect to changes on the probability measure (used for expectation); and~$(b)$~these variations, also referred to as gaps, exhibit closed-form expressions in terms of information measures. The expectation of the empirical risk can be either with respect to a measure on the models (with a fixed dataset) or with respect to a measure on the datasets (with a fixed model), which results in two variants of the method of gaps. The first variant, which focuses on the gaps of the expected empirical risk with respect to a measure on the models, appears to be the most general, as no assumptions are made on the distribution of the datasets. The second variant develops under the assumption that datasets are made of independent and identically distributed data points. All existing exact expressions for the generalization error of machine learning algorithms can be obtained with the proposed method. Also, this method allows obtaining numerous new exact expressions, which improves the understanding of the generalization error; establish connections with other areas in statistics, e.g., hypothesis testing; and potentially, might guide algorithm designs.

Diabetes, particularly Type 2 diabetes (T2D), poses a substantial global health burden, compounded by its associated complications such as cardiovascular diseases, kidney failure, and vision impairment. Early detection of T2D is critical for improving healthcare outcomes and optimizing resource allocation. In this study, we address the gap in early T2D detection by leveraging machine learning (ML) techniques on gene expression data obtained from T2D patients. Our primary objective was to enhance the accuracy of early T2D detection through advanced ML methodologies and increase the model's trustworthiness using the explainable artificial intelligence (XAI) technique. Analyzing the biological mechanisms underlying T2D through gene expression datasets represents a novel research frontier, relatively less explored in previous studies. While numerous investigations have focused on utilizing clinical and demographic data for T2D prediction, the integration of molecular insights from gene expression datasets offers a unique and promising avenue for understanding the pathophysiology of the disease. By employing six ML classifiers on data sourced from NCBI's Gene Expression Omnibus (GEO), we observed promising performance across all models. Notably, the XGBoost classifier exhibited the highest accuracy, achieving 97%. Our study addresses a notable gap in early T2D detection methodologies, emphasizing the importance of leveraging gene expression data and advanced ML techniques.

In this paper, I introduce the retrieval problem, a simple reasoning task that can be solved only by transformers with a minimum number of layers. The task has an adjustable difficulty that can further increase the required number of layers to any arbitrary value. I demonstrate that large language models can solve the task under different prompting formulations without any fine-tuning. To understand how transformers solve the retrieval problem, I train several transformers on a minimal formulation. I find that successful learning occurs only under the presence of an implicit curriculum. I uncover the learned mechanisms by studying the attention maps in the trained transformers. I also study the training process, uncovering that attention heads always emerge in a specific sequence.

LLMs are increasingly fine-tuned using RLHF datasets to align them with human preferences and values. However, very limited research has investigated which specific human values are operationalized through these datasets. In this paper, we introduce Value Imprint, a framework for auditing and classifying the human values embedded within RLHF datasets. To investigate the viability of this framework, we conducted three case study experiments by auditing the Anthropic/hh-rlhf, OpenAI WebGPT Comparisons, and Alpaca GPT-4-LLM datasets to examine the human values embedded within them. Our analysis involved a two-phase process. During the first phase, we developed a taxonomy of human values through an integrated review of prior works from philosophy, axiology, and ethics. Then, we applied this taxonomy to annotate 6,501 RLHF preferences. During the second phase, we employed the labels generated from the annotation as ground truth data for training a transformer-based machine learning model to audit and classify the three RLHF datasets. Through this approach, we discovered that information-utility values, including Wisdom/Knowledge and Information Seeking, were the most dominant human values within all three RLHF datasets. In contrast, prosocial and democratic values, including Well-being, Justice, and Human/Animal Rights, were the least represented human values. These findings have significant implications for developing language models that align with societal values and norms. We contribute our datasets to support further research in this area.

Manifold alignment is a type of data fusion technique that creates a shared low-dimensional representation of data collected from multiple domains, enabling cross-domain learning and improved performance in downstream tasks. This paper presents an approach to manifold alignment using random forests as a foundation for semi-supervised alignment algorithms, leveraging the model's inherent strengths. We focus on enhancing two recently developed alignment graph-based by integrating class labels through geometry-preserving proximities derived from random forests. These proximities serve as a supervised initialization for constructing cross-domain relationships that maintain local neighborhood structures, thereby facilitating alignment. Our approach addresses a common limitation in manifold alignment, where existing methods often fail to generate embeddings that capture sufficient information for downstream classification. By contrast, we find that alignment models that use random forest proximities or class-label information achieve improved accuracy on downstream classification tasks, outperforming single-domain baselines. Experiments across multiple datasets show that our method typically enhances cross-domain feature integration and predictive performance, suggesting that random forest proximities offer a practical solution for tasks requiring multimodal data alignment.

Abstract-- We present an approach for retartgeting off-theshelf Virtual Reality (VR) trackers to effectively teleoperate an upper-body humanoid while ensuring self-collision-free motions. Key to the effectiveness was the proper assignment of trackers to joint sets via modified task Jacobians and relaxed barrier functions for self-collision avoidance. The approach was validated on Apptronik's Astro hardware by demonstrating manipulation capabilities on a table-top environment with pickand-place box packing and a two-handed box pick up and handover task. I. INTRODUCTION Despite advances in robot autonomy, teleoperation [1], [2], [3] remains a practical approach for remote surveying Four 6 DoF trackers (headset, left controller, right controller, waist tracker) and the set of joints they control on the robot. A core problem with direct teleoperation is retargeting human-to-robot movements, which is an active area of research Finally, during direct teleoperation, it can be burdening [9], [10], [11], [12], [13], [14].

Open-source large language models are becoming increasingly available and popular among researchers and practitioners. While significant progress has been made on open-weight models, open training data is a practice yet to be adopted by the leading open-weight models creators. At the same time, there researchers are working to make language models safer. We propose a data curation pipeline to reduce harmful outputs by models trained on public domain data. There are unique challenges to working with public domain data, as these sources differ from web text in both form and content. Many sources are historical documents and are the result of Optical Character Recognition (OCR). Consequently, current state-of-the-art approaches to toxicity filtering are often infeasible or inappropriate for open data models. In this paper, we introduce a new fully open-source pipeline for open-data toxicity filtering. Our contributions are threefold. We create a custom training dataset, ToxicCommons, which is composed of texts which have been classified across five different dimensions (racial/origin-based, gender/sex-based, religious, ability-based discrimination, and violence). We use this dataset to train a custom classifier, Celadon, that can be used to detect toxic content in open data more efficiently at a larger scale. Finally, we describe the balanced approach to content filtration that optimizes safety filtering with respect to the filtered data available for training.