This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT competition. In particular, the paper has four main goals. First, we review the algorithms, architectures, and systems adopted by the teams; particular emphasis is put on lidar-centric SLAM solutions (the go-to approach for virtually all teams in the competition), heterogeneous multi-robot operation (including both aerial and ground robots), and real-world underground operation (from the presence of obscurants to the need to handle tight computational constraints). We do not shy away from discussing the dirty details behind the different SubT SLAM systems, which are often omitted from technical papers. Second, we discuss the maturity of the field by highlighting what is possible with the current SLAM systems and what we believe is within reach with some good systems engineering. Third, we outline what we believe are fundamental open problems, that are likely to require further research to break through. Finally, we provide a list of open-source SLAM implementations and datasets that have been produced during the SubT challenge and related efforts, and constitute a useful resource for researchers and practitioners.

With recent improvements in natural language generation (NLG) models for various applications, it has become imperative to have the means to identify and evaluate whether NLG output is only sharing verifiable information about the external world. In this work, we present a new evaluation framework entitled Attributable to Identified Sources (AIS) for assessing the output of natural language generation models, when such output pertains to the external world. We first define AIS and introduce a two-stage annotation pipeline for allowing annotators to appropriately evaluate model output according to AIS guidelines. We empirically validate this approach on generation datasets spanning three tasks (two conversational QA datasets, a summarization dataset, and a table-to-text dataset) via human evaluation studies that suggest that AIS could serve as a common framework for measuring whether model-generated statements are supported by underlying sources. We release guidelines for the human evaluation studies.

Event cameras are bio-inspired dynamic vision sensors that respond to changes in image intensity with a high temporal resolution, high dynamic range and low latency. These sensor characteristics are ideally suited to enable visual target tracking in concert with a broadcast visual communication channel for smart visual beacons with applications in distributed robotics. Visual beacons can be constructed by high-frequency modulation of Light Emitting Diodes (LEDs) such as vehicle headlights, Internet of Things (IoT) LEDs, smart building lights, etc., that are already present in many real-world scenarios. The high temporal resolution characteristic of the event cameras allows them to capture visual signals at far higher data rates compared to classical frame-based cameras. In this paper, we propose a novel smart visual beacon architecture with both LED modulation and event camera demodulation algorithms. We quantitatively evaluate the relationship between LED transmission rate, communication distance and the message transmission accuracy for the smart visual beacon communication system that we prototyped. The proposed method achieves up to 4 kbps in an indoor environment and lossless transmission over a distance of 100 meters, at a transmission rate of 500 bps, in full sunlight, demonstrating the potential of the technology in an outdoor environment.

Sockeye 3 is the latest version of the Sockeye toolkit for Neural Machine Translation (NMT). Now based on PyTorch, Sockeye 3 provides faster model implementations and more advanced features with a further streamlined codebase. This enables broader experimentation with faster iteration, efficient training of stronger and faster models, and the flexibility to move new ideas quickly from research to production. When running comparable models, Sockeye 3 is up to 126% faster than other PyTorch implementations on GPUs and up to 292% faster on CPUs. Sockeye 3 is open source software released under the Apache 2.0 license.

Such a claim requires empirical support, but consideration Modern NLP is dominated by large pre-trained of common practice can also be offered models, systems which are large, complex, and to challenge it: for one, pre-tokenization such as costly to train. As a result, much research effort is punctuation separation and accent normalization is put into questions of tuning and configuring the not always applied consistently when moving on to various layers and training regimes for improving a downstream text. A model that was trained on untreated prediction quality on a growing number of text may find it difficult to process an NER tasks (Rogers et al., 2020). Unfortunately, not as dataset (for example) where punctuation is separated much research asks questions about the decisions from preceding words, rendering a word-finalmarking made at the most upstream parts of the models, tokenizer more robust to change; some tokenizers those that deal with input tokenization and subword like BERT's Wordpiece (Devlin et al., 2019) vocabulary creation. "mark" a class of tokens by omission, i.e. marking In this exploratory work, we isolate a single decision the non-initial pieces rather than initial ones. This point which appears to be resolved arbitrarily discrepancy surfaces edge case effects when compared by existing model developers, with no consensus with a seemingly-equivalent tokenizer like but also no underlying theory: should subword GPT-2's (Radford et al., 2019), which marks initial tokenizers mark word boundaries at the pieces but only if they are prepended by a space beginning or the end?

Though deep neural network models exhibit outstanding performance for various applications, their large model size and extensive floating-point operations render deployment on mobile computing platforms a major challenge, and, in particular, on Internet of Things devices. One appealing solution is model quantization that reduces the model size and uses integer operations commonly supported by microcontrollers . To this end, a 1-bit quantized DNN model or deep binary neural network maximizes the memory efficiency, where each parameter in a BNN model has only 1-bit. In this paper, we propose a reconfigurable BNN (RBNN) to further amplify the memory efficiency for resource-constrained IoT devices. Generally, the RBNN can be reconfigured on demand to achieve any one of M (M>1) distinct tasks with the same parameter set, thus only a single task determines the memory requirements. In other words, the memory utilization is improved by times M. Our extensive experiments corroborate that up to seven commonly used tasks can co-exist (the value of M can be larger). These tasks with a varying number of classes have no or negligible accuracy drop-off on three binarized popular DNN architectures including VGG, ResNet, and ReActNet. The tasks span across different domains, e.g., computer vision and audio domains validated herein, with the prerequisite that the model architecture can serve those cross-domain tasks. To protect the intellectual property of an RBNN model, the reconfiguration can be controlled by both a user key and a device-unique root key generated by the intrinsic hardware fingerprint. By doing so, an RBNN model can only be used per paid user per authorized device, thus benefiting both the user and the model provider.

Similar to many Machine Learning models, both accuracy and speed of the Cluster weighted models (CWMs) can be hampered by high-dimensional data, leading to previous works on a parsimonious technique to reduce the effect of "Curse of dimensionality" on mixture models. In this work, we review the background study of the cluster weighted models (CWMs). We further show that parsimonious technique is not sufficient for mixture models to thrive in the presence of huge high-dimensional data. We discuss a heuristic for detecting the hidden components by choosing the initial values of location parameters using the default values in the "FlexCWM" R package. We introduce a dimensionality reduction technique called T-distributed stochastic neighbor embedding (TSNE) to enhance the parsimonious CWMs in high-dimensional space. Originally, CWMs are suited for regression but for classification purposes, all multi-class variables are transformed logarithmically with some noise. The parameters of the model are obtained via expectation maximization algorithm. The effectiveness of the discussed technique is demonstrated using real data sets from different fields.

In the last few years, machine learning (ML) has been making some giant leaps in education – from predicting the next steps students need to take to improve their grades to generating teacher study material. This article discusses how machine learning can be used for education in more detail and some of the current trends in this field. A machine learning branch of artificial intelligence employs algorithms to learn from data. It can improve the accuracy, speed, and efficiency of various tasks, such as predicting customer behavior or organizing data. In the education sector, machine learning can help teachers identify and diagnose problems with their student's academic progress and help them decide which courses to teach. Machine learning can also be used to develop educational programs that can adapt to the needs of individual students.

Artificial Intelligence (AI) and machine learning are now accessible to WordPress users through AI-powered plugins. Currently, 77% of consumers use AI technology services or products, whether they are aware of it or not. It includes intelligent WordPress plugins. AI applications help boost businesses running on WordPress, the most popular Content Management System (CMS) platform powering over 35% of all websites to date. Initially a blogging platform, WordPress has become an extensive CMS, compared to Drupal or Joomla, and other similar platforms.

Over the weekend, debris from an out-of-control Chinese rocket crashed to Earth over the Indian and Pacific oceans. There had been fears that pieces of the 23-tonne Long March 5B booster could come down over a populated area, but experts had said the probability of this was extremely low. Nevertheless, NASA hit out at China by accusing Beijing of not sharing the'specific trajectory information' needed to calculate where possible debris might fall. Elsewhere at the weekend, a 10ft (3m) piece of space junk – thought to be from one of Elon Musk's spacecrafts – crashed into a farmer's property in Australia at around 15,500mph (25,000km/h). The object, believed to be part of the SpaceX Crew-1 craft, was found in a sheep paddock by a farmer living on a large property in the Snowy Mountains in New South Wales.