Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we present Wild Visual Navigation (WVN), an online self-supervised learning system for visual traversability estimation. The system is able to continuously adapt from a short human demonstration in the field, only using onboard sensing and computing. One of the key ideas to achieve this is the use of high-dimensional features from pre-trained self-supervised models, which implicitly encode semantic information that massively simplifies the learning task. Further, the development of an online scheme for supervision generator enables concurrent training and inference of the learned model in the wild. We demonstrate our approach through diverse real-world deployments in forests, parks, and grasslands. Our system is able to bootstrap the traversable terrain segmentation in less than 5 min of in-field training time, enabling the robot to navigate in complex, previously unseen outdoor terrains. Code: https://bit.ly/498b0CV - Project page:https://bit.ly/3M6nMHH

Modern electronic health records (EHRs) hold immense promise in tracking personalized patient health trajectories through sequential deep learning, owing to their extensive breadth, scale, and temporal granularity. Nonetheless, how to effectively leverage multiple modalities from EHRs poses significant challenges, given its complex characteristics such as high dimensionality, multimodality, sparsity, varied recording frequencies, and temporal irregularities. To this end, this paper introduces a novel multimodal contrastive learning framework, specifically focusing on medical time series and clinical notes. To tackle the challenge of sparsity and irregular time intervals in medical time series, the framework integrates temporal cross-attention transformers with a dynamic embedding and tokenization scheme for learning multimodal feature representations. To harness the interconnected relationships between medical time series and clinical notes, the framework equips a global contrastive loss, aligning a patient's multimodal feature representations with the corresponding discharge summaries. Since discharge summaries uniquely pertain to individual patients and represent a holistic view of the patient's hospital stay, machine learning models are led to learn discriminative multimodal features via global contrasting. Extensive experiments with a real-world EHR dataset demonstrated that our framework outperformed state-of-the-art approaches on the exemplar task of predicting the occurrence of nine postoperative complications for more than 120,000 major inpatient surgeries using multimodal data from UF health system split among three hospitals (UF Health Gainesville, UF Health Jacksonville, and UF Health Jacksonville-North).

Over the past decade, AI research has focused heavily on building ever-larger deep learning models. This approach has simultaneously unlocked incredible achievements in science and technology, and hindered AI from overcoming long-standing limitations with respect to explainability, ethical harms, and environmental efficiency. Drawing on qualitative interviews and computational analyses, our three-part history of AI research traces the creation of this "epistemic monoculture" back to a radical reconceptualization of scientific progress that began in the late 1980s. In the first era of AI research (1950s-late 1980s), researchers and patrons approached AI as a "basic" science that would advance through autonomous exploration and organic assessments of progress (e.g., peer-review, theoretical consensus). The failure of this approach led to a retrenchment of funding in the 1980s. Amid this "AI Winter," an intervention by the U.S. government reoriented the field towards measurable progress on tasks of military and commercial interest. A new evaluation system called "benchmarking" provided an objective way to quantify progress on tasks by focusing exclusively on increasing predictive accuracy on example datasets. Distilling science down to verifiable metrics clarified the roles of scientists, allowed the field to rapidly integrate talent, and provided clear signals of significance and progress. But history has also revealed a tradeoff to this streamlined approach to science: the consolidation around external interests and inherent conservatism of benchmarking has disincentivized exploration beyond scaling monoculture. In the discussion, we explain how AI's monoculture offers a compelling challenge to the belief that basic, exploration-driven research is needed for scientific progress. Implications for the spread of AI monoculture to other sciences in the era of generative AI are also discussed.

Racial diversity has become increasingly discussed within the AI The utilization of racial and ethnic categories in the development and algorithmic fairness literature, yet little attention is focused on of datasets and models facilitates the inclusion and documentation justifying the choices of racial categories and understanding how of diverse perspectives. Racial and ethnic categories are especially people are racialized into these chosen racial categories. Even less crucial for datasets and models in which race and ethnicity attention is given to how racial categories shift and how the racialization serve as relevant factors, may act as confounding variables, or enable process changes depending on the context of a dataset or the ability to audit for fairness using race and ethnicity for model. An unclear understanding of who comprises the racial categories fairness purposes. For example, understanding the racial and/or chosen and how people are racialized into these categories ethnic target of hate speech is crucial for understanding the impact can lead to varying interpretations of these categories. These varying of hate speech, as hate speech can differ based on the race interpretations can lead to harm when the understanding of and/or ethnicity of the target[48]. Similarly, in health, race is correlated racial categories and the racialization process is misaligned from with health outcomes[6], and knowledge of a patient's race the actual racialization process and racial categories used. Harm and ethnicity can help contextualize the patient's experience and can also arise if the racialization process and racial categories used health history[53]. In algorithmic fairness settings, knowledge of are irrelevant ordonot exist inthecontext they areapplied.

Deep learning expresses a category of machine learning algorithms that have the capability to combine raw inputs into intermediate features layers. These deep learning algorithms have demonstrated great results in different fields. Deep learning has particularly witnessed for a great achievement of human level performance across a number of domains in computer vision and pattern recognition. For the achievement of state-of-the-art performances in diverse domains, the deep learning used different architectures and these architectures used activation functions to perform various computations between hidden and output layers of any architecture. This paper presents a survey on the existing studies of deep learning in handwriting recognition field. Even though the recent progress indicates that the deep learning methods has provided valuable means for speeding up or proving accurate results in handwriting recognition, but following from the extensive literature survey, the present study finds that the deep learning has yet to revolutionize more and has to resolve many of the most pressing challenges in this field, but promising advances have been made on the prior state of the art. Additionally, an inadequate availability of labelled data to train presents problems in this domain. Nevertheless, the present handwriting recognition survey foresees deep learning enabling changes at both bench and bedside with the potential to transform several domains as image processing, speech recognition, computer vision, machine translation, robotics and control, medical imaging, medical information processing, bio-informatics, natural language processing, cyber security, and many others.

We present Eagle (RWKV-5) and Finch (RWKV-6), sequence models improving upon the RWKV (RWKV-4) architecture. Our architectural design advancements include multi-headed matrix-valued states and a dynamic recurrence mechanism that improve expressivity while maintaining the inference efficiency characteristics of RNNs. We introduce a new multilingual corpus with 1.12 trillion tokens and a fast tokenizer based on greedy matching for enhanced multilinguality. We trained four Eagle models, ranging from 0.46 to 7.5 billion parameters, and two Finch models with 1.6 and 3.1 billion parameters and find that they achieve competitive performance across a wide variety of benchmarks. We release all our models on HuggingFace under the Apache 2.0 license. Models at: https://huggingface.co/RWKV Training code at: https://github.com/RWKV/RWKV-LM Inference code at: https://github.com/RWKV/ChatRWKV Time-parallel training code at: https://github.com/RWKV/RWKV-infctx-trainer

We show that domain-general automatic evaluators can significantly improve the performance of agents for web navigation and device control. We experiment with multiple evaluation models that trade off between inference cost, modularity of design, and accuracy. We validate the performance of these models in several popular benchmarks for digital agents, finding between 74.4 and 92.9% agreement with oracle evaluation metrics. Finally, we use these evaluators to improve the performance of existing agents via fine-tuning and inference-time guidance. Without any additional supervision, we improve state-of-the-art performance by 29% on the popular benchmark WebArena, and achieve a 75% relative improvement in a challenging domain transfer scenario.

Detecting non-factual content is a longstanding goal to increase the trustworthiness of large language models (LLMs) generations. Current factuality probes, trained using humanannotated labels, exhibit limited transferability to out-of-distribution content, while online selfconsistency checking imposes extensive computation burden due to the necessity of generating multiple outputs. This paper proposes PINOSE, which trains a probing model on offline self-consistency checking results, thereby circumventing the need for human-annotated data and achieving transferability across diverse data distributions. As the consistency check process is offline, PINOSE reduces the computational burden of generating multiple responses by online consistency verification. Additionally, it examines various aspects of internal states prior to response decoding, contributing to more effective detection of factual inaccuracies. Experiment results on both factuality detection and question answering benchmarks show that PINOSE achieves surpassing results than existing factuality detection methods. Our code and datasets are publicly available on this anonymized repository.

We present an empirical study of groundedness in long-form question answering (LFQA) by retrieval-augmented large language models (LLMs). In particular, we evaluate whether every generated sentence is grounded in the retrieved documents or the model's pre-training data. Across 3 datasets and 4 model families, our findings reveal that a significant fraction of generated sentences are consistently ungrounded, even when those sentences contain correct ground-truth answers. Additionally, we examine the impacts of factors such as model size, decoding strategy, and instruction tuning on groundedness. Our results show that while larger models tend to ground their outputs more effectively, a significant portion of correct answers remains compromised by hallucinations. This study provides novel insights into the groundedness challenges in LFQA and underscores the necessity for more robust mechanisms in LLMs to mitigate the generation of ungrounded content.

Preference modelling lies at the intersection of economics, decision theory, machine learning and statistics. By understanding individuals' preferences and how they make choices, we can build products that closely match their expectations, paving the way for more efficient and personalised applications across a wide range of domains. The objective of this tutorial is to present a cohesive and comprehensive framework for preference learning with Gaussian Processes (GPs), demonstrating how to seamlessly incorporate rationality principles (from economics and decision theory) into the learning process. By suitably tailoring the likelihood function, this framework enables the construction of preference learning models that encompass random utility models, limits of discernment, and scenarios with multiple conflicting utilities for both object- and label-preference. This tutorial builds upon established research while simultaneously introducing some novel GP-based models to address specific gaps in the existing literature.