However, while optimal control is well studied in the machine learning and robotics community, less attention is placed on finding the optimal robot design. This is mainly because co-optimizing design and control in robotics is characterized as a challenging problem, and more importantly, a comprehensive evaluation benchmark for co-optimization does not exist. In this paper, we propose Evolution Gym, the first large-scale benchmark for co-optimizing the design and control of soft robots. In our benchmark, each robot is composed of different types of voxels (e.g., soft, rigid, actuators), resulting in a modular and expressive robot design space. Our benchmark environments span a wide range of tasks, including locomotion on various types of terrains and manipulation.

Several recent publications report advances in training optimal decision trees (ODTs) using mixed-integer programs (MIPs), due to algorithmic advances in integer programming and a growing interest in addressing the inherent suboptimality of heuristic approaches such as CART. In this paper, we propose a novel MIP formulation, based on 1-norm support vector machine model, to train a binary oblique ODT for classification problems. We further present techniques, such as cutting planes, to tighten its linear relaxation, to improve run times to reach optimality. Using 36 datasets from the University of California Irvine Machine Learning Repository, we demonstrate that our training approach outperforms its counterparts from literature in terms of out-of-sample performance (around 10% improvement in mean out-of-sample testing accuracy). Towards our goal of developing a scalable framework to train multivariate ODT on large datasets, we propose a new linear programming based data selection method to choose a subset of the data, and use it to train a decision tree through our proposed MIP model. We conclude this paper with extensive numerical testing results, that showcase the generalization performance of our new MIP formulation, and the improvement in mean out-of-sample accuracy on large datasets.

Topic model evaluation, like evaluation of other unsupervised methods, can be contentious. However, the field has coalesced around automated estimates of topic coherence, which rely on the frequency of word co-occurrences in a reference corpus. Contemporary neural topic models surpass classical ones according to these metrics. At the same time, topic model evaluation suffers from a validation gap: automated coherence, developed for classical models, has not been validated using human experimentation for neural models. In addition, a meta-analysis of topic modeling literature reveals a substantial standardization gap in automated topic modeling benchmarks. To address the validation gap, we compare automated coherence with the two most widely accepted human judgment tasks: topic rating and word intrusion. To address the standardization gap, we systematically evaluate a dominant classical model and two state-of-the-art neural models on two commonly used datasets. Automated evaluations declare a winning model when corresponding human evaluations do not, calling into question the validity of fully automatic evaluations independent of human judgments.

Aggregating multiple sources of weak supervision (WS) can ease the data-labeling bottleneck prevalent in many machine learning applications, by replacing the tedious manual collection of ground truth labels. Current state of the art approaches that do not use any labeled training data, however, require two separate modeling steps: Learning a probabilistic latent variable model based on the WS sources -- making assumptions that rarely hold in practice -- followed by downstream model training. Importantly, the first step of modeling does not consider the performance of the downstream model.To address these caveats we propose an end-to-end approach for directly learning the downstream model by maximizing its agreement with probabilistic labels generated by reparameterizing previous probabilistic posteriors with a neural network. Our results show improved performance over prior work in terms of end model performance on downstream test sets, as well as in terms of improved robustness to dependencies among weak supervision sources.

More accurate and individualized health predictions will allow for preventative factors to be implemented well in advance. In 2026, we will see the beginning of precision medical forecasting. Just as there have been remarkable advances in weather forecasting with the use of large language models, so will there be for determining an individual's risk of the major age-related diseases (cancer, cardiovascular, and neurodegenerative). These diseases share common threads, such as a long incubation phase before any symptoms are manifest, usually two decades or more. They also have the same biologic underpinnings of immunosenescence and inflammaging, terms that characterize an immune system that has lost some of its functionality and protective power, and the accompanying heightened inflammation.

The ideas presented in George Lakoff and Srini Narayanan's The Neural Mind are fascinating, but the writing is far less compelling This is a book review in two parts. The first is about the ideas presented in The Neural Mind: How brains think, which are fascinating. The second is about the actual experience of reading it. The book tackles one of the biggest questions in neuroscience: how do neurons perform all the different kinds of human thought possible, from planning motor actions to composing sentences and musing about philosophy? The authors have very different perspectives.

We are approaching the Gregorian New Year, and it's a great time to ponder what's coming next. Are we about to use CRISPR to grow wings? Will we all be uploading our brains to the Amazon cloud? Should we wrap the sun in a Dyson sphere? If, like me, you are a nerd who loves science and engineering, sci-fi is the place you turn to imagine the answers.

The unbiased learning to rank (ULTR) problem has been greatly advanced by recent deep learning techniques and well-designed debias algorithms. However, promising results on the existing benchmark datasets may not be extended to the practical scenario due to some limitations of existing datasets. First, their semantic feature extractions are outdated while state-of-the-art large-scale pre-trained language models like BERT cannot be utilized due to the lack of original text. Second, display features are incomplete; thus in-depth study on ULTR is impossible such as the displayed abstract for analyzing the click necessary bias. Third, synthetic user feedback has been adopted by most existing datasets and real-world user feedback is greatly missing. To overcome these disadvantages, we introduce the Baidu-ULTR dataset. It involves randomly sampled 1.2 billion searching sessions and 7,008 expert annotated queries(397,572 query document pairs).

Despite extensive studies, the underlying reason as to why overparameterizedneural networks can generalize remains elusive. Existing theory shows that common stochastic optimizers prefer flatter minimizers of the training loss, and thusa natural potential explanation is that flatness implies generalization. This workcritically examines this explanation. Through theoretical and empirical investigation, we identify the following three scenarios for two-layer ReLU networks: (1)flatness provably implies generalization; (2) there exist non-generalizing flattestmodels and sharpness minimization algorithms fail to generalize poorly, and (3)perhaps most strikingly, there exist non-generalizing flattest models, but sharpnessminimization algorithms still generalize. Our results suggest that the relationshipbetween sharpness and generalization subtly depends on the data distributionsand the model architectures and sharpness minimization algorithms do not onlyminimize sharpness to achieve better generalization.

Deep neural networks set the state-of-the-art across many tasks in computer vision, but their generalization ability to simple image distortions is surprisingly fragile. In contrast, the mammalian visual system is robust to a wide range of perturbations. Recent work suggests that this generalization ability can be explained by useful inductive biases encoded in the representations of visual stimuli throughout the visual cortex. Here, we successfully leveraged these inductive biases with a multi-task learning approach: we jointly trained a deep network to perform image classification and to predict neural activity in macaque primary visual cortex (V1) in response to the same natural stimuli. We measured the out-of-distribution generalization abilities of our resulting network by testing its robustness to common image distortions.