A key step in the development of lightweight, high performance robotic systems is the modeling and selection of permanent magnet brushless direct current (BLDC) electric motors. Typical modeling analyses are completed a priori, and provide insight for properly sizing a motor for an application, specifying the required operating voltage and current, as well as assessing the thermal response and other design attributes (e.g.transmission ratio). However, to perform these modeling analyses, proper information about the motor's characteristics are needed, which are often obtained from manufacturer datasheets. Through our own experience and communications with manufacturers, we have noticed a lack of clarity and standardization in modeling BLDC motors, compounded by vague or inconsistent terminology used in motor datasheets. The purpose of this tutorial is to concisely describe the governing equations for BLDC motor analyses used in the design process, as well as highlight potential errors that can arise from incorrect usage. We present a power-invariant conversion from phase and line-to-line reference frames to a familiar q-axis DC motor representation, which provides a ``brushed'' analogue of a three phase BLDC motor that is convenient for analysis and design. We highlight potential errors including incorrect calculations of winding resistive heat loss, improper estimation of motor torque via the motor's torque constant, and incorrect estimation of the required bus voltage or resulting angular velocity limitations. A unified and condensed set of governing equations is available for designers in the Appendix. The intent of this work is to provide a consolidated mathematical foundation for modeling BLDC motors that addresses existing confusion and fosters high performance designs of future robotic systems.

Autonomous driving promises transformative improvements to transportation, but building systems capable of safely navigating the unstructured complexity of real-world scenarios remains challenging. A critical problem lies in effectively predicting the various potential outcomes that may emerge in response to the vehicle's actions as the world evolves. To address this challenge, we introduce GAIA-1 ('Generative AI for Autonomy'), a generative world model that leverages video, text, and action inputs to generate realistic driving scenarios while offering fine-grained control over ego-vehicle behavior and scene features. Our approach casts world modeling as an unsupervised sequence modeling problem by mapping the inputs to discrete tokens, and predicting the next token in the sequence. Emerging properties from our model include learning high-level structures and scene dynamics, contextual awareness, generalization, and understanding of geometry. The power of GAIA-1's learned representation that captures expectations of future events, combined with its ability to generate realistic samples, provides new possibilities for innovation in the field of autonomy, enabling enhanced and accelerated training of autonomous driving technology.

To obtain a near-optimal policy with fewer interactions in Reinforcement Learning (RL), a promising approach involves the combination of offline RL, which enhances sample efficiency by leveraging offline datasets, and online RL, which explores informative transitions by interacting with the environment. Offline-to-Online (O2O) RL provides a paradigm for improving an offline trained agent within limited online interactions. However, due to the significant distribution shift between online experiences and offline data, most offline RL algorithms suffer from performance drops and fail to achieve stable policy improvement in O2O adaptation. To address this problem, we propose the Robust Offline-to-Online (RO2O) algorithm, designed to enhance offline policies through uncertainty and smoothness, and to mitigate the performance drop in online adaptation. Specifically, RO2O incorporates Q-ensemble for uncertainty penalty and adversarial samples for policy and value smoothness, which enable RO2O to maintain a consistent learning procedure in online adaptation without requiring special changes to the learning objective. Theoretical analyses in linear MDPs demonstrate that the uncertainty and smoothness lead to a tighter optimality bound in O2O against distribution shift. Experimental results illustrate the superiority of RO2O in facilitating stable offline-to-online learning and achieving significant improvement with limited online interactions.

We introduce a library called Push that takes a probabilistic programming approach to Bayesian deep learning (BDL). This library enables concurrent execution of BDL inference algorithms on multi-GPU hardware for neural network (NN) models. To accomplish this, Push introduces an abstraction that represents an input NN as a particle. Push enables easy creation of particles so that an input NN can be replicated and particles can communicate asynchronously so that a variety of parameter updates can be expressed, including common BDL algorithms. Our hope is that Push lowers the barrier to experimenting with BDL by streamlining the scaling of particles across GPUs. We evaluate the scaling behavior of particles on single-node multi-GPU devices on vision and scientific machine learning (SciML) tasks.

Lecture notes from the course given by Professor Sara A. Solla at the Les Houches summer school on "Statistical physics of Machine Learning". The notes discuss neural information processing through the lens of Statistical Physics. Contents include Bayesian inference and its connection to a Gibbs description of learning and generalization, Generalized Linear Models as a controlled alternative to backpropagation through time, and linear and non-linear techniques for dimensionality reduction.

Neural networks have achieved remarkable performance across various problem domains, but their widespread applicability is hindered by inherent limitations such as overconfidence in predictions, lack of interpretability, and vulnerability to adversarial attacks. To address these challenges, Bayesian neural networks (BNNs) have emerged as a compelling extension of conventional neural networks, integrating uncertainty estimation into their predictive capabilities. This comprehensive primer presents a systematic introduction to the fundamental concepts of neural networks and Bayesian inference, elucidating their synergistic integration for the development of BNNs. The target audience comprises statisticians with a potential background in Bayesian methods but lacking deep learning expertise, as well as machine learners proficient in deep neural networks but with limited exposure to Bayesian statistics. We provide an overview of commonly employed priors, examining their impact on model behavior and performance. Additionally, we delve into the practical considerations associated with training and inference in BNNs. Furthermore, we explore advanced topics within the realm of BNN research, acknowledging the existence of ongoing debates and controversies. By offering insights into cutting-edge developments, this primer not only equips researchers and practitioners with a solid foundation in BNNs, but also illuminates the potential applications of this dynamic field. As a valuable resource, it fosters an understanding of BNNs and their promising prospects, facilitating further advancements in the pursuit of knowledge and innovation.

We present RLLTE: a long-term evolution, extremely modular, and open-source framework for reinforcement learning (RL) research and application. Beyond delivering top-notch algorithm implementations, RLLTE also serves as a toolkit for developing algorithms. More specifically, RLLTE decouples the RL algorithms completely from the exploitation-exploration perspective, providing a large number of components to accelerate algorithm development and evolution. In particular, RLLTE is the first RL framework to build a complete and luxuriant ecosystem, which includes model training, evaluation, deployment, benchmark hub, and large language model (LLM)-empowered copilot. RLLTE is expected to set standards for RL engineering practice and be highly stimulative for industry and academia.

Programmers often struggle to identify and fix bugs in their programs. In recent years, many language models (LMs) have been proposed to fix erroneous programs and support error recovery. However, the LMs tend to generate solutions that differ from the original input programs. This leads to potential comprehension difficulties for users. In this paper, we propose an approach to suggest a correct program with minimal repair edits using CodeT5. We fine-tune a pre-trained CodeT5 on code pairs of wrong and correct programs and evaluate its performance with several baseline models. The experimental results show that the fine-tuned CodeT5 achieves a pass@100 of 91.95% and an average edit distance of the most similar correct program of 6.84, which indicates that at least one correct program can be suggested by generating 100 candidate programs. We demonstrate the effectiveness of LMs in suggesting program repair with minimal edits for solving introductory programming problems.

With the emergence of Artificial Intelligent chatbot tools such as ChatGPT and code writing AI tools such as GitHub Copilot, educators need to question what and how we should teach our courses and curricula in the future. In reality, automated tools may result in certain academic fields being deeply reduced in the number of employable people. In this work, we make a case study of cybersecurity undergrad education by using the lens of ``Understanding by Design'' (UbD). First, we provide a broad understanding of learning objectives (LOs) in cybersecurity from a computer science perspective. Next, we dig a little deeper into a curriculum with an undergraduate emphasis on cybersecurity and examine the major courses and their LOs for our cybersecurity program at Miami University. With these details, we perform a thought experiment on how attainable the LOs are with the above-described tools, asking the key question ``what needs to be enduring concepts?'' learned in this process. If an LO becomes something that the existence of automation tools might be able to do, we then ask ``what level is attainable for the LO that is not a simple query to the tools?''. With this exercise, we hope to establish an example of how to prompt ChatGPT to accelerate students in their achievements of LOs given the existence of these new AI tools, and our goal is to push all of us to leverage and teach these tools as powerful allies in our quest to improve human existence and knowledge.

Online continual learning (OCL) aims to continuously learn new data from a single pass over the online data stream. It generally suffers from the catastrophic forgetting issue. Existing replay-based methods effectively alleviate this issue by replaying part of old data in a proxy-based or contrastive-based replay manner. In this paper, we conduct a comprehensive analysis of these two replay manners and find they can be complementary. Inspired by this finding, we propose a novel replay-based method called proxy-based contrastive replay (PCR), which replaces anchor-to-sample pairs with anchor-to-proxy pairs in the contrastive-based loss to alleviate the phenomenon of forgetting. Based on PCR, we further develop a more advanced method named holistic proxy-based contrastive replay (HPCR), which consists of three components. The contrastive component conditionally incorporates anchor-to-sample pairs to PCR, learning more fine-grained semantic information with a large training batch. The second is a temperature component that decouples the temperature coefficient into two parts based on their impacts on the gradient and sets different values for them to learn more novel knowledge. The third is a distillation component that constrains the learning process to keep more historical knowledge. Experiments on four datasets consistently demonstrate the superiority of HPCR over various state-of-the-art methods.