Sim2Real transfer has gained popularity because it helps transfer from inexpensive simulators to real world. This paper presents a novel system that fuses components in a traditional \textit{World Model} into a robust system, trained entirely within a simulator, that \textit{Zero-Shot} transfers to the real world. To facilitate transfer, we use an intermediary representation that are based on \textit{Bird's Eye View (BEV)} images. Thus, our robot learns to navigate in a simulator by first learning to translate from complex \textit{First-Person View (FPV)} based RGB images to BEV representations, then learning to navigate using those representations. Later, when tested in the real world, the robot uses the perception model that translates FPV-based RGB images to embeddings that are used by the downstream policy. The incorporation of state-checking modules using \textit{Anchor images} and \textit{Mixture Density LSTM} not only interpolates uncertain and missing observations but also enhances the robustness of the model when exposed to the real-world environment. We trained the model using data collected using a \textit{Differential drive} robot in the CARLA simulator. Our methodology's effectiveness is shown through the deployment of trained models onto a \textit{Real world Differential drive} robot. Lastly we release a comprehensive codebase, dataset and models for training and deployment that are available to the public.

Public opinion is shaped by the information news media provide, and that information in turn may be shaped by the ideological preferences of media outlets. But while much attention has been devoted to media bias via overt ideological language or topic selection, a more unobtrusive way in which the media shape opinion is via the strategic inclusion or omission of partisan events that may support one side or the other. We develop a latent variable-based framework to predict the ideology of news articles by comparing multiple articles on the same story and identifying partisan events whose inclusion or omission reveals ideology. Our experiments first validate the existence of partisan event selection, and then show that article alignment and cross-document comparison detect partisan events and article ideology better than competitive baselines. Our results reveal the high-level form of media bias, which is present even among mainstream media with strong norms of objectivity and nonpartisanship. Our codebase and dataset are available at https://github.com/launchnlp/ATC.

Personalized federated learning algorithms have shown promising results in adapting models to various distribution shifts. However, most of these methods require labeled data on testing clients for personalization, which is usually unavailable in real-world scenarios. In this paper, we introduce a novel setting called test-time personalized federated learning (TTPFL), where clients locally adapt a global model in an unsupervised way without relying on any labeled data during test-time. While traditional test-time adaptation (TTA) can be used in this scenario, most of them inherently assume training data come from a single domain, while they come from multiple clients (source domains) with different distributions. Overlooking these domain interrelationships can result in suboptimal generalization. Moreover, most TTA algorithms are designed for a specific kind of distribution shift and lack the flexibility to handle multiple kinds of distribution shifts in FL. In this paper, we find that this lack of flexibility partially results from their pre-defining which modules to adapt in the model. To tackle this challenge, we propose a novel algorithm called ATP to adaptively learns the adaptation rates for each module in the model from distribution shifts among source domains. Theoretical analysis proves the strong generalization of ATP. Extensive experiments demonstrate its superiority in handling various distribution shifts including label shift, image corruptions, and domain shift, outperforming existing TTA methods across multiple datasets and model architectures. Our code is available at https://github.com/baowenxuan/ATP .

Attention-free approaches such as long convolution sequence models (LCSMs), e.g., H3 [1], Hyena [2], have shown promise in matching Transformer [3, 4] performance across a wide range of tasks, with sub-quadratic complexity with respect to sequence length. Despite the improved efficiency during training on long sequences, unless the convolution filters are either short or admit a low-dimensional state-state-space realization, LCSMs still need to process the entire growing sequence at every step of auto-regressive generation, similarly to Transformers. In this work, we seek to refine LCSMs in both efficiency and quality. First, we study the inference stage, and propose methods to enable a recurrent mode for auto-regressive generation. Recurrent modes prescribe the existence of a state encoding the past information of the process in a fixed-dimension memory, enabling constant per-step time and constant-memory in generation. Then, we draw upon an analysis of pre-trained models to develop architectural enhancements for the Hyena block, simultaneously improving model quality and efficiency of the distillation procedure. Distilling fast recurrences We introduce LaughingHyena, the first distillation approach for LCSMs that enables recurrent inference without impacting downstream quality. LaughingHyena seeks compact recurrences in the form of state-space models (SSMs) [5, 6] as the solution of a nonlinear interpolation problem involving the convolution filters of a pre-trained model. Since the total memory cost of SSMs grows linearly in the state dimension d, our distillation procedure enables high throughput by enabling processing of large batches during generation.

We demonstrate a new capability of automated vehicles: mixed autonomy traffic control. With this new capability, automated vehicles can shape the traffic flows composed of other non-automated vehicles, which has the promise to improve safety, efficiency, and energy outcomes in transportation systems at a societal scale. Investigating mixed autonomy mobile traffic control must be done in situ given that the complex dynamics of other drivers and their response to a team of automated vehicles cannot be effectively modeled. This capability has been blocked because there is no existing scalable and affordable platform for experimental control. This paper introduces an extensible open-source hardware and software platform, enabling a team of 100 vehicles to execute several different vehicular control algorithms as a collaborative fleet, composed of three different makes and models, which drove 22752 miles in a combined 1022 hours, over 5 days in Nashville, TN in November 2022.

News media is expected to uphold unbiased reporting. Yet they may still affect public opinion by selectively including or omitting events that support or contradict their ideological positions. Prior work in NLP has only studied media bias via linguistic style and word usage. In this paper, we study to which degree media balances news reporting and affects consumers through event inclusion or omission. We first introduce the task of detecting both partisan and counter-partisan events: events that support or oppose the author's political ideology. To conduct our study, we annotate a high-quality dataset, PAC, containing 8,511 (counter-)partisan event annotations in 304 news articles from ideologically diverse media outlets. We benchmark PAC to highlight the challenges of this task. Our findings highlight both the ways in which the news subtly shapes opinion and the need for large language models that better understand events within a broader context. Our dataset can be found at https://github.com/launchnlp/Partisan-Event-Dataset.

Machine learning based decision-support tools in criminal justice systems are subjects of intense discussions and academic research. There are important open questions about the utility and fairness of such tools. Academic researchers often rely on a few small datasets that are not sufficient to empirically study various real-world aspects of these questions. In this paper, we contribute WCLD, a curated large dataset of 1.5 million criminal cases from circuit courts in the U.S. state of Wisconsin. We used reliable public data from 1970 to 2020 to curate attributes like prior criminal counts and recidivism outcomes. The dataset contains large number of samples from five racial groups, in addition to information like sex and age (at judgment and first offense). Other attributes in this dataset include neighborhood characteristics obtained from census data, detailed types of offense, charge severity, case decisions, sentence lengths, year of filing etc. We also provide pseudo-identifiers for judge, county and zipcode. The dataset will not only enable researchers to more rigorously study algorithmic fairness in the context of criminal justice, but also relate algorithmic challenges with various systemic issues. We also discuss in detail the process of constructing the dataset and provide a datasheet. The WCLD dataset is available at \url{https://clezdata.github.io/wcld/}.

In this work, we introduce Semantic Pyramid AutoEncoder (SPAE) for enabling frozen LLMs to perform both understanding and generation tasks involving non-linguistic modalities such as images or videos. SPAE converts between raw pixels and interpretable lexical tokens (or words) extracted from the LLM's vocabulary. The resulting tokens capture both the semantic meaning and the fine-grained details needed for visual reconstruction, effectively translating the visual content into a language comprehensible to the LLM, and empowering it to perform a wide array of multimodal tasks. Our approach is validated through in-context learning experiments with frozen PaLM 2 and GPT 3.5 on a diverse set of image understanding and generation tasks. Our method marks the first successful attempt to enable a frozen LLM to generate image content while surpassing state-of-the-art performance in image understanding tasks, under the same setting, by over 25%.

Instruction tuning is an effective technique to align large language models (LLMs) with human intents. In this work, we investigate how an adversary can exploit instruction tuning by injecting specific instruction-following examples into the training data that intentionally changes the model's behavior. For example, an adversary can achieve content injection by injecting training examples that mention target content and eliciting such behavior from downstream models. To achieve this goal, we propose \textit{AutoPoison}, an automated data poisoning pipeline. It naturally and coherently incorporates versatile attack goals into poisoned data with the help of an oracle LLM. We showcase two example attacks: content injection and over-refusal attacks, each aiming to induce a specific exploitable behavior. We quantify and benchmark the strength and the stealthiness of our data poisoning scheme. Our results show that AutoPoison allows an adversary to change a model's behavior by poisoning only a small fraction of data while maintaining a high level of stealthiness in the poisoned examples. We hope our work sheds light on how data quality affects the behavior of instruction-tuned models and raises awareness of the importance of data quality for responsible deployments of LLMs. Code is available at \url{https://github.com/azshue/AutoPoison}.

Road traffic forecasting plays a critical role in smart city initiatives and has experienced significant advancements thanks to the power of deep learning in capturing non-linear patterns of traffic data. However, the promising results achieved on current public datasets may not be applicable to practical scenarios due to limitations within these datasets. First, the limited sizes of them may not reflect the real-world scale of traffic networks. Second, the temporal coverage of these datasets is typically short, posing hurdles in studying long-term patterns and acquiring sufficient samples for training deep models. Third, these datasets often lack adequate metadata for sensors, which compromises the reliability and interpretability of the data. To mitigate these limitations, we introduce the LargeST benchmark dataset. It encompasses a total number of 8,600 sensors in California with a 5-year time coverage and includes comprehensive metadata. Using LargeST, we perform in-depth data analysis to extract data insights, benchmark well-known baselines in terms of their performance and efficiency, and identify challenges as well as opportunities for future research.