The neural population spiking activity recorded by intracortical brain-computer interfaces (iBCIs) contain rich structure. Current models of such spiking activity are largely prepared for individual experimental contexts, restricting data volume to that collectable within a single session and limiting the effectiveness of deep neural networks (DNNs). The purported challenge in aggregating neural spiking data is the pervasiveness of context-dependent shifts in the neural data distributions. However, large scale unsupervised pretraining by nature spans heterogeneous data, and has proven to be a fundamental recipe for successful representation learning across deep learning. We thus develop Neural Data Transformer 2 (NDT2), a spatiotemporal Transformer for neural spiking activity, and demonstrate that pretraining can leverage motor BCI datasets that span sessions, subjects, and experimental tasks. NDT2 enables rapid adaptation to novel contexts in downstream decoding tasks and opens the path to deployment of pretrained DNNs for iBCI control.

Robotic applications often involve working in environments that are uncertain, dynamic, and partially observable. Recently, diffusion models have been proposed for learning trajectory prediction models trained from expert demonstrations, which can be used for planning in robot tasks. Such models have demonstrated a strong ability to overcome challenges such as multi-modal action distributions, highdimensional output spaces, and training instability. It is crucial to quantify the uncertainty of these dynamics models when using them for planning. In this paper, we quantify the uncertainty of diffusion dynamics models using Conformal Prediction (CP).

We consider the class of noisy multi-layered sigmoid recurrent neural networks with w (unbounded) weights for classification of sequences of length T, where independent noise distributed according to N(0,σ2)is added to the output of each neuron in the network. Our main result shows that the sample complexity of PAC learning this class can be bounded by O(wlog(T/σ)). For the non-noisy version of the same class (i.e., σ = 0), we prove a lower bound of Ω(wT) for the sample complexity. Our results indicate an exponential gap in the dependence of sample complexity on T for noisy versus non-noisy networks. Moreover, given the mild logarithmic dependence of the upper bound on 1/σ, this gap still holds even for numerically negligible values of σ.1

This paper studies a diffusion-based framework to address the low-light image enhancement problem.

Recognizing human actions in videos requires spatial and temporal understanding. Most existing action recognition models lack a balanced spatio-temporal understanding of videos. In this work, we propose a novel two-stream architecture, called Cross-Attention in Space and Time (CAST), that achieves a balanced spatio-temporal understanding of videos using only RGB input. Our proposed bottleneck cross-attention mechanism enables the spatial and temporal expert models to exchange information and make synergistic predictions, leading to improved performance. We validate the proposed method with extensive experiments on public benchmarks with different characteristics: EPIC-KITCHENS-100, Something-Something-V2, and Kinetics-400. Our method consistently shows favorable performance across these datasets, while the performance of existing methods fluctuates depending on the dataset characteristics. The code is available at https://github.com/KHU-VLL/CAST.