Consistency-based methods have emerged as an effective approach to uncertainty quantification (UQ) in large language models. These methods typically rely on several generations obtained via multinomial sampling, measuring their agreement level. However, in short-form QA, multinomial sampling is prone to producing duplicates due to peaked distributions, and its stochasticity introduces considerable variance in uncertainty estimates across runs. We introduce a new family of methods that employ beam search to generate candidates for consistency-based UQ, yielding improved performance and reduced variance compared to multinomial sampling. We also provide a theoretical lower bound on the beam set probability mass under which beam search achieves a smaller error than multinomial sampling. We empirically evaluate our approach on six QA datasets and find that its consistent improvements over multinomial sampling lead to state-of-the-art UQ performance.

Neural Information Processing Systems http://nips.cc/

We use Feature Congestion (Rosenholtz et al.) as our non foveated

Research in uncertainty quantification (UQ) for large language models (LLMs) is increasingly important towards guaranteeing the reliability of this groundbreaking technology. We explore the integration of LLM UQ methods in argumentative LLMs (ArgLLMs), an explainable LLM framework for decision-making based on computational argumentation in which UQ plays a critical role. We conduct experiments to evaluate ArgLLMs' performance on claim verification tasks when using different LLM UQ methods, inherently performing an assessment of the UQ methods' effectiveness. Moreover, the experimental procedure itself is a novel way of evaluating the effectiveness of UQ methods, especially when intricate and potentially contentious statements are present. Our results demonstrate that, despite its simplicity, direct prompting is an effective UQ strategy in ArgLLMs, outperforming considerably more complex approaches.

Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for manipulating the angles of the propeller axes. This addresses the mentioned limitations, making the systems "omniorientational". We comprehensively derived detailed dynamic models for all introduced configurations and validated by a methodology using Simscape Multibody simulations. Two controllers are designed: a sliding mode controller for robust handling of disturbances and a novel PID-based controller with gravity compensation integrating linear and non-linear allocators, designed for computational efficiency. A custom control allocation strategy is implemented to manage the input-non-affine nature of these systems, seeking to maximize battery life by minimizing the "Power Consumption Factor" defined in this study. Moreover, the controllers effectively managed harsh disturbances and uncertainties. Simulations compare and analyze the proposed configurations and controllers, majorly considering their power consumption. Furthermore, we conduct a qualitative comparison to evaluate the impact of different types of uncertainties on the control system, highlighting areas for potential model or hardware improvements. The analysis in this study provides a roadmap for future researchers to design omniorientational drones based on their design objectives, offering practical insights into configuration selection and controller design. This research aligns with the project SAC-1, one of the objectives of Sharif AgRoLab.