Large language models (LLMs) have shown the emergent capability of in-context learning (ICL). One line of research has explained ICL as functionally performing gradient descent. In this paper, we introduce a new way of diagnosing whether ICL is functionally equivalent to gradient-based learning. Our approach is based on the inverse frequency effect (IFE) -- a phenomenon in which an error-driven learner is expected to show larger updates when trained on infrequent examples than frequent ones. The IFE has previously been studied in psycholinguistics because humans show this effect in the context of structural priming (the tendency for people to produce sentence structures they have encountered recently); the IFE has been used as evidence that human structural priming must involve error-driven learning mechanisms. In our experiments, we simulated structural priming within ICL and found that LLMs display the IFE, with the effect being stronger in larger models. We conclude that ICL is indeed a type of gradient-based learning, supporting the hypothesis that a gradient component is implicitly computed in the forward pass during ICL. Our results suggest that both humans and LLMs make use of gradient-based, error-driven processing mechanisms.

Semantic mapping is the task of providing a robot with a map of its environment beyond the open, navigable space of traditional Simultaneous Localization and Mapping (SLAM) algorithms by attaching semantics to locations. The system presented in this work reads door placards to annotate the locations of offices. Whereas prior work on this system developed hand-crafted detectors, this system leverages YOLOv2 for detection and a segmentation network for segmentation. Placards are localized by computing their pose from a homography computed from a segmented quadrilateral outline. This work also introduces an Interruptable Frontier Exploration algorithm, enabling the robot to explore its environment to construct its SLAM map while pausing to inspect placards observed during this process. This allows the robot to autonomously discover room placards without human intervention while speeding up significantly over previous autonomous exploration methods.

Humans can easily describe, imagine, and, crucially, predict a wide variety of behaviors of liquids--splashing, squirting, gushing, sloshing, soaking, dripping, draining, trickling, pooling, and pouring--despite tremendous variability in their material and dynamical properties. Here we propose and test a computational model of how people perceive and predict these liquid dynamics, based on coarse approximate simulations of fluids as collections of interacting particles. Our model is analogous to a "game engine in the head", drawing on techniques for interactive simulations (as in video games) that optimize for efficiency and natural appearance rather than physical accuracy. In two behavioral experiments, we found that the model accurately captured people's predictions about how liquids flow among complex solid obstacles, and was significantly better than two alternatives based on simple heuristics and deep neural networks. Our model was also able to explain how people's predictions varied as a function of the liquids' properties (e.g., viscosity and stickiness). Together, the model and empirical results extend the recent proposal that human physical scene understanding for the dynamics of rigid, solid objects can be supported by approximate probabilistic simulation, to the more complex and unexplored domain of fluid dynamics.