This work explores the potential of brief inter-agent knowledge transfer (KT) to enhance the robotic object goal navigation (ON) in unseen and unfamiliar environments. Drawing on the analogy of human travelers acquiring local knowledge, we propose a framework in which a traveler robot (student) communicates with local robots (teachers) to obtain ON knowledge through minimal interactions. We frame this process as a data-free continual learning (CL) challenge, aiming to transfer knowledge from a black-box model (teacher) to a new model (student). In contrast to approaches like zero-shot ON using large language models (LLMs), which utilize inherently communication-friendly natural language for knowledge representation, the other two major ON approaches -- frontier-driven methods using object feature maps and learning-based ON using neural state-action maps -- present complex challenges where data-free KT remains largely uncharted. To address this gap, we propose a lightweight, plug-and-play KT module targeting non-cooperative black-box teachers in open-world settings. Using the universal assumption that every teacher robot has vision and mobility capabilities, we define state-action history as the primary knowledge base. Our formulation leads to the development of a query-based occupancy map that dynamically represents target object locations, serving as an effective and communication-friendly knowledge representation. We validate the effectiveness of our method through experiments conducted in the Habitat environment.

Machine learning models are widely used but can also often be wrong. Users would benefit from a reliable indication of whether a given output from a given model should be trusted, so a rational decision can be made whether to use the output or not. For example, outputs can be associated with a confidence measure; if this confidence measure is strongly associated with likelihood of correctness, then the model is said to be well-calibrated. In this case, for example, high-confidence outputs could be safely accepted, and low-confidence outputs rejected. Calibration has so far been studied in non-generative (e.g., classification) settings, especially in Software Engineering. However, generated code can quite often be wrong: Developers need to know when they should e.g., directly use, use after careful review, or discard model-generated code; thus Calibration is vital in generative settings. However, the notion of correctness of generated code is non-trivial, and thus so is Calibration. In this paper we make several contributions. We develop a framework for evaluating the Calibration of code-generating models. We consider several tasks, correctness criteria, datasets, and approaches, and find that by and large generative code models are not well-calibrated out of the box. We then show how Calibration can be improved, using standard methods such as Platt scaling. Our contributions will lead to better-calibrated decision-making in the current use of code generated by language models, and offers a framework for future research to further improve calibration methods for generative models in Software Engineering.

To maintain user trust, large language models (LLMs) should signal low confidence on examples where they are incorrect, instead of misleading the user. The standard approach of estimating confidence is to use the softmax probabilities of these models, but as of November 2023, state-of-the-art LLMs such as GPT-4 and Claude-v1.3 We first study eliciting confidence linguistically -- asking an LLM for its confidence in its answer -- which performs reasonably (80.5% AUC on GPT-4 averaged across 12 question-answering datasets -- 7% above a random baseline) but leaves room for improvement. We then explore using a surrogate confidence model -- using a model where we do have probabilities to evaluate the original model's confidence in a given question. Surprisingly, even though these probabilities come from a different and often weaker model, this method leads to higher AUC than linguistic confidences on 9 out of 12 datasets. Our best method composing linguistic confidences and surrogate model probabilities gives state-of-the-art confidence estimates on all 12 datasets (84.6% average AUC on GPT-4). As large language models (LLMs) are increasingly deployed, it is important that they signal low confidence on examples where they are likely to make mistakes. This paper's goal is to produce good confidence estimates for state-of-the-art LLMs, which do not provide model probabilities or representations (such as GPT-4 and Claude-v1.3). We first examine a natural idea of eliciting linguistic confidence scores (Tian et al., 2023; Lin et al., 2022; Xiong et al., 2023) -- prompting the LLM to assess its confidence in its answer (Figure 1, GPT-4 Linguistic). We find that linguistic confidences work reasonably well for state-of-the-art models, and much better than a random guessing baseline, but still leave room for improvement (Section 3). Averaged across the datasets, GPT-4 achieves a selective classification AUC of 80.5%, which is 7% above a random guessing baseline. Our results hold across 12 standard datasets (8 MMLU datasets, TruthfulQA, CommonsenseQA, OpenbookQA, and MedQA), 5 models (GPT-4, Claude-v1.3,

Deep neural networks often work well when they are over-parameterized and trained with a massive amount of noise and regularization, such as weight decay and dropout. Although dropout is widely used as a regularization technique for fully connected layers, it is often less effective for convolutional layers. This lack of success of dropout for convolutional layers is perhaps due to the fact that activation units in convolutional layers are spatially correlated so information can still flow through convolutional networks despite dropout. Thus a structured form of dropout is needed to regularize convolutional networks. In this paper, we introduce DropBlock, a form of structured dropout, where units in a contiguous region of a feature map are dropped together. We found that applying DropbBlock in skip connections in addition to the convolution layers increases the accuracy. Also, gradually increasing number of dropped units during training leads to better accuracy and more robust to hyperparameter choices. Extensive experiments show that DropBlock works better than dropout in regularizing convolutional networks. On ImageNet classification, ResNet-50 architecture with DropBlock achieves $78.13\%$ accuracy, which is more than $1.6\%$ improvement on the baseline. On COCO detection, DropBlock improves Average Precision of RetinaNet from $36.8\%$ to $38.4\%$.

Deep neural networks often work well when they are over-parameterized and trained with a massive amount of noise and regularization, such as weight decay and dropout. Although dropout is widely used as a regularization technique for fully connected layers, it is often less effective for convolutional layers. This lack of success of dropout for convolutional layers is perhaps due to the fact that activation units in convolutional layers are spatially correlated so information can still flow through convolutional networks despite dropout. Thus a structured form of dropout is needed to regularize convolutional networks. In this paper, we introduce DropBlock, a form of structured dropout, where units in a contiguous region of a feature map are dropped together. We found that applying DropbBlock in skip connections in addition to the convolution layers increases the accuracy. Also, gradually increasing number of dropped units during training leads to better accuracy and more robust to hyperparameter choices. Extensive experiments show that DropBlock works better than dropout in regularizing convolutional networks. On ImageNet classification, ResNet-50 architecture with DropBlock achieves $78.13\%$ accuracy, which is more than $1.6\%$ improvement on the baseline. On COCO detection, DropBlock improves Average Precision of RetinaNet from $36.8\%$ to $38.4\%$.

In the real world, the environment is constantly changing with the input variables under the effect of noise. However, few algorithms were shown to be able to work under those circumstances. Here, Novelty-Organizing Team of Classifiers (NOTC) is applied to the continuous action mountain car as well as two variations of it: a noisy mountain car and an unstable weather mountain car. These problems take respectively noise and change of problem dynamics into account. Moreover, NOTC is compared with NeuroEvolution of Augmenting Topologies (NEAT) in these problems, revealing a trade-off between the approaches. While NOTC achieves the best performance in all of the problems, NEAT needs less trials to converge. It is demonstrated that NOTC achieves better performance because of its division of the input space (creating easier problems). Unfortunately, this division of input space also requires a bit of time to bootstrap.

In reinforcement learning (RL), stochastic environments can make learning a policy difficult due to high degrees of variance. As such, variance reduction methods have been investigated in other works, such as advantage estimation and control-variates estimation. Here, we propose to learn a separate reward estimator to train the value function, to help reduce variance caused by a noisy reward signal. This results in theoretical reductions in variance in the tabular case, as well as empirical improvements in both the function approximation and tabular settings in environments where rewards are stochastic. To do so, we use a modified version of Advantage Actor Critic (A2C) on variations of Atari games.

Traditional Linear Genetic Programming (LGP) algorithms are based only on the selection mechanism to guide the search. Genetic operators combine or mutate random portions of the individuals, without knowing if the result will lead to a fitter individual. Probabilistic Model Building Genetic Programming (PMB-GP) methods were proposed to overcome this issue through a probability model that captures the structure of the fit individuals and use it to sample new individuals. This work proposes the use of LGP with a Stochastic Context-Free Grammar (SCFG), that has a probability distribution that is updated according to selected individuals. We proposed a method for adapting the grammar into the linear representation of LGP. Tests performed with the proposed probabilistic method, and with two hybrid approaches, on several symbolic regression benchmark problems show that the results are statistically better than the obtained by the traditional LGP.