Dialogue models are able to generate coherent and fluent responses, but they can still be challenging to control and may produce non-engaging, unsafe results. This unpredictability diminishes user trust and can hinder the use of the models in the real world. To address this, we introduce DialGuide, a novel framework for controlling dialogue model behavior using natural language rules, or guidelines. These guidelines provide information about the context they are applicable to and what should be included in the response, allowing the models to generate responses that are more closely aligned with the developer's expectations and intent. We evaluate DialGuide on three tasks in open-domain dialogue response generation: guideline selection, response generation, and response entailment verification. Our dataset contains 10,737 positive and 15,467 negative dialogue context-response-guideline triplets across two domains - chit-chat and safety. We provide baseline models for the tasks and benchmark their performance. We also demonstrate that DialGuide is effective in the dialogue safety domain, producing safe and engaging responses that follow developer guidelines.

在语言处理的神经方法上的最新进展引发了人们对建立智能开放域聊天机器人的兴趣的复兴。但是，即使是最先进的神经聊天机器人也无法在对话框中每个回合产生令人满意的响应。一个实用的解决方案是为相同上下文生成多个响应候选者，然后执行响应排名/选择以确定哪个候选者是最好的。先前的响应选择中的工作通常使用从现有对话框形成的合成数据来训练响应排名者，通过使用地面真理响应作为单个适当的响应并通过随机选择或使用对抗方法来构建不适当的响应。在这项工作中，我们策划了一个数据集，其中为适当的（正）和不适当（负）手动注释了为相同对话框上下文产生的多个响应发生器的响应。我们认为，这样的培训数据可以更好地匹配实际的用例示例，从而使模型能够有效地对响应进行排名。有了这个新数据集，我们对最先进的响应选择方法进行了系统的评估，并证明，使用多个积极候选者和使用手动验证的硬性负面候选者的两种策略都可以与使用相比，可以带来重大的绩效提高对抗性训练数据，例如，召回@1分别增加了3％和13％。

语言模型既展示了定量的改进，又展示了新的定性功能，随着规模的增加。尽管它们具有潜在的变革性影响，但这些新能力的特征却很差。为了为未来的研究提供信息，为破坏性的新模型能力做准备，并改善社会有害的效果，至关重要的是，我们必须了解目前和近乎未来的能力和语言模型的局限性。为了应对这一挑战，我们介绍了超越模仿游戏基准（Big Bench）。 Big Bench目前由204个任务组成，由132家机构的442位作者贡献。任务主题是多样的，从语言学，儿童发展，数学，常识性推理，生物学，物理学，社会偏见，软件开发等等。 Big-Bench专注于被认为超出当前语言模型的功能的任务。我们评估了OpenAI的GPT型号，Google内部密集变压器体系结构和大型基础上的开关稀疏变压器的行为，跨越了数百万到数十亿个参数。此外，一个人类专家评估者团队执行了所有任务，以提供强大的基准。研究结果包括：模型性能和校准都随规模改善，但绝对的术语（以及与评估者的性能相比）；在模型类中的性能非常相似，尽管带有稀疏性。逐渐和预测的任务通常涉及大量知识或记忆成分，而在临界规模上表现出“突破性”行为的任务通常涉及多个步骤或组成部分或脆性指标；社交偏见通常会随着含糊不清的环境而随着规模而增加，但这可以通过提示来改善。

自动评估对开放式对话系统开发有益。但是，标准的单词重叠度量（BLEU，Rouge）与开放式对话系统的人类判断不符合良好。在这项工作中，我们建议使用下一个用户话语的情绪转向或对话级别评估。具体来说，我们提出了三种方法：一种直接预测下一个情绪的方法，以及使用话语或反馈发生器模型预测下一个用户话语的另外两个，然后对其情绪进行分类。实验表明我们的模型在书面和口语开放域对话数据集上表现出现有的自动评估指标。

隐性知识，例如常识，是人类对话的关键。当前的神经反应生成（RG）模型经过训练以直接产生响应，省略了未阐明的隐式知识。在本文中，我们介绍了说话之前的思维（TBS），这是一种首先将隐式常识知识（思考）外部化的生成方法（思考），并使用这些知识来产生响应（speak）。我们期望外部化隐式知识可以更有效地学习，产生更多信息的响应，并实现了更多可解释的模型。我们分析了不同的选择，以收集知识一致的对话，代表隐式知识以及知识和对话之间的过渡。经验结果表明，TBS模型在大多数自动指标上优于端到端和知识增强的RG基准，并通过人类注释者评估，产生更有信息，具体和常识性遵循的响应。 TBS还产生了有意义的知识，并且与85 \％左右的对话有关。

In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, and versatile foot sensor to detect the proximity of the robot's feet to the ground (bump sensor). By employing this sensor, feedback controllers are implemented to reduce the impact forces during the transition of the swing to stance phase or steeping on inclined unseen obstacles. Compared to conventional sensors based on contact reaction force, this sensor detects the distance to the ground or obstacles before the foot touches the obstacle and therefore provides predictive information to anticipate the obstacles. The controller of the proposed bump sensor interacts with another admittance controller to adjust leg length. The walking experiments show successful locomotion on the unseen inclined obstacle without reducing the locomotion speed with a slope angle of 12. Foot position error causes a hard impact with the ground as a consequence of accumulative error caused by links and connections' deflection (which is manufactured by university tools). The proposed framework drastically reduces the feet' impact with the ground.

Designing a local planner to control tractor-trailer vehicles in forward and backward maneuvering is a challenging control problem in the research community of autonomous driving systems. Considering a critical situation in the stability of tractor-trailer systems, a practical and novel approach is presented to design a non-linear MPC(NMPC) local planner for tractor-trailer autonomous vehicles in both forward and backward maneuvering. The tractor velocity and steering angle are considered to be control variables. The proposed NMPC local planner is designed to handle jackknife situations, avoiding multiple static obstacles, and path following in both forward and backward maneuvering. The challenges mentioned above are converted into a constrained problem that can be handled simultaneously by the proposed NMPC local planner. The direct multiple shooting approach is used to convert the optimal control problem(OCP) into a non-linear programming problem(NLP) that IPOPT solvers can solve in CasADi. The controller performance is evaluated through different backup and forward maneuvering scenarios in the Gazebo simulation environment in real-time. It achieves asymptotic stability in avoiding static obstacles and accurate tracking performance while respecting path constraints. Finally, the proposed NMPC local planner is integrated with an open-source autonomous driving software stack called AutowareAi.

Graph neural networks (GNNs) have been utilized for various natural language processing (NLP) tasks lately. The ability to encode corpus-wide features in graph representation made GNN models popular in various tasks such as document classification. One major shortcoming of such models is that they mainly work on homogeneous graphs, while representing text datasets as graphs requires several node types which leads to a heterogeneous schema. In this paper, we propose a transductive hybrid approach composed of an unsupervised node representation learning model followed by a node classification/edge prediction model. The proposed model is capable of processing heterogeneous graphs to produce unified node embeddings which are then utilized for node classification or link prediction as the downstream task. The proposed model is developed to classify stock market technical analysis reports, which to our knowledge is the first work in this domain. Experiments, which are carried away using a constructed dataset, demonstrate the ability of the model in embedding extraction and the downstream tasks.

In this paper we look into the conjecture of Entezari et al. (2021) which states that if the permutation invariance of neural networks is taken into account, then there is likely no loss barrier to the linear interpolation between SGD solutions. First, we observe that neuron alignment methods alone are insufficient to establish low-barrier linear connectivity between SGD solutions due to a phenomenon we call variance collapse: interpolated deep networks suffer a collapse in the variance of their activations, causing poor performance. Next, we propose REPAIR (REnormalizing Permuted Activations for Interpolation Repair) which mitigates variance collapse by rescaling the preactivations of such interpolated networks. We explore the interaction between our method and the choice of normalization layer, network width, and depth, and demonstrate that using REPAIR on top of neuron alignment methods leads to 60%-100% relative barrier reduction across a wide variety of architecture families and tasks. In particular, we report a 74% barrier reduction for ResNet50 on ImageNet and 90% barrier reduction for ResNet18 on CIFAR10.

高维计算（HDC）是用于数据表示和学习的范式，起源于计算神经科学。HDC将数据表示为高维，低精度向量，可用于学习或召回等各种信息处理任务。高维空间的映射是HDC中的一个基本问题，现有方法在输入数据本身是高维时会遇到可伸缩性问题。在这项工作中，我们探索了一个基于哈希的流媒体编码技术。我们正式表明，这些方法在学习应用程序的性能方面具有可比的保证，同时比现有替代方案更有效。我们在一个流行的高维分类问题上对这些结果进行了实验验证，并表明我们的方法很容易扩展到非常大的数据集。