Recent advances in upper limb prostheses have led to significant improvements in the number of movements provided by the robotic limb. However, the method for controlling multiple degrees of freedom via user-generated signals remains challenging. To address this issue, various machine learning controllers have been developed to better predict movement intent. As these controllers become more intelligent and take on more autonomy in the system, the traditional approach of representing the human-machine interface as a human controlling a tool becomes limiting. One possible approach to improve the understanding of these interfaces is to model them as collaborative, multi-agent systems through the lens of joint action. The field of joint action has been commonly applied to two human partners who are trying to work jointly together to achieve a task, such as singing or moving a table together, by effecting coordinated change in their shared environment. In this work, we compare different prosthesis controllers (proportional electromyography with sequential switching, pattern recognition, and adaptive switching) in terms of how they present the hallmarks of joint action. The results of the comparison lead to a new perspective for understanding how existing myoelectric systems relate to each other, along with recommendations for how to improve these systems by increasing the collaborative communication between each partner.

As language models (LMs) scale, they develop many novel behaviors, good and bad, exacerbating the need to evaluate how they behave. Prior work creates evaluations with crowdwork (which is time-consuming and expensive) or existing data sources (which are not always available). Here, we automatically generate evaluations with LMs. We explore approaches with varying amounts of human effort, from instructing LMs to write yes/no questions to making complex Winogender schemas with multiple stages of LM-based generation and filtering. Crowdworkers rate the examples as highly relevant and agree with 90-100% of labels, sometimes more so than corresponding human-written datasets. We generate 154 datasets and discover new cases of inverse scaling where LMs get worse with size. Larger LMs repeat back a dialog user's preferred answer ("sycophancy") and express greater desire to pursue concerning goals like resource acquisition and goal preservation. We also find some of the first examples of inverse scaling in RL from Human Feedback (RLHF), where more RLHF makes LMs worse. For example, RLHF makes LMs express stronger political views (on gun rights and immigration) and a greater desire to avoid shut down. Overall, LM-written evaluations are high-quality and let us quickly discover many novel LM behaviors.

强大的电力系统的长期计划需要了解不断变化的需求模式。电力需求对天气敏感。因此，引入间歇性可再生能源的供应方面变化与可变需求并列，将在网格计划过程中引入其他挑战。通过了解美国温度的空间和时间变化，可以分开需求对自然变异性和与气候变化相关的影响的需求的响应，尤其是因为尚不清楚由于前一个因素所产生的影响。通过该项目，我们旨在通过开发机器和深入学习“背面销售”模型来更好地支持电力系统的技术和政策开发过程，以重建多年需求记录并研究温度的自然变异性及其对需求的影响。

通常通过过去的选择来告知机器学习中的评估，例如要使用哪些数据集或指标。该标准化可以使用排行榜对平等基础进行比较，但是随着出现更好的替代方案，评估选择变得不佳。这个问题在自然语言生成中尤其相关，该语言需要不断改善的数据集，指标和人类评估以提出确定性的主张。为了使遵循最佳模型评估实践更加容易，我们介绍了GEMV2。新版本的一代，评估和指标基准为数据集，模型和指标开发人员提供了模块化基础架构，以使彼此受益。GEMV2支持40种记录的数据集中51种语言。所有数据集的模型都可以在线评估，我们的交互式数据卡创建和渲染工具使得在Living Benchmark中添加新数据集变得更加容易。

深度学习（DL）模型为各种医学成像基准挑战提供了最先进的性能，包括脑肿瘤细分（BRATS）挑战。然而，局灶性病理多隔室分割（例如，肿瘤和病变子区）的任务特别具有挑战性，并且潜在的错误阻碍DL模型转化为临床工作流程。量化不确定形式的DL模型预测的可靠性，可以实现最不确定的地区的临床审查，从而建立信任并铺平临床翻译。最近，已经引入了许多不确定性估计方法，用于DL医学图像分割任务。开发指标评估和比较不确定性措施的表现将有助于最终用户制定更明智的决策。在本研究中，我们探索并评估在Brats 2019-2020任务期间开发的公制，以对不确定量化量化（Qu-Brats），并旨在评估和排列脑肿瘤多隔室分割的不确定性估计。该公制（1）奖励不确定性估计，对正确断言产生高置信度，以及在不正确的断言处分配低置信水平的估计数，（2）惩罚导致更高百分比的无关正确断言百分比的不确定性措施。我们进一步基准测试由14个独立参与的Qu-Brats 2020的分割不确定性，所有这些都参与了主要的Brats细分任务。总体而言，我们的研究结果证实了不确定性估计提供了分割算法的重要性和互补价值，因此突出了医学图像分析中不确定性量化的需求。我们的评估代码在HTTPS://github.com/ragmeh11/qu-brats公开提供。

机器预测算法（例如，二进制分类器）通常是基于使用经典指标（例如敏感性和预测价值）所声称的性能来采用的。但是，分类器的性能在很大程度上取决于分类器在其中运行的上下文（工作流）。除非达到某些隐式假设，否则经典指标不能反映预测变量的实用性，并且在许多常见的临床情况下无法实现这些假设。这通常会导致次优的实现，并在没有实现预期结果时感到失望。当可以对同一事件做出多个预测时，出现经典指标的一种常见故障模式，尤其是当冗余的真实积极预测几乎没有额外的价值时。这描述了许多临床警报系统。我们解释了为什么经典指标无法在这种情况下正确地表示预测指标的性能，并使用实用程序功能引入改进的性能评估技术，以根据其在特定工作流程中的效用进行预测。由此产生的公用事业指标（U-Metrics）明确解释了时间关系对预测实用程序的影响。与传统措施相比，U-Metrics更准确地反映了在现场临床背景下运行的预测因子的现实成本和收益。改进可能很重要。我们还描述了一种正式的打sn饮方法，这是一种缓解策略，其中一些预测被抑制以通过在保留事件捕获的同时降低假阳性来改善预测性绩效。 Snoozing对于产生干扰性警报的预测因素特别有用。 U-Metrics正确测量并预测了Snooing的性能优势，而传统指标则没有。

在本文中，我们介绍了四种突出的恶意软件检测工具的科学评估，以帮助组织提出两个主要问题：基于ML的工具在多大程度上对以前和从未见过的文件进行了准确的分类？是否值得购买网络级恶意软件检测器？为了识别弱点，我们针对各种文件类型的总计3,536个文件（2,554或72 \％恶意，982或28 \％良性）测试了每个工具，包括数百个恶意零日，polyglots和apt-style-style style文件，在多个协议上交付。我们介绍了有关检测时间和准确性的统计结果，请考虑互补分析（一起使用多个工具），并提供了近期成本效益评估程序的两种新颖应用。尽管基于ML的工具在检测零日文件和可执行文件方面更有效，但基于签名的工具仍然是总体上更好的选择。两种基于网络的工具都与任何一种主机工具配对时都可以进行大量（模拟）节省，但两者在HTTP或SMTP以外的协议上都显示出较差的检测率。我们的结果表明，所有四个工具都具有几乎完美的精度但令人震惊的召回率，尤其是在可执行文件和Office文件以外的文件类型上 - 未检测到37％的恶意软件，包括所有Polyglot文件。给出了研究人员的优先事项，并给出了最终用户的外卖。

Dataset distillation has emerged as a prominent technique to improve data efficiency when training machine learning models. It encapsulates the knowledge from a large dataset into a smaller synthetic dataset. A model trained on this smaller distilled dataset can attain comparable performance to a model trained on the original training dataset. However, the existing dataset distillation techniques mainly aim at achieving the best trade-off between resource usage efficiency and model utility. The security risks stemming from them have not been explored. This study performs the first backdoor attack against the models trained on the data distilled by dataset distillation models in the image domain. Concretely, we inject triggers into the synthetic data during the distillation procedure rather than during the model training stage, where all previous attacks are performed. We propose two types of backdoor attacks, namely NAIVEATTACK and DOORPING. NAIVEATTACK simply adds triggers to the raw data at the initial distillation phase, while DOORPING iteratively updates the triggers during the entire distillation procedure. We conduct extensive evaluations on multiple datasets, architectures, and dataset distillation techniques. Empirical evaluation shows that NAIVEATTACK achieves decent attack success rate (ASR) scores in some cases, while DOORPING reaches higher ASR scores (close to 1.0) in all cases. Furthermore, we conduct a comprehensive ablation study to analyze the factors that may affect the attack performance. Finally, we evaluate multiple defense mechanisms against our backdoor attacks and show that our attacks can practically circumvent these defense mechanisms.

We present a dynamic path planning algorithm to navigate an amphibious rotor craft through a concave time-invariant obstacle field while attempting to minimize energy usage. We create a nonlinear quaternion state model that represents the rotor craft dynamics above and below the water. The 6 degree of freedom dynamics used within a layered architecture to generate motion paths for the vehicle to follow and the required control inputs. The rotor craft has a 3 dimensional map of its surroundings that is updated via limited range onboard sensor readings within the current medium (air or water). Path planning is done via PRM and D* Lite.

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in real-world underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission and make high-impact strategic decisions. We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and re-configurable communications.