Surgical robot automation has attracted increasing research interest over the past decade, expecting its huge potential to benefit surgeons, nurses and patients. Recently, the learning paradigm of embodied AI has demonstrated promising ability to learn good control policies for various complex tasks, where embodied AI simulators play an essential role to facilitate relevant researchers. However, existing open-sourced simulators for surgical robot are still not sufficiently supporting human interactions through physical input devices, which further limits effective investigations on how human demonstrations would affect policy learning. In this paper, we study human-in-the-loop embodied intelligence with a new interactive simulation platform for surgical robot learning. Specifically, we establish our platform based on our previously released SurRoL simulator with several new features co-developed to allow high-quality human interaction via an input device. With these, we further propose to collect human demonstrations and imitate the action patterns to achieve more effective policy learning. We showcase the improvement of our simulation environment with the designed new features and tasks, and validate state-of-the-art reinforcement learning algorithms using the interactive environment. Promising results are obtained, with which we hope to pave the way for future research on surgical embodied intelligence. Our platform is released and will be continuously updated in the website: https://med-air.github.io/SurRoL/

Multilingual BERT (mBERT) has demonstrated considerable cross-lingual syntactic ability, whereby it enables effective zero-shot cross-lingual transfer of syntactic knowledge. The transfer is more successful between some languages, but it is not well understood what leads to this variation and whether it fairly reflects difference between languages. In this work, we investigate the distributions of grammatical relations induced from mBERT in the context of 24 typologically different languages. We demonstrate that the distance between the distributions of different languages is highly consistent with the syntactic difference in terms of linguistic formalisms. Such difference learnt via self-supervision plays a crucial role in the zero-shot transfer performance and can be predicted by variation in morphosyntactic properties between languages. These results suggest that mBERT properly encodes languages in a way consistent with linguistic diversity and provide insights into the mechanism of cross-lingual transfer.

Adversarial training is one of the most powerful methods to improve the robustness of pre-trained language models (PLMs). However, this approach is typically more expensive than traditional fine-tuning because of the necessity to generate adversarial examples via gradient descent. Delving into the optimization process of adversarial training, we find that robust connectivity patterns emerge in the early training phase (typically $0.15\sim0.3$ epochs), far before parameters converge. Inspired by this finding, we dig out robust early-bird tickets (i.e., subnetworks) to develop an efficient adversarial training method: (1) searching for robust tickets with structured sparsity in the early stage; (2) fine-tuning robust tickets in the remaining time. To extract the robust tickets as early as possible, we design a ticket convergence metric to automatically terminate the searching process. Experiments show that the proposed efficient adversarial training method can achieve up to $7\times \sim 13 \times$ training speedups while maintaining comparable or even better robustness compared to the most competitive state-of-the-art adversarial training methods.

Recent works on Lottery Ticket Hypothesis have shown that pre-trained language models (PLMs) contain smaller matching subnetworks(winning tickets) which are capable of reaching accuracy comparable to the original models. However, these tickets are proved to be notrobust to adversarial examples, and even worse than their PLM counterparts. To address this problem, we propose a novel method based on learning binary weight masks to identify robust tickets hidden in the original PLMs. Since the loss is not differentiable for the binary mask, we assign the hard concrete distribution to the masks and encourage their sparsity using a smoothing approximation of L0 regularization.Furthermore, we design an adversarial loss objective to guide the search for robust tickets and ensure that the tickets perform well bothin accuracy and robustness. Experimental results show the significant improvement of the proposed method over previous work on adversarial robustness evaluation.

With the advanced request to employ a team of robots to perform a task collaboratively, the research community has become increasingly interested in collaborative simultaneous localization and mapping. Unfortunately, existing datasets are limited in the scale and variation of the collaborative trajectories, even though generalization between inter-trajectories among different agents is crucial to the overall viability of collaborative tasks. To help align the research community's contributions with realistic multiagent ordinated SLAM problems, we propose S3E, a large-scale multimodal dataset captured by a fleet of unmanned ground vehicles along four designed collaborative trajectory paradigms. S3E consists of 7 outdoor and 5 indoor sequences that each exceed 200 seconds, consisting of well temporal synchronized and spatial calibrated high-frequency IMU, high-quality stereo camera, and 360 degree LiDAR data. Crucially, our effort exceeds previous attempts regarding dataset size, scene variability, and complexity. It has 4x as much average recording time as the pioneering EuRoC dataset. We also provide careful dataset analysis as well as baselines for collaborative SLAM and single counterparts. Data and more up-to-date details are found at https://github.com/PengYu-Team/S3E.

异常检测任务在AI安全中起着至关重要的作用。处理这项任务存在巨大的挑战。观察结果表明，深度神经网络分类器通常倾向于以高信心将分布（OOD）输入分为分配类别。现有的工作试图通过在培训期间向分类器暴露于分类器时明确对分类器施加不确定性来解决问题。在本文中，我们提出了一种替代概率范式，该范式实际上对OOD检测任务既有用，又可行。特别是，我们在培训过程中施加了近距离和离群数据之间的统计独立性，以确保inlier数据在培训期间向深度估计器显示有关OOD数据的信息很少。具体而言，我们通过Hilbert-Schmidt独立标准（HSIC）估算了Inlier和离群数据之间的统计依赖性，并在培训期间对此类度量进行了惩罚。我们还将方法与推理期间的新型统计测试相关联，加上我们的原则动机。经验结果表明，我们的方法对各种基准测试的OOD检测是有效且可靠的。与SOTA模型相比，我们的方法在FPR95，AUROC和AUPR指标方面取得了重大改进。代码可用：\ url {https://github.com/jylins/hone}。

本文重新讨论了一个非常简单但非常有效的计算范式，深度共同学习（DML）。我们观察到，有效性与其出色的概括质量高度相关。在本文中，我们从新的角度来解释了DML的性能改善，即这大约是贝叶斯后的采样程序。这也为应用R \'{e} nyi Divergence改善原始DML的基础建立了基础，因为它带来了先验的差异控制（在DML的上下文中）。因此，我们提出了r \'{e} nyi Divergence深度共同学习（RDML）。我们的经验结果代表了DML和\ renyi {}差异的婚姻的优势。R \'{E} nyi Divergence施加的灵活控制能够进一步改进DML，以学习更好的广义模型。

我们介绍了一项对自然语言（NL）推理的人类通知，开放域和逻辑上复杂且多样的数据集，配备了一阶逻辑（fol）注释。对开本由1,435个示例（独特的结论）组成，每个示例与487组前提之一搭配，这些场所作为规则，可用于演绎理由，以理解每个结论的有效性。前提和结论的逻辑正确性是通过其平行注释来确保的，这些注释会自动由我们的FOL推理引擎验证。除了主要的NL推理任务外，对开本中的NL-FOL对自动构成了使用FOL作为逻辑形式的新的NL-FOL翻译数据集。我们对广泛的实验系统地评估了对中型语言模型（BERT，ROBERTA）进行微调的FOL推理能力，并且在大型语言模型（GPT-NEOX，OPT，OPT，GPT-3，Codex）上促成了很少的射击。对于NL-FOL翻译，我们尝试使用GPT-3和Codex。我们的结果表明，公开可用的最强大的大语言模型之一（LLM），GPT-3 Davinci，仅比随机结果略好，而在一部分集的一部分中，该模型尤其不好，并且在预测该模型方面尤其不好。纠正虚假和未知结论的真实价值。我们的数据集和代码可在https://github.com/yale-lily/folio上找到。

尽管在情感分析方面取得了巨大的成功，但现有的神经模型在隐式情感分析中挣扎。这可能是由于它们可能会锁定虚假的相关性（例如，“捷径”，例如，仅关注明确的情感词），从而破坏了学习模型的有效性和鲁棒性。在这项工作中，我们提出了一种使用仪器变量（ISAIV）的因果干预模型，用于隐式情感分析。我们首先从因果角度审查情感分析，并分析此任务中存在的混杂因素。然后，我们引入了一个仪器变量，以消除混杂的因果效应，从而在句子和情感之间提取纯粹的因果效应。我们将所提出的ISAIV模型与几个强大的基线进行比较，同时是一般的隐式情感分析和基于方面的隐式情感分析任务。结果表明我们模型的巨大优势以及隐性情感推理的功效。

半监督学习（SSL）通过利用大量未标记数据来增强有限标记的样品来改善模型的概括。但是，目前，流行的SSL评估协议通常受到计算机视觉（CV）任务的约束。此外，以前的工作通常从头开始训练深层神经网络，这是耗时且环境不友好的。为了解决上述问题，我们通过从简历，自然语言处理（NLP）和音频处理（AUDIO）中选择15种不同，具有挑战性和全面的任务来构建统一的SSL基准（USB），我们会系统地评估主导的SSL方法，以及开源的一个模块化和可扩展的代码库，以对这些SSL方法进行公平评估。我们进一步为简历任务提供了最新的神经模型的预训练版本，以使成本负担得起，以进行进一步调整。 USB启用对来自多个域的更多任务的单个SSL算法的评估，但成本较低。具体而言，在单个NVIDIA V100上，仅需要37个GPU天才能在USB中评估15个任务的FIXMATCH，而335 GPU天（除ImageNet以外的4个CV数据集中的279 GPU天）在使用典型协议的5个CV任务上需要进行5个CV任务。