在异构机器人网络上进行计算负载共享是一个有希望的方法，可以将机器人能力和效率作为极端环境中的团队提高。然而，在这种环境中，通信链路可以是间歇性的，并且与云或因特网的连接可能是不存在的。在本文中，我们介绍了用于多机器人系统的通信感知，计算任务调度问题，并提出了整数线性程序（ILP），该程序（ILP）优化了异构机器人网络中的计算任务分配，占网络机器人的计算能力对于可用（和可能的时变）通信链接。我们考虑调度由依赖关系图建模的一组相互依赖的必需任务和可选任务。我们为共享世界，分布式系统提供了一项备份的调度架构。我们验证了ILP制定和不同计算平台中的分布式实现，并在模拟场景中，偏向于月球或行星探索方案。我们的研究结果表明，与没有计算负载共享的类似系统相比，所提出的实施方式可以优化提高时间表以允许三倍增加所执行的奖励任务的数量（例如，科学测量）。

船上自治技术，如规划和调度，识别科学目标和基于内容的数据摘要，将导致令人兴奋的新空间科学任务。然而，尚未研究具有此类船上自治能力的经营任务的挑战，这是足以在使命概念中考虑的细节水平。这些自主功能需要更改当前的操作流程，实践和工具。我们制定了一个案例研究，以评估使运营商和科学家通过促进地面人员和车载算法之间的共同模型来运营自主航天器所需的变化。我们评估使运营商和科学家能够向航天器传达所需的新的操作工具和工作流程，并能够重建和解释船上和航天器状态的决定。这些工具的模型用于用户学习，了解过程和工具在实现共享理解框架方面的有效性，以及在运营商和科学家有效实现特派团科学目标的能力。

Landing an unmanned aerial vehicle unmanned aerial vehicle (UAV) on top of an unmanned surface vehicle (USV) in harsh open waters is a challenging problem, owing to forces that can damage the UAV due to a severe roll and/or pitch angle of the USV during touchdown. To tackle this, we propose a novel model predictive control (MPC) approach enabling a UAV to land autonomously on a USV in these harsh conditions. The MPC employs a novel objective function and an online decomposition of the oscillatory motion of the vessel to predict, attempt, and accomplish the landing during near-zero tilt of the landing platform. The nonlinear prediction of the motion of the vessel is performed using visual data from an onboard camera. Therefore, the system does not require any communication with the USV or a control station. The proposed method was analyzed in numerous robotics simulations in harsh and extreme conditions and further validated in various real-world scenarios.

Language modeling, a central task in natural language processing, involves estimating a probability distribution over strings. In most cases, the estimated distribution sums to 1 over all finite strings. However, in some pathological cases, probability mass can ``leak'' onto the set of infinite sequences. In order to characterize the notion of leakage more precisely, this paper offers a measure-theoretic treatment of language modeling. We prove that many popular language model families are in fact tight, meaning that they will not leak in this sense. We also generalize characterizations of tightness proposed in previous works.

After just a few hundred training updates, a standard probabilistic model for language generation has likely not yet learnt many semantic or syntactic rules of natural language, which inherently makes it difficult to estimate the right probability distribution over next tokens. Yet around this point, these models have identified a simple, loss-minimising behaviour: to output the unigram distribution of the target training corpus. The use of such a crude heuristic raises the question: Rather than wasting precious compute resources and model capacity for learning this strategy at early training stages, can we initialise our models with this behaviour? Here, we show that we can effectively endow our model with a separate module that reflects unigram frequency statistics as prior knowledge. Standard neural language generation architectures offer a natural opportunity for implementing this idea: by initialising the bias term in a model's final linear layer with the log-unigram distribution. Experiments in neural machine translation demonstrate that this simple technique: (i) improves learning efficiency; (ii) achieves better overall performance; and (iii) appears to disentangle strong frequency effects, encouraging the model to specialise in non-frequency-related aspects of language.

In this work, we investigate the representation capacity of multilayer perceptron networks that use the sine as activation function - sinusoidal neural networks. We show that the layer composition in such networks compacts information. For this, we prove that the composition of sinusoidal layers expands as a sum of sines consisting of a large number of new frequencies given by linear combinations of the weights of the network's first layer. We provide the expression of the corresponding amplitudes in terms of the Bessel functions and give an upper bound for them that can be used to control the resulting approximation.

In this paper, we seek to measure how much information a component in a neural network could extract from the representations fed into it. Our work stands in contrast to prior probing work, most of which investigates how much information a model's representations contain. This shift in perspective leads us to propose a new principle for probing, the architectural bottleneck principle: In order to estimate how much information a given component could extract, a probe should look exactly like the component. Relying on this principle, we estimate how much syntactic information is available to transformers through our attentional probe, a probe that exactly resembles a transformer's self-attention head. Experimentally, we find that, in three models (BERT, ALBERT, and RoBERTa), a sentence's syntax tree is mostly extractable by our probe, suggesting these models have access to syntactic information while composing their contextual representations. Whether this information is actually used by these models, however, remains an open question.

Large language models (LLMs) have been shown to be able to perform new tasks based on a few demonstrations or natural language instructions. While these capabilities have led to widespread adoption, most LLMs are developed by resource-rich organizations and are frequently kept from the public. As a step towards democratizing this powerful technology, we present BLOOM, a 176B-parameter open-access language model designed and built thanks to a collaboration of hundreds of researchers. BLOOM is a decoder-only Transformer language model that was trained on the ROOTS corpus, a dataset comprising hundreds of sources in 46 natural and 13 programming languages (59 in total). We find that BLOOM achieves competitive performance on a wide variety of benchmarks, with stronger results after undergoing multitask prompted finetuning. To facilitate future research and applications using LLMs, we publicly release our models and code under the Responsible AI License.

我们将图形神经网络训练来自小工具N体模拟的光晕目录的神经网络，以执行宇宙学参数的无现场级别可能的推断。目录包含$ \ Lessim $ 5,000 HAROS带质量$ \ gtrsim 10^{10} 〜h^{ - 1} m_ \ odot $，定期卷为$（25〜H^{ - 1} {\ rm mpc}）{\ rm mpc}） ^3 $;目录中的每个光环都具有多种特性，例如位置，质量，速度，浓度和最大圆速度。我们的模型构建为置换，翻译和旋转的不变性，不施加最低限度的规模来提取信息，并能够以平均值来推断$ \ omega _ {\ rm m} $和$ \ sigma_8 $的值$ \ sim6 \％$的相对误差分别使用位置加上速度和位置加上质量。更重要的是，我们发现我们的模型非常强大：他们可以推断出使用数千个N-n-Body模拟的Halo目录进行测试时，使用五个不同的N-进行测试时，在使用Halo目录进行测试时，$ \ omega _ {\ rm m} $和$ \ sigma_8 $身体代码：算盘，Cubep $^3 $ M，Enzo，PKDGrav3和Ramses。令人惊讶的是，经过培训的模型推断$ \ omega _ {\ rm m} $在对数千个最先进的骆驼水力动力模拟进行测试时也可以使用，该模拟使用四个不同的代码和子网格物理实现。使用诸如浓度和最大循环速度之类的光环特性允许我们的模型提取更多信息，而牺牲了模型的鲁棒性。这可能会发生，因为不同的N体代码不会在与这些参数相对应的相关尺度上收敛。

酒吧 - 希利尔的结构是正式语言理论的经典结果。它通过构造表明，无上下文语言与普通语言之间的相交本身是无上下文的。但是，其原始配方（Bar-Hillel等人，1961年）都不是其加权扩展（Nederhof和Satta，2003年）都无法使用$ \ epsilon $ -Arcs处理自动机。在此简短的说明中，我们将Bar-Hillel结构概括为即使自动机包含$ \ epsilon $ -Arcs，也可以正确计算交叉路口。我们进一步证明，我们的广义结构导致语法编码输入自动机和语法的结构，同时保留原始结构的渐近尺寸。