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Publications
Deployment of digital technologies in African cities: emerging issues and policy recommendations for local governments
This chapter explores the foundational concept of robustness in Machine Learning (ML) and its integral role in establishing trustworthiness … (see more)in Artificial Intelligence (AI) systems. The discussion begins with a detailed definition of robustness, portraying it as the ability of ML models to maintain stable performance across varied and unexpected environmental conditions. ML robustness is dissected through several lenses: its complementarity with generalizability; its status as a requirement for trustworthy AI; its adversarial vs non-adversarial aspects; its quantitative metrics; and its indicators such as reproducibility and explainability. The chapter delves into the factors that impede robustness, such as data bias, model complexity, and the pitfalls of underspecified ML pipelines. It surveys key techniques for robustness assessment from a broad perspective, including adversarial attacks, encompassing both digital and physical realms. It covers non-adversarial data shifts and nuances of Deep Learning (DL) software testing methodologies. The discussion progresses to explore amelioration strategies for bolstering robustness, starting with data-centric approaches like debiasing and augmentation. Further examination includes a variety of model-centric methods such as transfer learning, adversarial training, and randomized smoothing. Lastly, post-training methods are discussed, including ensemble techniques, pruning, and model repairs, emerging as cost-effective strategies to make models more resilient against the unpredictable. This chapter underscores the ongoing challenges and limitations in estimating and achieving ML robustness by existing approaches. It offers insights and directions for future research on this crucial concept, as a prerequisite for trustworthy AI systems.
We introduce RecurrentGemma, a family of open language models which uses Google's novel Griffin architecture. Griffin combines linear recurr… (see more)ences with local attention to achieve excellent performance on language. It has a fixed-sized state, which reduces memory use and enables efficient inference on long sequences. We provide two sizes of models, containing 2B and 9B parameters, and provide pre-trained and instruction tuned variants for both. Our models achieve comparable performance to similarly-sized Gemma baselines despite being trained on fewer tokens.
Evaluating autonomous vehicle stacks (AVs) in simulation typically involves replaying driving logs from real-world recorded traffic. However… (see more), agents replayed from offline data are not reactive and hard to intuitively control. Existing approaches address these challenges by proposing methods that rely on heuristics or generative models of real-world data but these approaches either lack realism or necessitate costly iterative sampling procedures to control the generated behaviours. In this work, we take an alternative approach and propose CtRL-Sim, a method that leverages return-conditioned offline reinforcement learning (RL) to efficiently generate reactive and controllable traffic agents. Specifically, we process real-world driving data through a physics-enhanced Nocturne simulator to generate a diverse offline RL dataset, annotated with various rewards. With this dataset, we train a return-conditioned multi-agent behaviour model that allows for fine-grained manipulation of agent behaviours by modifying the desired returns for the various reward components. This capability enables the generation of a wide range of driving behaviours beyond the scope of the initial dataset, including adversarial behaviours. We show that CtRL-Sim can generate realistic safety-critical scenarios while providing fine-grained control over agent behaviours.
As applications of machine learning proliferate, innovative algorithms inspired by specific real-world challenges have become increasingly i… (see more)mportant. Such work offers the potential for significant impact not merely in domains of application but also in machine learning itself. In this paper, we describe the paradigm of application-driven research in machine learning, contrasting it with the more standard paradigm of methods-driven research. We illustrate the benefits of application-driven machine learning and how this approach can productively synergize with methods-driven work. Despite these benefits, we find that reviewing, hiring, and teaching practices in machine learning often hold back application-driven innovation. We outline how these processes may be improved.
Recent progress in large language models (LLMs) has led to their widespread adoption in various domains. However, these advancements have al… (see more)so introduced additional safety risks and raised concerns regarding their detrimental impact on already marginalized populations. Despite growing mitigation efforts to develop safety safeguards, such as supervised safety-oriented fine-tuning and leveraging safe reinforcement learning from human feedback, multiple concerns regarding the safety and ingrained biases in these models remain. Furthermore, previous work has demonstrated that models optimized for safety often display exaggerated safety behaviors, such as a tendency to refrain from responding to certain requests as a precautionary measure. As such, a clear trade-off between the helpfulness and safety of these models has been documented in the literature. In this paper, we further investigate the effectiveness of safety measures by evaluating models on already mitigated biases. Using the case of Llama 2 as an example, we illustrate how LLMs' safety responses can still encode harmful assumptions. To do so, we create a set of non-toxic prompts, which we then use to evaluate Llama models. Through our new taxonomy of LLMs responses to users, we observe that the safety/helpfulness trade-offs are more pronounced for certain demographic groups which can lead to quality-of-service harms for marginalized populations.
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and … (see more)robust robotic manipulation policies. However, creating such datasets is challenging: collecting robot manipulation data in diverse environments poses logistical and safety challenges and requires substantial investments in hardware and human labour. As a result, even the most general robot manipulation policies today are mostly trained on data collected in a small number of environments with limited scene and task diversity. In this work, we introduce DROID (Distributed Robot Interaction Dataset), a diverse robot manipulation dataset with 76k demonstration trajectories or 350 hours of interaction data, collected across 564 scenes and 84 tasks by 50 data collectors in North America, Asia, and Europe over the course of 12 months. We demonstrate that training with DROID leads to policies with higher performance and improved generalization ability. We open source the full dataset, policy learning code, and a detailed guide for reproducing our robot hardware setup.
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and … (see more)robust robotic manipulation policies. However, creating such datasets is challenging: collecting robot manipulation data in diverse environments poses logistical and safety challenges and requires substantial investments in hardware and human labour. As a result, even the most general robot manipulation policies today are mostly trained on data collected in a small number of environments with limited scene and task diversity. In this work, we introduce DROID (Distributed Robot Interaction Dataset), a diverse robot manipulation dataset with 76k demonstration trajectories or 350 hours of interaction data, collected across 564 scenes and 84 tasks by 50 data collectors in North America, Asia, and Europe over the course of 12 months. We demonstrate that training with DROID leads to policies with higher performance and improved generalization ability. We open source the full dataset, policy learning code, and a detailed guide for reproducing our robot hardware setup.
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and … (see more)robust robotic manipulation policies. However, creating such datasets is challenging: collecting robot manipulation data in diverse environments poses logistical and safety challenges and requires substantial investments in hardware and human labour. As a result, even the most general robot manipulation policies today are mostly trained on data collected in a small number of environments with limited scene and task diversity. In this work, we introduce DROID (Distributed Robot Interaction Dataset), a diverse robot manipulation dataset with 76k demonstration trajectories or 350 hours of interaction data, collected across 564 scenes and 84 tasks by 50 data collectors in North America, Asia, and Europe over the course of 12 months. We demonstrate that training with DROID leads to policies with higher performance and improved generalization ability. We open source the full dataset, policy learning code, and a detailed guide for reproducing our robot hardware setup.
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and … (see more)robust robotic manipulation policies. However, creating such datasets is challenging: collecting robot manipulation data in diverse environments poses logistical and safety challenges and requires substantial investments in hardware and human labour. As a result, even the most general robot manipulation policies today are mostly trained on data collected in a small number of environments with limited scene and task diversity. In this work, we introduce DROID (Distributed Robot Interaction Dataset), a diverse robot manipulation dataset with 76k demonstration trajectories or 350 hours of interaction data, collected across 564 scenes and 84 tasks by 50 data collectors in North America, Asia, and Europe over the course of 12 months. We demonstrate that training with DROID leads to policies with higher performance and improved generalization ability. We open source the full dataset, policy learning code, and a detailed guide for reproducing our robot hardware setup.
