AI is undergoing a paradigm shift with the rise of models (e.g., BERT, DALL-E, GPT-3) that are trained on broad data at scale and are adaptable to a wide range of downstream tasks. We call these models foundation models to underscore their critically central yet incomplete character. This report provides a thorough account of the opportunities and risks of foundation models, ranging from their capabilities (e.g., language, vision, robotics, reasoning, human interaction) and technical principles (e.g., model architectures, training procedures, data, systems, security, evaluation, theory) to their applications (e.g., law, healthcare, education) and societal impact (e.g., inequity, misuse, economic and environmental impact, legal and ethical considerations). Though foundation models are based on standard deep learning and transfer learning, their scale results in new emergent capabilities, and their effectiveness across so many tasks incentivizes homogenization. Homogenization provides powerful leverage but demands caution, as the defects of the foundation model are inherited by all the adapted models downstream. Despite the impending widespread deployment of foundation models, we currently lack a clear understanding of how they work, when they fail, and what they are even capable of due to their emergent properties. To tackle these questions, we believe much of the critical research on foundation models will require deep interdisciplinary collaboration commensurate with their fundamentally sociotechnical nature.

We propose a neural multi-document summarization (MDS) system that incorporates sentence relation graphs. We employ a Graph Convolutional Network (GCN) on the relation graphs, with sentence embeddings obtained from Recurrent Neural Networks as input node features. Through multiple layer-wise propagation, the GCN generates high-level hidden sentence features for salience estimation. We then use a greedy heuristic to extract salient sentences while avoiding redundancy. In our experiments on DUC 2004, we consider three types of sentence relation graphs and demonstrate the advantage of combining sentence relations in graphs with the representation power of deep neural networks. Our model improves upon traditional graph-based extractive approaches and the vanilla GRU sequence model with no graph, and it achieves competitive results against other state-of-the-art multidocument summarization systems.

No abstract

Biomedical researchers are generating high-throughput, high-dimensional single-cell 5 data at a staggering rate. As costs of data generation decrease, experimental design is mov-6 ing towards measurement of many different single-cell samples in the same dataset. These 7 samples can correspond to different patients, conditions, or treatments. While scalability of 8 methods to datasets of these sizes is a challenge on its own, dealing with large-scale exper-9 imental design presents a whole new set of problems, including batch effects and sample 10 1 .

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. It is non-trivial to manually design a robot controller that combines these modalities which have very different characteristics. While deep reinforcement learning has shown success in learning control policies for high-dimensional inputs, these algorithms are generally intractable to deploy on real robots due to sample complexity. In this work, we use self-supervision to learn a compact and multimodal representation of our sensory inputs, which can then be used to improve the sample efficiency of our policy learning. Evaluating our method on a peg insertion task, we show that it generalizes over varying geometries, configurations, and clearances, while being robust to external perturbations. We also systematically study different self-supervised learning objectives and representation learning architectures. Results are presented in simulation and on a physical robot.

No abstract

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. However, it is non-trivial to manually design a robot controller that combines modalities with very different characteristics. While deep reinforcement learning has shown success in learning control policies for high-dimensional inputs, these algorithms are generally intractable to deploy on real robots due to sample complexity. We use self-supervision to learn a compact and multimodal representation of our sensory inputs, which can then be used to improve the sample efficiency of our policy learning. We evaluate our method on a peg insertion task, generalizing over different geometry, configurations, and clearances, while being robust to external perturbations. We present results in simulation and on a real robot. * Authors have contributed equally and names are in alphabetical order.Authors are with the Department of Computer Science, Stanford University. [mishlee,yukez,krshna,pshah9,ssilvio,feifeili, animeshg,bohg]@stanford.edu. A. Garg is also at Nvidia, USA.

No abstract