Democratization of AI means not only that people can freely use AI, but also that people can collectively decide how AI is to be used. In particular, collective decision-making power is required to redress the negative externalities from the development of increasingly advanced AI systems, including degradation of the digital commons and unemployment from automation. The rapid pace of AI development and deployment currently leaves little room for this power. Monopolized in the hands of private corporations, the development of the most capable foundation models has proceeded largely without public input. There is currently no implemented mechanism for ensuring that the economic value generated by such models is redistributed to account for their negative externalities. The citizens that have generated the data necessary to train models do not have input on how their data are to be used. In this work, we propose that a public data trust assert control over training data for foundation models. In particular, this trust should scrape the internet as a digital commons, to license to commercial model developers for a percentage cut of revenues from deployment. First, we argue in detail for the existence of such a trust. We also discuss feasibility and potential risks. Second, we detail a number of ways for a data trust to incentivize model developers to use training data only from the trust. We propose a mix of verification mechanisms, potential regulatory action, and positive incentives. We conclude by highlighting other potential benefits of our proposed data trust and connecting our work to ongoing efforts in data and compute governance.

We present Myriad, a testbed written in JAX which enables machine learning researchers to benchmark imitation learning and reinforcement learning algorithms against trajectory optimization-based methods in real-world environments. Myriad contains 17 optimal control problems presented in continuous time which span medicine, ecology, epidemiology, and engineering. As such, Myriad strives to serve as a stepping stone towards application of modern machine learning techniques for impactful real-world tasks. The repository also provides machine learning practitioners access to trajectory optimization techniques, not only for standalone use, but also for integration within a typical automatic differentiation workflow. Indeed, the combination of classical control theory and deep learning in a fully GPU-compatible package unlocks potential for new algorithms to arise. We present one such novel approach for use in dynamics learning and control tasks. Trained in a fully end-to-end fashion, our model leverages an implicit planning module over neural ordinary differential equations, enabling simultaneous learning and planning with unknown environment dynamics. All environments, optimizers and tools are available in the software package at \url{https://github.com/nikihowe/myriad}.

Data efficiency is a key challenge for deep reinforcement learning. We address this problem by using unlabeled data to pretrain an encoder which is then finetuned on a small amount of task-specific data. To encourage learning representations which capture diverse aspects of the underlying MDP, we employ a combination of latent dynamics modelling and unsupervised goal-conditioned RL. When limited to 100k steps of interaction on Atari games (equivalent to two hours of human experience), our approach significantly surpasses prior work combining offline representation pretraining with task-specific finetuning, and compares favourably with other pretraining methods that require orders of magnitude more data. Our approach shows particular promise when combined with larger models as well as more diverse, task-aligned observational data -- approaching human-level performance and data-efficiency on Atari in our best setting.

One of the principal scientific challenges in deep learning is explaining generalization, i.e., why the particular way the community now trains networks to achieve small training error also leads to small error on held-out data from the same population. It is widely appreciated that some worst-case theories -- such as those based on the VC dimension of the class of predictors induced by modern neural network architectures -- are unable to explain empirical performance. A large volume of work aims to close this gap, primarily by developing bounds on generalization error, optimization error, and excess risk. When evaluated empirically, however, most of these bounds are numerically vacuous. Focusing on generalization bounds, this work addresses the question of how to evaluate such bounds empirically. Jiang et al. (2020) recently described a large-scale empirical study aimed at uncovering potential causal relationships between bounds/measures and generalization. Building on their study, we highlight where their proposed methods can obscure failures and successes of generalization measures in explaining generalization. We argue that generalization measures should instead be evaluated within the framework of distributional robustness.