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In this paper, we propose a flexible SLAM framework, XRDSLAM. It adopts a modular code design and a multi-process running mechanism, providing highly reusable foundational modules such as unified dataset management, 3d visualization, algorithm configuration, and metrics evaluation. It can help developers quickly build a complete SLAM system, flexibly combine different algorithm modules, and conduct standardized benchmarking for accuracy and efficiency comparison. Within this framework, we integrate several state-of-the-art SLAM algorithms with different types, including NeRF and 3DGS based SLAM, and even odometry or reconstruction algorithms, which demonstrates the flexibility and extensibility. We also conduct a comprehensive comparison and evaluation of these integrated algorithms, analyzing the characteristics of each. Finally, we contribute all the code, configuration and data to the open-source community, which aims to promote the widespread research and development of SLAM technology within the open-source ecosystem.

We introduce jina-embeddings-v3, a novel text embedding model with 570 million parameters, achieves state-of-the-art performance on multilingual data and long-context retrieval tasks, supporting context lengths of up to 8192 tokens. The model includes a set of task-specific Low-Rank Adaptation (LoRA) adapters to generate high-quality embeddings for query-document retrieval, clustering, classification, and text matching. Evaluation on the MTEB benchmark shows that jina-embeddings-v3 outperforms the latest proprietary embeddings from OpenAI and Cohere on English tasks, while achieving superior performance compared to multilingual-e5-large-instruct across all multilingual tasks. With a default output dimension of 1024, users can flexibly reduce the embedding dimensions to as low as 32 without compromising performance, enabled by Matryoshka Representation Learning., Comment: 20 pages, pp11-13 references, pp14-20 appendix and experiment tables

Multi-vector dense models, such as ColBERT, have proven highly effective in information retrieval. ColBERT's late interaction scoring approximates the joint query-document attention seen in cross-encoders while maintaining inference efficiency closer to traditional dense retrieval models, thanks to its bi-encoder architecture and recent optimizations in indexing and search. In this work we propose a number of incremental improvements to the ColBERT model architecture and training pipeline, using methods shown to work in the more mature single-vector embedding model training paradigm, particularly those that apply to heterogeneous multilingual data or boost efficiency with little tradeoff. Our new model, Jina-ColBERT-v2, demonstrates strong performance across a range of English and multilingual retrieval tasks., Comment: 8 pages, references at pp7,8; EMNLP workshop submission

The extraction of Metal-Organic Frameworks (MOFs) synthesis conditions from literature text has been challenging but crucial for the logical design of new MOFs with desirable functionality. The recent advent of large language models (LLMs) provides disruptively new solution to this long-standing problem and latest researches have reported over 90% F1 in extracting correct conditions from MOFs literature. We argue in this paper that most existing synthesis extraction practices with LLMs stay with the primitive zero-shot learning, which could lead to downgraded extraction and application performance due to the lack of specialized knowledge. This work pioneers and optimizes the few-shot in-context learning paradigm for LLM extraction of material synthesis conditions. First, we propose a human-AI joint data curation process to secure high-quality ground-truth demonstrations for few-shot learning. Second, we apply a BM25 algorithm based on the retrieval-augmented generation (RAG) technique to adaptively select few-shot demonstrations for each MOF's extraction. Over a dataset randomly sampled from 84,898 well-defined MOFs, the proposed few-shot method achieves much higher average F1 performance (0.93 vs. 0.81, +14.8%) than the native zero-shot LLM using the same GPT-4 model, under fully automatic evaluation that are more objective than the previous human evaluation. The proposed method is further validated through real-world material experiments: compared with the baseline zero-shot LLM, the proposed few-shot approach increases the MOFs structural inference performance (R^2) by 29.4% in average.

Femtosecond laser ablation is a process that bears both fundamental physics interest and has wide industrial applications. For decades, the lack of probes on the relevant time and length scales has prevented access to the highly nonequilibrium phase decomposition processes triggered by laser excitation. Enabled by the unprecedented intense femtosecond X-ray pulses delivered by an X-ray free electron laser, we report here results of time-resolved small angle scattering measurements on the dynamics of nanoscale phase decomposition in thin gold films upon femtosecond laser-induced ablation. By analyzing the features imprinted onto the small angle diffraction patterns, the transient heterogeneous density distributions within the ablation plume as obtained from molecular dynamics simulations get direct experimental confirmation., Comment: Main manuscript with 32 pages incl. 9 figures + supplementary materials with 16 pages incl. 5 figures

Recent studies have demonstrated the effectiveness of using large language language models (LLMs) in passage ranking. The listwise approaches, such as RankGPT, have become new state-of-the-art in this task. However, the efficiency of RankGPT models is limited by the maximum context length and relatively high latency of LLM inference. To address these issues, in this paper, we propose PE-Rank, leveraging the single passage embedding as a good context compression for efficient listwise passage reranking. By treating each passage as a special token, we can directly input passage embeddings into LLMs, thereby reducing input length. Additionally, we introduce an inference method that dynamically constrains the decoding space to these special tokens, accelerating the decoding process. For adapting the model to reranking, we employ listwise learning to rank loss for training. Evaluation results on multiple benchmarks demonstrate that PE-Rank significantly improves efficiency in both prefilling and decoding, while maintaining competitive ranking effectiveness. {The Code is available at \url{https://github.com/liuqi6777/pe_rank}.}

Federated Edge Learning (FEEL) emerges as a pioneering distributed machine learning paradigm for the 6G Hyper-Connectivity, harnessing data from the Internet of Things (IoT) devices while upholding data privacy. However, current FEEL algorithms struggle with non-independent and non-identically distributed (non-IID) data, leading to elevated communication costs and compromised model accuracy. To address these statistical imbalances within FEEL, we introduce a clustered data sharing framework, mitigating data heterogeneity by selectively sharing partial data from cluster heads to trusted associates through sidelink-aided multicasting. The collective communication pattern is integral to FEEL training, where both cluster formation and the efficiency of communication and computation impact training latency and accuracy simultaneously. To tackle the strictly coupled data sharing and resource optimization, we decompose the overall optimization problem into the clients clustering and effective data sharing subproblems. Specifically, a distribution-based adaptive clustering algorithm (DACA) is devised basing on three deductive cluster forming conditions, which ensures the maximum sharing yield. Meanwhile, we design a stochastic optimization based joint computed frequency and shared data volume optimization (JFVO) algorithm, determining the optimal resource allocation with an uncertain objective function. The experiments show that the proposed framework facilitates FEEL on non-IID datasets with faster convergence rate and higher model accuracy in a limited communication environment.

Recently, 3D Gaussian Splatting (3DGS) has attracted widespread attention due to its high-quality rendering, and ultra-fast training and rendering speed. However, due to the unstructured and irregular nature of Gaussian point clouds, it is difficult to guarantee geometric reconstruction accuracy and multi-view consistency simply by relying on image reconstruction loss. Although many studies on surface reconstruction based on 3DGS have emerged recently, the quality of their meshes is generally unsatisfactory. To address this problem, we propose a fast planar-based Gaussian splatting reconstruction representation (PGSR) to achieve high-fidelity surface reconstruction while ensuring high-quality rendering. Specifically, we first introduce an unbiased depth rendering method, which directly renders the distance from the camera origin to the Gaussian plane and the corresponding normal map based on the Gaussian distribution of the point cloud, and divides the two to obtain the unbiased depth. We then introduce single-view geometric, multi-view photometric, and geometric regularization to preserve global geometric accuracy. We also propose a camera exposure compensation model to cope with scenes with large illumination variations. Experiments on indoor and outdoor scenes show that our method achieves fast training and rendering while maintaining high-fidelity rendering and geometric reconstruction, outperforming 3DGS-based and NeRF-based methods., Comment: project page: https://zju3dv.github.io/pgsr/

This paper focuses on the motion planning problem for the systems exhibiting both continuous and discrete behaviors, which we refer to as hybrid dynamical systems. Firstly, the motion planning problem for hybrid systems is formulated using the hybrid equation framework, which is general to capture most hybrid systems. Secondly, a propagation algorithm template is proposed that describes a general framework to solve the motion planning problem for hybrid systems. Thirdly, a rapidly-exploring random trees (RRT) implementation of the proposed algorithm template is designed to solve the motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HyRRT, randomly picks a state sample and extends the search tree by flow or jump, which is also chosen randomly when both regimes are possible. Through a definition of concatenation of functions defined on hybrid time domains, we show that HyRRT is probabilistically complete, namely, the probability of failing to find a motion plan approaches zero as the number of iterations of the algorithm increases. This property is guaranteed under mild conditions on the data defining the motion plan, which include a relaxation of the usual positive clearance assumption imposed in the literature of classical systems. The motion plan is computed through the solution of two optimization problems, one associated with the flow and the other with the jumps of the system. The proposed algorithm is applied to an actuated bouncing ball system and a walking robot system so as to highlight its generality and computational features., Comment: 33 pages, 8 figures. Submitted to IJRR. arXiv admin note: text overlap with arXiv:2210.15082

Graph-Level Anomaly Detection (GLAD) aims to distinguish anomalous graphs within a graph dataset. However, current methods are constrained by their receptive fields, struggling to learn global features within the graphs. Moreover, most contemporary methods are based on spatial domain and lack exploration of spectral characteristics. In this paper, we propose a multi-perspective hybrid graph-level anomaly detector namely GLADformer, consisting of two key modules. Specifically, we first design a Graph Transformer module with global spectrum enhancement, which ensures balanced and resilient parameter distributions by fusing global features and spectral distribution characteristics. Furthermore, to uncover local anomalous attributes, we customize a band-pass spectral GNN message passing module that further enhances the model's generalization capability. Through comprehensive experiments on ten real-world datasets from multiple domains, we validate the effectiveness and robustness of GLADformer. This demonstrates that GLADformer outperforms current state-of-the-art models in graph-level anomaly detection, particularly in effectively capturing global anomaly representations and spectral characteristics.

Contrastive Language-Image Pretraining (CLIP) is widely used to train models to align images and texts in a common embedding space by mapping them to fixed-sized vectors. These models are key to multimodal information retrieval and related tasks. However, CLIP models generally underperform in text-only tasks compared to specialized text models. This creates inefficiencies for information retrieval systems that keep separate embeddings and models for text-only and multimodal tasks. We propose a novel, multi-task contrastive training method to address this issue, which we use to train the jina-clip-v1 model to achieve the state-of-the-art performance on both text-image and text-text retrieval tasks., Comment: 4 pages, MFM-EAI@ICML2024

In this paper, we innovatively develop uniform/variable-time-step weighted and shifted BDF2 (WSBDF2) methods for the anisotropic Cahn-Hilliard (CH) model, combining the scalar auxiliary variable (SAV) approach with two types of stabilized techniques. Using the concept of $G$-stability, the uniform-time-step WSBDF2 method is theoretically proved to be energy-stable. Due to the inapplicability of the relevant G-stability properties, another technique is adopted in this work to demonstrate the energy stability of the variable-time-step WSBDF2 method. In addition, the two numerical schemes are all mass-conservative.Finally, numerous numerical simulations are presented to demonstrate the stability and accuracy of these schemes.

Advanced Persistent Threat (APT) is challenging to detect due to prolonged duration, infrequent occurrence, and adept concealment techniques. Existing approaches primarily concentrate on the observable traits of attack behaviors, neglecting the intricate relationships formed throughout the persistent attack lifecycle. Thus, we present an innovative APT detection framework named LTRDetector, implementing an end-to-end holistic operation. LTRDetector employs an innovative graph embedding technique to retain comprehensive contextual information, then derives long-term features from these embedded provenance graphs. During the process, we compress the data of the system provenance graph for effective feature learning. Furthermore, in order to detect attacks conducted by using zero-day exploits, we captured the system's regular behavior and detects abnormal activities without relying on predefined attack signatures. We also conducted extensive evaluations using five prominent datasets, the efficacy evaluation of which underscores the superiority of LTRDetector compared to existing state-of-the-art techniques.

This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Connect, propagates in both forward and backward directions in hybrid time until an overlap between the forward and backward propagation results is detected. Then, HyRRT-Connect constructs a motion plan through the reversal and concatenation of functions defined on hybrid time domains, ensuring the motion plan thoroughly satisfies the given hybrid dynamics. To address the potential discontinuity along the flow caused by tolerating some distance between the forward and backward partial motion plans, we reconstruct the backward partial motion plan by a forward-in-hybrid-time simulation from the final state of the forward partial motion plan. By applying the reversed input of the backward partial motion plan, the reconstruction process effectively eliminates the discontinuity and ensures that as the tolerance distance decreases to zero, the distance between the endpoint of the reconstructed motion plan and the final state set approaches zero. The proposed algorithm is applied to an actuated bouncing ball example and a walking robot example so as to highlight its generality and computational improvement., Comment: Accepted by the 8th IFAC International Conference on Analysis and Design of Hybrid Systems (ADHS 2024)

A multitude of substances exist as mixtures comprising multiple chemical components in the natural world. These substances undergo morphological changes under external influences. the phase field model coupled with fluid flow, the dynamic movement and evolution of the phase interface intricately interact with the fluid motion. This article focuses on the N-component models that couple the conservative Allen-Cahn equation with two types of incompressible fluid flow systems: the Navier-Stokes equation and the Darcy equation. By utilizing the scalar auxiliary variable method and the projection method, we innovatively construct two types of structure-preserving weighted implicit-explicit schemes for the coupled models, resulting in fully decoupled linear systems and second-order accuracy in time. The schemes are proved to be mass-conservative. In addition, with the application of $G$-norm inspired by the idea of $G$-stability, we rigorously establish its unconditional energy stability. Finally, the performance of the proposed scheme is verified by some numerical simulations.

We introduce a novel suite of state-of-the-art bilingual text embedding models that are designed to support English and another target language. These models are capable of processing lengthy text inputs with up to 8192 tokens, making them highly versatile for a range of natural language processing tasks such as text retrieval, clustering, and semantic textual similarity (STS) calculations. By focusing on bilingual models and introducing a unique multi-task learning objective, we have significantly improved the model performance on STS tasks, which outperforms the capabilities of existing multilingual models in both target language understanding and cross-lingual evaluation tasks. Moreover, our bilingual models are more efficient, requiring fewer parameters and less memory due to their smaller vocabulary needs. Furthermore, we have expanded the Massive Text Embedding Benchmark (MTEB) to include benchmarks for German and Spanish embedding models. This integration aims to stimulate further research and advancement in text embedding technologies for these languages.

Long-term fetal heart rate (FHR) monitoring during the antepartum period, increasingly popularized by electronic FHR monitoring, represents a growing approach in FHR monitoring. This kind of continuous monitoring, in contrast to the short-term one, collects an extended period of fetal heart data. This offers a more comprehensive understanding of fetus's conditions. However, the interpretation of long-term antenatal fetal heart monitoring is still in its early stages, lacking corresponding clinical standards. Furthermore, the substantial amount of data generated by continuous monitoring imposes a significant burden on clinical work when analyzed manually. To address above challenges, this study develops an automatic analysis system named LARA (Long-term Antepartum Risk Analysis system) for continuous FHR monitoring, combining deep learning and information fusion methods. LARA's core is a well-established convolutional neural network (CNN) model. It processes long-term FHR data as input and generates a Risk Distribution Map (RDM) and Risk Index (RI) as the analysis results. We evaluate LARA on inner test dataset, the performance metrics are as follows: AUC 0.872, accuracy 0.816, specificity 0.811, sensitivity 0.806, precision 0.271, and F1 score 0.415. In our study, we observe that long-term FHR monitoring data with higher RI is more likely to result in adverse outcomes (p=0.0021). In conclusion, this study introduces LARA, the first automated analysis system for long-term FHR monitoring, initiating the further explorations into its clinical value in the future.

In recent years, object detection utilizing both visible (RGB) and thermal infrared (IR) imagery has garnered extensive attention and has been widely implemented across a diverse array of fields. By leveraging the complementary properties between RGB and IR images, the object detection task can achieve reliable and robust object localization across a variety of lighting conditions, from daytime to nighttime environments. Most existing multi-modal object detection methods directly input the RGB and IR images into deep neural networks, resulting in inferior detection performance. We believe that this issue arises not only from the challenges associated with effectively integrating multimodal information but also from the presence of redundant features in both the RGB and IR modalities. The redundant information of each modality will exacerbates the fusion imprecision problems during propagation. To address this issue, we draw inspiration from the human brain's mechanism for processing multimodal information and propose a novel coarse-to-fine perspective to purify and fuse features from both modalities. Specifically, following this perspective, we design a Redundant Spectrum Removal module to remove interfering information within each modality coarsely and a Dynamic Feature Selection module to finely select the desired features for feature fusion. To verify the effectiveness of the coarse-to-fine fusion strategy, we construct a new object detector called the Removal then Selection Detector (RSDet). Extensive experiments on three RGB-IR object detection datasets verify the superior performance of our method., Comment: 11pages, 10figures

Heterogeneous graph few-shot learning (HGFL) has been developed to address the label sparsity issue in heterogeneous graphs (HGs), which consist of various types of nodes and edges. The core concept of HGFL is to extract knowledge from rich-labeled classes in a source HG, transfer this knowledge to a target HG to facilitate learning new classes with few-labeled training data, and finally make predictions on unlabeled testing data. Existing methods typically assume that the source HG, training data, and testing data all share the same distribution. However, in practice, distribution shifts among these three types of data are inevitable due to two reasons: (1) the limited availability of the source HG that matches the target HG distribution, and (2) the unpredictable data generation mechanism of the target HG. Such distribution shifts result in ineffective knowledge transfer and poor learning performance in existing methods, thereby leading to a novel problem of out-of-distribution (OOD) generalization in HGFL. To address this challenging problem, we propose a novel Causal OOD Heterogeneous graph Few-shot learning model, namely COHF. In COHF, we first characterize distribution shifts in HGs with a structural causal model, establishing an invariance principle for OOD generalization in HGFL. Then, following this invariance principle, we propose a new variational autoencoder-based heterogeneous graph neural network to mitigate the impact of distribution shifts. Finally, by integrating this network with a novel meta-learning framework, COHF effectively transfers knowledge to the target HG to predict new classes with few-labeled data. Extensive experiments on seven real-world datasets have demonstrated the superior performance of COHF over the state-of-the-art methods.

We demonstrate that the absorption of femtosecond x-ray pulses can excite quasi-spherical high-wavevector coherent acoustic phonon wavepackets using an all x-ray pump and probe scattering experiment. The time- and momentum-resolved diffuse scattering signal is consistent with strain pulses induced by the rapid electron cascade dynamics following photoionization at uncorrelated excitation centers. We quantify key parameters of this process, including the localization size of the strain wavepacket and the energy absorption efficiency, which are determined by the photoelectron and Auger electron cascade dynamics, as well as the electron-phonon interaction. In particular, we obtain the localization size of the observed strain wave packet to be 1.5 and 2.5 nm for bulk SrTiO$_3$ and KTaO$_3$ single crystals, even though there are no nanoscale structures or light-intensity patterns that would ordinarily be required to generate acoustic waves of wavelengths much shorter than the penetration depth. Whereas in GaAs and GaP we do not observe a signal above background. The results provide crucial information on x-ray matter interactions, which sheds light on the mechanism of x-ray energy deposition, and the study of high wavevector acoustic phonons and thermal transport at the nanoscale.

Purpose: This study aims to develop a high-resolution whole-brain multi-parametric quantitative MRI approach for simultaneous mapping of myelin-water fraction (MWF), T1, T2, and proton-density (PD), all within a clinically feasible scan time. Methods: We developed 3D ViSTa-MRF, which combined Visualization of Short Transverse relaxation time component (ViSTa) technique with MR Fingerprinting (MRF), to achieve high-fidelity whole-brain MWF and T1/T2/PD mapping on a clinical 3T scanner. To achieve fast acquisition and memory-efficient reconstruction, the ViSTa-MRF sequence leverages an optimized 3D tiny-golden-angle-shuffling spiral-projection acquisition and joint spatial-temporal subspace reconstruction with optimized preconditioning algorithm. With the proposed ViSTa-MRF approach, high-fidelity direct MWF mapping was achieved without a need for multi-compartment fitting that could introduce bias and/or noise from additional assumptions or priors. Results: The in-vivo results demonstrate the effectiveness of the proposed acquisition and reconstruction framework to provide fast multi-parametric mapping with high SNR and good quality. The in-vivo results of 1mm- and 0.66mm-iso datasets indicate that the MWF values measured by the proposed method are consistent with standard ViSTa results that are 30x slower with lower SNR. Furthermore, we applied the proposed method to enable 5-minute whole-brain 1mm-iso assessment of MWF and T1/T2/PD mappings for infant brain development and for post-mortem brain samples. Conclusions: In this work, we have developed a 3D ViSTa-MRF technique that enables the acquisition of whole-brain MWF, quantitative T1, T2, and PD maps at 1mm and 0.66mm isotropic resolution in 5 and 15 minutes, respectively. This advancement allows for quantitative investigations of myelination changes in the brain., Comment: 38 pages, 12 figures and 1 table

Glass forming liquids exhibit structural relaxation behaviors, reflecting underlying atomic rearrangements on a wide range of timescales. These behaviors play a crucial role in determining many material properties. However, the relaxation processes on the atomic scale are not well understood due to the experimental difficulties in directly characterizing the evolving correlations of atomic order in disordered systems. Here, taking the model system Ge15Te85, we demonstrate an experimental approach that probes the relaxation dynamics by scattering the coherent X-ray pulses with femtosecond duration produced by X-ray free electron lasers (XFELs). By collecting the summed speckle patterns from two rapidly successive, nearly identical X-ray pulses generated using a split-delay system, we can extract the contrast decay of speckle patterns originating from sample dynamics and observe the full decorrelation of local order on the sub-picosecond timescale. This provides the direct atomic-level evidence of fragile liquid behavior of Ge15Te85. Our results demonstrate the strategy for XFEL-based X-ray photon correlation spectroscopy (XPCS), attaining femtosecond temporal and atomic-scale spatial resolutions. This twelve orders of magnitude extension from the millisecond regime of synchrotron-based XPCS opens a new avenue of experimental studies of relaxation dynamics in liquids, glasses, and other highly disordered systems.

Graph-based fraud detection (GFD) can be regarded as a challenging semi-supervised node binary classification task. In recent years, Graph Neural Networks (GNN) have been widely applied to GFD, characterizing the anomalous possibility of a node by aggregating neighbor information. However, fraud graphs are inherently heterophilic, thus most of GNNs perform poorly due to their assumption of homophily. In addition, due to the existence of heterophily and class imbalance problem, the existing models do not fully utilize the precious node label information. To address the above issues, this paper proposes a semi-supervised GNN-based fraud detector SEC-GFD. This detector includes a hybrid filtering module and a local environmental constraint module, the two modules are utilized to solve heterophily and label utilization problem respectively. The first module starts from the perspective of the spectral domain, and solves the heterophily problem to a certain extent. Specifically, it divides the spectrum into various mixed-frequency bands based on the correlation between spectrum energy distribution and heterophily. Then in order to make full use of the node label information, a local environmental constraint module is adaptively designed. The comprehensive experimental results on four real-world fraud detection datasets denote that SEC-GFD outperforms other competitive graph-based fraud detectors. We release our code at https://github.com/Sunxkissed/SEC-GFD.

Graph anomaly detection plays a crucial role in identifying exceptional instances in graph data that deviate significantly from the majority. It has gained substantial attention in various domains of information security, including network intrusion, financial fraud, and malicious comments, et al. Existing methods are primarily developed in an unsupervised manner due to the challenge in obtaining labeled data. For lack of guidance from prior knowledge in unsupervised manner, the identified anomalies may prove to be data noise or individual data instances. In real-world scenarios, a limited batch of labeled anomalies can be captured, making it crucial to investigate the few-shot problem in graph anomaly detection. Taking advantage of this potential, we propose a novel few-shot Graph Anomaly Detection model called FMGAD (Few-shot Message-Enhanced Contrastive-based Graph Anomaly Detector). FMGAD leverages a self-supervised contrastive learning strategy within and across views to capture intrinsic and transferable structural representations. Furthermore, we propose the Deep-GNN message-enhanced reconstruction module, which extensively exploits the few-shot label information and enables long-range propagation to disseminate supervision signals to deeper unlabeled nodes. This module in turn assists in the training of self-supervised contrastive learning. Comprehensive experimental results on six real-world datasets demonstrate that FMGAD can achieve better performance than other state-of-the-art methods, regardless of artificially injected anomalies or domain-organic anomalies.

Conversational Recommender Systems (CRS) actively elicit user preferences to generate adaptive recommendations. Mainstream reinforcement learning-based CRS solutions heavily rely on handcrafted reward functions, which may not be aligned with user intent in CRS tasks. Therefore, the design of task-specific rewards is critical to facilitate CRS policy learning, which remains largely under-explored in the literature. In this work, we propose a novel approach to address this challenge by learning intrinsic rewards from interactions with users. Specifically, we formulate intrinsic reward learning as a multi-objective bi-level optimization problem. The inner level optimizes the CRS policy augmented by the learned intrinsic rewards, while the outer level drives the intrinsic rewards to optimize two CRS-specific objectives: maximizing the success rate and minimizing the number of turns to reach a successful recommendation in conversations. To evaluate the effectiveness of our approach, we conduct extensive experiments on three public CRS benchmarks. The results show that our algorithm significantly improves CRS performance by exploiting informative learned intrinsic rewards., Comment: 11 pages

Text embedding models have emerged as powerful tools for transforming sentences into fixed-sized feature vectors that encapsulate semantic information. While these models are essential for tasks like information retrieval, semantic clustering, and text re-ranking, most existing open-source models, especially those built on architectures like BERT, struggle to represent lengthy documents and often resort to truncation. One common approach to mitigate this challenge involves splitting documents into smaller paragraphs for embedding. However, this strategy results in a much larger set of vectors, consequently leading to increased memory consumption and computationally intensive vector searches with elevated latency. To address these challenges, we introduce Jina Embeddings 2, an open-source text embedding model capable of accommodating up to 8192 tokens. This model is designed to transcend the conventional 512-token limit and adeptly process long documents. Jina Embeddings 2 not only achieves state-of-the-art performance on a range of embedding-related tasks in the MTEB benchmark but also matches the performance of OpenAI's proprietary ada-002 model. Additionally, our experiments indicate that an extended context can enhance performance in tasks such as NarrativeQA., Comment: 14 pages

It is typically challenging for visual or visual-inertial odometry systems to handle the problems of dynamic scenes and pure rotation. In this work, we design a novel visual-inertial odometry (VIO) system called RD-VIO to handle both of these two problems. Firstly, we propose an IMU-PARSAC algorithm which can robustly detect and match keypoints in a two-stage process. In the first state, landmarks are matched with new keypoints using visual and IMU measurements. We collect statistical information from the matching and then guide the intra-keypoint matching in the second stage. Secondly, to handle the problem of pure rotation, we detect the motion type and adapt the deferred-triangulation technique during the data-association process. We make the pure-rotational frames into the special subframes. When solving the visual-inertial bundle adjustment, they provide additional constraints to the pure-rotational motion. We evaluate the proposed VIO system on public datasets and online comparison. Experiments show the proposed RD-VIO has obvious advantages over other methods in dynamic environments. The source code is available at: \href{https://github.com/openxrlab/xrslam}{{\fontfamily{pcr}\selectfont https://github.com/openxrlab/xrslam}}.

We propose a novel smearing scheme which gives a Gaussian-like profile and is more efficient than the traditional Gaussian smearing in terms of computer time consumption. We also carry out a detailed analysis of the profiles, smearing sizes, and the behaviors of hadron effective masses of different smearing schemes, and point out that having a sufficient number of gauge paths in a smearing scheme is essential to produce strong smearing effects. For a moderate smearing size $\bar{r}\sim 10a$, the time cost for the novel smearing is less than $1/8$ of that for the traditional Gaussian smearing. In practical lattice calculations with larger smearing sizes or finer lattice spacings the improvement will be more substantial.

Dense SLAM based on monocular cameras does indeed have immense application value in the field of AR/VR, especially when it is performed on a mobile device. In this paper, we propose a novel method that integrates a light-weight depth completion network into a sparse SLAM system using a multi-basis depth representation, so that dense mapping can be performed online even on a mobile phone. Specifically, we present a specifically optimized multi-basis depth completion network, called BBC-Net, tailored to the characteristics of traditional sparse SLAM systems. BBC-Net can predict multiple balanced bases and a confidence map from a monocular image with sparse points generated by off-the-shelf keypoint-based SLAM systems. The final depth is a linear combination of predicted depth bases that can be optimized by tuning the corresponding weights. To seamlessly incorporate the weights into traditional SLAM optimization and ensure efficiency and robustness, we design a set of depth weight factors, which makes our network a versatile plug-in module, facilitating easy integration into various existing sparse SLAM systems and significantly enhancing global depth consistency through bundle adjustment. To verify the portability of our method, we integrate BBC-Net into two representative SLAM systems. The experimental results on various datasets show that the proposed method achieves better performance in monocular dense mapping than the state-of-the-art methods. We provide an online demo running on a mobile phone, which verifies the efficiency and mapping quality of the proposed method in real-world scenarios.

The introduction and advancements in Local Differential Privacy (LDP) variants have become a cornerstone in addressing the privacy concerns associated with the vast data produced by smart devices, which forms the foundation for data-driven decision-making in crowdsensing. While harnessing the power of these immense data sets can offer valuable insights, it simultaneously poses significant privacy risks for the users involved. LDP, a distinguished privacy model with a decentralized architecture, stands out for its capability to offer robust privacy assurances for individual users during data collection and analysis. The essence of LDP is its method of locally perturbing each user's data on the client-side before transmission to the server-side, safeguarding against potential privacy breaches at both ends. This article offers an in-depth exploration of LDP, emphasizing its models, its myriad variants, and the foundational structure of LDP algorithms.

This paper delves into the intricate landscape of privacy notions, specifically honed in on the local setting. Central to our discussion is the juxtaposition of point-wise protection and average-case protection, offering a comparative analysis that highlights the strengths and trade-offs inherent to each approach. Beyond this, we delineate between context-aware and context-free notions, examining the implications of both in diverse application scenarios. The study further differentiates between the interactive and non-interactive models, illuminating the complexities and nuances each model introduces. By systematically navigating these core themes, our goal is to provide a cohesive framework that aids researchers and practitioners in discerning the most suitable privacy notions for their specific requirements in the local setting.

We present a variety of structures formed by colloidal droplets at a nematic liquid crystal-air interface, where the elastic dipole-dipole, quadrupole-quadrupole, and dipole-quadrupole interactions are all essentially involved. The colloidal structures observed not only include chains with kinks or clusters, but also comprise directional structures, such as directional chains and branches, whose direction is associated with the tilting director in the liquid crystal layer. The dipole-quadrupole interaction, originating from the polydispersity of the droplets, plays a central role for the formation of these directional structures. Clusters consisting of directional branches and chains are also observed and found to be fractal statistically., Comment: Liquid Crystals (2023)

We study THz-driven condensate dynamics in epitaxial thin films of MgB$_{2}$, a prototype two-band superconductor (SC) with weak interband coupling. The temperature and excitation density dependent dynamics follow the behavior predicted by the phenomenological bottleneck model for the single-gap SC, implying adiabatic coupling between the two condensates on the ps timescale. The amplitude of the THz-driven suppression of condensate density reveals an unexpected decrease in pair-breaking efficiency with increasing temperature - unlike in the case of optical excitation. The reduced pair-breaking efficiency of narrow-band THz pulses, displaying minimum near $\approx0.7$ T$_{c}$, is attributed to THz-driven, long-lived, non-thermal quasiparticle distribution, resulting in Eliashberg-type enhancement of superconductivity, competing with pair-breaking.

There has a major problem in the current theory of hypothesis testing in which no unified indicator to evaluate the goodness of various test methods since the cost function or utility function usually relies on the specific application scenario, resulting in no optimal hypothesis testing method. In this paper, the problem of optimal hypothesis testing is investigated based on information theory. We propose an information-theoretic framework of hypothesis testing consisting of five parts: test information (TI) is proposed to evaluate the hypothesis testing, which depends on the a posteriori probability distribution function of hypotheses and independent of specific test methods; accuracy with the unit of bit is proposed to evaluate the degree of validity of specific test methods; the sampling a posteriori (SAP) probability test method is presented, which makes stochastic selections on the hypotheses according to the a posteriori probability distribution of the hypotheses; the probability of test failure is defined to reflect the probability of the failed decision is made; test theorem is proved that all accuracy lower than the TI is achievable. Specifically, for every accuracy lower than TI, there exists a test method with the probability of test failure tending to zero. Conversely, there is no test method whose accuracy is more than TI. Numerical simulations are performed to demonstrate that the SAP test is asymptotically optimal. In addition, the results show that the accuracy of the SAP test and the existing test methods, such as the maximum a posteriori probability, expected a posteriori probability, and median a posteriori probability tests, are not more than TI.

Prompt engineering is an essential technique for enhancing the abilities of large language models (LLMs) by providing explicit and specific instructions. It enables LLMs to excel in various tasks, such as arithmetic reasoning, question answering, summarization, relation extraction, machine translation, and sentiment analysis. Researchers have been actively exploring different prompt engineering strategies, such as Chain of Thought (CoT), Zero-CoT, and In-context learning. However, an unresolved problem arises from the fact that current approaches lack a solid mathematical solution for determining optimal prompts. To address this issue in prompt engineering, we propose a new and effective approach called Prompt Space. Our methodology utilizes text embeddings to obtain basis vectors by matrix decomposition, and then constructs a space for representing all prompts. Prompt Space significantly outperforms state-of-the-art prompt paradigms on ten public reasoning benchmarks. Notably, without the help of the CoT method and the prompt "Let's think step by step", Prompt Space shows superior performance over the few-shot method. Overall, our approach provides a robust and effective mathematical framework for selecting simple and effective prompts. This advancement marks a significant step towards improving prompt engineering for a wide variety of applications in LLMs. Our code is publicly available at \textcolor{blue}{\url{https://github.com/YouBLEI/Prompt-Space}}, Comment: Natural language processing (NLP)

Anomaly detection aims to detect data that do not conform to regular patterns, and such data is also called outliers. The anomalies to be detected are often tiny in proportion, containing crucial information, and are suitable for application scenes like intrusion detection, fraud detection, fault diagnosis, e-commerce platforms, et al. However, in many realistic scenarios, only the samples following normal behavior are observed, while we can hardly obtain any anomaly information. To address such problem, we propose an anomaly detection method GALDetector which is combined of global and local information based on observed normal samples. The proposed method can be divided into a three-stage method. Firstly, the global similar normal scores and the local sparsity scores of unlabeled samples are computed separately. Secondly, potential anomaly samples are separated from the unlabeled samples corresponding to these two scores and corresponding weights are assigned to the selected samples. Finally, a weighted anomaly detector is trained by loads of samples, then the detector is utilized to identify else anomalies. To evaluate the effectiveness of the proposed method, we conducted experiments on three categories of real-world datasets from diverse domains, and experimental results show that our method achieves better performance when compared with other state-of-the-art methods., Comment: 6 pages, 1 figures

This paper proposes a stable sparse rapidly-exploring random trees (SST) algorithm to solve the optimal motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HySST, selects a vertex with the lowest cost among all the vertices within the neighborhood of a randomly selected sample and then extends the search tree by flow or jump, which is also chosen randomly when both regimes are possible. In addition, HySST maintains a static set of witness points such that all the vertices within the neighborhood of each witness are pruned except the vertex with the lowest cost. Through a definition of concatenation of functions defined on hybrid time domains, we show that HySST is asymptotically near optimal, namely, the probability of failing to find a motion plan such that its cost is close to the optimal cost approaches zero as the number of iterations of the algorithm increases to infinity. This property is guaranteed under mild conditions on the data defining the motion plan, which include a relaxation of the usual positive clearance assumption imposed in the literature of classical systems. The proposed algorithm is applied to an actuated bouncing ball system and a collision-resilient tensegrity multicopter system so as to highlight its generality and computational features., Comment: This paper has been submitted to the 2023 Conference of Decision and Control (CDC). arXiv admin note: substantial text overlap with arXiv:2210.15082

Deep learning methods have advanced quickly in brain imaging analysis over the past few years, but they are usually restricted by the limited labeled data. Pre-trained model on unlabeled data has presented promising improvement in feature learning in many domains, including natural language processing and computer vision. However, this technique is under-explored in brain network analysis. In this paper, we focused on pre-training methods with Transformer networks to leverage existing unlabeled data for brain functional network classification. First, we proposed a Transformer-based neural network, named as BrainNPT, for brain functional network classification. The proposed method leveraged token as a classification embedding vector for the Transformer model to effectively capture the representation of brain network. Second, we proposed a pre-training framework for BrainNPT model to leverage unlabeled brain network data to learn the structure information of brain networks. The results of classification experiments demonstrated the BrainNPT model without pre-training achieved the best performance with the state-of-the-art models, and the BrainNPT model with pre-training strongly outperformed the state-of-the-art models. The pre-training BrainNPT model improved 8.75% of accuracy compared with the model without pre-training. We further compared the pre-training strategies, analyzed the influence of the parameters of the model, and interpreted the trained model., Comment: Prepared to Submit

Exploring the origin of the pseudogap is important for the understanding of superconductivity in cuprates. Here we report a systematical experimental study on the phonon vibrational properties of Tl$_2$Ba$_2$Ca$_{n-1}$Cu$_n$O$_{2n+4+\delta}$ ($n$=1,2,3) single crystals based on the Raman scattering measurements over the temperature range from 10 to 300 K. The temperature evolution of the frequency and linewidth of the observed phonon modes in each member of this family does not follow the expected self-energy effect when entering the superconducting state. Instead, these phonon modes exhibit a universal softening behavior below the temperature around 150 K, which is higher above the superconducting transition. From the comparison with the existing experimental data for various orders, we find that the observed starting temperature for the phonon softening corresponds to the onset opening temperature of the pseudogap. This finding indicates a large lattice effect in the pseudogap state and the non-negligible spin-phonon coupling for such a phonon softening., Comment: 12 pages, 6 figures

Negatively charged nitrogen-vacancy (NV) centers in diamond have been extensively studied as a promising high sensitivity solid-state magnetic field sensor at room temperature. However, their use for current sensing applications is limited due to the challenge of integration and miniaturization of the diamond NV sensor. Here, we demonstrate an integrated NV sensor fabricated with standard microfabrication process. The sensor device incorporated with a toroidal magnetic yoke enables a high-precision wide range direct current sensing with galvanic isolation. The performance of the diamond NV current sensor in an open loop configuration has been investigated. A current measuring range of 0 A ~ 1000 A with an uncertainty of 46 ppm are achieved. Taking advantage of dual spin resonance modulation, temperature drift is suppressed to 10 ppm/K. This configuration opens new possibilities as a robust and scalable platform for current quantum sensing technologies., Comment: 16pages, 6figures

APT detection is difficult to detect due to the long-term latency, covert and slow multistage attack patterns of Advanced Persistent Threat (APT). To tackle these issues, we propose TBDetector, a transformer-based advanced persistent threat detection method for APT attack detection. Considering that provenance graphs provide rich historical information and have the powerful attacks historic correlation ability to identify anomalous activities, TBDetector employs provenance analysis for APT detection, which summarizes long-running system execution with space efficiency and utilizes transformer with self-attention based encoder-decoder to extract long-term contextual features of system states to detect slow-acting attacks. Furthermore, we further introduce anomaly scores to investigate the anomaly of different system states, where each state is calculated with an anomaly score corresponding to its similarity score and isolation score. To evaluate the effectiveness of the proposed method, we have conducted experiments on five public datasets, i.e., streamspot, cadets, shellshock, clearscope, and wget_baseline. Experimental results and comparisons with state-of-the-art methods have exhibited better performance of our proposed method., Comment: 10 pages, 7 figures

Phase change materials, which show different electrical characteristics across the phase transitions, have attracted considerable research attention for their potential electronic device applications. Materials with metal-to-insulator or charge density wave (CDW) transitions such as VO2 and 1T-TaS2 have demonstrated voltage oscillations due to their robust bi-state resistive switching behavior with some basic neuronal characteristics. BaTiS3 is a small bandgap ternary chalcogenide that has recently reported the emergence CDW order below 245 K. Here, we report on the discovery of DC voltage / current-induced reversible threshold switching in BaTiS3 devices between a CDW phase and a room temperature semiconducting phase. The resistive switching behavior is consistent with a Joule heating scheme and sustained voltage oscillations with a frequency of up to 1 kHz has been demonstrated by leveraging the CDW phase transition and the associated negative differential resistance. Strategies of reducing channel sizes and improving thermal management may further improve the device performance. Our findings establish BaTiS3 as a promising CDW material for future energy-efficient electronics, especially for neuromorphic computing.

Objective: The generalizability of clinical large language models is usually ignored during the model development process. This study evaluated the generalizability of BERT-based clinical NLP models across different clinical settings through a breast cancer phenotype extraction task. Materials and Methods: Two clinical corpora of breast cancer patients were collected from the electronic health records from the University of Minnesota and the Mayo Clinic, and annotated following the same guideline. We developed three types of NLP models (i.e., conditional random field, bi-directional long short-term memory and CancerBERT) to extract cancer phenotypes from clinical texts. The models were evaluated for their generalizability on different test sets with different learning strategies (model transfer vs. locally trained). The entity coverage score was assessed with their association with the model performances. Results: We manually annotated 200 and 161 clinical documents at UMN and MC, respectively. The corpora of the two institutes were found to have higher similarity between the target entities than the overall corpora. The CancerBERT models obtained the best performances among the independent test sets from two clinical institutes and the permutation test set. The CancerBERT model developed in one institute and further fine-tuned in another institute achieved reasonable performance compared to the model developed on local data (micro-F1: 0.925 vs 0.932). Conclusions: The results indicate the CancerBERT model has the best learning ability and generalizability among the three types of clinical NLP models. The generalizability of the models was found to be correlated with the similarity of the target entities between the corpora., Comment: 16 pages, 3 figures

Federated Learning (FL) is a novel distributed machine learning approach to leverage data from Internet of Things (IoT) devices while maintaining data privacy. However, the current FL algorithms face the challenges of non-independent and identically distributed (non-IID) data, which causes high communication costs and model accuracy declines. To address the statistical imbalances in FL, we propose a clustered data sharing framework which spares the partial data from cluster heads to credible associates through device-to-device (D2D) communication. Moreover, aiming at diluting the data skew on nodes, we formulate the joint clustering and data sharing problem based on the privacy-preserving constrained graph. To tackle the serious coupling of decisions on the graph, we devise a distribution-based adaptive clustering algorithm (DACA) basing on three deductive cluster-forming conditions, which ensures the maximum yield of data sharing. The experiments show that the proposed framework facilitates FL on non-IID datasets with better convergence and model accuracy under a limited communication environment.

In this paper, we propose a practically efficient model for securely computing rank-based statistics, e.g., median, percentiles and quartiles, over distributed datasets in the malicious setting without leaking individual data privacy. Based on the binary search technique of Aggarwal et al. (EUROCRYPT \textquotesingle 04), we respectively present an interactive protocol and a non-interactive protocol, involving at most $\log ||R||$ rounds, where $||R||$ is the range size of the dataset elements. Besides, we introduce a series of optimisation techniques to reduce the round complexity. Our computing model is modular and can be instantiated with either homomorphic encryption or secret-sharing schemes. Compared to the state-of-the-art solutions, it provides stronger security and privacy while maintaining high efficiency and accuracy. Unlike differential-privacy-based solutions, it does not suffer a trade-off between accuracy and privacy. On the other hand, it only involves $O(N \log ||R||)$ time complexity, which is far more efficient than those bitwise-comparison-based solutions with $O(N^2\log ||R||)$ time complexity, where $N$ is the dataset size. Finally, we provide a UC-secure instantiation with the threshold Paillier cryptosystem and $\Sigma$-protocol zero-knowledge proofs of knowledge.

This study presents a generalized theory for the diffusion of Brownian particles in shear flows. By solving the Langevin equations using stochastic instead of classical calculus, we propose a new mathematical formulation that resolves the particle MSD at all time scales for any two-dimensional parallel shear flow described by a polynomial velocity profile. We show that at long-time scales, the polynomial order of time in the particle MSD is n+2, where n is the polynomial order of the transverse coordinate of the velocity profile. We generalize the theory to resolve particle diffusion in any polynomial shear flow at all time scales, including the order of particle relaxation time scale, which is unresolved in current theories. Particle diffusion at all time scales is then studied for the cases of Couette and plane-Poiseuille flows and a polynomial expansion of a hyperbolic tangent flow while neglecting the boundary effects. We observe three main stages of particle diffusion along the timeline for which the particle MSD is distinctly different due to different dominated physical mechanisms. Thus, higher temporal and spatial resolution for diffusion processes in shear flows may be realized, suggesting a more accurate analytical approach for the diffusion of Brownian particles.

This paper proposes a rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HyRRT, randomly picks a state sample and extends the search tree by flow or jump, which is also chosen randomly when both regimes are possible. Through a definition of concatenation of functions defined on hybrid time domains, we show that HyRRT is probabilistically complete, namely, the probability of failing to find a motion plan approaches zero as the number of iterations of the algorithm increases. This property is guaranteed under mild conditions on the data defining the motion plan, which include a relaxation of the usual positive clearance assumption imposed in the literature of classical systems. The motion plan is computed through the solution of two optimization problems, one associated with the flow and the other with the jumps of the system. The proposed algorithm is applied to a walking robot so as to highlight its generality and computational features., Comment: This paper has been accepted for publication at the 2022 Conference of Decision and Control (CDC)

We study relationships between a set-valued map and its inverse limits about the notion of periodic point set, transitivity, sensitivity and Devaney chaos. Density of periodic point set of a set-valued map and its inverse limits implies each other. Sensitivity of a set-valued map and its inverse limits does not imply each other. Transitivity and Devaney chaos of generalized inverse limits implies the corresponding property of a set-valued map.

As language models become increasingly integrated into our digital lives, Personalized Text Generation (PTG) has emerged as a pivotal component with a wide range of applications. However, the bias inherent in user written text, often used for PTG model training, can inadvertently associate different levels of linguistic quality with users' protected attributes. The model can inherit the bias and perpetuate inequality in generating text w.r.t. users' protected attributes, leading to unfair treatment when serving users. In this work, we investigate fairness of PTG in the context of personalized explanation generation for recommendations. We first discuss the biases in generated explanations and their fairness implications. To promote fairness, we introduce a general framework to achieve measure-specific counterfactual fairness in explanation generation. Extensive experiments and human evaluations demonstrate the effectiveness of our method., Comment: This is a long paper accepted by the Proceedings of the 2023 Conference on Empirical Methods in Natural Language Processing (EMNLP 2023)

We present a new magnetometry method integrating an ensemble of nitrogen-vacancy (NV) centers in a single-crystal diamond with an extended dynamic range for monitoring the fast changing magnetic-field. The NV-center spin resonance frequency is tracked using a closed-loop frequency locked technique with fast frequency hopping to achieve a 10 kHz measurement bandwidth, thus, allowing for the detection of fast changing magnetic signals up to 0.723 T/s.This technique exhibits an extended dynamic range subjected to the working bandwidth of the microwave source. This extended dynamic range can reach up to 4.3 mT, which is 86 times broader than the intrinsic dynamic range. The essential components for NV spin control and signal processing such as signal generation, microwave frequency control, data processing and readout are integrated in a board-level system. With this platform, we demonstrate broadband magnetometry with an optimized sensitivity of 4.2 nT-Hz-1/2. This magnetometry method has the potential to be implemented in a multichannel frequency locked vector magnetometer suitable for a wide range of practical applications such as magnetocardiography and high-precision current sensors., Comment: 18 pages, 9 figures