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Consider the problems of computing the Augustin information and a R\'{e}nyi information measure of statistical independence, previously explored by Lapidoth and Pfister (\textit{IEEE Information Theory Workshop}, 2018) and Tomamichel and Hayashi (\textit{IEEE Trans. Inf. Theory}, 64(2):1064--1082, 2018). Both quantities are defined as solutions to optimization problems and lack closed-form expressions. This paper analyzes two iterative algorithms: Augustin's fixed-point iteration for computing the Augustin information, and the algorithm by Kamatsuka et al. (arXiv:2404.10950) for the R\'{e}nyi information measure. Previously, it was only known that these algorithms converge asymptotically. We establish the linear convergence of Augustin's algorithm for the Augustin information of order $\alpha \in (1/2, 1) \cup (1, 3/2)$ and Kamatsuka et al.'s algorithm for the R\'{e}nyi information measure of order $\alpha \in [1/2, 1) \cup (1, \infty)$, using Hilbert's projective metric., Comment: 15 pages

Recent years have witnessed Spiking Neural Networks (SNNs) gaining attention for their ultra-low energy consumption and high biological plausibility compared with traditional Artificial Neural Networks (ANNs). Despite their distinguished properties, the application of SNNs in the computationally intensive field of image generation is still under exploration. In this paper, we propose the Spiking Diffusion Models (SDMs), an innovative family of SNN-based generative models that excel in producing high-quality samples with significantly reduced energy consumption. In particular, we propose a Temporal-wise Spiking Mechanism (TSM) that allows SNNs to capture more temporal features from a bio-plasticity perspective. In addition, we propose a threshold-guided strategy that can further improve the performances by up to 16.7% without any additional training. We also make the first attempt to use the ANN-SNN approach for SNN-based generation tasks. Extensive experimental results reveal that our approach not only exhibits comparable performance to its ANN counterpart with few spiking time steps, but also outperforms previous SNN-based generative models by a large margin. Moreover, we also demonstrate the high-quality generation ability of SDM on large-scale datasets, e.g., LSUN bedroom. This development marks a pivotal advancement in the capabilities of SNN-based generation, paving the way for future research avenues to realize low-energy and low-latency generative applications. Our code is available at https://github.com/AndyCao1125/SDM., Comment: Accepted by IEEE Transactions on Artificial Intelligence

This paper introduces a robust unsupervised SE(3) point cloud registration method that operates without requiring point correspondences. The method frames point clouds as functions in a reproducing kernel Hilbert space (RKHS), leveraging SE(3)-equivariant features for direct feature space registration. A novel RKHS distance metric is proposed, offering reliable performance amidst noise, outliers, and asymmetrical data. An unsupervised training approach is introduced to effectively handle limited ground truth data, facilitating adaptation to real datasets. The proposed method outperforms classical and supervised methods in terms of registration accuracy on both synthetic (ModelNet40) and real-world (ETH3D) noisy, outlier-rich datasets. To our best knowledge, this marks the first instance of successful real RGB-D odometry data registration using an equivariant method. The code is available at {https://sites.google.com/view/eccv24-equivalign}, Comment: 10 pages, to be published in ECCV 2024

We present a new algorithm, Cross-Source-Context Place Recognition (CSCPR), for RGB-D indoor place recognition that integrates global retrieval and reranking into a single end-to-end model. Unlike prior approaches that primarily focus on the RGB domain, CSCPR is designed to handle the RGB-D data. We extend the Context-of-Clusters (CoCs) for handling noisy colorized point clouds and introduce two novel modules for reranking: the Self-Context Cluster (SCC) and Cross Source Context Cluster (CSCC), which enhance feature representation and match query-database pairs based on local features, respectively. We also present two new datasets, ScanNetIPR and ARKitIPR. Our experiments demonstrate that CSCPR significantly outperforms state-of-the-art models on these datasets by at least 36.5% in Recall@1 at ScanNet-PR dataset and 44% in new datasets. Code and datasets will be released.

Text-to-music models allow users to generate nearly realistic musical audio with textual commands. However, editing music audios remains challenging due to the conflicting desiderata of performing fine-grained alterations on the audio while maintaining a simple user interface. To address this challenge, we propose Audio Prompt Adapter (or AP-Adapter), a lightweight addition to pretrained text-to-music models. We utilize AudioMAE to extract features from the input audio, and construct attention-based adapters to feedthese features into the internal layers of AudioLDM2, a diffusion-based text-to-music model. With 22M trainable parameters, AP-Adapter empowers users to harness both global (e.g., genre and timbre) and local (e.g., melody) aspects of music, using the original audio and a short text as inputs. Through objective and subjective studies, we evaluate AP-Adapter on three tasks: timbre transfer, genre transfer, and accompaniment generation. Additionally, we demonstrate its effectiveness on out-of-domain audios containing unseen instruments during training., Comment: Accepted by the 25th International Society for Music Information Retrieval (ISMIR)

Existing text-to-music models can produce high-quality audio with great diversity. However, textual prompts alone cannot precisely control temporal musical features such as chords and rhythm of the generated music. To address this challenge, we introduce MusiConGen, a temporally-conditioned Transformer-based text-to-music model that builds upon the pretrained MusicGen framework. Our innovation lies in an efficient finetuning mechanism, tailored for consumer-grade GPUs, that integrates automatically-extracted rhythm and chords as the condition signal. During inference, the condition can either be musical features extracted from a reference audio signal, or be user-defined symbolic chord sequence, BPM, and textual prompts. Our performance evaluation on two datasets -- one derived from extracted features and the other from user-created inputs -- demonstrates that MusiConGen can generate realistic backing track music that aligns well with the specified conditions. We open-source the code and model checkpoints, and provide audio examples online, https://musicongen.github.io/musicongen_demo/., Comment: Accepted by the 25th International Society for Music Information Retrieval (ISMIR)

Polygonal building outlines are crucial for geographic and cartographic applications. The existing approaches for outline extraction from aerial or satellite imagery are typically decomposed into subtasks, e.g., building masking and vectorization, or treat this task as a sequence-to-sequence prediction of ordered vertices. The former lacks efficiency, and the latter often generates redundant vertices, both resulting in suboptimal performance. To handle these issues, we propose a novel Region-of-Interest (RoI) query-based approach called RoIPoly. Specifically, we formulate each vertex as a query and constrain the query attention on the most relevant regions of a potential building, yielding reduced computational overhead and more efficient vertex level interaction. Moreover, we introduce a novel learnable logit embedding to facilitate vertex classification on the attention map; thus, no post-processing is needed for redundant vertex removal. We evaluated our method on the vectorized building outline extraction dataset CrowdAI and the 2D floorplan reconstruction dataset Structured3D. On the CrowdAI dataset, RoIPoly with a ResNet50 backbone outperforms existing methods with the same or better backbones on most MS-COCO metrics, especially on small buildings, and achieves competitive results in polygon quality and vertex redundancy without any post-processing. On the Structured3D dataset, our method achieves the second-best performance on most metrics among existing methods dedicated to 2D floorplan reconstruction, demonstrating our cross-domain generalization capability. The code will be released upon acceptance of this paper.

Sparse RGBD scene completion is a challenging task especially when considering consistent textures and geometries throughout the entire scene. Different from existing solutions that rely on human-designed text prompts or predefined camera trajectories, we propose GenRC, an automated training-free pipeline to complete a room-scale 3D mesh with high-fidelity textures. To achieve this, we first project the sparse RGBD images to a highly incomplete 3D mesh. Instead of iteratively generating novel views to fill in the void, we utilized our proposed E-Diffusion to generate a view-consistent panoramic RGBD image which ensures global geometry and appearance consistency. Furthermore, we maintain the input-output scene stylistic consistency through textual inversion to replace human-designed text prompts. To bridge the domain gap among datasets, E-Diffusion leverages models trained on large-scale datasets to generate diverse appearances. GenRC outperforms state-of-the-art methods under most appearance and geometric metrics on ScanNet and ARKitScenes datasets, even though GenRC is not trained on these datasets nor using predefined camera trajectories. Project page: https://minfenli.github.io/GenRC, Comment: ECCV 2024

By increasing model parameters but activating them sparsely when performing a task, the use of Mixture-of-Experts (MoE) architecture significantly improves the performance of Large Language Models (LLMs) without increasing the inference cost. However, the memory consumption due to the growing number of experts presents a challenge to the deployment of these models in many real world settings. Our empirical study reveals that some experts encode redundant knowledge during pre-training. We thus propose a method of grouping and pruning similar experts to improve model's parameter efficiency. We validate the effectiveness of our method by pruning two state-of-the-art MoE models, Mixtral-8x7B and Mixtral-8x22B. Evaluation shows that our method outperforms other model pruning methods on a range of natural language tasks. To facilitate future research, we will release our code and the pruned MoE models., Comment: 13pages, 6 figures

Recent proposed neural network-based Temporal Action Detection (TAD) models are inherently limited to extracting the discriminative representations and modeling action instances with various lengths from complex scenes by shared-weights detection heads. Inspired by the successes in dynamic neural networks, in this paper, we build a novel dynamic feature aggregation (DFA) module that can simultaneously adapt kernel weights and receptive fields at different timestamps. Based on DFA, the proposed dynamic encoder layer aggregates the temporal features within the action time ranges and guarantees the discriminability of the extracted representations. Moreover, using DFA helps to develop a Dynamic TAD head (DyHead), which adaptively aggregates the multi-scale features with adjusted parameters and learned receptive fields better to detect the action instances with diverse ranges from videos. With the proposed encoder layer and DyHead, a new dynamic TAD model, DyFADet, achieves promising performance on a series of challenging TAD benchmarks, including HACS-Segment, THUMOS14, ActivityNet-1.3, Epic-Kitchen 100, Ego4D-Moment QueriesV1.0, and FineAction. Code is released to https://github.com/yangle15/DyFADet-pytorch., Comment: ECCV 2024

Quantum state discrimination is an important problem in many information processing tasks. In this work we are concerned with finding its best possible sample complexity when the states are preprocessed by a quantum channel that is required to be locally differentially private. To that end we provide achievability and converse bounds for different settings. This includes symmetric state discrimination in various regimes and the asymmetric case. On the way, we also prove new sample complexity bounds for the general unconstrained setting. An important tool in this endeavor are new entropy inequalities that we believe to be of independent interest., Comment: 24 pages. Short version accepted at ISIT 2024. This work is independent and concurrent to "Contraction of Private Quantum Channels and Private Quantum Hypothesis Testing" by Theshani Nuradha and Mark M. Wilde

Interactive image segmentation enables users to interact minimally with a machine, facilitating the gradual refinement of the segmentation mask for a target of interest. Previous studies have demonstrated impressive performance in extracting a single target mask through interactive segmentation. However, the information cues of previously interacted objects have been overlooked in the existing methods, which can be further explored to speed up interactive segmentation for multiple targets in the same category. To this end, we introduce novel interactive segmentation frameworks for both a single object and multiple objects in the same category. Specifically, our model leverages transformer backbones to extract interaction-focused visual features from the image and the interactions to obtain a satisfactory mask of a target as an exemplar. For multiple objects, we propose an exemplar-informed module to enhance the learning of similarities among the objects of the target category. To combine attended features from different modules, we incorporate cross-attention blocks followed by a feature fusion module. Experiments conducted on mainstream benchmarks demonstrate that our models achieve superior performance compared to previous methods. Particularly, our model reduces users' labor by around 15\%, requiring two fewer clicks to achieve target IoUs 85\% and 90\%. The results highlight our models' potential as a flexible and practical annotation tool. The source code will be released after publication., Comment: Under review

Large-scale pretrained vision-language models like CLIP have demonstrated remarkable zero-shot image classification capabilities across diverse domains. To enhance CLIP's performance while preserving the zero-shot paradigm, various test-time prompt tuning methods have been introduced to refine class embeddings through unsupervised learning objectives during inference. However, these methods often encounter challenges in selecting appropriate learning rates to prevent collapsed training in the absence of validation data during test-time adaptation. In this study, we propose a novel backpropagation-free algorithm BaFTA for test-time adaptation of vision-language models. Instead of fine-tuning text prompts to refine class embeddings, our approach directly estimates class centroids using online clustering within a projected embedding space that aligns text and visual embeddings. We dynamically aggregate predictions from both estimated and original class embeddings, as well as from distinct augmented views, by assessing the reliability of each prediction using R\'enyi Entropy. Through extensive experiments, we demonstrate that BaFTA consistently outperforms state-of-the-art test-time adaptation methods in both effectiveness and efficiency., Comment: Preprint updated from our earlier manuscript submitted to ICLR 2024 (https://openreview.net/forum?id=KNtcoAM5Gy)

Robotic blimps, as lighter-than-air aerial systems, offer prolonged duration and enhanced safety in human-robot interactions due to their buoyant lift. However, robust flight against environmental airflow disturbances remains a significant challenge, limiting the broader application of these robots. Drawing inspiration from the flight mechanics of birds and their ability to perch against natural wind, this article introduces RGBlimp-Q, a robotic gliding blimp equipped with a bird-inspired continuum arm. This arm allows for flexible attitude adjustments through moving mass control to enhance disturbance resilience, while also enabling object capture by using claws to counteract environmental disturbances, similar to a bird. This article presents the design, modeling, and prototyping of RGBlimp-Q, thus extending the advantages of robotic blimps to more complex environments. To the best of the authors' knowledge, this is the first interdisciplinary design integrating continuum mechanisms onto robotic blimps. Experimental results from both indoor and outdoor settings validate the improved flight robustness against environmental disturbances offered by this novel design.

Generating safety-critical scenarios, which are essential yet difficult to collect at scale, offers an effective method to evaluate the robustness of autonomous vehicles (AVs). Existing methods focus on optimizing adversariality while preserving the naturalness of scenarios, aiming to achieve a balance through data-driven approaches. However, without an appropriate upper bound for adversariality, the scenarios might exhibit excessive adversariality, potentially leading to unavoidable collisions. In this paper, we introduce FREA, a novel safety-critical scenarios generation method that incorporates the Largest Feasible Region (LFR) of AV as guidance to ensure the reasonableness of the adversarial scenarios. Concretely, FREA initially pre-calculates the LFR of AV from offline datasets. Subsequently, it learns a reasonable adversarial policy that controls the scene's critical background vehicles (CBVs) to generate adversarial yet AV-feasible scenarios by maximizing a novel feasibility-dependent adversarial objective function. Extensive experiments illustrate that FREA can effectively generate safety-critical scenarios, yielding considerable near-miss events while ensuring AV's feasibility. Generalization analysis also confirms the robustness of FREA in AV testing across various surrogate AV methods and traffic environments., Comment: Accepted by CoRL 2024

Sequential modeling has demonstrated remarkable capabilities in offline reinforcement learning (RL), with Decision Transformer (DT) being one of the most notable representatives, achieving significant success. However, RL trajectories possess unique properties to be distinguished from the conventional sequence (e.g., text or audio): (1) local correlation, where the next states in RL are theoretically determined solely by current states and actions based on the Markov Decision Process (MDP), and (2) global correlation, where each step's features are related to long-term historical information due to the time-continuous nature of trajectories. In this paper, we propose a novel action sequence predictor, named Mamba Decision Maker (MambaDM), where Mamba is expected to be a promising alternative for sequence modeling paradigms, owing to its efficient modeling of multi-scale dependencies. In particular, we introduce a novel mixer module that proficiently extracts and integrates both global and local features of the input sequence, effectively capturing interrelationships in RL datasets. Extensive experiments demonstrate that MambaDM achieves state-of-the-art performance in Atari and OpenAI Gym datasets. Furthermore, we empirically investigate the scaling laws of MambaDM, finding that increasing model size does not bring performance improvement, but scaling the dataset amount by 2x for MambaDM can obtain up to 33.7% score improvement on Atari dataset. This paper delves into the sequence modeling capabilities of MambaDM in the RL domain, paving the way for future advancements in robust and efficient decision-making systems. Our code will be available at https://github.com/AndyCao1125/MambaDM., Comment: 16 pages, 5 figures

Generative Flow Networks (GFlowNets), a new family of probabilistic samplers, have recently emerged as a promising framework for learning stochastic policies that generate high-quality and diverse objects proportionally to their rewards. However, existing GFlowNets often suffer from low data efficiency due to the direct parameterization of edge flows or reliance on backward policies that may struggle to scale up to large action spaces. In this paper, we introduce Bifurcated GFlowNets (BN), a novel approach that employs a bifurcated architecture to factorize the flows into separate representations for state flows and edge-based flow allocation. This factorization enables BN to learn more efficiently from data and better handle large-scale problems while maintaining the convergence guarantee. Through extensive experiments on standard evaluation benchmarks, we demonstrate that BN significantly improves learning efficiency and effectiveness compared to strong baselines.

Generative models hold great promise for small molecule discovery, significantly increasing the size of search space compared to traditional in silico screening libraries. However, most existing machine learning methods for small molecule generation suffer from poor synthesizability of candidate compounds, making experimental validation difficult. In this paper we propose Reaction-GFlowNet (RGFN), an extension of the GFlowNet framework that operates directly in the space of chemical reactions, thereby allowing out-of-the-box synthesizability while maintaining comparable quality of generated candidates. We demonstrate that with the proposed set of reactions and building blocks, it is possible to obtain a search space of molecules orders of magnitude larger than existing screening libraries coupled with low cost of synthesis. We also show that the approach scales to very large fragment libraries, further increasing the number of potential molecules. We demonstrate the effectiveness of the proposed approach across a range of oracle models, including pretrained proxy models and GPU-accelerated docking.

Proteins are essential for almost all biological processes and derive their diverse functions from complex 3D structures, which are in turn determined by their amino acid sequences. In this paper, we exploit the rich biological inductive bias of amino acid sequences and introduce FoldFlow-2, a novel sequence-conditioned SE(3)-equivariant flow matching model for protein structure generation. FoldFlow-2 presents substantial new architectural features over the previous FoldFlow family of models including a protein large language model to encode sequence, a new multi-modal fusion trunk that combines structure and sequence representations, and a geometric transformer based decoder. To increase diversity and novelty of generated samples -- crucial for de-novo drug design -- we train FoldFlow-2 at scale on a new dataset that is an order of magnitude larger than PDB datasets of prior works, containing both known proteins in PDB and high-quality synthetic structures achieved through filtering. We further demonstrate the ability to align FoldFlow-2 to arbitrary rewards, e.g. increasing secondary structures diversity, by introducing a Reinforced Finetuning (ReFT) objective. We empirically observe that FoldFlow-2 outperforms previous state-of-the-art protein structure-based generative models, improving over RFDiffusion in terms of unconditional generation across all metrics including designability, diversity, and novelty across all protein lengths, as well as exhibiting generalization on the task of equilibrium conformation sampling. Finally, we demonstrate that a fine-tuned FoldFlow-2 makes progress on challenging conditional design tasks such as designing scaffolds for the VHH nanobody., Comment: preprint

Following the advent of the Artificial Intelligence (AI) era of large models, Multimodal Large Language Models (MLLMs) with the ability to understand cross-modal interactions between vision and text have attracted wide attention. Adversarial examples with human-imperceptible perturbation are shown to possess a characteristic known as transferability, which means that a perturbation generated by one model could also mislead another different model. Augmenting the diversity in input data is one of the most significant methods for enhancing adversarial transferability. This method has been certified as a way to significantly enlarge the threat impact under black-box conditions. Research works also demonstrate that MLLMs can be exploited to generate adversarial examples in the white-box scenario. However, the adversarial transferability of such perturbations is quite limited, failing to achieve effective black-box attacks across different models. In this paper, we propose the Typographic-based Semantic Transfer Attack (TSTA), which is inspired by: (1) MLLMs tend to process semantic-level information; (2) Typographic Attack could effectively distract the visual information captured by MLLMs. In the scenarios of Harmful Word Insertion and Important Information Protection, our TSTA demonstrates superior performance.

In the vast and dynamic landscape of urban settings, Traffic Safety Description and Analysis plays a pivotal role in applications ranging from insurance inspection to accident prevention. This paper introduces CityLLaVA, a novel fine-tuning framework for Visual Language Models (VLMs) designed for urban scenarios. CityLLaVA enhances model comprehension and prediction accuracy through (1) employing bounding boxes for optimal visual data preprocessing, including video best-view selection and visual prompt engineering during both training and testing phases; (2) constructing concise Question-Answer sequences and designing textual prompts to refine instruction comprehension; (3) implementing block expansion to fine-tune large VLMs efficiently; and (4) advancing prediction accuracy via a unique sequential questioning-based prediction augmentation. Demonstrating top-tier performance, our method achieved a benchmark score of 33.4308, securing the leading position on the leaderboard. The code can be found: https://github.com/alibaba/AICITY2024_Track2_AliOpenTrek_CityLLaVA, Comment: Accepted by AICITY2024 Workshop Track2 at CVPR2024

Despite substantial progress in machine learning for scientific discovery in recent years, truly de novo design of small molecules which exhibit a property of interest remains a significant challenge. We introduce LambdaZero, a generative active learning approach to search for synthesizable molecules. Powered by deep reinforcement learning, LambdaZero learns to search over the vast space of molecules to discover candidates with a desired property. We apply LambdaZero with molecular docking to design novel small molecules that inhibit the enzyme soluble Epoxide Hydrolase 2 (sEH), while enforcing constraints on synthesizability and drug-likeliness. LambdaZero provides an exponential speedup in terms of the number of calls to the expensive molecular docking oracle, and LambdaZero de novo designed molecules reach docking scores that would otherwise require the virtual screening of a hundred billion molecules. Importantly, LambdaZero discovers novel scaffolds of synthesizable, drug-like inhibitors for sEH. In in vitro experimental validation, a series of ligands from a generated quinazoline-based scaffold were synthesized, and the lead inhibitor N-(4,6-di(pyrrolidin-1-yl)quinazolin-2-yl)-N-methylbenzamide (UM0152893) displayed sub-micromolar enzyme inhibition of sEH.

Miniature robotic blimps, as one type of lighter-than-air aerial vehicles, have attracted increasing attention in the science and engineering community for their enhanced safety, extended endurance, and quieter operation compared to quadrotors. Accurately modeling the dynamics of these robotic blimps poses a significant challenge due to the complex aerodynamics stemming from their large lifting bodies. Traditional first-principle models have difficulty obtaining accurate aerodynamic parameters and often overlook high-order nonlinearities, thus coming to its limit in modeling the motion dynamics of miniature robotic blimps. To tackle this challenge, this letter proposes the Auto-tuning Blimp-oriented Neural Ordinary Differential Equation method (ABNODE), a data-driven approach that integrates first-principle and neural network modeling. Spiraling motion experiments of robotic blimps are conducted, comparing the ABNODE with first-principle and other data-driven benchmark models, the results of which demonstrate the effectiveness of the proposed method., Comment: 8 pages, 8 figures

We introduce phi-3-mini, a 3.8 billion parameter language model trained on 3.3 trillion tokens, whose overall performance, as measured by both academic benchmarks and internal testing, rivals that of models such as Mixtral 8x7B and GPT-3.5 (e.g., phi-3-mini achieves 69% on MMLU and 8.38 on MT-bench), despite being small enough to be deployed on a phone. Our training dataset is a scaled-up version of the one used for phi-2, composed of heavily filtered publicly available web data and synthetic data. The model is also further aligned for robustness, safety, and chat format. We also provide parameter-scaling results with a 7B, 14B models trained for 4.8T tokens, called phi-3-small, phi-3-medium, both significantly more capable than phi-3-mini (e.g., respectively 75%, 78% on MMLU, and 8.7, 8.9 on MT-bench). To enhance multilingual, multimodal, and long-context capabilities, we introduce three models in the phi-3.5 series: phi-3.5-mini, phi-3.5-MoE, and phi-3.5-Vision. The phi-3.5-MoE, a 16 x 3.8B MoE model with 6.6 billion active parameters, achieves superior performance in language reasoning, math, and code tasks compared to other open-source models of similar scale, such as Llama 3.1 and the Mixtral series, and on par with Gemini-1.5-Flash and GPT-4o-mini. Meanwhile, phi-3.5-Vision, a 4.2 billion parameter model derived from phi-3.5-mini, excels in reasoning tasks and is adept at handling both single-image and text prompts, as well as multi-image and text prompts., Comment: 24 pages

Inherent ambiguity in layout annotations poses significant challenges to developing accurate 360{\deg} room layout estimation models. To address this issue, we propose a novel Bi-Layout model capable of predicting two distinct layout types. One stops at ambiguous regions, while the other extends to encompass all visible areas. Our model employs two global context embeddings, where each embedding is designed to capture specific contextual information for each layout type. With our novel feature guidance module, the image feature retrieves relevant context from these embeddings, generating layout-aware features for precise bi-layout predictions. A unique property of our Bi-Layout model is its ability to inherently detect ambiguous regions by comparing the two predictions. To circumvent the need for manual correction of ambiguous annotations during testing, we also introduce a new metric for disambiguating ground truth layouts. Our method demonstrates superior performance on benchmark datasets, notably outperforming leading approaches. Specifically, on the MatterportLayout dataset, it improves 3DIoU from 81.70% to 82.57% across the full test set and notably from 54.80% to 59.97% in subsets with significant ambiguity. Project page: https://liagm.github.io/Bi_Layout/, Comment: CVPR 2024, Project page: https://liagm.github.io/Bi_Layout/

With the advancement of deep learning technology, data-driven methods are increasingly used in the decision-making of autonomous driving, and the quality of datasets greatly influenced the model performance. Although current datasets have made significant progress in the collection of vehicle and environment data, emphasis on human-end data including the driver states and human evaluation is not sufficient. In addition, existing datasets consist mostly of simple scenarios such as car following, resulting in low interaction levels. In this paper, we introduce the Driver to Evaluation dataset (D2E), an autonomous decision-making dataset that contains data on driver states, vehicle states, environmental situations, and evaluation scores from human reviewers, covering a comprehensive process of vehicle decision-making. Apart from regular agents and surrounding environment information, we not only collect driver factor data including first-person view videos, physiological signals, and eye attention data, but also provide subjective rating scores from 40 human volunteers. The dataset is mixed of driving simulator scenes and real-road ones. High-interaction situations are designed and filtered to ensure behavior diversity. Through data organization, analysis, and preprocessing, D2E contains over 1100 segments of interactive driving case data covering from human driver factor to evaluation results, supporting the development of data-driven decision-making related algorithms., Comment: Submit for ITSC 2024

We present a novel end-to-end algorithm (PoCo) for the indoor RGB-D place recognition task, aimed at identifying the most likely match for a given query frame within a reference database. The task presents inherent challenges attributed to the constrained field of view and limited range of perception sensors. We propose a new network architecture, which generalizes the recent Context of Clusters (CoCs) to extract global descriptors directly from the noisy point clouds through end-to-end learning. Moreover, we develop the architecture by integrating both color and geometric modalities into the point features to enhance the global descriptor representation. We conducted evaluations on public datasets ScanNet-PR and ARKit with 807 and 5047 scenarios, respectively. PoCo achieves SOTA performance: on ScanNet-PR, we achieve R@1 of 64.63%, a 5.7% improvement from the best-published result CGis (61.12%); on Arkit, we achieve R@1 of 45.12%, a 13.3% improvement from the best-published result CGis (39.82%). In addition, PoCo shows higher efficiency than CGis in inference time (1.75X-faster), and we demonstrate the effectiveness of PoCo in recognizing places within a real-world laboratory environment.

Machine learning models struggle with generalization when encountering out-of-distribution (OOD) samples with unexpected distribution shifts. For vision tasks, recent studies have shown that test-time adaptation employing diffusion models can achieve state-of-the-art accuracy improvements on OOD samples by generating new samples that align with the model's domain without the need to modify the model's weights. Unfortunately, those studies have primarily focused on pixel-level corruptions, thereby lacking the generalization to adapt to a broader range of OOD types. We introduce Generalized Diffusion Adaptation (GDA), a novel diffusion-based test-time adaptation method robust against diverse OOD types. Specifically, GDA iteratively guides the diffusion by applying a marginal entropy loss derived from the model, in conjunction with style and content preservation losses during the reverse sampling process. In other words, GDA considers the model's output behavior with the semantic information of the samples as a whole, which can reduce ambiguity in downstream tasks during the generation process. Evaluation across various popular model architectures and OOD benchmarks shows that GDA consistently outperforms prior work on diffusion-driven adaptation. Notably, it achieves the highest classification accuracy improvements, ranging from 4.4\% to 5.02\% on ImageNet-C and 2.5\% to 7.4\% on Rendition, Sketch, and Stylized benchmarks. This performance highlights GDA's generalization to a broader range of OOD benchmarks.

Quantum hypothesis testing (QHT) has been traditionally studied from the information-theoretic perspective, wherein one is interested in the optimal decay rate of error probabilities as a function of the number of samples of an unknown state. In this paper, we study the sample complexity of QHT, wherein the goal is to determine the minimum number of samples needed to reach a desired error probability. By making use of the wealth of knowledge that already exists in the literature on QHT, we characterize the sample complexity of binary QHT in the symmetric and asymmetric settings, and we provide bounds on the sample complexity of multiple QHT. In more detail, we prove that the sample complexity of symmetric binary QHT depends logarithmically on the inverse error probability and inversely on the negative logarithm of the fidelity. As a counterpart of the quantum Stein's lemma, we also find that the sample complexity of asymmetric binary QHT depends logarithmically on the inverse type II error probability and inversely on the quantum relative entropy, provided that the type II error probability is sufficiently small. We then provide lower and upper bounds on the sample complexity of multiple QHT, with it remaining an intriguing open question to improve these bounds. The final part of our paper outlines and reviews how sample complexity of QHT is relevant to a broad swathe of research areas and can enhance understanding of many fundamental concepts, including quantum algorithms for simulation and search, quantum learning and classification, and foundations of quantum mechanics. As such, we view our paper as an invitation to researchers coming from different communities to study and contribute to the problem of sample complexity of QHT, and we outline a number of open directions for future research., Comment: v3: 58 pages, 1 figure, correction to Corollary 10; see independent and concurrent work of Pensia, Jog, Loh at arXiv:2403.16981

In this work, maximal $\alpha$-leakage is introduced to quantify how much a quantum adversary can learn about any sensitive information of data upon observing its disturbed version via a quantum privacy mechanism. We first show that an adversary's maximal expected $\alpha$-gain using optimal measurement is characterized by measured conditional R\'enyi entropy. This can be viewed as a parametric generalization of K\"onig et al.'s famous guessing probability formula [IEEE Trans. Inf. Theory, 55(9), 2009]. Then, we prove that the $\alpha$-leakage and maximal $\alpha$-leakage for a quantum privacy mechanism are determined by measured Arimoto information and measured R\'enyi capacity, respectively. Various properties of maximal $\alpha$-leakage, such as data processing inequality and composition property are established as well. Moreover, we show that regularized $\alpha$-leakage and regularized maximal $\alpha$-leakage for identical and independent quantum privacy mechanisms coincide with $\alpha$-tilted sandwiched R\'enyi information and sandwiched R\'enyi capacity, respectively.

In this paper, we consider the standard quantum information decoupling, in which Alice aims to decouple her system from the environment by local operations and discarding some of her systems. To achieve an $\varepsilon$-decoupling with trace distance as the error criterion, we establish a near-optimal one-shot characterization for the largest dimension of the remainder system in terms of the conditional $(1-\varepsilon)$-hypothesis-testing entropy. When the underlying system is independent and identically prepared, our result leads to the matched second-order rate as well as the matched moderate deviation rate. As an application, we find an achievability bound in entanglement distillation protocol, where the objective is for Alice and Bob to transform their quantum state to maximally entangled state with largest possible dimension using only local operations and one-way classical communications.

Strong converse theorems refer to the study of impossibility results in information theory. In particular, Mosonyi and Ogawa established a one-shot strong converse bound for quantum hypothesis testing [Comm. Math. Phys, 334(3), 2014], which servers as a primitive tool for establishing a variety of tight strong converse theorems in quantum information theory. In this short note, we demonstrate an alternative one-line proof for this bound via the variational expression of measured R\'enyi divergences [Lett. Math. Phys, 107(12), 2017]. Then, we show that the variational expression is a direct consequence of H\"older's inequality., Comment: one-shot strong converse bound by Mosonyi and Ogawa [arXiv:1309.3228], variational expression by Berta, Fawzi, and Tomamichel [arXiv:1512.02615]

Transformer-based NLP models are powerful but have high computational costs that limit deployment. Finetuned encoder-decoder models are popular in specialized domains and can outperform larger more generalized decoder-only models, such as GPT-4. We introduce a new configuration for encoder-decoder models that improves efficiency on structured output and decomposable tasks where multiple outputs are required for a single shared input. Our method, prompt-in-decoder (PiD), encodes the input once and decodes the output in parallel, boosting both training and inference efficiency by avoiding duplicate input encoding and increasing the operational intensity (ratio of numbers of arithmetic operation to memory access) of decoding process by sharing the input key-value cache. We achieve computation reduction that roughly scales with the number of subtasks, gaining up to 4.6x speed-up over state-of-the-art models for dialogue state tracking, summarization, and question-answering tasks, with comparable or better performance., Comment: 14 pages, 4 figures. https://github.com/boru-roylu/encode-once-and-decode-in-parallel

Recent progresses in asynchronous Byzantine fault-tolerant (BFT) consensus, e.g. Dumbo-NG (CCS' 22) and Tusk (EuroSys' 22), show promising performance through decoupling transaction dissemination and block agreement. However, when executed with a larger number $n$ of nodes, like several hundreds, they would suffer from significant degradation in performance. Their dominating scalability bottleneck is the huge authenticator complexity: each node has to multicast $\bigO(n)$ quorum certificates (QCs) and subsequently verify them for each block. This paper systematically investigates and resolves the above scalability issue. We first propose a signature-free asynchronous BFT consensus FIN-NG that adapts a recent signature-free asynchronous common subset protocol FIN (CCS' 23) into the state-of-the-art framework of concurrent broadcast and agreement. The liveness of FIN-NG relies on our non-trivial redesign of FIN's multi-valued validated Byzantine agreement towards achieving optimal quality. FIN-NG greatly improves the performance of FIN and already outperforms Dumbo-NG in most deployment settings. To further overcome the scalability limit of FIN-NG due to $\bigO(n^3)$ messages, we propose JUMBO, a scalable instantiation of Dumbo-NG, with only $\bigO(n^2)$ complexities for both authenticators and messages. We use various aggregation and dispersal techniques for QCs to significantly reduce the authenticator complexity of original Dumbo-NG implementations by up to $\bigO(n^2)$ orders. We also propose a ``fairness'' patch for JUMBO, thus preventing a flooding adversary from controlling an overwhelming portion of transactions in its output.

Deep unfolding networks (DUN) have emerged as a popular iterative framework for accelerated magnetic resonance imaging (MRI) reconstruction. However, conventional DUN aims to reconstruct all the missing information within the entire null space in each iteration. Thus it could be challenging when dealing with highly ill-posed degradation, usually leading to unsatisfactory reconstruction. In this work, we propose a Progressive Divide-And-Conquer (PDAC) strategy, aiming to break down the subsampling process in the actual severe degradation and thus perform reconstruction sequentially. Starting from decomposing the original maximum-a-posteriori problem of accelerated MRI, we present a rigorous derivation of the proposed PDAC framework, which could be further unfolded into an end-to-end trainable network. Specifically, each iterative stage in PDAC focuses on recovering a distinct moderate degradation according to the decomposition. Furthermore, as part of the PDAC iteration, such decomposition is adaptively learned as an auxiliary task through a degradation predictor which provides an estimation of the decomposed sampling mask. Following this prediction, the sampling mask is further integrated via a severity conditioning module to ensure awareness of the degradation severity at each stage. Extensive experiments demonstrate that our proposed method achieves superior performance on the publicly available fastMRI and Stanford2D FSE datasets in both multi-coil and single-coil settings., Comment: Accepted to CVPR 2024

Large Vision-Language Models (LVLMs) rely on vision encoders and Large Language Models (LLMs) to exhibit remarkable capabilities on various multi-modal tasks in the joint space of vision and language. However, the Typographic Attack, which disrupts vision-language models (VLMs) such as Contrastive Language-Image Pretraining (CLIP), has also been expected to be a security threat to LVLMs. Firstly, we verify typographic attacks on current well-known commercial and open-source LVLMs and uncover the widespread existence of this threat. Secondly, to better assess this vulnerability, we propose the most comprehensive and largest-scale Typographic Dataset to date. The Typographic Dataset not only considers the evaluation of typographic attacks under various multi-modal tasks but also evaluates the effects of typographic attacks, influenced by texts generated with diverse factors. Based on the evaluation results, we investigate the causes why typographic attacks may impact VLMs and LVLMs, leading to three highly insightful discoveries. By the examination of our discoveries and experimental validation in the Typographic Dataset, we reduce the performance degradation from $42.07\%$ to $13.90\%$ when LVLMs confront typographic attacks.

In this study, thermal-fluid-solid coupled simulations on the gas-phase pre-cooling operation of the corrugated cryogenic hoses were performed. Attention was focused on the temporal evolution and spatial distribution of transient thermal stress in the hose structure caused by convective heat transfer of the cooling medium, Liquefied Natural Gas Boil-Off Gas (BOG). The effects of different corrugated hose parameters, i.e., boundary conditions, hose lengths, BOG inlet flow rates, and corrugation shapes (C-type and U-type), on the transient thermal stress behavior were thoroughly assessed. The thermal stress developed at different locations of the corrugated hoses with these parameters is found to be governed by two major factors: the boundary constraint and local temperature gradient. The objective of this study is to offer practical insights for the structural strength design of corrugated cryogenic hoses and effective pre-cooling strategies, aiming to mitigate structural safety risks caused by excessive thermal stress.

Efficiently generating statistically independent samples from an unnormalized probability distribution, such as equilibrium samples of many-body systems, is a foundational problem in science. In this paper, we propose Iterated Denoising Energy Matching (iDEM), an iterative algorithm that uses a novel stochastic score matching objective leveraging solely the energy function and its gradient -- and no data samples -- to train a diffusion-based sampler. Specifically, iDEM alternates between (I) sampling regions of high model density from a diffusion-based sampler and (II) using these samples in our stochastic matching objective to further improve the sampler. iDEM is scalable to high dimensions as the inner matching objective, is simulation-free, and requires no MCMC samples. Moreover, by leveraging the fast mode mixing behavior of diffusion, iDEM smooths out the energy landscape enabling efficient exploration and learning of an amortized sampler. We evaluate iDEM on a suite of tasks ranging from standard synthetic energy functions to invariant $n$-body particle systems. We show that the proposed approach achieves state-of-the-art performance on all metrics and trains $2-5\times$ faster, which allows it to be the first method to train using energy on the challenging $55$-particle Lennard-Jones system., Comment: Published at ICML 2024. Code for iDEM is available at https://github.com/jarridrb/dem

In autonomous driving tasks, trajectory prediction in complex traffic environments requires adherence to real-world context conditions and behavior multimodalities. Existing methods predominantly rely on prior assumptions or generative models trained on curated data to learn road agents' stochastic behavior bounded by scene constraints. However, they often face mode averaging issues due to data imbalance and simplistic priors, and could even suffer from mode collapse due to unstable training and single ground truth supervision. These issues lead the existing methods to a loss of predictive diversity and adherence to the scene constraints. To address these challenges, we introduce a novel trajectory generator named Controllable Diffusion Trajectory (CDT), which integrates map information and social interactions into a Transformer-based conditional denoising diffusion model to guide the prediction of future trajectories. To ensure multimodality, we incorporate behavioral tokens to direct the trajectory's modes, such as going straight, turning right or left. Moreover, we incorporate the predicted endpoints as an alternative behavioral token into the CDT model to facilitate the prediction of accurate trajectories. Extensive experiments on the Argoverse 2 benchmark demonstrate that CDT excels in generating diverse and scene-compliant trajectories in complex urban settings.

We propose a Riemannian gradient descent with the Poincar\'e metric to compute the order-$\alpha$ Augustin information, a widely used quantity for characterizing exponential error behaviors in information theory. We prove that the algorithm converges to the optimum at a rate of $\mathcal{O}(1 / T)$. As far as we know, this is the first algorithm with a non-asymptotic optimization error guarantee for all positive orders. Numerical experimental results demonstrate the empirical efficiency of the algorithm. Our result is based on a novel hybrid analysis of Riemannian gradient descent for functions that are geodesically convex in a Riemannian metric and geodesically smooth in another., Comment: 17 pages, 2 figures, ISIT 2024

Time series forecasting is an important and forefront task in many real-world applications. However, most of time series forecasting techniques assume that the training data is clean without anomalies. This assumption is unrealistic since the collected time series data can be contaminated in practice. The forecasting model will be inferior if it is directly trained by time series with anomalies. Thus it is essential to develop methods to automatically learn a robust forecasting model from the contaminated data. In this paper, we first statistically define three types of anomalies, then theoretically and experimentally analyze the loss robustness and sample robustness when these anomalies exist. Based on our analyses, we propose a simple and efficient algorithm to learn a robust forecasting model. Extensive experiments show that our method is highly robust and outperforms all existing approaches. The code is available at https://github.com/haochenglouis/RobustTSF., Comment: Accepted by the 12th International Conference on Learning Representations (ICLR 2024)

Surfaces (interfaces) dictate many physical and chemical properties of solid materials and adsorbates considerably affect these properties. Nitrogen molecules, which are the most abundant constituent in ambient air, are considered to be inert. Our study combining atomic force microscopy (AFM), X-ray photoemission spectroscopy (XPS), and thermal desorption spectroscopy (TDS) revealed that nitrogen and water molecules can self-assemble into two-dimensional domains, forming ordered stripe structures on graphitic surfaces in both water and ambient air. The stripe structures of this study were composed of approximately 90% and 10% water and nitrogen molecules, respectively, and survived in ultra-high vacuum (UHV) conditions at temperatures up to approximately 350 K. Because pure water molecules completely desorb from graphitic surfaces in a UHV at temperatures lower than 200 K, our results indicate that the incorporation of nitrogen molecules substantially enhanced the stability of the crystalline water hydrogen bonding network. Additional studies on interfacial gas hydrates can provide deeper insight into the mechanisms underlying formation of gas hydrates.

With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control algorithms and multi-robot path planners, there is in turn an increased demand for fast, efficient, and robust controllers. We propose a scalable joint path planning and control algorithm for multi-robot systems with constrained behaviours based on factor graph optimization. We demonstrate our algorithm on a series of hardware and simulated experiments. Our algorithm is consistently able to recover from disturbances and avoid obstacles while outperforming state-of-the-art methods in optimization time, path deviation, and inter-robot errors. See the code and supplementary video for experiments., Comment: H. A. Jaafar, C. -H. Kao and S. Saeedi, "MR.CAP: Multi-Robot Joint Control and Planning for Object Transport," in IEEE Control Systems Letters, doi: 10.1109/LCSYS.2024.3349989