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Reconfigurable intelligent surface (RIS) is an emerging technology for wireless communications. In this paper, extensive system level simulations are conducted for analyzing the performance of multi-RIS and multi-base stations (BS) scenarios, by considering typical settings for industry standards. Pathloss and large-scale fading are taken into account when modeling the RIS cascaded link and direct link. The performance metrics are the downlink reference signal received power (RSRP) and the signal to interference noise ratio (SINR). The evaluation methodology is compatible with that utilized for technology studies in industry standards development organizations, by considering the uniqueness of RIS. The simulations are comprehensive, and they take into account different layouts of RIS panels and mobiles in a cell, and different densities and sizes of RIS panels. Several practical aspects are considered, including the interference between RIS panels, the phase quantization of RIS elements, and the failure of RIS elements. The near field effect of the RIS-mobile links is also analyzed as well. Simulation results demonstrate the potential of RIS-aided deployments in improving the system capacity and cell coverage in 6G mobile systems., Comment: 7 pages, 4 figures and 1 table

Multi-frame infrared small target (MIRST) detection in satellite videos is a long-standing, fundamental yet challenging task for decades, and the challenges can be summarized as: First, extremely small target size, highly complex clutters & noises, various satellite motions result in limited feature representation, high false alarms, and difficult motion analyses. Second, the lack of large-scale public available MIRST dataset in satellite videos greatly hinders the algorithm development. To address the aforementioned challenges, in this paper, we first build a large-scale dataset for MIRST detection in satellite videos (namely IRSatVideo-LEO), and then develop a recurrent feature refinement (RFR) framework as the baseline method. Specifically, IRSatVideo-LEO is a semi-simulated dataset with synthesized satellite motion, target appearance, trajectory and intensity, which can provide a standard toolbox for satellite video generation and a reliable evaluation platform to facilitate the algorithm development. For baseline method, RFR is proposed to be equipped with existing powerful CNN-based methods for long-term temporal dependency exploitation and integrated motion compensation & MIRST detection. Specifically, a pyramid deformable alignment (PDA) module and a temporal-spatial-frequency modulation (TSFM) module are proposed to achieve effective and efficient feature alignment, propagation, aggregation and refinement. Extensive experiments have been conducted to demonstrate the effectiveness and superiority of our scheme. The comparative results show that ResUNet equipped with RFR outperforms the state-of-the-art MIRST detection methods. Dataset and code are released at https://github.com/XinyiYing/RFR.

Large Language Models (LLMs) have demonstrated remarkable performance through supervised fine-tuning or in-context learning using gold labels. However, this paradigm is limited by the availability of gold labels, while in certain scenarios, LLMs may need to perform tasks that are too complex for humans to provide such labels. To tackle this challenge, this study explores whether solely utilizing unlabeled data can elicit strong model capabilities. We propose a new paradigm termed zero-to-strong generalization. We iteratively prompt LLMs to annotate unlabeled data and retain high-quality labels by filtering. Surprisingly, we obverse that this iterative process gradually unlocks LLMs' potential on downstream tasks. Our experiments on extensive classification and reasoning tasks confirm the effectiveness of our proposed framework. Our analysis indicates that this paradigm is effective for both in-context learning and fine-tuning, and for various model sizes., Comment: 15 pages

Chalcogenide perovskites such as BaZrS3 are promising candidates for next generation optoelectronics such as photodetectors and solar cells. Compared to widely studied polycrystalline thin films, single crystals of BaZrS3 with minimal extended and point defects, are ideal platform to study the material's intrinsic transport properties and to make first-generation optoelectronic devices. However, the surface dielectrics formed on BaZrS3 single crystals due to sulfating or oxidation have led to significant challenges to achieving high quality electrical contacts, and hence, realizing the high-performance optoelectronic devices. Here, we report the development of electrical contact fabrication processes on BaZrS3 single crystals, where various processes were employed to address the surface dielectric issue. Moreover, with optimized electrical contacts fabricated through dry etching, high-performance BaZrS3 photoconductive devices with a low dark current of 0.1 nA at 10 V bias and a fast transient photoresponse with rise and decay time of <0.2 s were demonstrated. Our study emphasizes the importance of damage-free fabrication processes in making high-quality optoelectronic devices of BaZrS3 single crystals and sheds light on exploring its intrinsic transport properties.

Federated graph learning (FGL) has emerged as a promising distributed training paradigm for graph neural networks across multiple local systems without direct data sharing. This approach is particularly beneficial in privacy-sensitive scenarios and offers a new perspective on addressing scalability challenges in large-scale graph learning. Despite the proliferation of FGL, the diverse motivations from practical applications, spanning various research backgrounds and experimental settings, pose a significant challenge to fair evaluation. To fill this gap, we propose OpenFGL, a unified benchmark designed for the primary FGL scenarios: Graph-FL and Subgraph-FL. Specifically, OpenFGL includes 38 graph datasets from 16 application domains, 8 federated data simulation strategies that emphasize graph properties, and 5 graph-based downstream tasks. Additionally, it offers 18 recently proposed SOTA FGL algorithms through a user-friendly API, enabling a thorough comparison and comprehensive evaluation of their effectiveness, robustness, and efficiency. Empirical results demonstrate the ability of FGL while also revealing its potential limitations, offering valuable insights for future exploration in this thriving field., Comment: Under Review

We present a method for generating video sequences with coherent motion between a pair of input key frames. We adapt a pretrained large-scale image-to-video diffusion model (originally trained to generate videos moving forward in time from a single input image) for key frame interpolation, i.e., to produce a video in between two input frames. We accomplish this adaptation through a lightweight fine-tuning technique that produces a version of the model that instead predicts videos moving backwards in time from a single input image. This model (along with the original forward-moving model) is subsequently used in a dual-directional diffusion sampling process that combines the overlapping model estimates starting from each of the two keyframes. Our experiments show that our method outperforms both existing diffusion-based methods and traditional frame interpolation techniques., Comment: project page: https://svd-keyframe-interpolation.github.io/

In this paper, we briefly summarize the first competition on resource-limited infrared small target detection (namely, LimitIRSTD). This competition has two tracks, including weakly-supervised infrared small target detection (Track 1) and lightweight infrared small target detection (Track 2). 46 and 60 teams successfully registered and took part in Tracks 1 and Track 2, respectively. The top-performing methods and their results in each track are described with details. This competition inspires the community to explore the tough problems in the application of infrared small target detection, and ultimately promote the deployment of this technology under limited resource.

Identifying the causal relations between interested variables plays a pivotal role in representation learning as it provides deep insights into the dataset. Identifiability, as the central theme of this approach, normally hinges on leveraging data from multiple distributions (intervention, distribution shift, time series, etc.). Despite the exciting development in this field, a practical but often overlooked problem is: what if those distribution shifts happen sequentially? In contrast, any intelligence possesses the capacity to abstract and refine learned knowledge sequentially -- lifelong learning. In this paper, with a particular focus on the nonlinear independent component analysis (ICA) framework, we move one step forward toward the question of enabling models to learn meaningful (identifiable) representations in a sequential manner, termed continual causal representation learning. We theoretically demonstrate that model identifiability progresses from a subspace level to a component-wise level as the number of distributions increases. Empirically, we show that our method achieves performance comparable to nonlinear ICA methods trained jointly on multiple offline distributions and, surprisingly, the incoming new distribution does not necessarily benefit the identification of all latent variables., Comment: 9 pages, 5 Figures

Noncollinear ferroic materials are sought after as testbeds to explore the intimate connections between topology and symmetry, which result in electronic, optical and magnetic functionalities not observed in collinear ferroic materials. For example, ferroaxial materials have ordered rotational structural distortions that break mirror symmetry and induce chirality. When ferroaxial order is coupled with ferroelectricity arising from a broken inversion symmetry, it offers the prospect of electric-field-control of the ferroaxial distortions and opens up new tunable functionalities. However, chiral ferroelectrics, especially ones stable at room temperature, are rare. We report the discovery of a strain-stabilized, room-temperature chiral ferroelectric phase in single crystals of BaTiS$_3$, a quasi-one-dimensional (1D) hexagonal chalcogenide. Using first-principles calculations, we predict the stabilization of this multiferroic phase having $P6_3$ space group for biaxial tensile strains exceeding 1.5% applied on the basal ab-plane of the room temperature $P6_3cm$ phase of BaTiS$_3$. The chiral ferroelectric phase is characterized by rotational distortions of select TiS$_6$ octahedra around the long $c$-axis and polar displacement of Ti atoms along the $c$-axis. We used an innovative approach using focused ion beam milling to make appropriately strained samples of BaTiS$_3$. The ferroaxial and ferroelectric distortions, and their domains in $P6_3$-BaTiS$_3$ were directly resolved using atomic resolution scanning transmission electron microscopy. Landau-based phenomenological modeling predicts a strong coupling between the ferroelectric and the ferroaxial order making $P6_3$-BaTiS$_3$ an attractive test bed for achieving electric-field control of chirality-related phenomena such as circular photo-galvanic current and the Rashba effect., Comment: 19 pages, 4 figures

Online job advertisements on various job portals or websites have become the most popular way for people to find potential career opportunities nowadays. However, the majority of these job sites are limited to offering fundamental filters such as job titles, keywords, and compensation ranges. This often poses a challenge for job seekers in efficiently identifying relevant job advertisements that align with their unique skill sets amidst a vast sea of listings. Thus, we propose well-coordinated visualizations to provide job seekers with three levels of details of job information: a skill-job overview visualizes skill sets, employment posts as well as relationships between them with a hierarchical visualization design; a post exploration view leverages an augmented radar-chart glyph to represent job posts and further facilitates users' swift comprehension of the pertinent skills necessitated by respective positions; a post detail view lists the specifics of selected job posts for profound analysis and comparison. By using a real-world recruitment advertisement dataset collected from 51Job, one of the largest job websites in China, we conducted two case studies and user interviews to evaluate JobViz. The results demonstrated the usefulness and effectiveness of our approach.

Recently, autonomous agents built on large language models (LLMs) have experienced significant development and are being deployed in real-world applications. These agents can extend the base LLM's capabilities in multiple ways. For example, a well-built agent using GPT-3.5-Turbo as its core can outperform the more advanced GPT-4 model by leveraging external components. More importantly, the usage of tools enables these systems to perform actions in the real world, moving from merely generating text to actively interacting with their environment. Given the agents' practical applications and their ability to execute consequential actions, it is crucial to assess potential vulnerabilities. Such autonomous systems can cause more severe damage than a standalone language model if compromised. While some existing research has explored harmful actions by LLM agents, our study approaches the vulnerability from a different perspective. We introduce a new type of attack that causes malfunctions by misleading the agent into executing repetitive or irrelevant actions. We conduct comprehensive evaluations using various attack methods, surfaces, and properties to pinpoint areas of susceptibility. Our experiments reveal that these attacks can induce failure rates exceeding 80\% in multiple scenarios. Through attacks on implemented and deployable agents in multi-agent scenarios, we accentuate the realistic risks associated with these vulnerabilities. To mitigate such attacks, we propose self-examination detection methods. However, our findings indicate these attacks are difficult to detect effectively using LLMs alone, highlighting the substantial risks associated with this vulnerability.

As artificial intelligence, machine learning, and data science continue to drive the data-centric economy, the challenges of implementing machine learning on a single machine due to extensive data and computational needs have led to the adoption of cloud computing solutions. This research paper explores the design and implementation of a secure, cloud-native machine learning operations (MLOPS) pipeline that supports multi-cloud environments. The primary objective is to create a robust infrastructure that facilitates secure data collection, real-time model inference, and efficient management of the machine learning lifecycle. By leveraging cloud providers' capabilities, the solution aims to streamline the deployment and maintenance of machine learning models, ensuring high availability, scalability, and security. This paper details the network topology, problem description, business and technical requirements, trade-offs, and the provider selection process for achieving an optimal MLOPS environment., Comment: 56 pages

While graphs and abstract data structures can be large and complex, practical instances are often regular or highly structured. If the instance has sufficient structure, we might hope to compress the object into a more succinct representation. An efficient algorithm (with respect to the compressed input size) could then lead to more efficient computations than algorithms taking the explicit, uncompressed object as input. This leads to a natural question: when does knowing the input instance has a more succinct representation make computation easier? We initiate the study of the computational complexity of problems on factored graphs: graphs that are given as a formula of products and unions on smaller graphs. For any graph problem, we define a parameterized version that takes factored graphs as input, parameterized by the number of smaller graphs used to construct the factored graph. In this setting, we characterize the parameterized complexity of several natural graph problems, exhibiting a variety of complexities. We show that a decision version of lexicographically first maximal independent set is unconditionally XP-complete, and therefore not fixed parameter tractable (FPT). On the other hand, we show that clique counting is FPT. Finally, we show that reachability is FPT if and only if $\mathbf{NL}$ is in some fixed polynomial time.

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional localization methods often rely on passive sensing, which may struggle in scenarios with limited features or dynamic environments. In response, this paper explores the domain of active localization, emphasizing the importance of viewpoint selection to enhance localization accuracy. Our contributions involve using a data-driven approach with a simple architecture designed for real-time operation, a self-supervised data training method, and the capability to consistently integrate our map into a planning framework tailored for real-world robotics applications. Our results demonstrate that our method performs better than the existing one, targeting similar problems and generalizing on synthetic and real data. We also release an open-source implementation to benefit the community., Comment: www.github.com/rvp-group/learning-where-to-look

In the field of affective computing, fully leveraging information from a variety of sensory modalities is essential for the comprehensive understanding and processing of human emotions. Inspired by the process through which the human brain handles emotions and the theory of cross-modal plasticity, we propose UMBEnet, a brain-like unified modal affective processing network. The primary design of UMBEnet includes a Dual-Stream (DS) structure that fuses inherent prompts with a Prompt Pool and a Sparse Feature Fusion (SFF) module. The design of the Prompt Pool is aimed at integrating information from different modalities, while inherent prompts are intended to enhance the system's predictive guidance capabilities and effectively manage knowledge related to emotion classification. Moreover, considering the sparsity of effective information across different modalities, the SSF module aims to make full use of all available sensory data through the sparse integration of modality fusion prompts and inherent prompts, maintaining high adaptability and sensitivity to complex emotional states. Extensive experiments on the largest benchmark datasets in the Dynamic Facial Expression Recognition (DFER) field, including DFEW, FERV39k, and MAFW, have proven that UMBEnet consistently outperforms the current state-of-the-art methods. Notably, in scenarios of Modality Missingness and multimodal contexts, UMBEnet significantly surpasses the leading current methods, demonstrating outstanding performance and adaptability in tasks that involve complex emotional understanding with rich multimodal information.

We present a method for generating Streetscapes-long sequences of views through an on-the-fly synthesized city-scale scene. Our generation is conditioned by language input (e.g., city name, weather), as well as an underlying map/layout hosting the desired trajectory. Compared to recent models for video generation or 3D view synthesis, our method can scale to much longer-range camera trajectories, spanning several city blocks, while maintaining visual quality and consistency. To achieve this goal, we build on recent work on video diffusion, used within an autoregressive framework that can easily scale to long sequences. In particular, we introduce a new temporal imputation method that prevents our autoregressive approach from drifting from the distribution of realistic city imagery. We train our Streetscapes system on a compelling source of data-posed imagery from Google Street View, along with contextual map data-which allows users to generate city views conditioned on any desired city layout, with controllable camera poses. Please see more results at our project page at https://boyangdeng.com/streetscapes., Comment: *Equal Contributions; Fixed few duplicated references from 1st upload; Project Page: https://boyangdeng.com/streetscapes

Recent works in AI planning have proposed to combine LLMs with iterative tree-search algorithms like A* and MCTS, where LLMs are typically used to calculate the heuristic, guiding the planner towards the goal. However, combining these techniques is not trivial : LM-based heuristics are quite weak, incurring a high computational cost without a significant performance improvement. Existing methods to learn these heuristics do not consider the requirements of the planner, and typically need a lot of compute. Thus, in this work, we propose a distribution to downsample training data by identifying relevant data points to learn a performant heuristic, while constraining computational costs. To arrive at this model, we disentangle the requirements of the planner, in our case A* search, from that of the language model to generalise on this task. Surprisingly, we find an overlap between their requirements; A* requires more accurate predictions on nodes near the goal, and LMs need the same set of nodes for effective generalisation. With these insights, we can quantify the contribution of each node towards accelerating A* search, and subsequently derive a training distribution for learning LM-based heuristics. Following a recent work, we conduct our experiments on two classical planning domains, maze navigation and sokoban, with two test splits per domain, and two conventional loss functions. We reduce the number of iterations required to find the solutions by upto 13x, with a wall-clock speed-up of upto 5x.

We propose a robot learning method for communicating, planning, and executing a wide range of tasks, dubbed This&That. We achieve robot planning for general tasks by leveraging the power of video generative models trained on internet-scale data containing rich physical and semantic context. In this work, we tackle three fundamental challenges in video-based planning: 1) unambiguous task communication with simple human instructions, 2) controllable video generation that respects user intents, and 3) translating visual planning into robot actions. We propose language-gesture conditioning to generate videos, which is both simpler and clearer than existing language-only methods, especially in complex and uncertain environments. We then suggest a behavioral cloning design that seamlessly incorporates the video plans. This&That demonstrates state-of-the-art effectiveness in addressing the above three challenges, and justifies the use of video generation as an intermediate representation for generalizable task planning and execution. Project website: https://cfeng16.github.io/this-and-that/.

The contemporary state-of-the-art of Dynamic Facial Expression Recognition (DFER) technology facilitates remarkable progress by deriving emotional mappings of facial expressions from video content, underpinned by training on voluminous datasets. Yet, the DFER datasets encompass a substantial volume of noise data. Noise arises from low-quality captures that defy logical labeling, and instances that suffer from mislabeling due to annotation bias, engendering two principal types of uncertainty: the uncertainty regarding data usability and the uncertainty concerning label reliability. Addressing the two types of uncertainty, we have meticulously crafted a two-stage framework aiming at \textbf{S}eeking \textbf{C}ertain data \textbf{I}n extensive \textbf{U}ncertain data (SCIU). This initiative aims to purge the DFER datasets of these uncertainties, thereby ensuring that only clean, verified data is employed in training processes. To mitigate the issue of low-quality samples, we introduce the Coarse-Grained Pruning (CGP) stage, which assesses sample weights and prunes those deemed unusable due to their low weight. For samples with incorrect annotations, the Fine-Grained Correction (FGC) stage evaluates prediction stability to rectify mislabeled data. Moreover, SCIU is conceived as a universally compatible, plug-and-play framework, tailored to integrate seamlessly with prevailing DFER methodologies. Rigorous experiments across prevalent DFER datasets and against numerous benchmark methods substantiates SCIU's capacity to markedly elevate performance metrics.

The problem of blind image super-resolution aims to recover high-resolution (HR) images from low-resolution (LR) images with unknown degradation modes. Most existing methods model the image degradation process using blur kernels. However, this explicit modeling approach struggles to cover the complex and varied degradation processes encountered in the real world, such as high-order combinations of JPEG compression, blur, and noise. Implicit modeling for the degradation process can effectively overcome this issue, but a key challenge of implicit modeling is the lack of accurate ground truth labels for the degradation process to conduct supervised training. To overcome this limitations inherent in implicit modeling, we propose an \textbf{U}ncertainty-based degradation representation for blind \textbf{S}uper-\textbf{R}esolution framework (\textbf{USR}). By suppressing the uncertainty of local degradation representations in images, USR facilitated self-supervised learning of degradation representations. The USR consists of two components: Adaptive Uncertainty-Aware Degradation Extraction (AUDE) and a feature extraction network composed of Variable Depth Dynamic Convolution (VDDC) blocks. To extract Uncertainty-based Degradation Representation from LR images, the AUDE utilizes the Self-supervised Uncertainty Contrast module with Uncertainty Suppression Loss to suppress the inherent model uncertainty of the Degradation Extractor. Furthermore, VDDC block integrates degradation information through dynamic convolution. Rhe VDDC also employs an Adaptive Intensity Scaling operation that adaptively adjusts the degradation representation according to the network hierarchy, thereby facilitating the effective integration of degradation information. Quantitative and qualitative experiments affirm the superiority of our approach.

Small object detection (SOD) has been a longstanding yet challenging task for decades, with numerous datasets and algorithms being developed. However, they mainly focus on either visible or thermal modality, while visible-thermal (RGBT) bimodality is rarely explored. Although some RGBT datasets have been developed recently, the insufficient quantity, limited category, misaligned images and large target size cannot provide an impartial benchmark to evaluate multi-category visible-thermal small object detection (RGBT SOD) algorithms. In this paper, we build the first large-scale benchmark with high diversity for RGBT SOD (namely RGBT-Tiny), including 115 paired sequences, 93K frames and 1.2M manual annotations. RGBT-Tiny contains abundant targets (7 categories) and high-diversity scenes (8 types that cover different illumination and density variations). Note that, over 81% of targets are smaller than 16x16, and we provide paired bounding box annotations with tracking ID to offer an extremely challenging benchmark with wide-range applications, such as RGBT fusion, detection and tracking. In addition, we propose a scale adaptive fitness (SAFit) measure that exhibits high robustness on both small and large targets. The proposed SAFit can provide reasonable performance evaluation and promote detection performance. Based on the proposed RGBT-Tiny dataset and SAFit measure, extensive evaluations have been conducted, including 23 recent state-of-the-art algorithms that cover four different types (i.e., visible generic detection, visible SOD, thermal SOD and RGBT object detection). Project is available at https://github.com/XinyiYing24/RGBT-Tiny.

Program repair techniques offer cost-saving benefits for debugging within software development and programming education scenarios. With the proven effectiveness of Large Language Models (LLMs) in code-related tasks, researchers have explored their potential for program repair. However, it is crucial to recognize that existing repair benchmarks may have influenced LLM training data, potentially causing data leakage. To evaluate LLMs' realistic repair capabilities, (1) we introduce an extensive, non-crawled benchmark, referred to as TutorCode, comprising 1,239 C++ defect codes and associated information such as tutor guidance, solution description, failing test cases, and the corrected code. Our work assesses the repair performance of 12 LLMs on TutorCode, measuring repair correctness (TOP-5 and AVG-5) and patch precision (RPSR). (2) We then provide a comprehensive investigation into which types of extra information can help LLMs improve their performance in repairing defects. Among these types, tutor guidance was found to be the most effective information in enhancing LLM repair capabilities. To fully harness LLMs' conversational capabilities and the benefits of augmented information, (3) we introduce a novel conversational semi-automatic repair framework CREF assisting human tutor. It demonstrates a remarkable AVG-5 improvement of 17.2%-24.6% compared to the baseline, achieving an impressive AVG-5 of 76.6% when utilizing GPT-4. These results highlight the potential for enhancing LLMs' repair capabilities through interactions with tutors and historical conversations involving incorrect responses. The successful application of CREF in a real-world educational setting demonstrates its effectiveness in reducing tutors' workload and improving students' learning experience, while also showcasing its promise for facilitating other software engineering tasks, such as code review.

Story video-text alignment, a core task in computational story understanding, aims to align video clips with corresponding sentences in their descriptions. However, progress on the task has been held back by the scarcity of manually annotated video-text correspondence and the heavy concentration on English narrations of Hollywood movies. To address these issues, in this paper, we construct a large-scale multilingual video story dataset named Multilingual Synopses of Movie Narratives (M-SYMON), containing 13,166 movie summary videos from 7 languages, as well as manual annotation of fine-grained video-text correspondences for 101.5 hours of video. Training on the human annotated data from SyMoN outperforms the SOTA methods by 15.7 and 16.2 percentage points on Clip Accuracy and Sentence IoU scores, respectively, demonstrating the effectiveness of the annotations. As benchmarks for future research, we create 6 baseline approaches with different multilingual training strategies, compare their performance in both intra-lingual and cross-lingual setups, exemplifying the challenges of multilingual video-text alignment., Comment: 16 pages, 9 figures

Knowledge-based Visual Qustion-answering (K-VQA) necessitates the use of background knowledge beyond what is depicted in the image. Current zero-shot K-VQA methods usually translate an image to a single type of textual decision context and use a text-based model to answer the question based on it, which conflicts with the fact that K-VQA questions often require the combination of multiple question-answering strategies. In light of this, we propose Rationale-based Ensemble of Answer Context Tactics (REACT) to achieve a dynamic ensemble of multiple question-answering tactics, comprising Answer Candidate Generation (ACG) and Rationale-based Strategy Fusion (RSF). In ACG, we generate three distinctive decision contexts to provide different strategies for each question, resulting in the generation of three answer candidates. RSF generates automatic and mechanistic rationales from decision contexts for each candidate, allowing the model to select the correct answer from all candidates. We conduct comprehensive experiments on the OK-VQA and A-OKVQA datasets, and our method significantly outperforms state-of-the-art LLM-based baselines on all datasets.

Instruction tuning, or supervised finetuning on extensive task-specific data, is necessary for Large Vision-Language Models (LVLMs) to generalize well across a broad range of vision-language (VL) tasks. However, training on large VL datasets can become prohibitively expensive. In this work, we introduce COINCIDE, an effective and scalable data selection technique that uses a small model as a reference model to select visual instruction tuning data for efficient finetuning of a target LVLM, focusing on diversity and transferability. Specifically, we cluster the training data using internal activations from a small model, which identifies VL concept-skill compositions needed by a target LVLM. We then sample data from these diverse clusters by considering their density and transferability, or the ability to transfer well to other concept-skill compositions. This approach ensures the diversity of these compositions, which is vital for LVLM generalization. Extensive experiments demonstrate that COINCIDE achieves superior performance and data selection efficiency against 8 strong baselines on two distinct datasets: LLaVA-1.5 and Vision-Flan. Using only 20% of the LLaVA-1.5 dataset, COINCIDE achieves performance comparable to the LVLM finetuned on the whole dataset, with 70% reduction of the wall-clock running time. On the Vision-Flan dataset, our method achieves superior results with only 16.7% of the training data., Comment: Preprint

Topological defects, such as vortices and skyrmions in magnetic and dipolar systems, can give rise to properties that are not observed in typical magnets or dielectrics. Here, we report the discovery of an atomic-scale dipolar vortex lattice in the charge-density-wave (CDW) phase of BaTiS3, a quasi-one-dimensional (quasi-1D) hexagonal chalcogenide, using X-ray synchrotron single-crystal diffraction studies. The vortex lattice consists of a periodic array of vortex-vortex-antivortex patterns composed of electric dipoles from off-center displacements of octahedrally coordinated Ti atoms. Using first-principles calculations and phenomenological modeling, we show that the dipolar vortex lattice in BaTiS3 arises from the coupling between multiple lattice instabilities arising from flat, soft phonon bands. This mechanism contrasts with classical dipolar textures in ferroelectric heterostructures that emerge from the competition between electrostatic and strain energies, and necessitate a dimensional reduction in the form of thin films and heterostructures to stabilize the textures. The observation of dipolar vortices in BaTiS3 brings the ultimate scaling limit for dipolar topologies down to about a nanometer and unveils the intimate connection between crystal symmetry and real-space topology. Our work sets up zero-filling triangular lattice materials with instabilities as a playground for realizing and understanding quantum polarization topologies.

Code large language models (LLMs) have shown remarkable advances in code understanding, completion, and generation tasks. Programming benchmarks, comprised of a selection of code challenges and corresponding test cases, serve as a standard to evaluate the capability of different LLMs in such tasks. However, most existing benchmarks primarily focus on Python and are still restricted to a limited number of languages, where other languages are translated from the Python samples (e.g. MultiPL-E) degrading the data diversity. To further facilitate the research of code LLMs, we propose a massively multilingual code benchmark covering 40 programming languages (McEval) with 16K test samples, which substantially pushes the limits of code LLMs in multilingual scenarios. The benchmark contains challenging code completion, understanding, and generation evaluation tasks with finely curated massively multilingual instruction corpora McEval-Instruct. In addition, we introduce an effective multilingual coder mCoder trained on McEval-Instruct to support multilingual programming language generation. Extensive experimental results on McEval show that there is still a difficult journey between open-source models and closed-source LLMs (e.g. GPT-series models) in numerous languages. The instruction corpora, evaluation benchmark, and leaderboard are available at \url{https://mceval.github.io/}., Comment: 22 pages

Understanding spatial location and relationships is a fundamental capability for modern artificial intelligence systems. Insights from human spatial cognition provide valuable guidance in this domain. Neuroscientific discoveries have highlighted the role of grid cells as a fundamental neural component for spatial representation, including distance computation, path integration, and scale discernment. In this paper, we introduce a novel positional encoding scheme inspired by Fourier analysis and the latest findings in computational neuroscience regarding grid cells. Assuming that grid cells encode spatial position through a summation of Fourier basis functions, we demonstrate the translational invariance of the grid representation during inner product calculations. Additionally, we derive an optimal grid scale ratio for multi-dimensional Euclidean spaces based on principles of biological efficiency. Utilizing these computational principles, we have developed a Grid-cell inspired Positional Encoding technique, termed GridPE, for encoding locations within high-dimensional spaces. We integrated GridPE into the Pyramid Vision Transformer architecture. Our theoretical analysis shows that GridPE provides a unifying framework for positional encoding in arbitrary high-dimensional spaces. Experimental results demonstrate that GridPE significantly enhances the performance of transformers, underscoring the importance of incorporating neuroscientific insights into the design of artificial intelligence systems.

Neural models produce promising results when solving Vehicle Routing Problems (VRPs), but often fall short in generalization. Recent attempts to enhance model generalization often incur unnecessarily large training cost or cannot be directly applied to other models solving different VRP variants. To address these issues, we take a novel perspective on model architecture in this study. Specifically, we propose a plug-and-play Entropy-based Scaling Factor (ESF) and a Distribution-Specific (DS) decoder to enhance the size and distribution generalization, respectively. ESF adjusts the attention weight pattern of the model towards familiar ones discovered during training when solving VRPs of varying sizes. The DS decoder explicitly models VRPs of multiple training distribution patterns through multiple auxiliary light decoders, expanding the model representation space to encompass a broader range of distributional scenarios. We conduct extensive experiments on both synthetic and widely recognized real-world benchmarking datasets and compare the performance with seven baseline models. The results demonstrate the effectiveness of using ESF and DS decoder to obtain a more generalizable model and showcase their applicability to solve different VRP variants, i.e., travelling salesman problem and capacitated VRP. Notably, our proposed generic components require minimal computational resources, and can be effortlessly integrated into conventional generalization strategies to further elevate model generalization., Comment: 13 pages, 6 figures, and 6 tables

In recommendation systems, high-quality user embeddings can capture subtle preferences, enable precise similarity calculations, and adapt to changing preferences over time to maintain relevance. The effectiveness of recommendation systems depends on the quality of user embedding. We propose to asynchronously learn high fidelity user embeddings for billions of users each day from sequence based multimodal user activities through a Transformer-like large scale feature learning module. The async learned user representations embeddings (ALURE) are further converted to user similarity graphs through graph learning and then combined with user realtime activities to retrieval highly related ads candidates for the ads delivery system. Our method shows significant gains in both offline and online experiments., Comment: Accepted by workshop on Multimodal Representation and Retrieval at SIGIR 2024, Washington DC

Building generalist agents that can handle diverse tasks and evolve themselves across different environments is a long-term goal in the AI community. Large language models (LLMs) are considered a promising foundation to build such agents due to their generalized capabilities. Current approaches either have LLM-based agents imitate expert-provided trajectories step-by-step, requiring human supervision, which is hard to scale and limits environmental exploration; or they let agents explore and learn in isolated environments, resulting in specialist agents with limited generalization. In this paper, we take the first step towards building generally-capable LLM-based agents with self-evolution ability. We identify a trinity of ingredients: 1) diverse environments for agent exploration and learning, 2) a trajectory set to equip agents with basic capabilities and prior knowledge, and 3) an effective and scalable evolution method. We propose AgentGym, a new framework featuring a variety of environments and tasks for broad, real-time, uni-format, and concurrent agent exploration. AgentGym also includes a database with expanded instructions, a benchmark suite, and high-quality trajectories across environments. Next, we propose a novel method, AgentEvol, to investigate the potential of agent self-evolution beyond previously seen data across tasks and environments. Experimental results show that the evolved agents can achieve results comparable to SOTA models. We release the AgentGym suite, including the platform, dataset, benchmark, checkpoints, and algorithm implementations. The AgentGym suite is available on https://github.com/WooooDyy/AgentGym., Comment: Project site: https://agentgym.github.io

Our goal is to $\textit{efficiently}$ discover a compact set of temporal logic rules to explain irregular events of interest. We introduce a neural-symbolic rule induction framework within the temporal point process model. The negative log-likelihood is the loss that guides the learning, where the explanatory logic rules and their weights are learned end-to-end in a $\textit{differentiable}$ way. Specifically, predicates and logic rules are represented as $\textit{vector embeddings}$, where the predicate embeddings are fixed and the rule embeddings are trained via gradient descent to obtain the most appropriate compositional representations of the predicate embeddings. To make the rule learning process more efficient and flexible, we adopt a $\textit{sequential covering algorithm}$, which progressively adds rules to the model and removes the event sequences that have been explained until all event sequences have been covered. All the found rules will be fed back to the models for a final rule embedding and weight refinement. Our approach showcases notable efficiency and accuracy across synthetic and real datasets, surpassing state-of-the-art baselines by a wide margin in terms of efficiency.

Neural Radiance Fields (NeRFs) have shown remarkable success in synthesizing photorealistic views from multi-view images of static scenes, but face challenges in dynamic, real-world environments with distractors like moving objects, shadows, and lighting changes. Existing methods manage controlled environments and low occlusion ratios but fall short in render quality, especially under high occlusion scenarios. In this paper, we introduce NeRF On-the-go, a simple yet effective approach that enables the robust synthesis of novel views in complex, in-the-wild scenes from only casually captured image sequences. Delving into uncertainty, our method not only efficiently eliminates distractors, even when they are predominant in captures, but also achieves a notably faster convergence speed. Through comprehensive experiments on various scenes, our method demonstrates a significant improvement over state-of-the-art techniques. This advancement opens new avenues for NeRF in diverse and dynamic real-world applications., Comment: CVPR 2024, first two authors contributed equally. Project Page: https://rwn17.github.io/nerf-on-the-go/

Delamination is a critical mode of failure that occurs between plies in a composite laminate. The cohesive element, developed based on the cohesive zone model, is widely used for modeling delamination. However, standard cohesive elements suffer from a well-known limit on the mesh density-the element size must be much smaller than the cohesive zone size. This work develops a new set of elements for modelling composite plies and their interfaces in 3D. A triangular Kirchhoff-Love shell element is developed for orthotropic materials to model the plies. A structural cohesive element, conforming to the shell elements of the plies, is developed to model the interface delamination. The proposed method is verified and validated on the classical benchmark problems of Mode I, Mode II, and mixed-mode delamination of unidirectional laminates, as well as on the single-leg bending problem of a multi-directional laminate. All the results show that the element size in the proposed models can be ten times larger than that in the standard cohesive element models, with more than 90% reduction in CPU time, while retaining prediction accuracy. This would then allow more effective and efficient modeling of delamination in composites without worrying about the cohesive zone limit on the mesh density.

The success of large language models (LLMs) has fostered a new research trend of multi-modality large language models (MLLMs), which changes the paradigm of various fields in computer vision. Though MLLMs have shown promising results in numerous high-level vision and vision-language tasks such as VQA and text-to-image, no works have demonstrated how low-level vision tasks can benefit from MLLMs. We find that most current MLLMs are blind to low-level features due to their design of vision modules, thus are inherently incapable for solving low-level vision tasks. In this work, we purpose $\textbf{LM4LV}$, a framework that enables a FROZEN LLM to solve a range of low-level vision tasks without any multi-modal data or prior. This showcases the LLM's strong potential in low-level vision and bridges the gap between MLLMs and low-level vision tasks. We hope this work can inspire new perspectives on LLMs and deeper understanding of their mechanisms. Code is available at https://github.com/bytetriper/LM4LV.

Hydrogen has been identified as a clean, zero carbon, sustainable, and promising energy source for the future, and electrochemical water splitting for hydrogen production is an emission-free, efficient energy conversion technology. A major limitation of this approach is the unavailability of efficient, abundant, inexpensive catalysts, which prompts the need for new catalytic materials. Here, we report the synthesis and electrocatalytic properties of a novel transition metal-based ternary chalcogenide family, LaMS$_3$ (M = Mn, Fe, Co, Ni). Powder X-ray diffraction confirms the phase purity of these materials, while composition analysis using energy dispersive spectroscopy (EDS) confirms the presence of the stoichiometric ratio of elements in these compounds. X-ray photoelectron spectroscopy (XPS) and X-ray absorption spectroscopy (XAS) were used to study the chemical states on the surface and in bulk, respectively. These materials exhibit bifunctional catalytic activity towards the two half-reactions of the water-splitting process, with LaNiS$_3$ being the most active material for both hydrogen evolution reaction (HER) and oxygen evolution reaction (OER). The LaMS$_3$ compounds show long-term stability with negligible change in the overpotential at a constant current density of 10 mA cm$^{-2}$ over 18 hours of measurements. As compared to the corresponding ternary oxides, the LaMS$_3$ materials exhibit higher activity and significantly lower Tafel slopes. The ability to catalyze both half-reactions of water electrolysis makes these materials promising candidates for bifunctional catalysts and presents a new avenue to search for high-efficiency electrocatalysts for water splitting.

LiDAR-based 3D object detection has made impressive progress recently, yet most existing models are black-box, lacking interpretability. Previous explanation approaches primarily focus on analyzing image-based models and are not readily applicable to LiDAR-based 3D detectors. In this paper, we propose a feature factorization activation map (FFAM) to generate high-quality visual explanations for 3D detectors. FFAM employs non-negative matrix factorization to generate concept activation maps and subsequently aggregates these maps to obtain a global visual explanation. To achieve object-specific visual explanations, we refine the global visual explanation using the feature gradient of a target object. Additionally, we introduce a voxel upsampling strategy to align the scale between the activation map and input point cloud. We qualitatively and quantitatively analyze FFAM with multiple detectors on several datasets. Experimental results validate the high-quality visual explanations produced by FFAM. The Code will be available at \url{https://github.com/Say2L/FFAM.git}.

The rapid expansion of cloud services and their unpredictable workload demands present significant challenges in resource management. Traditional resource management approaches, primarily based on static rules and thresholds, often fail to ensure cost-effectiveness and optimal resource utilization. This research introduces a predictive model designed to forecast traffic demand, aiming to shift from a reactive to a proactive resource management approach. By integrating advanced predictive analytics with the capabilities of P4 programmable switches, this study seeks to enhance the efficiency of resource utilization and improve system robustness. The goal is to equip organizations with the agility and economic efficiency required to navigate the complexities of dynamic cloud environments effectively. This approach not only promises to refine microservice resource allocation but also supports the broader objective of fostering more resilient and efficient cloud infrastructures., Comment: 15 pages

We have investigated the magnetism and pairing correlations of the triangular lattice based on the Hubbard model using the determinant quantum Monte Carlo method and the constrained path Monte Carlo. The results show that the presence of the next-nearest-neighbor hopping integral $t^{\prime}$ introduces an additional energy scale to the system, and through $t^{\prime}$, one can regulate the shape of the density of states and thus the position of the van Hove singularity point. Increasing inverse temperature $\beta$ and on-site interaction $U$ favor the formation of ferromagnetic correlation in a rather large filling region, and the calculations for different lattice sizes show that the range of the ferromagnetic correlations is smaller than the smallest lattice simulated at the investigated temperatures. We study the different pairing correlations of the triangular lattice near several typical fillings and show that the $f$-wave pairing dominates the system in the filling region near the van Hove singularity point with a high density of states, where the ferromagnetic correlation is also enhanced. When the filling is close to half-filling, the pairing susceptibility with $f$ wave is suppressed and the pairing susceptibility of $f_n$ wave is enhanced, however, both the effective pairing interaction with $f$ wave and $f_n$ wave are negative, which indicates that neither $f$-wave nor $f_n$-wave superconductivity may exist. Finally, we find that the pairing channel of different symmetry in the system maybe closely related to the magnetic properties. Ferromagnetic fluctuation favors the formation of $f$-wave pairing, while antiferromagnetic fluctuation tends to promote $f_n$-wave pairing., Comment: 7 pages and 9 figures. Accepted for publication as a Regular Article in Physical Review B

Modeling open hole failure of composites is a complex task, consisting in a highly nonlinear response with interacting failure modes. Numerical modeling of this phenomenon has traditionally been based on the finite element method, but requires to tradeoff between high fidelity and computational cost. To mitigate this shortcoming, recent work has leveraged machine learning to predict the strength of open hole composite specimens. Here, we also propose using data-based models but to tackle open hole composite failure from a classification point of view. More specifically, we show how to train surrogate models to learn the ultimate failure envelope of an open hole composite plate under in-plane loading. To achieve this, we solve the classification problem via support vector machine (SVM) and test different classifiers by changing the SVM kernel function. The flexibility of kernel-based SVM also allows us to integrate the recently developed quantum kernels in our algorithm and compare them with the standard radial basis function (RBF) kernel. Finally, thanks to kernel-target alignment optimization, we tune the free parameters of all kernels to best separate safe and failure-inducing loading states. The results show classification accuracies higher than 90% for RBF, especially after alignment, followed closely by the quantum kernel classifiers.

Elicitation diary studies, a type of qualitative, longitudinal research method, involve participants to self-report aspects of events of interest at their occurrences as memory cues for providing details and insights during post-study interviews. However, due to time constraints and lack of motivation, participants' diary entries may be vague or incomplete, impairing their later recall. To address this challenge, we designed an automatic contextual information recording agent, DiaryHelper, based on the theory of episodic memory. DiaryHelper can predict five dimensions of contextual information and confirm with participants. We evaluated the use of DiaryHelper in both the recording period and the elicitation interview through a within-subject study (N=12) over a period of two weeks. Our results demonstrated that DiaryHelper can assist participants in capturing abundant and accurate contextual information without significant burden, leading to a more detailed recall of recorded events and providing greater insights., Comment: CHI 2024

This paper proposes a framework for the 3D reconstruction of satellites in low-Earth orbit, utilizing videos captured by small amateur telescopes. The video data obtained from these telescopes differ significantly from data for standard 3D reconstruction tasks, characterized by intense motion blur, atmospheric turbulence, pervasive background light pollution, extended focal length and constrained observational perspectives. To address these challenges, our approach begins with a comprehensive pre-processing workflow that encompasses deep learning-based image restoration, feature point extraction and camera pose initialization. We proceed with the application of an improved 3D Gaussian splatting algorithm for reconstructing the 3D model. Our technique supports simultaneous 3D Gaussian training and pose estimation, enabling the robust generation of intricate 3D point clouds from sparse, noisy data. The procedure is further bolstered by a post-editing phase designed to eliminate noise points inconsistent with our prior knowledge of a satellite's geometric constraints. We validate our approach using both synthetic datasets and actual observations of China's Space Station, showcasing its significant advantages over existing methods in reconstructing 3D space objects from ground-based observations.

Understanding and controlling the electrical properties of solution-processed 2D materials is key to further printed electronics progress. Here we demonstrate that the thermolysis of the aromatic intercalants utilized in nanosheet exfoliation for graphene laminates opens the route to achieving high intrinsic mobility and simultaneously controlling doping type ($n$- and $p$-) and concentration over a wide range. We establish that the intra-flake mobility is high by observing a linear magnetoresistance of such solution-processed graphene laminates and using it to devolve the inter-flake tunneling and intra-layer magnetotransport. Consequently, we determine the temperature dependences of the inter- and intra-layer characteristics, which both appear to be dominated by phonon-assisted processes at temperature $T>$20 Kelvin. In particular, we identify the efficiency of phonon-assisted tunneling as the main limiting factor for electrical conductivity in graphene laminates at room temperature. We also demonstrate a thermoelectric sensitivity of around 50 ${\mu}$V K$^{-1}$ in a solution-processed metal-free graphene-based thermocouple.

Deep learning-based joint source-channel coding (deep JSCC) has been demonstrated to be an effective approach for wireless image transmission. Nevertheless, most existing work adopts an autoencoder framework to optimize conventional criteria such as Mean Squared Error (MSE) and Structural Similarity Index (SSIM) which do not suffice to maintain the perceptual quality of reconstructed images. Such an issue is more prominent under stringent bandwidth constraints or low signal-to-noise ratio (SNR) conditions. To tackle this challenge, we propose DiffJSCC, a novel framework that leverages the prior knowledge of the pre-trained Statble Diffusion model to produce high-realism images via the conditional diffusion denoising process. Our DiffJSCC first extracts multimodal spatial and textual features from the noisy channel symbols in the generation phase. Then, it produces an initial reconstructed image as an intermediate representation to aid robust feature extraction and a stable training process. In the following diffusion step, DiffJSCC uses the derived multimodal features, together with channel state information such as the signal-to-noise ratio (SNR), as conditions to guide the denoising diffusion process, which converts the initial random noise to the final reconstruction. DiffJSCC employs a novel control module to fine-tune the Stable Diffusion model and adjust it to the multimodal conditions. Extensive experiments on diverse datasets reveal that our method significantly surpasses prior deep JSCC approaches on both perceptual metrics and downstream task performance, showcasing its ability to preserve the semantics of the original transmitted images. Notably, DiffJSCC can achieve highly realistic reconstructions for 768x512 pixel Kodak images with only 3072 symbols (<0.008 symbols per pixel) under 1dB SNR channels.

Testing conditional independence has many applications, such as in Bayesian network learning and causal discovery. Different test methods have been proposed. However, existing methods generally can not work when only discretized observations are available. Specifically, consider $X_1$, $\tilde{X}_2$ and $X_3$ are observed variables, where $\tilde{X}_2$ is a discretization of latent variables $X_2$. Applying existing test methods to the observations of $X_1$, $\tilde{X}_2$ and $X_3$ can lead to a false conclusion about the underlying conditional independence of variables $X_1$, $X_2$ and $X_3$. Motivated by this, we propose a conditional independence test specifically designed to accommodate the presence of such discretization. To achieve this, we design the bridge equations to recover the parameter reflecting the statistical information of the underlying latent continuous variables. An appropriate test statistic and its asymptotic distribution under the null hypothesis of conditional independence have also been derived. Both theoretical results and empirical validation have been provided, demonstrating the effectiveness of our test methods.

Large language models (LLMs) have demonstrated remarkable capabilities on a broad spectrum of downstream tasks. Within the realm of software engineering, specialized tasks on code, such as program repair, present unique challenges, necessitating fine-tuning to unlock state-of-the-art performance. Fine-tuning approaches proposed in the literature for LLMs on program repair tasks are however generally overlooking the need to reason about the logic behind code changes, beyond syntactic patterns in the data. High-performing fine-tuning experiments also usually come at very high computational costs. With MORepair, we propose a novel perspective on the learning focus of LLM fine-tuning for program repair: we not only adapt the LLM parameters to the syntactic nuances of the task of code transformation (objective 1), but we also specifically fine-tune the LLM with respect to the logical reason behind the code change in the training data (objective 2). Such a multi-objective fine-tuning will instruct LLMs to generate high-quality patches. We apply MORepair to fine-tune four open-source LLMs with different sizes and architectures. Experimental results on C++ and Java repair benchmarks show that the implemented fine-tuning effectively boosts LLM repair performance by 7.6% to 10% in Top-10 repair suggestions. We further show that our fine-tuning strategy yields superior performance compared to the incumbent state-of-the-art in fine-tuned models for program repair, Fine-tune-CoT and RepairLLaMA.

In this study, we explore the correlation functions of thin-shell operators, represented semiclassically by a homogeneous, thin interface of dust particles. Employing the monodromy method, we successfully compute the contribution from the Virasoro vacuum block and present the monodromy equation in a closed form without assuming the probe limit. Although an analytical solution to the monodromy equation remains difficult, we demonstrate that it is perturbatively solvable within specific limits, including the probe, the heavy-shell, and the early-time limits. Moreover, we compare our results with gravitational calculations and find precise agreement. We strengthen our findings by proving that the thermal correlation functions in gravity, after an inverse Laplace transformation, satisfy the field theory's monodromy equation. Additionally, we identify an infinite series of unphysical solutions to the monodromy equation and discuss their potential geometrical duals., Comment: 27 pages, 4 figures; minor corrections, match with published version

In this work, we focus on the following question: what are the cryptographic implications of having access to an oracle that provides a single Haar random quantum state? We show, perhaps surprisingly, that such an oracle is sufficient to construct quantum pseudorandomness. Pseudorandom states (PRS) are a family of states for which it is hard to distinguish between polynomially many copies of either a state sampled uniformly from the family or a Haar random state. A weaker notion, called single-copy pseudorandom states (1PRS), satisfies this property with respect to a single copy. Our main result is that 1PRS (as well as bit-commitments) exist relative to an oracle that provides a single Haar random state. We build on this result to show the existence of an oracle relative to which 1PRS exist, but PRS do not. This provides one of the first black-box separations between different forms of quantum pseudorandomness.

Real-time navigation in a priori unknown environment remains a challenging task, especially when an unexpected (unmodeled) disturbance occurs. In this paper, we propose the framework Safe Returning Fast and Safe Tracking (SR-F) that merges concepts from 1) Robust Control Lyapunov-Value Functions (R-CLVF), and 2) the Fast and Safe Tracking (FaSTrack) framework. The SR-F computes an R-CLVF offline between a model of the true system and a simplified planning model. Online, a planning algorithm is used to generate a trajectory in the simplified planning space, and the R-CLVF is used to provide a tracking controller that exponentially stabilizes to the planning model. When an unexpected disturbance occurs, the proposed SR-F algorithm provides a means for the true system to recover to the planning model. We take advantage of this mechanism to induce an artificial disturbance by ``jumping'' the planning model in open environments, forcing faster navigation. Therefore, this algorithm can both reject unexpected true disturbances and accelerate navigation speed. We validate our framework using a 10D quadrotor system and show that SR-F is empirically 20\% faster than the original FaSTrack while maintaining safety., Comment: 6 pages, 4 figures, 1 table, 2 algorithms. Submitted to LCSS on 03/06

We focus on the generalization ability of the 6-DoF grasp detection method in this paper. While learning-based grasp detection methods can predict grasp poses for unseen objects using the grasp distribution learned from the training set, they often exhibit a significant performance drop when encountering objects with diverse shapes and structures. To enhance the grasp detection methods' generalization ability, we incorporate domain prior knowledge of robotic grasping, enabling better adaptation to objects with significant shape and structure differences. More specifically, we employ the physical constraint regularization during the training phase to guide the model towards predicting grasps that comply with the physical rule on grasping. For the unstable grasp poses predicted on novel objects, we design a contact-score joint optimization using the projection contact map to refine these poses in cluttered scenarios. Extensive experiments conducted on the GraspNet-1billion benchmark demonstrate a substantial performance gain on the novel object set and the real-world grasping experiments also demonstrate the effectiveness of our generalizing 6-DoF grasp detection method., Comment: Accepted at CVPR 2024