Search

Recently, implicit neural representations (INRs) have attracted increasing attention for multi-dimensional data recovery. However, INRs simply map coordinates via a multi-layer perception (MLP) to corresponding values, ignoring the inherent semantic information of the data. To leverage semantic priors from the data, we propose a novel Superpixel-informed INR (S-INR). Specifically, we suggest utilizing generalized superpixel instead of pixel as an alternative basic unit of INR for multi-dimensional data (e.g., images and weather data). The coordinates of generalized superpixels are first fed into exclusive attention-based MLPs, and then the intermediate results interact with a shared dictionary matrix. The elaborately designed modules in S-INR allow us to ingenuously exploit the semantic information within and across generalized superpixels. Extensive experiments on various applications validate the effectiveness and efficacy of our S-INR compared to state-of-the-art INR methods., Comment: Accepted at ECCV 2024, 18 pages, 7 figures

The MUltiplexed Survey Telescope (MUST) is a 6.5-meter telescope under development. Dedicated to highly-multiplexed, wide-field spectroscopic surveys, MUST observes over 20,000 targets simultaneously using 6.2-mm pitch positioning robots within a ~5 deg2 field of view. MUST aims to carry out the first Stage-V spectroscopic survey in the 2030s to map the 3D Universe with over 100 million galaxies and quasars, spanning from the nearby Universe to redshift z~5.5, corresponding to around 1 billion years after the Big Bang. To cover this extensive redshift range, we present an initial conceptual target selection algorithm for different types of galaxies, from local bright galaxies, luminous red galaxies, and emission line galaxies to high-redshift (2 < z < 5.5) Lyman-break galaxies. Using Fisher forecasts, we demonstrate that MUST can address fundamental questions in cosmology, including the nature of dark energy, test of gravity theories, and investigations into primordial physics. This is the first paper in the series of science white papers for MUST, with subsequent developments focusing on additional scientific cases such as galaxy and quasar evolution, Milky Way physics, and dynamic phenomena in the time-domain Universe., Comment: To be submitted to SCPMA

Entity alignment (EA) refers to the task of linking entities in different knowledge graphs (KGs). Existing EA methods rely heavily on structural isomorphism. However, in real-world KGs, aligned entities usually have non-isomorphic neighborhood structures, which paralyses the application of these structure-dependent methods. In this paper, we investigate and tackle the problem of entity alignment between heterogeneous KGs. First, we propose two new benchmarks to closely simulate real-world EA scenarios of heterogeneity. Then we conduct extensive experiments to evaluate the performance of representative EA methods on the new benchmarks. Finally, we propose a simple and effective entity alignment framework called Attr-Int, in which innovative attribute information interaction methods can be seamlessly integrated with any embedding encoder for entity alignment, improving the performance of existing entity alignment techniques. Experiments demonstrate that our framework outperforms the state-of-the-art approaches on two new benchmarks.

The introduction of aggregator structures has proven effective in bringing fairness to energy resource allocation by negotiating for more resources and economic surplus on behalf of users. This paper extends the fair energy resource allocation problem to a multi-agent setting, focusing on interactions among multiple aggregators in an electricity market. We prove that the strategic optimization problems faced by the aggregators form a quasiconcave game, ensuring the existence of a Nash equilibrium. This resolves complexities related to market price dependencies on total purchases and balancing fairness and efficiency in energy allocation. In addition, we design simulations to characterize the equilibrium points of the induced game, demonstrating how aggregators stabilize market outcomes, ensure fair resource distribution, and optimize user surplus. Our findings offer a robust framework for understanding strategic interactions among aggregators, contributing to more efficient and equitable energy markets.

Synthesizing camera movements from music and dance is highly challenging due to the contradicting requirements and complexities of dance cinematography. Unlike human movements, which are always continuous, dance camera movements involve both continuous sequences of variable lengths and sudden drastic changes to simulate the switching of multiple cameras. However, in previous works, every camera frame is equally treated and this causes jittering and unavoidable smoothing in post-processing. To solve these problems, we propose to integrate animator dance cinematography knowledge by formulating this task as a three-stage process: keyframe detection, keyframe synthesis, and tween function prediction. Following this formulation, we design a novel end-to-end dance camera synthesis framework \textbf{DanceCamAnimator}, which imitates human animation procedures and shows powerful keyframe-based controllability with variable lengths. Extensive experiments on the DCM dataset demonstrate that our method surpasses previous baselines quantitatively and qualitatively. Code will be available at \url{https://github.com/Carmenw1203/DanceCamAnimator-Official}., Comment: Accepted by ACM Multimedia 2024

Topological flat bands formed in two-dimensional lattice systems offer unique opportunity to study the fractional phases of matter in the absence of an external magnetic field. Celebrated examples include fractional quantum anomalous Hall (FQAH) effects and fractional topological insulators. Recently, FQAH effects have been experimentally realized in both the twisted bilayer MoTe2 (tMoTe2) system and the rhombohedral stacked multilayer graphene/hBN moir\'e systems. To date, experimental studies mainly focus on the first moir\'e flat band, except a very recent work that reported the evidence of the integer and fractional quantum spin Hall effects in higher moir\'e bands of a 2.1{\deg} tMoTe2 device. Here, we present the systematical transport study of approximately 3{\deg} tMoTe2 devices, especially for the second moir\'e band. At {\nu} = -2 and -4, time-reversal-symmetric single and double quantum spin Hall states formed, consistent with the previous observation in 2.1{\deg} tMoTe2 device. On the other hand, we observed ferromagnetism in the second moir\'e band, and a Chern insulator state driven by out-of-plane magnetic fields at {\nu} = -3. At {\nu} = -2.5, nonmonotonic temperature dependence of resistivity and large out-of-plane negative magnetoresistance have been observed, which likely arises from the frustrated liquid-like ground state and weak effective Ruderman-Kittel-Kasuya-Yosida interactions. Applying out-of-plane electric field can induce quantum phase transitions at both integer and fractional filling factors. Our studies pave the way for realizing tunable topological states and other unexpected magnetic phases beyond the first moir\'e flat band based on twisted MoTe2 platform.

This report focuses on spatial data intelligent large models, delving into the principles, methods, and cutting-edge applications of these models. It provides an in-depth discussion on the definition, development history, current status, and trends of spatial data intelligent large models, as well as the challenges they face. The report systematically elucidates the key technologies of spatial data intelligent large models and their applications in urban environments, aerospace remote sensing, geography, transportation, and other scenarios. Additionally, it summarizes the latest application cases of spatial data intelligent large models in themes such as urban development, multimodal systems, remote sensing, smart transportation, and resource environments. Finally, the report concludes with an overview and outlook on the development prospects of spatial data intelligent large models., Comment: V1 and V2 are in Chinese language, other versions are in English

Coherent elastic neutrino-nucleus scattering (CEvNS) provides a unique probe for neutrino properties Beyond the Standard Model (BSM) physics. REactor neutrino LIquid xenon Coherent Scattering experiment (RELICS), a proposed reactor neutrino program using liquid xenon time projection chamber (LXeTPC) technology, aims to investigate the CEvNS process of antineutrinos off xenon atomic nuclei. In this work, the design of the experiment is studied and optimized based on Monte Carlo (MC) simulations. To achieve a sufficiently low energy threshold for CEvNS detection, an ionization-only analysis channel is adopted for RELICS. A high emission rate of delayed electrons after a big ionization signal is the major background, leading to an analysis threshold of 120 photo-electrons in the CEvNS search. The second largest background, nuclear recoils induced by cosmic-ray neutrons, is suppressed via a passive water shield. The physics potential of RELICS is explored with a 32 kg*yr exposure at a baseline of 25 m from a reactor core with a 3 GW thermal power. In an energy range of 120 to 300 PE, corresponding to an average nuclear recoil from 0.63 to 1.36 keV considering the liquid xenon response and detector-related effect, we expect 4639.7 CEvNS and 1687.8 background events. The sensitivity of RELICS to the weak mixing angle is investigated at a low momentum transfer. Our study shows that RELICS can further improve the constraints on the non-standard neutrino interaction (NSI) compared to the current best results.

Graphene-based, high quality two-dimensional electronic systems have emerged as a highly tunable platform for studying superconductivity. Specifically, superconductivity has been observed in both electron-doped and hole-doped twisted graphene moire systems, whereas in crystalline graphene systems, superconductivity has so far only been observed in hole-doped rhombohedral trilayer and hole-doped Bernal bilayer graphene (BBG). Recently, enhanced superconductivity has been demonstrated in BBG due to the proximity with a monolayer WSe2. Here, we report the observation of superconductivity and a series of flavor-symmetry-breaking phases in both electron- and hole-doped BBG/WSe2 device by electrostatic doping. The strength of the observed superconductivity is tunable by applied vertical electric fields. The maximum Berezinskii-Kosterlitz-Thouless (BKT) transition temperature for the electron- and hole-doped superconductivity is about 210 mK and 400 mK, respectively. Superconductivities emerge only when applied electric fields drive BBG electron or hole wavefunctions toward the WSe2 layer, underscoring the importance of the WSe2 layer in the observed superconductivity. We find the hole-doped superconductivity violates the Pauli paramagnetic limit, consistent with an Ising-like superconductor. In contrast, the electron-doped superconductivity obeys the Pauli limit, even though the proximity induced Ising spin-orbit coupling is also notable in the conduction band. Our findings highlight the rich physics associated with the conduction band in BBG, paving the way for further studies into the superconducting mechanisms of crystalline graphene and the development of novel superconductor devices based on BBG.

Social media users drive the spread of misinformation online by sharing posts that include erroneous information or commenting on controversial topics with unsubstantiated arguments often in earnest. Work on echo chambers has suggested that users' perspectives are reinforced through repeated interactions with like-minded peers, promoted by homophily and bias in information diffusion. Building on long-standing interest in the social bases of language and linguistic underpinnings of social behavior, this work explores how conversations around misinformation are mediated through language use. We compare a number of linguistic measures, e.g., in-/out-group cues, readability, and discourse connectives, within and across topics of conversation and user communities. Our findings reveal increased presence of group identity signals and processing fluency within echo chambers during discussions of misinformation. We discuss the specific character of these broader trends across topics and examine contextual influences.

Knowledge Graph Completion (KGC) has emerged as a promising solution to address the issue of incompleteness within Knowledge Graphs (KGs). Traditional KGC research primarily centers on triple classification and link prediction. Nevertheless, we contend that these tasks do not align well with real-world scenarios and merely serve as surrogate benchmarks. In this paper, we investigate three crucial processes relevant to real-world construction scenarios: (a) the verification process, which arises from the necessity and limitations of human verifiers; (b) the mining process, which identifies the most promising candidates for verification; and (c) the training process, which harnesses verified data for subsequent utilization; in order to achieve a transition toward more realistic challenges. By integrating these three processes, we introduce the Progressive Knowledge Graph Completion (PKGC) task, which simulates the gradual completion of KGs in real-world scenarios. Furthermore, to expedite PKGC processing, we propose two acceleration modules: Optimized Top-$k$ algorithm and Semantic Validity Filter. These modules significantly enhance the efficiency of the mining procedure. Our experiments demonstrate that performance in link prediction does not accurately reflect performance in PKGC. A more in-depth analysis reveals the key factors influencing the results and provides potential directions for future research., Comment: 14 pages, 10 figures

The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling allows for the execution of both learned and unlearned movements under certain constraints while maintaining balance through minor whole-body coordination. To replicate this balance ability and body agility, this paper proposes a versatile controller for bipedal robots. This controller achieves ankle and body trajectory tracking across a wide range of gaits using a single small-scale neural network, which is based on a model-based IK solver and reinforcement learning. We consider a single step as the smallest control unit and design a universally applicable control input form suitable for any single-step variation. Highly flexible gait control can be achieved by combining these minimal control units with high-level policy through our extensible control interface. To enhance the trajectory-tracking capability of our controller, we utilize a three-stage training curriculum. After training, the robot can move freely between target footholds at varying distances and heights. The robot can also maintain static balance without repeated stepping to adjust posture. Finally, we evaluate the tracking accuracy of our controller on various bipedal tasks, and the effectiveness of our control framework is verified in the simulation environment.

Exploration of new dielectrics with large capacitive coupling is an essential topic in modern electronics when conventional dielectrics suffer from the leakage issue near breakdown limit. To address this looming challenge, we demonstrate that rare-earth-metal fluorides with extremely-low ion migration barriers can generally exhibit an excellent capacitive coupling over 20 $\mu$F cm$^{-2}$ (with an equivalent oxide thickness of ~0.15 nm and a large effective dielectric constant near 30) and great compatibility with scalable device manufacturing processes. Such static dielectric capability of superionic fluorides is exemplified by MoS$_2$ transistors exhibiting high on/off current ratios over 10$^8$, ultralow subthreshold swing of 65 mV dec$^{-1}$, and ultralow leakage current density of ~10$^{-6}$ A cm$^{-2}$. Therefore, the fluoride-gated logic inverters can achieve significantly higher static voltage gain values, surpassing ~167, compared to conventional dielectric. Furthermore, the application of fluoride gating enables the demonstration of NAND, NOR, AND, and OR logic circuits with low static energy consumption. Notably, the superconductor-to-insulator transition at the clean-limit Bi$_2$Sr$_2$CaCu$_2$O$_{8+\delta}$ can also be realized through fluoride gating. Our findings highlight fluoride dielectrics as a pioneering platform for advanced electronics applications and for tailoring emergent electronic states in condensed matters., Comment: 33 pages, 5 figures

Bringing fairness to energy resource allocation remains a challenge, due to the complexity of system structures and economic interdependencies among users and system operators' decision-making. The rise of distributed energy resources has introduced more diverse heterogeneous user groups, surpassing the capabilities of traditional efficiency-oriented allocation schemes. Without explicitly bringing fairness to user-system interaction, this disparity often leads to disproportionate payments for certain user groups due to their utility formats or group sizes. Our paper addresses this challenge by formalizing the problem of fair energy resource allocation and introducing the framework for aggregators. This framework enables optimal fairness-efficiency trade-offs by selecting appropriate objectives in a principled way. By jointly optimizing over the total resources to allocate and individual allocations, our approach reveals optimized allocation schemes that lie on the Pareto front, balancing fairness and efficiency in resource allocation strategies.

In the last quarter of a century, algebraic statistics has established itself as an expanding field which uses multilinear algebra, commutative algebra, computational algebra, geometry, and combinatorics to tackle problems in mathematical statistics. These developments have found applications in a growing number of areas, including biology, neuroscience, economics, and social sciences. Naturally, new connections continue to be made with other areas of mathematics and statistics. This paper outlines three such connections: to statistical models used in educational testing, to a classification problem for a family of nonparametric regression models, and to phase transition phenomena under uniform sampling of contingency tables. We illustrate the motivating problems, each of which is for algebraic statistics a new direction, and demonstrate an enhancement of related methodologies., Comment: This research was performed while the authors were visiting the Institute for Mathematical and Statistical Innovation (IMSI), which is supported by the National Science Foundation (Grant No. DMS-1929348). We participated in the long program "Algebraic Statistics and Our Changing World"

Estimating the 3D shape of an object using a single image is a difficult problem. Modern approaches achieve good results for general objects, based on real photographs, but worse results on less expressive representations such as historic sketches. Our automated approach generates a variety of detailed 3D representation from a single sketch, depicting a medieval statue, and can be guided by multi-modal inputs, such as text prompts. It relies solely on synthetic data for training, making it adoptable even in cases of only small numbers of training examples. Our solution allows domain experts such as a curators to interactively reconstruct potential appearances of lost artifacts.

We study the expressivity and learning process for polynomial neural networks (PNNs) with monomial activation functions. The weights of the network parametrize the neuromanifold. In this paper, we study certain neuromanifolds using tools from algebraic geometry: we give explicit descriptions as semialgebraic sets and characterize their Zariski closures, called neurovarieties. We study their dimension and associate an algebraic degree, the learning degree, to the neurovariety. The dimension serves as a geometric measure for the expressivity of the network, the learning degree is a measure for the complexity of training the network and provides upper bounds on the number of learnable functions. These theoretical results are accompanied with experiments., Comment: 34 pages, 3 figures. Comments are welcome!

Temporal Knowledge Graph Completion (TKGC) is a complex task involving the prediction of missing event links at future timestamps by leveraging established temporal structural knowledge. This paper aims to provide a comprehensive perspective on harnessing the advantages of Large Language Models (LLMs) for reasoning in temporal knowledge graphs, presenting an easily transferable pipeline. In terms of graph modality, we underscore the LLMs' prowess in discerning the structural information of pivotal nodes within the historical chain. As for the generation mode of the LLMs utilized for inference, we conduct an exhaustive exploration into the variances induced by a range of inherent factors in LLMs, with particular attention to the challenges in comprehending reverse logic. We adopt a parameter-efficient fine-tuning strategy to harmonize the LLMs with the task requirements, facilitating the learning of the key knowledge highlighted earlier. Comprehensive experiments are undertaken on several widely recognized datasets, revealing that our framework exceeds or parallels existing methods across numerous popular metrics. Additionally, we execute a substantial range of ablation experiments and draw comparisons with several advanced commercial LLMs, to investigate the crucial factors influencing LLMs' performance in structured temporal knowledge inference tasks., Comment: 15 pages; typos corrected, references added

Semantic segmentation techniques for extracting building footprints from high-resolution remote sensing images have been widely used in many fields such as urban planning. However, large-scale building extraction demands higher diversity in training samples. In this paper, we construct a Global Building Semantic Segmentation (GBSS) dataset (The dataset will be released), which comprises 116.9k pairs of samples (about 742k buildings) from six continents. There are significant variations of building samples in terms of size and style, so the dataset can be a more challenging benchmark for evaluating the generalization and robustness of building semantic segmentation models. We validated through quantitative and qualitative comparisons between different datasets, and further confirmed the potential application in the field of transfer learning by conducting experiments on subsets., Comment: 5 pages,6 figures

Given the widespread popularity of interactive AI models like ChatGPT, public opinion on emerging artificial intelligence generated content(AIGC) has been extensively debated. Pessimists believe that AIGC will replace humans in the future, and optimists think that it will further liberate productivity. Public emotions play a crucial role on social media platforms. They can provide valuable insights into the public's opinions, attitudes, and behaviors. There is a lack of research on the analysis of social group emotions triggered by AIGC content, and even more on the cross-platform differences of group emotions. This study fills the research gap by connecting the theory of group dynamics with emotions in social media. Specifically, we develop a scientific group emotion calculation and visualization system based on chains of communication. The system is capable of crawling data in real time and presenting the current state of group emotions in a fine-grained manner. We then analyze which group dynamic factors drive different public emotions towards nine AIGC products on the three most popular social media platforms in China. Finally, we obtain four main findings. First, Douyin is the only platform with negative group emotion on emerging AI technologies. Second, Weibo users prefer extreme emotions more than others. Third, the group emotion varies by education and age. It is negatively correlated with senior high school or lower and 25 or younger, and positively correlated with bachelor's degree or higher and 26-35. Fourth, the group emotion polarization increases with more posts without comments and celebrity publishers. By analyzing the key dynamic factors of group emotions to AIGC on various social media platforms, we can improve our products and services, develop more effective marketing strategies, and create more accurate and effective AI models to solve complex problems., Comment: This work has been submitted to the IEEE for possible publication

Active learning aims to enhance model performance by strategically labeling informative data points. While extensively studied, its effectiveness on large-scale, real-world datasets remains underexplored. Existing research primarily focuses on single-source data, ignoring the multi-domain nature of real-world data. We introduce a multi-domain active learning benchmark to bridge this gap. Our benchmark demonstrates that traditional single-domain active learning strategies are often less effective than random selection in multi-domain scenarios. We also introduce CLIP-GeoYFCC, a novel large-scale image dataset built around geographical domains, in contrast to existing genre-based domain datasets. Analysis on our benchmark shows that all multi-domain strategies exhibit significant tradeoffs, with no strategy outperforming across all datasets or all metrics, emphasizing the need for future research.

As a two-dimensional (2D) dielectric material, hexagonal boron nitride (hBN) is in high demand for applications in photonics, nonlinear optics, and nanoelectronics. Unfortunately, the high-throughput preparation of macroscopic-scale, high-quality hBN flakes with controlled thickness is an ongoing challenge, limiting device fabrication and technological integration. Here, we present a metal thin-film exfoliation method to prepare hBN flakes with millimeter-scale dimension, near-unity yields, and tunable flake thickness distribution from 1-7 layers, a substantial improvement over scotch tape exfoliation. The single crystallinity and high quality of the exfoliated hBN are demonstrated with optical microscopy, atomic force microscopy, Raman spectroscopy, and second harmonic generation. We further explore a possible mechanism for the effectiveness and selectivity based on thin-film residual stress measurements, density functional theory calculations, and transmission electron microscopy imaging of the deposited metal films. We find that the magnitude of the residual tensile stress induced by thin film deposition plays a key role in determining exfoliated flake thickness in a manner which closely resembles 3D semiconductor spalling. Lastly, we demonstrate that our exfoliated, large-area hBN flakes can be readily incorporated as encapsulating layers for other 2D monolayers. Altogether, this method brings us one step closer to the high throughput, mass production of hBN-based 2D photonic, optoelectronic, and quantum devices., Comment: 21 pages, 5 figures, work completed at Stanford University

A variety of knowledge graph embedding approaches have been developed. Most of them obtain embeddings by learning the structure of the knowledge graph within a link prediction setting. As a result, the embeddings reflect only the structure of a single knowledge graph, and embeddings for different knowledge graphs are not aligned, e.g., they cannot be used to find similar entities across knowledge graphs via nearest neighbor search. However, knowledge graph embedding applications such as entity disambiguation require a more global representation, i.e., a representation that is valid across multiple sources. We propose to learn universal knowledge graph embeddings from large-scale interlinked knowledge sources. To this end, we fuse large knowledge graphs based on the owl:sameAs relation such that every entity is represented by a unique identity. We instantiate our idea by computing universal embeddings based on DBpedia and Wikidata yielding embeddings for about 180 million entities, 15 thousand relations, and 1.2 billion triples. We believe our computed embeddings will support the emerging field of graph foundation models. Moreover, we develop a convenient API to provide embeddings as a service. Experiments on link prediction suggest that universal knowledge graph embeddings encode better semantics compared to embeddings computed on a single knowledge graph. For reproducibility purposes, we provide our source code and datasets open access., Comment: 5 pages, 3 tables

A central challenge in using price signals to coordinate the electricity consumption of a group of users is the operator's lack of knowledge of the users due to privacy concerns. In this paper, we develop a two-time-scale incentive mechanism that alternately updates between the users and a system operator. As long as the users can optimize their own consumption subject to a given price, the operator does not need to know or attempt to learn any private information of the users for price design. Users adjust their consumption following the price and the system redesigns the price based on the users' consumption. We show that under mild assumptions, this iterative process converges to the social welfare solution. In particular, the cost of the users need not always be convex and its consumption can be the output of a machine learning-based load control algorithm., Comment: Accepted to Power Systems Computation Conference (PSCC-2024)

Persistent homology (PH) is a method for generating topology-inspired representations of data. Empirical studies that investigate the properties of PH, such as its sensitivity to perturbations or ability to detect a feature of interest, commonly rely on training and testing an additional model on the basis of the PH representation. To gain more intrinsic insights about PH, independently of the choice of such a model, we propose a novel methodology based on the pull-back geometry that a PH encoding induces on the data manifold. The spectrum and eigenvectors of the induced metric help to identify the most and least significant information captured by PH. Furthermore, the pull-back norm of tangent vectors provides insights about the sensitivity of PH to a given perturbation, or its potential to detect a given feature of interest, and in turn its ability to solve a given classification or regression problem. Experimentally, the insights gained through our methodology align well with the existing knowledge about PH. Moreover, we show that the pull-back norm correlates with the performance on downstream tasks, and can therefore guide the choice of a suitable PH encoding.

Bilinear based models are powerful and widely used approaches for Knowledge Graphs Completion (KGC). Although bilinear based models have achieved significant advances, these studies mainly concentrate on posterior properties (based on evidence, e.g. symmetry pattern) while neglecting the prior properties. In this paper, we find a prior property named "the law of identity" that cannot be captured by bilinear based models, which hinders them from comprehensively modeling the characteristics of KGs. To address this issue, we introduce a solution called Unit Ball Bilinear Model (UniBi). This model not only achieves theoretical superiority but also offers enhanced interpretability and performance by minimizing ineffective learning through minimal constraints. Experiments demonstrate that UniBi models the prior property and verify its interpretability and performance.

Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation learning solves this problem by using a mimic reward to encourage the robot to track a given reference trajectory. However, imitation learning is not so efficient and may constrain the learned motion. In this paper, we propose instruction learning, which is inspired by the human learning process and is highly efficient, flexible, and versatile for robot motion learning. Instead of using a reference signal in the reward, instruction learning applies a reference signal directly as a feedforward action, and it is combined with a feedback action learned by reinforcement learning to control the robot. Besides, we propose the action bounding technique and remove the mimic reward, which is shown to be crucial for efficient and flexible learning. We compare the performance of instruction learning with imitation learning, indicating that instruction learning can greatly speed up the training process and guarantee learning the desired motion correctly. The effectiveness of instruction learning is validated through a bunch of motion learning examples for a biped robot and a quadruped robot, where skills can be learned typically within several million steps. Besides, we also conduct sim-to-real transfer and online learning experiments on a real quadruped robot. Instruction learning has shown great merits and potential, making it a promising alternative for imitation learning.