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Due to the impressive capabilities of multimodal large language models (MLLMs), recent works have focused on employing MLLM-based agents for autonomous driving in large-scale and dynamic environments. However, prevalent approaches often directly translate high-level instructions into low-level vehicle control signals, which deviates from the inherent language generation paradigm of MLLMs and fails to fully harness their emergent powers. As a result, the generalizability of these methods is highly restricted by autonomous driving datasets used during fine-tuning. To tackle this challenge, we propose to connect high-level instructions and low-level control signals with mid-level language-driven commands, which are more fine-grained than high-level instructions but more universal and explainable than control signals, and thus can effectively bridge the gap in between. We implement this idea through a hierarchical multi-agent driving system named AD-H, including a MLLM planner for high-level reasoning and a lightweight controller for low-level execution. The hierarchical design liberates the MLLM from low-level control signal decoding and therefore fully releases their emergent capability in high-level perception, reasoning, and planning. We build a new dataset with action hierarchy annotations. Comprehensive closed-loop evaluations demonstrate several key advantages of our proposed AD-H system. First, AD-H can notably outperform state-of-the-art methods in achieving exceptional driving performance, even exhibiting self-correction capabilities during vehicle operation, a scenario not encountered in the training dataset. Second, AD-H demonstrates superior generalization under long-horizon instructions and novel environmental conditions, significantly surpassing current state-of-the-art methods. We will make our data and code publicly accessible at https://github.com/zhangzaibin/AD-H

Room acoustic parameters (RAPs) and room physical parameters ( RPPs) are essential metrics for parameterizing the room acoustical characteristics (RAC) of a sound field around a listener's local environment, offering comprehensive indications for various applications. The current RAPs and RPPs estimation methods either fall short of covering broad real-world acoustic environments in the context of real background noise or lack universal frameworks for blindly estimating RAPs and RPPs from noisy single-channel speech signals, particularly sound source distances, direction-of-arrival (DOA) of sound sources, and occupancy levels. On the other hand, in this paper, we propose a novel universal blind estimation framework called the blind estimator of room acoustical and physical parameters (BERP), by introducing a new stochastic room impulse response (RIR) model, namely, the sparse stochastic impulse response (SSIR) model, and endowing the BERP with a unified encoder and multiple separate predictors to estimate RPPs and SSIR parameters in parallel. This estimation framework enables the computationally efficient and universal estimation of room parameters by solely using noisy single-channel speech signals. Finally, all the RAPs can be simultaneously derived from the RIRs synthesized from SSIR model with the estimated parameters. To evaluate the effectiveness of the proposed BERP and SSIR models, we compile a task-specific dataset from several publicly available datasets. The results reveal that the BERP achieves state-of-the-art (SOTA) performance. Moreover, the evaluation results pertaining to the SSIR RIR model also demonstrated its efficacy. The code is available on GitHub., Comment: 13-page, Submitted to IEEE/ACM Transaction on Audio Speech and Language Processing (TASLP)

The formation of protostellar disks is still a mystery, largely due to the difficulties in observations that can constrain theories. For example, the 3D alignment between the rotation of the disk and the magnetic fields (B-fields) in the formation environment is critical in some models, but so far impossible to observe. Here, we study the possibility of probing the alignment between B-field and disk rotation using ``polarization holes'' (PHs). PHs are widely observed and are caused by unresolved B-field structures. With ideal magnetohydrodynamic (MHD) simulations, we demonstrate that different initial alignments between B-field and angular momentum (AM) can result in B-field structures that are distinct enough to produce distinguishable PHs. Thus PHs can potentially serve as probes for alignments between B-field and AM in disk formation., Comment: accepted by The Astrophysical Journal

Multimodal Large Language Model (MLLMs) leverages Large Language Models as a cognitive framework for diverse visual-language tasks. Recent efforts have been made to equip MLLMs with visual perceiving and grounding capabilities. However, there still remains a gap in providing fine-grained pixel-level perceptions and extending interactions beyond text-specific inputs. In this work, we propose {\bf{AnyRef}}, a general MLLM model that can generate pixel-wise object perceptions and natural language descriptions from multi-modality references, such as texts, boxes, images, or audio. This innovation empowers users with greater flexibility to engage with the model beyond textual and regional prompts, without modality-specific designs. Through our proposed refocusing mechanism, the generated grounding output is guided to better focus on the referenced object, implicitly incorporating additional pixel-level supervision. This simple modification utilizes attention scores generated during the inference of LLM, eliminating the need for extra computations while exhibiting performance enhancements in both grounding masks and referring expressions. With only publicly available training data, our model achieves state-of-the-art results across multiple benchmarks, including diverse modality referring segmentation and region-level referring expression generation., Comment: CVPR 2024

In order to solve the problems of long training time, large consumption of computing resources and huge parameter amount of GAN network in image generation, this paper proposes an improved GAN network model, which is named Faster Projected GAN, based on Projected GAN. The proposed network is mainly focuses on the improvement of generator of Projected GAN. By introducing depth separable convolution (DSC), the number of parameters of the Projected GAN is reduced, the training speed is accelerated, and memory is saved. Experimental results show that on ffhq-1k, art-painting, Landscape and other few-shot image datasets, a 20% speed increase and a 15% memory saving are achieved. At the same time, FID loss is less or no loss, and the amount of model parameters is better controlled. At the same time, significant training speed improvement has been achieved in the small sample image generation task of special scenes such as earthquake scenes with few public datasets., Comment: 9 pages,7 figures,4 tables

Multi-agent systems, when enhanced with Large Language Models (LLMs), exhibit profound capabilities in collective intelligence. However, the potential misuse of this intelligence for malicious purposes presents significant risks. To date, comprehensive research on the safety issues associated with multi-agent systems remains limited. In this paper, we explore these concerns through the innovative lens of agent psychology, revealing that the dark psychological states of agents constitute a significant threat to safety. To tackle these concerns, we propose a comprehensive framework (PsySafe) grounded in agent psychology, focusing on three key areas: firstly, identifying how dark personality traits in agents can lead to risky behaviors; secondly, evaluating the safety of multi-agent systems from the psychological and behavioral perspectives, and thirdly, devising effective strategies to mitigate these risks. Our experiments reveal several intriguing phenomena, such as the collective dangerous behaviors among agents, agents' self-reflection when engaging in dangerous behavior, and the correlation between agents' psychological assessments and dangerous behaviors. We anticipate that our framework and observations will provide valuable insights for further research into the safety of multi-agent systems. We will make our data and code publicly accessible at https://github.com/AI4Good24/PsySafe.

A univariate continuous function can always be decomposed as the sum of a non-increasing function and a non-decreasing one. Based on this property, we propose a non-parametric regression method that combines two spline-fitted monotone curves. We demonstrate by extensive simulations that, compared to standard spline-fitting methods, the proposed approach is particularly advantageous in high-noise scenarios. Several theoretical guarantees are established for the proposed approach. Additionally, we present statistics to test the monotonicity of a function based on monotone decomposition, which can better control Type I error and achieve comparable (if not always higher) power compared to existing methods. Finally, we apply the proposed fitting and testing approaches to analyze the single-cell pseudotime trajectory datasets, identifying significant biological insights for non-monotonically expressed genes through Gene Ontology enrichment analysis. The source code implementing the methodology and producing all results is accessible at https://github.com/szcf-weiya/MonotoneDecomposition.jl.