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This paper presents AlignBot, a novel framework designed to optimize VLM-powered customized task planning for household robots by effectively aligning with user reminders. In domestic settings, aligning task planning with user reminders poses significant challenges due to the limited quantity, diversity, and multimodal nature of the reminders. To address these challenges, AlignBot employs a fine-tuned LLaVA-7B model, functioning as an adapter for GPT-4o. This adapter model internalizes diverse forms of user reminders-such as personalized preferences, corrective guidance, and contextual assistance-into structured instruction-formatted cues that prompt GPT-4o in generating customized task plans. Additionally, AlignBot integrates a dynamic retrieval mechanism that selects task-relevant historical successes as prompts for GPT-4o, further enhancing task planning accuracy. To validate the effectiveness of AlignBot, experiments are conducted in real-world household environments, which are constructed within the laboratory to replicate typical household settings. A multimodal dataset with over 1,500 entries derived from volunteer reminders is used for training and evaluation. The results demonstrate that AlignBot significantly improves customized task planning, outperforming existing LLM- and VLM-powered planners by interpreting and aligning with user reminders, achieving 86.8% success rate compared to the vanilla GPT-4o baseline at 21.6%, reflecting a 65% improvement and over four times greater effectiveness. Supplementary materials are available at: https://yding25.com/AlignBot/

We introduce RMP-YOLO, a unified framework designed to provide robust motion predictions even with incomplete input data. Our key insight stems from the observation that complete and reliable historical trajectory data plays a pivotal role in ensuring accurate motion prediction. Therefore, we propose a new paradigm that prioritizes the reconstruction of intact historical trajectories before feeding them into the prediction modules. Our approach introduces a novel scene tokenization module to enhance the extraction and fusion of spatial and temporal features. Following this, our proposed recovery module reconstructs agents' incomplete historical trajectories by leveraging local map topology and interactions with nearby agents. The reconstructed, clean historical data is then integrated into the downstream prediction modules. Our framework is able to effectively handle missing data of varying lengths and remains robust against observation noise, while maintaining high prediction accuracy. Furthermore, our recovery module is compatible with existing prediction models, ensuring seamless integration. Extensive experiments validate the effectiveness of our approach, and deployment in real-world autonomous vehicles confirms its practical utility. In the 2024 Waymo Motion Prediction Competition, our method, RMP-YOLO, achieves state-of-the-art performance, securing third place.

Mental health disorders are among the most prevalent diseases worldwide, affecting nearly one in four people. Despite their widespread impact, the intervention rate remains below 25%, largely due to the significant cooperation required from patients for both diagnosis and intervention. The core issue behind this low treatment rate is stigma, which discourages over half of those affected from seeking help. This paper presents MindGuard, an accessible, stigma-free, and professional mobile mental healthcare system designed to provide mental health first aid. The heart of MindGuard is an innovative edge LLM, equipped with professional mental health knowledge, that seamlessly integrates objective mobile sensor data with subjective Ecological Momentary Assessment records to deliver personalized screening and intervention conversations. We conduct a broad evaluation of MindGuard using open datasets spanning four years and real-world deployment across various mobile devices involving 20 subjects for two weeks. Remarkably, MindGuard achieves results comparable to GPT-4 and outperforms its counterpart with more than 10 times the model size. We believe that MindGuard paves the way for mobile LLM applications, potentially revolutionizing mental healthcare practices by substituting self-reporting and intervention conversations with passive, integrated monitoring within daily life, thus ensuring accessible and stigma-free mental health support.

Motion planning is a challenging task to generate safe and feasible trajectories in highly dynamic and complex environments, forming a core capability for autonomous vehicles. In this paper, we propose DRAMA, the first Mamba-based end-to-end motion planner for autonomous vehicles. DRAMA fuses camera, LiDAR Bird's Eye View images in the feature space, as well as ego status information, to generate a series of future ego trajectories. Unlike traditional transformer-based methods with quadratic attention complexity for sequence length, DRAMA is able to achieve a less computationally intensive attention complexity, demonstrating potential to deal with increasingly complex scenarios. Leveraging our Mamba fusion module, DRAMA efficiently and effectively fuses the features of the camera and LiDAR modalities. In addition, we introduce a Mamba-Transformer decoder that enhances the overall planning performance. This module is universally adaptable to any Transformer-based model, especially for tasks with long sequence inputs. We further introduce a novel feature state dropout which improves the planner's robustness without increasing training and inference times. Extensive experimental results show that DRAMA achieves higher accuracy on the NAVSIM dataset compared to the baseline Transfuser, with fewer parameters and lower computational costs.

Lensless fiber endomicroscope is an emerging tool for in-vivo microscopic imaging, where quantitative phase imaging (QPI) can be utilized as a label-free method to enhance image contrast. However, existing single-shot phase reconstruction methods through lensless fiber endomicroscope typically perform well on simple images but struggle with complex microscopic structures. Here, we propose a speckle-conditioned diffusion model (SpecDiffusion), which reconstructs phase images directly from speckles captured at the detection side of a multi-core fiber (MCF). Unlike conventional neural networks, SpecDiffusion employs iterative phase denoising steps for speckle-driven phase reconstruction. The iteration scheme allows SpecDiffusion to break down the phase reconstruction process into multiple steps, gradually building up to the final phase image. This attribute alleviates the computation challenge at each step and enables the reconstruction of rich details in complex microscopic images. To validate its efficacy, we build an optical system to capture speckles from MCF and construct a dataset consisting of 100,000 paired images. SpecDiffusion provides high-fidelity phase reconstruction results and shows powerful generalization capacity for unseen objects, such as test charts and biological tissues, reducing the average mean absolute error of the reconstructed tissue images by 7 times. Furthermore, the reconstructed tissue images using SpecDiffusion shows higher accuracy in zero-shot cell segmentation tasks compared to the conventional method, demonstrating the potential for further cell morphology analysis through the learning-based lensless fiber endomicroscope. SpecDiffusion offers a precise and generalized method to phase reconstruction through scattering media, including MCFs, opening new perspective in lensless fiber endomicroscopic imaging.

Motion prediction is a challenging problem in autonomous driving as it demands the system to comprehend stochastic dynamics and the multi-modal nature of real-world agent interactions. Diffusion models have recently risen to prominence, and have proven particularly effective in pedestrian motion prediction tasks. However, the significant time consumption and sensitivity to noise have limited the real-time predictive capability of diffusion models. In response to these impediments, we propose a novel diffusion-based, acceleratable framework that adeptly predicts future trajectories of agents with enhanced resistance to noise. The core idea of our model is to learn a coarse-grained prior distribution of trajectory, which can skip a large number of denoise steps. This advancement not only boosts sampling efficiency but also maintains the fidelity of prediction accuracy. Our method meets the rigorous real-time operational standards essential for autonomous vehicles, enabling prompt trajectory generation that is vital for secure and efficient navigation. Through extensive experiments, our method speeds up the inference time to 136ms compared to standard diffusion model, and achieves significant improvement in multi-agent motion prediction on the Argoverse 1 motion forecasting dataset., Comment: 7 pages, 4 figures

The ability to accurately predict feasible multimodal future trajectories of surrounding traffic participants is crucial for behavior planning in autonomous vehicles. The Motion Transformer (MTR), a state-of-the-art motion prediction method, alleviated mode collapse and instability during training and enhanced overall prediction performance by replacing conventional dense future endpoints with a small set of fixed prior motion intention points. However, the fixed prior intention points make the MTR multi-modal prediction distribution over-scattered and infeasible in many scenarios. In this paper, we propose the ControlMTR framework to tackle the aforementioned issues by generating scene-compliant intention points and additionally predicting driving control commands, which are then converted into trajectories by a simple kinematic model with soft constraints. These control-generated trajectories will guide the directly predicted trajectories by an auxiliary loss function. Together with our proposed scene-compliant intention points, they can effectively restrict the prediction distribution within the road boundaries and suppress infeasible off-road predictions while enhancing prediction performance. Remarkably, without resorting to additional model ensemble techniques, our method surpasses the baseline MTR model across all performance metrics, achieving notable improvements of 5.22% in SoftmAP and a 4.15% reduction in MissRate. Our approach notably results in a 41.85% reduction in the cross-boundary rate of the MTR, effectively ensuring that the prediction distribution is confined within the drivable area.

Graph representation learning (GRL) makes considerable progress recently, which encodes graphs with topological structures into low-dimensional embeddings. Meanwhile, the time-consuming and costly process of annotating graph labels manually prompts the growth of self-supervised learning (SSL) techniques. As a dominant approach of SSL, Contrastive learning (CL) learns discriminative representations by differentiating between positive and negative samples. However, when applied to graph data, it overemphasizes global patterns while neglecting local structures. To tackle the above issue, we propose \underline{Local}-aware \underline{G}raph \underline{C}ontrastive \underline{L}earning (\textbf{\methnametrim}), a self-supervised learning framework that supplementarily captures local graph information with masking-based modeling compared with vanilla contrastive learning. Extensive experiments validate the superiority of \methname against state-of-the-art methods, demonstrating its promise as a comprehensive graph representation learner.

Large Language Models (LLMs) showcase impressive capabilities but encounter challenges like hallucination, outdated knowledge, and non-transparent, untraceable reasoning processes. Retrieval-Augmented Generation (RAG) has emerged as a promising solution by incorporating knowledge from external databases. This enhances the accuracy and credibility of the generation, particularly for knowledge-intensive tasks, and allows for continuous knowledge updates and integration of domain-specific information. RAG synergistically merges LLMs' intrinsic knowledge with the vast, dynamic repositories of external databases. This comprehensive review paper offers a detailed examination of the progression of RAG paradigms, encompassing the Naive RAG, the Advanced RAG, and the Modular RAG. It meticulously scrutinizes the tripartite foundation of RAG frameworks, which includes the retrieval, the generation and the augmentation techniques. The paper highlights the state-of-the-art technologies embedded in each of these critical components, providing a profound understanding of the advancements in RAG systems. Furthermore, this paper introduces up-to-date evaluation framework and benchmark. At the end, this article delineates the challenges currently faced and points out prospective avenues for research and development., Comment: Ongoing Work

Optical tomography has emerged as a non-invasive imaging method, providing three-dimensional insights into subcellular structures and thereby enabling a deeper understanding of cellular functions, interactions, and processes. Conventional optical tomography methods are constrained by a limited illumination scanning range, leading to anisotropic resolution and incomplete imaging of cellular structures. To overcome this problem, we employ a compact multi-core fibre-optic cell rotator system that facilitates precise optical manipulation of cells within a microfluidic chip, achieving full-angle projection tomography with isotropic resolution. Moreover, we demonstrate an AI-driven tomographic reconstruction workflow, which can be a paradigm shift from conventional computational methods, often demanding manual processing, to a fully autonomous process. The performance of the proposed cell rotation tomography approach is validated through the three-dimensional reconstruction of cell phantoms and HL60 human cancer cells. The versatility of this learning-based tomographic reconstruction workflow paves the way for its broad application across diverse tomographic imaging modalities, including but not limited to flow cytometry tomography and acoustic rotation tomography. Therefore, this AI-driven approach can propel advancements in cell biology, aiding in the inception of pioneering therapeutics, and augmenting early-stage cancer diagnostics., Comment: 15 pages, 6 figures

Quantitative phase imaging (QPI) through multi-core fibers (MCFs) has been an emerging in vivo label-free endoscopic imaging modality with minimal invasiveness. However, the computational demands of conventional iterative phase retrieval algorithms have limited their real-time imaging potential. We demonstrate a learning-based MCF phase imaging method, that significantly reduced the phase reconstruction time to 5.5 ms, enabling video-rate imaging at 181 fps. Moreover, we introduce an innovative optical system that automatically generated the first open-source dataset tailored for MCF phase imaging, comprising 50,176 paired speckle and phase images. Our trained deep neural network (DNN) demonstrates robust phase reconstruction performance in experiments with a mean fidelity of up to 99.8\%. Such an efficient fiber phase imaging approach can broaden the applications of QPI in hard-to-reach areas., Comment: 5 pages. 5 figures

The widespread adoption of large language models (LLMs) across various regions underscores the urgent need to evaluate their alignment with human values. Current benchmarks, however, fall short of effectively uncovering safety vulnerabilities in LLMs. Despite numerous models achieving high scores and 'topping the chart' in these evaluations, there is still a significant gap in LLMs' deeper alignment with human values and achieving genuine harmlessness. To this end, this paper proposes a value alignment benchmark named Flames, which encompasses both common harmlessness principles and a unique morality dimension that integrates specific Chinese values such as harmony. Accordingly, we carefully design adversarial prompts that incorporate complex scenarios and jailbreaking methods, mostly with implicit malice. By prompting 17 mainstream LLMs, we obtain model responses and rigorously annotate them for detailed evaluation. Our findings indicate that all the evaluated LLMs demonstrate relatively poor performance on Flames, particularly in the safety and fairness dimensions. We also develop a lightweight specified scorer capable of scoring LLMs across multiple dimensions to efficiently evaluate new models on the benchmark. The complexity of Flames has far exceeded existing benchmarks, setting a new challenge for contemporary LLMs and highlighting the need for further alignment of LLMs. Our benchmark is publicly available at https://github.com/AIFlames/Flames., Comment: Accepted to the NAACL 2024

Realistic and diverse traffic scenarios in large quantities are crucial for the development and validation of autonomous driving systems. However, owing to numerous difficulties in the data collection process and the reliance on intensive annotations, real-world datasets lack sufficient quantity and diversity to support the increasing demand for data. This work introduces DriveSceneGen, a data-driven driving scenario generation method that learns from the real-world driving dataset and generates entire dynamic driving scenarios from scratch. DriveSceneGen is able to generate novel driving scenarios that align with real-world data distributions with high fidelity and diversity. Experimental results on 5k generated scenarios highlight the generation quality, diversity, and scalability compared to real-world datasets. To the best of our knowledge, DriveSceneGen is the first method that generates novel driving scenarios involving both static map elements and dynamic traffic participants from scratch., Comment: 8 pages, 5 figures, 2 tables

The robustness of SLAM (Simultaneous Localization and Mapping) algorithms under challenging environmental conditions is critical for the success of autonomous driving. However, the real-world impact of such conditions remains largely unexplored due to the difficulty of altering environmental parameters in a controlled manner. To address this, we introduce CARLA-Loc, a synthetic dataset designed for challenging and dynamic environments, created using the CARLA simulator. Our dataset integrates a variety of sensors, including cameras, event cameras, LiDAR, radar, and IMU, etc. with tuned parameters and modifications to ensure the realism of the generated data. CARLA-Loc comprises 7 maps and 42 sequences, each varying in dynamics and weather conditions. Additionally, a pipeline script is provided that allows users to generate custom sequences conveniently. We evaluated 5 visual-based and 4 LiDAR-based SLAM algorithms across different sequences, analyzing how various challenging environmental factors influence localization accuracy. Our findings demonstrate the utility of the CARLA-Loc dataset in validating the efficacy of SLAM algorithms under diverse conditions.

Machine learning head models (MLHMs) are developed to estimate brain deformation for early detection of traumatic brain injury (TBI). However, the overfitting to simulated impacts and the lack of generalizability caused by distributional shift of different head impact datasets hinders the broad clinical applications of current MLHMs. We propose brain deformation estimators that integrates unsupervised domain adaptation with a deep neural network to predict whole-brain maximum principal strain (MPS) and MPS rate (MPSR). With 12,780 simulated head impacts, we performed unsupervised domain adaptation on on-field head impacts from 302 college football (CF) impacts and 457 mixed martial arts (MMA) impacts using domain regularized component analysis (DRCA) and cycle-GAN-based methods. The new model improved the MPS/MPSR estimation accuracy, with the DRCA method significantly outperforming other domain adaptation methods in prediction accuracy (p<0.001): MPS RMSE: 0.027 (CF) and 0.037 (MMA); MPSR RMSE: 7.159 (CF) and 13.022 (MMA). On another two hold-out test sets with 195 college football impacts and 260 boxing impacts, the DRCA model significantly outperformed the baseline model without domain adaptation in MPS and MPSR estimation accuracy (p<0.001). The DRCA domain adaptation reduces the MPS/MPSR estimation error to be well below TBI thresholds, enabling accurate brain deformation estimation to detect TBI in future clinical applications.

Accurately predicting interactive road agents' future trajectories and planning a socially compliant and human-like trajectory accordingly are important for autonomous vehicles. In this paper, we propose a planning-centric prediction neural network, which takes surrounding agents' historical states and map context information as input, and outputs the joint multi-modal prediction trajectories for surrounding agents, as well as a sequence of control commands for the ego vehicle by imitation learning. An agent-agent interaction module along the time axis is proposed in our network architecture to better comprehend the relationship among all the other intelligent agents on the road. To incorporate the map's topological information, a Dynamic Graph Convolutional Neural Network (DGCNN) is employed to process the road network topology. Besides, the whole architecture can serve as a backbone for the Differentiable Integrated motion Prediction with Planning (DIPP) method by providing accurate prediction results and initial planning commands. Experiments are conducted on real-world datasets to demonstrate the improvements made by our proposed method in both planning and prediction accuracy compared to the previous state-of-the-art methods., Comment: 8 pages, 5 figures

In this paper, we study one-dimensional nonhomogeneous isentropic compressible Euler equations with time-periodic boundary conditions. With the aid of the energy methods, we prove the existence and uniqueness of the time-periodic supersonic solutions after some certain time.

In this paper, we consider the one-dimensional isentropic compressible Euler equations with source term $\beta(t,x)\rho|u|^{\alpha}u$ in a bounded domain, which can be used to describe gas transmission in a nozzle.~The model is imposed a subsonic time-periodic boundary condition.~Our main results reveal that the time-periodic boundary can trigger an unique subsonic time-periodic smooth solution and this unique periodic solution is stable under small perturbations on initial and boundary data.~To get the existence of subsonic time-periodic solution, we use the linear iterative skill and transfer the boundary value problem into two initial value ones by using the hyperbolic property of the system. Then the corresponding linearized system can be decoupled.~The uniqueness is a direct by-product of the stability. There is no small assumptions on the damping coefficient.

In this paper we propose and analyze finite element discontinuous Galerkin methods for the one- and two-dimensional stochastic Maxwell equations with multiplicative noise. The discrete energy law of the semi-discrete DG methods were studied. Optimal error estimate of the semi-discrete method is obtained for the one-dimensional case, and the two-dimensional case on both rectangular meshes and triangular meshes under certain mesh assumptions. Strong Taylor 2.0 scheme is used as the temporal discretization. Both one- and two-dimensional numerical results are presented to validate the theoretical analysis results.

In this paper, we study the initial-boundary value problem of one-dimensional isentropic compressible Euler equations with the source term $\beta\rho|u|^{\alpha}u$. By means of wave decomposition and the uniform a-priori estimates, we prove the global existence of smooth solutions under small perturbations around the supersonic Fanno flow. Then, by Gronwall's inequality, we get the smooth solution is time-periodic.