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Ultrasound (US)-guided needle insertion is widely employed in percutaneous interventions. However, providing feedback on the needle tip position via US image presents challenges due to noise, artifacts, and the thin imaging plane of US, which degrades needle features and leads to intermittent tip visibility. In this paper, a Mamba-based US needle tracker MambaXCTrack utilizing structured state space models cross-correlation (SSMX-Corr) and implicit motion prompt is proposed, which is the first application of Mamba in US needle tracking. The SSMX-Corr enhances cross-correlation by long-range modeling and global searching of distant semantic features between template and search maps, benefiting the tracking under noise and artifacts by implicitly learning potential distant semantic cues. By combining with cross-map interleaved scan (CIS), local pixel-wise interaction with positional inductive bias can also be introduced to SSMX-Corr. The implicit low-level motion descriptor is proposed as a non-visual prompt to enhance tracking robustness, addressing the intermittent tip visibility problem. Extensive experiments on a dataset with motorized needle insertion in both phantom and tissue samples demonstrate that the proposed tracker outperforms other state-of-the-art trackers while ablation studies further highlight the effectiveness of each proposed tracking module., Comment: This work has been submitted to the IEEE for possible publication

Graph-based patterns are extensively employed and favored by practitioners within industrial companies due to their capacity to represent the behavioral attributes and topological relationships among users, thereby offering enhanced interpretability in comparison to black-box models commonly utilized for classification and recognition tasks. For instance, within the scenario of transaction risk management, a graph pattern that is characteristic of a particular risk category can be readily employed to discern transactions fraught with risk, delineate networks of criminal activity, or investigate the methodologies employed by fraudsters. Nonetheless, graph data in industrial settings is often characterized by its massive scale, encompassing data sets with millions or even billions of nodes, making the manual extraction of graph patterns not only labor-intensive but also necessitating specialized knowledge in particular domains of risk. Moreover, existing methodologies for mining graph patterns encounter significant obstacles when tasked with analyzing large-scale attributed graphs. In this work, we introduce GraphRPM, an industry-purpose parallel and distributed risk pattern mining framework on large attributed graphs. The framework incorporates a novel edge-involved graph isomorphism network alongside optimized operations for parallel graph computation, which collectively contribute to a considerable reduction in computational complexity and resource expenditure. Moreover, the intelligent filtration of efficacious risky graph patterns is facilitated by the proposed evaluation metrics. Comprehensive experimental evaluations conducted on real-world datasets of varying sizes substantiate the capability of GraphRPM to adeptly address the challenges inherent in mining patterns from large-scale industrial attributed graphs, thereby underscoring its substantial value for industrial deployment., Comment: Accepted by ECML PKDD 2024

Smartphones, equipped with an array of sensors, have become valuable tools for personal sensing. Particularly in digital health, smartphones facilitate the tracking of health-related behaviors and contexts, contributing significantly to digital phenotyping, a process where data from digital interactions is analyzed to infer behaviors and assess mental health. Traditional methods process raw sensor data into information features for statistical and machine learning analyses. In this paper, we introduce a novel approach that systematically converts smartphone-collected data into structured, chronological narratives. The AWARE Narrator translates quantitative smartphone sensing data into English language descriptions, forming comprehensive narratives of an individual's activities. We apply the framework to the data collected from university students over a week, demonstrating the potential of utilizing the narratives to summarize individual behavior, and analyzing psychological states by leveraging large language models.

In recent years, the long-range attention mechanism of vision transformers has driven significant performance breakthroughs across various computer vision tasks. However, the traditional self-attention mechanism, which processes both informative and non-informative tokens, suffers from inefficiency and inaccuracies. While sparse attention mechanisms have been introduced to mitigate these issues by pruning tokens involved in attention, they often lack context-awareness and intelligence. These mechanisms frequently apply a uniform token selection strategy across different inputs for batch training or optimize efficiency only for the inference stage. To overcome these challenges, we propose a novel algorithm: Select and Pack Attention (SPA). SPA dynamically selects informative tokens using a low-cost gating layer supervised by selection labels and packs these tokens into new batches, enabling a variable number of tokens to be used in parallelized GPU batch training and inference. Extensive experiments across diverse datasets and computer vision tasks demonstrate that SPA delivers superior performance and efficiency, including a 0.6 mAP improvement in object detection and a 16.4% reduction in computational costs.

Practical Bayes filters often assume the state distribution of each time step to be Gaussian for computational tractability, resulting in the so-called Gaussian filters. When facing nonlinear systems, Gaussian filters such as extended Kalman filter (EKF) or unscented Kalman filter (UKF) typically rely on certain linearization techniques, which can introduce large estimation errors. To address this issue, this paper reconstructs the prediction and update steps of Gaussian filtering as solutions to two distinct optimization problems, whose optimal conditions are found to have analytical forms from Stein's lemma. It is observed that the stationary point for the prediction step requires calculating the first two moments of the prior distribution, which is equivalent to that step in existing moment-matching filters. In the update step, instead of linearizing the model to approximate the stationary points, we propose an iterative approach to directly minimize the update step's objective to avoid linearization errors. For the purpose of performing the steepest descent on the Gaussian manifold, we derive its natural gradient that leverages Fisher information matrix to adjust the gradient direction, accounting for the curvature of the parameter space. Combining this update step with moment matching in the prediction step, we introduce a new iterative filter for nonlinear systems called \textit{N}atural Gr\textit{a}dient Gaussia\textit{n} Appr\textit{o}ximation filter, or NANO filter for short. We prove that NANO filter locally converges to the optimal Gaussian approximation at each time step. Furthermore, the estimation error is proven exponentially bounded for nearly linear measurement equation and low noise levels through constructing a supermartingale-like property across consecutive time steps.

Recent large visual-language action models pretrained on diverse robot datasets have demonstrated the potential for generalizing to new environments with a few in-domain data. However, those approaches usually predict discretized or continuous actions by a small action head, which limits the ability in handling diverse action spaces. In contrast, we model the continuous action with a large multi-modal diffusion transformer, dubbed as Diffusion Transformer Policy, in which we directly denoise action chunks by a large transformer model rather than a small action head. By leveraging the scaling capability of transformers, the proposed approach can effectively model continuous end-effector actions across large diverse robot datasets, and achieve better generalization performance. Extensive experiments demonstrate Diffusion Transformer Policy pretrained on diverse robot data can generalize to different embodiments, including simulation environments like Maniskill2 and Calvin, as well as the real-world Franka arm. Specifically, without bells and whistles, the proposed approach achieves state-of-the-art performance with only a single third-view camera stream in the Calvin novel task setting (ABC->D), improving the average number of tasks completed in a row of 5 to 3.6, and the pretraining stage significantly facilitates the success sequence length on the Calvin by over 1.2. The code will be publicly available., Comment: Preprint

We present MMCS, a system capable of recognizing medical images and patient facial details, and providing professional medical diagnoses. The system consists of two core components: The first component is the analysis of medical images and videos. We trained a specialized multimodal medical model capable of interpreting medical images and accurately analyzing patients' facial emotions and facial paralysis conditions. The model achieved an accuracy of 72.59% on the FER2013 facial emotion recognition dataset, with a 91.1% accuracy in recognizing the happy emotion. In facial paralysis recognition, the model reached an accuracy of 92%, which is 30% higher than that of GPT-4o. Based on this model, we developed a parser for analyzing facial movement videos of patients with facial paralysis, achieving precise grading of the paralysis severity. In tests on 30 videos of facial paralysis patients, the system demonstrated a grading accuracy of 83.3%.The second component is the generation of professional medical responses. We employed a large language model, integrated with a medical knowledge base, to generate professional diagnoses based on the analysis of medical images or videos. The core innovation lies in our development of a department-specific knowledge base routing management mechanism, in which the large language model categorizes data by medical departments and, during the retrieval process, determines the appropriate knowledge base to query. This significantly improves retrieval accuracy in the RAG (retrieval-augmented generation) process. This mechanism led to an average increase of 4 percentage points in accuracy for various large language models on the MedQA dataset.Our code is open-sourced and available at: https://github.com/renllll/MMCS.

In virtual assistant (VA) systems it is important to reject or redirect user queries that fall outside the scope of the system. One of the most accurate approaches for out-of-scope (OOS) rejection is to combine it with the task of intent classification on in-scope queries, and to use methods based on the similarity of embeddings produced by transformer-based sentence encoders. Typically, such encoders are fine-tuned for the intent-classification task, using cross-entropy loss. Recent work has shown that while this produces suitable embeddings for the intent-classification task, it also tends to disperse in-scope embeddings over the full sentence embedding space. This causes the in-scope embeddings to potentially overlap with OOS embeddings, thereby making OOS rejection difficult. This is compounded when OOS data is unknown. To mitigate this issue our work proposes to regularize the cross-entropy loss with an in-scope embedding reconstruction loss learned using an auto-encoder. Our method achieves a 1-4% improvement in the area under the precision-recall curve for rejecting out-of-sample (OOS) instances, without compromising intent classification performance., Comment: Appearing at Empirical Methods in Natural Language Processing 2024 - Industry Track

Vizing's Theorem from 1964 states that any $n$-vertex $m$-edge graph with maximum degree $\Delta$ can be {\em edge colored} using at most $\Delta + 1$ colors. For over 40 years, the state-of-the-art running time for computing such a coloring, obtained independently by Arjomandi [1982] and by Gabow, Nishizeki, Kariv, Leven and Terada~[1985], was $\tilde O(m\sqrt{n})$. Very recently, this time bound was improved in two independent works, by Bhattacharya, Carmon, Costa, Solomon and Zhang to $\tilde O(mn^{1/3})$, and by Assadi to $\tilde O(n^2)$. In this paper we present an algorithm that computes such a coloring in $\tilde O(mn^{1/4})$ time. Our key technical contribution is a subroutine for extending the coloring to one more edge within time $\tilde O(\Delta^2 + \sqrt{\Delta n})$. The best previous time bound of any color extension subroutine is either the trivial $O(n)$, dominated by the length of a Vizing chain, or the bound $\tilde{O}(\Delta^6)$ by Bernshteyn [2022], dominated by the length of {\em multi-step Vizing chains}, which is basically a concatenation of multiple (carefully chosen) Vizing chains. Our color extension subroutine produces significantly shorter multi-step Vizing chains than in previous works, for sufficiently large $\Delta$., Comment: To appear at SODA 2025

Despite their success, large language models (LLMs) face the critical challenge of hallucinations, generating plausible but incorrect content. While much research has focused on hallucinations in multiple modalities including images and natural language text, less attention has been given to hallucinations in source code, which leads to incorrect and vulnerable code that causes significant financial loss. To pave the way for research in LLMs' hallucinations in code, we introduce Collu-Bench, a benchmark for predicting code hallucinations of LLMs across code generation (CG) and automated program repair (APR) tasks. Collu-Bench includes 13,234 code hallucination instances collected from five datasets and 11 diverse LLMs, ranging from open-source models to commercial ones. To better understand and predict code hallucinations, Collu-Bench provides detailed features such as the per-step log probabilities of LLMs' output, token types, and the execution feedback of LLMs' generated code for in-depth analysis. In addition, we conduct experiments to predict hallucination on Collu-Bench, using both traditional machine learning techniques and neural networks, which achieves 22.03 -- 33.15% accuracy. Our experiments draw insightful findings of code hallucination patterns, reveal the challenge of accurately localizing LLMs' hallucinations, and highlight the need for more sophisticated techniques.

Compressive adaptation approaches, such as QLoRA, are widely popular alternatives for reducing memory requirements during fine-tuning of large language models (LLMs) while producing models capable of handling various downstream tasks. The key idea is to employ a "two-tower" architecture: compressing pre-trained LLM parameters into compact representations and fine-tuning the additive full-precision adapter, which typically has few tunable parameters in low-rank format. However, the strict algebraic assumptions, such as low-rank assumption, and the complexity of composing two-tower architectures are some of the known shortcomings, resulting in a poor accuracy-efficiency trade-off. In response to these known limitations, we propose SpaLLM (Sketched Parameter Adaptation of LLMs), a novel compressive adaptation approach for LLMs. This method is also the first to illustrate parameter-sharing compression methods for LLM fine-tuning, which, unlike QLoRA, are free from strict low-rank algebraic assumptions on adapters. Furthermore, our proposal unifies model compression and adaptation into a single, streamlined process, eliminating the need for two-tower architectures. SpaLLM sketches pre-trained LLM weights into lookup tables and directly fine-tunes the values in these tables. This approach simplifies LLMs' compressive adaptation workflow, potentially improves multi-user serving efficiency, and delivers significantly better accuracy for both natural language understanding and generation tasks. Moreover, by avoiding the "two-tower" architecture, our framework only requires one compressed matrix multiplication per layer during inference, demonstrating superior inference efficiency compared to previous methods.

Many recent developments for robots to represent environments have focused on photorealistic reconstructions. This paper particularly focuses on generating sequences of images from the photorealistic Gaussian Splatting models, that match instructions that are given by user-inputted language. We contribute a novel framework, SplaTraj, which formulates the generation of images within photorealistic environment representations as a continuous-time trajectory optimization problem. Costs are designed so that a camera following the trajectory poses will smoothly traverse through the environment and render the specified spatial information in a photogenic manner. This is achieved by querying a photorealistic representation with language embedding to isolate regions that correspond to the user-specified inputs. These regions are then projected to the camera's view as it moves over time and a cost is constructed. We can then apply gradient-based optimization and differentiate through the rendering to optimize the trajectory for the defined cost. The resulting trajectory moves to photogenically view each of the specified objects. We empirically evaluate our approach on a suite of environments and instructions, and demonstrate the quality of generated image sequences.

Vizing's theorem states that any $n$-vertex $m$-edge graph of maximum degree $\Delta$ can be edge colored using at most $\Delta + 1$ different colors [Vizing, 1964]. Vizing's original proof is algorithmic and shows that such an edge coloring can be found in $O(mn)$ time. This was subsequently improved to $\tilde O(m\sqrt{n})$ time, independently by [Arjomandi, 1982] and by [Gabow et al., 1985]. Very recently, independently and concurrently, using randomization, this runtime bound was further improved to $\tilde{O}(n^2)$ by [Assadi, 2024] and $\tilde O(mn^{1/3})$ by [Bhattacharya, Carmon, Costa, Solomon and Zhang, 2024] (and subsequently to $\tilde O(mn^{1/4})$ time by [Bhattacharya, Costa, Solomon and Zhang, 2024]). In this paper, we present a randomized algorithm that computes a $(\Delta+1)$-edge coloring in near-linear time -- in fact, only $O(m\log{\Delta})$ time -- with high probability, giving a near-optimal algorithm for this fundamental problem., Comment: Extended our results for simple graphs to Vizing's and Shannon's theorems for multigraphs

Building accurate representations of the environment is critical for intelligent robots to make decisions during deployment. Advances in photorealistic environment models have enabled robots to develop hyper-realistic reconstructions, which can be used to generate images that are intuitive for human inspection. In particular, the recently introduced \ac{3DGS}, which describes the scene with up to millions of primitive ellipsoids, can be rendered in real time. \ac{3DGS} has rapidly gained prominence. However, a critical unsolved problem persists: how can we fuse multiple \ac{3DGS} into a single coherent model? Solving this problem will enable robot teams to jointly build \ac{3DGS} models of their surroundings. A key insight of this work is to leverage the {duality} between photorealistic reconstructions, which render realistic 2D images from 3D structure, and \emph{3D foundation models}, which predict 3D structure from image pairs. To this end, we develop PhotoReg, a framework to register multiple photorealistic \ac{3DGS} models with 3D foundation models. As \ac{3DGS} models are generally built from monocular camera images, they have \emph{arbitrary scale}. To resolve this, PhotoReg actively enforces scale consistency among the different \ac{3DGS} models by considering depth estimates within these models. Then, the alignment is iteratively refined with fine-grained photometric losses to produce high-quality fused \ac{3DGS} models. We rigorously evaluate PhotoReg on both standard benchmark datasets and our custom-collected datasets, including with two quadruped robots. The code is released at \url{ziweny11.github.io/photoreg}.

Time synchronization is a critical component in network operation and management, and it is also required by Ultra-Reliable, Low-Latency Communications (URLLC) in next-generation wireless systems such as those of 5G, 6G, and Open RAN. In this context, we design and implement AraSync as an end-to-end time synchronization system in the ARA wireless living lab to enable advanced wireless experiments and applications involving stringent time constraints. We make use of Precision Time Protocol (PTP) at different levels to achieve synchronization accuracy in the order of nanoseconds. Along with fiber networks, AraSync enables time synchronization across the AraHaul wireless x-haul network consisting of long-range, high-capacity mmWave and microwave links. In this paper, we present the detailed design and implementation of AraSync, including its hardware and software components and the PTP network topology. Further, we experimentally characterize the performance of AraSync from spatial and temporal dimensions. Our measurement and analysis of the clock offset and mean path delay show the impact of the wireless channel and weather conditions on the PTP synchronization accuracy., Comment: 8 pages, 10 figures, accepted in ACM WiNTECH 2024 (The 18th ACM Workshop on Wireless Network Testbeds, Experimental evaluation & Characterization 2024)

Large Language Models (LLMs) have shown promising performance in code generation. However, how to reliably evaluate code generated by LLMs remains an unresolved problem. This paper presents CodeJudge, a code evaluation framework that leverages LLMs to evaluate the semantic correctness of generated code without the need for test cases. We investigate different ways to guide the LLM in performing "slow thinking" to arrive at an in-depth and reliable evaluation. We experimented with four LLMs as evaluators on four code generation datasets and five programming languages. The results show that CodeJudge significantly outperformed existing methods in most settings. Furthermore, compared with a SOTA GPT-3.5-based code evaluation method, CodeJudge achieved better results even when using a much smaller model, Llama-3-8B-Instruct. Our code and datasets are available on GitHub https://github.com/VichyTong/CodeJudge., Comment: Accepted to EMNLP 2024 (Main, Long Paper)

Structure-from-Motion (SfM) has become a ubiquitous tool for camera calibration and scene reconstruction with many downstream applications in computer vision and beyond. While the state-of-the-art SfM pipelines have reached a high level of maturity in well-textured and well-configured scenes over the last decades, they still fall short of robustly solving the SfM problem in challenging scenarios. In particular, weakly textured scenes and poorly constrained configurations oftentimes cause catastrophic failures or large errors for the primarily keypoint-based pipelines. In these scenarios, line segments are often abundant and can offer complementary geometric constraints. Their large spatial extent and typically structured configurations lead to stronger geometric constraints as compared to traditional keypoint-based methods. In this work, we introduce an incremental SfM system that, in addition to points, leverages lines and their structured geometric relations. Our technical contributions span the entire pipeline (mapping, triangulation, registration) and we integrate these into a comprehensive end-to-end SfM system that we share as an open-source software with the community. We also present the first analytical method to propagate uncertainties for 3D optimized lines via sensitivity analysis. Experiments show that our system is consistently more robust and accurate compared to the widely used point-based state of the art in SfM -- achieving richer maps and more precise camera registrations, especially under challenging conditions. In addition, our uncertainty-aware localization module alone is able to consistently improve over the state of the art under both point-alone and hybrid setups., Comment: 40 pages, 16 figures, 9 tables. To appear in ECCV 2024

In recent years, with the rapid development of large language models, serval models such as GPT-4o have demonstrated extraordinary capabilities, surpassing human performance in various language tasks. As a result, many researchers have begun exploring their potential applications in the field of public opinion analysis. This study proposes a novel large-language-models-based method for public opinion event heat level prediction. First, we preprocessed and classified 62,836 Chinese hot event data collected between July 2022 and December 2023. Then, based on each event's online dissemination heat index, we used the MiniBatchKMeans algorithm to automatically cluster the events and categorize them into four heat levels (ranging from low heat to very high heat). Next, we randomly selected 250 events from each heat level, totalling 1,000 events, to build the evaluation dataset. During the evaluation process, we employed various large language models to assess their accuracy in predicting event heat levels in two scenarios: without reference cases and with similar case references. The results showed that GPT-4o and DeepseekV2 performed the best in the latter case, achieving prediction accuracies of 41.4% and 41.5%, respectively. Although the overall prediction accuracy remains relatively low, it is worth noting that for low-heat (Level 1) events, the prediction accuracies of these two models reached 73.6% and 70.4%, respectively. Additionally, the prediction accuracy showed a downward trend from Level 1 to Level 4, which correlates with the uneven distribution of data across the heat levels in the actual dataset. This suggests that with the more robust dataset, public opinion event heat level prediction based on large language models will have significant research potential for the future., Comment: conference

There is no limit to how much a robot might explore and learn, but all of that knowledge needs to be searchable and actionable. Within language research, retrieval augmented generation (RAG) has become the workhouse of large-scale non-parametric knowledge, however existing techniques do not directly transfer to the embodied domain, which is multimodal, data is highly correlated, and perception requires abstraction. To address these challenges, we introduce Embodied-RAG, a framework that enhances the foundational model of an embodied agent with a non-parametric memory system capable of autonomously constructing hierarchical knowledge for both navigation and language generation. Embodied-RAG handles a full range of spatial and semantic resolutions across diverse environments and query types, whether for a specific object or a holistic description of ambiance. At its core, Embodied-RAG's memory is structured as a semantic forest, storing language descriptions at varying levels of detail. This hierarchical organization allows the system to efficiently generate context-sensitive outputs across different robotic platforms. We demonstrate that Embodied-RAG effectively bridges RAG to the robotics domain, successfully handling over 200 explanation and navigation queries across 19 environments, highlighting its promise for general-purpose non-parametric system for embodied agents., Comment: Web: https://quanting-xie.github.io/Embodied-RAG-web/

With the rapid development of artificial intelligence, multimodal learning has become an important research area. For intelligent agents, the state is a crucial modality to convey precise information alongside common modalities like images, videos, and language. This becomes especially clear with the broad adoption of reinforcement learning and multimodal large language models. Nevertheless, the representation of state modality still lags in development. To this end, we propose a High-Fidelity Contrastive Language-State Pre-training (CLSP) method, which can accurately encode state information into general representations for both reinforcement learning and multimodal large language models. Specifically, we first design a pre-training task based on the classification to train an encoder with coarse-grained information. Next, we construct data pairs of states and language descriptions, utilizing the pre-trained encoder to initialize the CLSP encoder. Then, we deploy contrastive learning to train the CLSP encoder to effectively represent precise state information. Additionally, we enhance the representation of numerical information using the Random Fourier Features (RFF) method for high-fidelity mapping. Extensive experiments demonstrate the superior precision and generalization capabilities of our representation, achieving outstanding results in text-state retrieval, reinforcement learning navigation tasks, and multimodal large language model understanding.

This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube robots. Each robot can move in six DoF with eight thrusters and can be rigidly connected to other ModCube robots with an electromagnet controlled by onboard computer. In this paper, we present a novel method for characterizing and visualizing dynamic behavior, along with four benchmarks to evaluate the morphological performance of the robot. Analysis shows that our ModCube design is desirable for omnidirectional tasks, compared with the configurations widely used by commercial underwater robots. We run real robot experiments in two water tanks to demonstrate the robust control and self-assemble of the proposed system, We also open-source the design and code to facilitate future research., Comment: 8 pages, 8 figures, letter

Interactive theorem provers such as Coq are powerful tools to formally guarantee the correctness of software. However, using these tools requires significant manual effort and expertise. While Large Language Models (LLMs) have shown promise in automatically generating informal proofs in natural language, they are less effective at generating formal proofs in interactive theorem provers. In this paper, we conduct a formative study to identify common mistakes made by LLMs when asked to generate formal proofs. By analyzing 520 proof generation errors made by GPT-3.5, we found that GPT-3.5 often identified the correct high-level structure of a proof, but struggled to get the lower-level details correct. Based on this insight, we propose PALM, a novel generate-then-repair approach that first prompts an LLM to generate an initial proof and then leverages targeted symbolic methods to iteratively repair low-level problems. We evaluate PALM on a large dataset that includes more than 10K theorems. Our results show that PALM significantly outperforms other state-of-the-art approaches, successfully proving 76.6% to 180.4% more theorems. Moreover, PALM proves 1270 theorems beyond the reach of existing approaches. We also demonstrate the generalizability of PALM across different LLMs., Comment: 12 pages, 15 figures, Accepted to ASE 2024

We propose an adaptive fine-tuning algorithm for multimodal large models. The core steps of this algorithm involve two stages of truncation. First, the vast amount of data is projected into a semantic vector space, and the MiniBatchKMeans algorithm is used for automated clustering. This classification ensures that the data within each cluster exhibit high semantic similarity. Next, we process the data in each cluster, calculating the translational difference between the original and perturbed data in the multimodal large model's vector space. This difference serves as a generalization metric for the data. Based on this metric, we select the data with high generalization potential for training. We applied this algorithm to train the InternLM-XComposer2-VL-7B model on two 3090 GPUs using one-third of the GeoChat multimodal remote sensing dataset. The results demonstrate that our algorithm outperforms the state-of-the-art baselines. various baselines. The model trained on our optimally chosen one-third dataset, based on experimental validation, exhibited only 1% reduction in performance across various remote sensing metrics compared to the model trained on the full dataset. This approach significantly preserved general-purpose capabilities while reducing training time by 68.2%. Furthermore, the model achieved scores of 89.86 and 77.19 on the UCMerced and AID evaluation datasets, respectively, surpassing the GeoChat dataset by 5.43 and 5.16 points. It only showed a 0.91-point average decrease on the LRBEN evaluation dataset.

AI-empowered tools have emerged as a transformative force, fundamentally reshaping the software development industry and promising far-reaching impacts across diverse sectors. This study investigates the adoption, impact, and security considerations of AI-empowered tools in the software development process. Through semi-structured interviews with 19 software practitioners from diverse backgrounds, we explore three key aspects: the utility of AI tools, developers' attitudes towards them, and security and privacy responsibilities. Our findings reveal widespread adoption of AI tools across various stages of software development. Developers generally express positive attitudes towards AI, viewing it as an efficiency-enhancing assistant rather than a job replacement threat. However, they also recognized limitations in AI's ability to handle complex, unfamiliar, or highly specialized tasks in software development. Regarding security and privacy, we found varying levels of risk awareness among developers, with larger companies implementing more comprehensive risk management strategies. Our study provides insights into the current state of AI adoption in software development and offers recommendations for practitioners, organizations, AI providers, and regulatory bodies to effectively navigate the integration of AI in the software industry.

Journaling offers significant benefits, including fostering self-reflection, enhancing writing skills, and aiding in mood monitoring. However, many people abandon the practice because traditional journaling is time-consuming, and detailed life events may be overlooked if not recorded promptly. Given that smartphones are the most widely used devices for entertainment, work, and socialization, they present an ideal platform for innovative approaches to journaling. Despite their ubiquity, the potential of using digital phenotyping, a method of unobtrusively collecting data from digital devices to gain insights into psychological and behavioral patterns, for automated journal generation has been largely underexplored. In this study, we propose AutoJournaling, the first-of-its-kind system that automatically generates journals by collecting and analyzing screenshots from smartphones. This system captures life events and corresponding emotions, offering a novel approach to digital phenotyping. We evaluated AutoJournaling by collecting screenshots every 3 seconds from three students over five days, demonstrating its feasibility and accuracy. AutoJournaling is the first framework to utilize seamlessly collected screenshots for journal generation, providing new insights into psychological states through digital phenotyping.

Euclidean spanners are important geometric objects that have been extensively studied since the 1980s. The two most basic "compactness'' measures of a Euclidean spanner $E$ are the size (number of edges) $|E|$ and the weight (sum of edge weights) $\|E\|$. In this paper, we initiate the study of instance optimal Euclidean spanners. Our results are two-fold. We demonstrate that the greedy spanner is far from being instance optimal, even when allowing its stretch to grow. More concretely, we design two hard instances of point sets in the plane, where the greedy $(1+x \epsilon)$-spanner (for basically any parameter $x \geq 1$) has $\Omega_x(\epsilon^{-1/2}) \cdot |E_\mathrm{spa}|$ edges and weight $\Omega_x(\epsilon^{-1}) \cdot \|E_\mathrm{light}\|$, where $E_\mathrm{spa}$ and $E_\mathrm{light}$ denote the per-instance sparsest and lightest $(1+\epsilon)$-spanners, respectively, and the $\Omega_x$ notation suppresses a polynomial dependence on $1/x$. As our main contribution, we design a new construction of Euclidean spanners, which is inherently different from known constructions, achieving the following bounds: a stretch of $1+\epsilon\cdot 2^{O(\log^*(d/\epsilon))}$ with $O(1) \cdot |E_\mathrm{spa}|$ edges and weight $O(1) \cdot \|E_\mathrm{light}\|$. In other words, we show that a slight increase to the stretch suffices for obtaining instance optimality up to an absolute constant for both sparsity and lightness. Remarkably, there is only a log-star dependence on the dimension in the stretch, and there is no dependence on it whatsoever in the number of edges and weight., Comment: Fixing minor typos

Though recent advances in machine learning have led to significant improvements in natural language interfaces for databases, the accuracy and reliability of these systems remain limited, especially in high-stakes domains. This paper introduces SQLucid, a novel user interface that bridges the gap between non-expert users and complex database querying processes. SQLucid addresses existing limitations by integrating visual correspondence, intermediate query results, and editable step-by-step SQL explanations in natural language to facilitate user understanding and engagement. This unique blend of features empowers users to understand and refine SQL queries easily and precisely. Two user studies and one quantitative experiment were conducted to validate SQLucid's effectiveness, showing significant improvement in task completion accuracy and user confidence compared to existing interfaces. Our code is available at https://github.com/magic-YuanTian/SQLucid., Comment: Accepted to UIST'24

The proliferation of mobile sensing technologies has enabled the study of various physiological and behavioural phenomena through unobtrusive data collection from smartphone sensors. This approach offers real-time insights into individuals' physical and mental states, creating opportunities for personalised treatment and interventions. However, the potential of analysing the textual content viewed on smartphones to predict affective states remains underexplored. To better understand how the screen text that users are exposed to and interact with can influence their affects, we investigated a subset of data obtained from a digital phenotyping study of Australian university students conducted in 2023. We employed linear regression, zero-shot, and multi-shot prompting using a large language model (LLM) to analyse relationships between screen text and affective states. Our findings indicate that multi-shot prompting substantially outperforms both linear regression and zero-shot prompting, highlighting the importance of context in affect prediction. We discuss the value of incorporating textual and sentiment data for improving affect prediction, providing a basis for future advancements in understanding smartphone use and wellbeing., Comment: 7 pages

Recent advances in large language models (LLMs) such as Copilot and ChatGPT have transformed software development by automating coding tasks. Despite these advancements, challenges remain in reducing error rates and fully meeting user expectations. Our empirical study reveals LLMs tend to dilute their self-attention on the initial prompt as more code tokens are generated. We hypothesize this self-attention dilution issue is one of the root causes of inaccuracies in LLM-generated code. To mitigate this issue, we propose Selective Prompt Anchoring (SPA). SPA amplifies the influence of the selected parts in the initial prompt, which we refer to as ``anchored text'', during code generation. Specifically, SPA calculates the logit distribution difference with and without the anchored text. We prove this difference approximates the anchored text's contextual contribution to the output logits. SPA creates an augmented logit distribution by linearly combining the original logit distribution and the logit difference. We evaluate SPA with five LLMs on four benchmarks. Our results demonstrate that using SPA can consistently improve Pass@1 rates by up to 9.7% in all settings. Notably, with selective text anchoring, a small version of DeepSeek-Coder (6.7B) can achieve better performance than an original much larger version (33B). Our code is available at https://github.com/magic-YuanTian/Selective-Prompt-Anchoring.

Version incompatibility issues are prevalent when reusing or reproducing deep learning (DL) models and applications. Compared with official API documentation, which is often incomplete or out-of-date, Stack Overflow (SO) discussions possess a wealth of version knowledge that has not been explored by previous approaches. To bridge this gap, we present Decide, a web-based visualization of a knowledge graph that contains 2,376 version knowledge extracted from SO discussions. As an interactive tool, Decide allows users to easily check whether two libraries are compatible and explore compatibility knowledge of certain DL stack components with or without the version specified. A video demonstrating the usage of Decide is available at https://youtu.be/wqPxF2ZaZo0.

To address the rural broadband challenge and to leverage the unique opportunities that rural regions provide for piloting advanced wireless applications, we design and implement the ARA wireless living lab for research and innovation in rural wireless systems and their applications in precision agriculture, community services, and so on. ARA focuses on the unique community, application, and economic context of rural regions, and it features the first-of-its-kind, real-world deployment of long-distance, high-capacity wireless x-haul and access platforms across a rural area of diameter over 30 km. With both software-defined radios and programmable COTS systems and through effective orchestration of these wireless resources with fiber as well as compute resources embedded end-to-end across user equipment, base stations, edge, and cloud, ARA offers programmability, performance, robustness, and heterogeneity at the same time, thus enabling rural-focused co-evolution of wireless and applications while helping advance the frontiers of wireless systems in domains such as O-RAN, NextG, and agriculture applications. Here we present the design principles and implementation strategies of ARA, characterize its performance and heterogeneity, and highlight example wireless and application experiments uniquely enabled by ARA., Comment: 17 pages, 18 figures

Accurate human localization is crucial for various applications, especially in the Metaverse era. Existing high precision solutions rely on expensive, tag-dependent hardware, while vision-based methods offer a cheaper, tag-free alternative. However, current vision solutions based on stereo vision face limitations due to rigid perspective transformation principles and error propagation in multi-stage SVD solvers. These solutions also require multiple high-resolution cameras with strict setup constraints. To address these limitations, we propose a probabilistic approach that considers all points on the human body as observations generated by a distribution centered around the body's geometric center. This enables us to improve sampling significantly, increasing the number of samples for each point of interest from hundreds to billions. By modeling the relation between the means of the distributions of world coordinates and pixel coordinates, leveraging the Central Limit Theorem, we ensure normality and facilitate the learning process. Experimental results demonstrate human localization accuracy of 95% within a 0.3m range and nearly 100% accuracy within a 0.5m range, achieved at a low cost of only 10 USD using two web cameras with a resolution of 640x480 pixels.

Reconfigurable intelligent surface (RIS) technology has emerged in recent years as a promising solution to the ever-increasing demand for wireless communication capacity. In practice, however, elements of RIS may suffer from phase deviations, which need to be properly estimated and calibrated. This paper models the problem of over-the-air (OTA) estimation of the RIS elements as a quasi-neural network (QNN) so that the phase estimates can be obtained using the classic backpropagation (BP) algorithm. We also derive the Cram\'{e}r Rao Bounds (CRBs) for the phases of the RIS elements as a benchmark of the proposed approach. The simulation results verify the effectiveness of the proposed algorithm by showing that the root mean square errors (RMSEs) of the phase estimates are close to the CRBs., Comment: 5 pages, 5 figures, accepted by IEEE/CIC ICCC 2024

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability. We contribute methodology to jointly estimate the geometry and pose of objects grasped by a robot, from RGB images captured by an external camera. Notably, our method transforms the estimated geometry into the robot's coordinate frame, while not requiring the extrinsic parameters of the external camera to be calibrated. Our approach leverages 3D foundation models, large models pre-trained on huge datasets for 3D vision tasks, to produce initial estimates of the in-hand object. These initial estimations do not have physically correct scales and are in the camera's frame. Then, we formulate, and efficiently solve, a coordinate-alignment problem to recover accurate scales, along with a transformation of the objects to the coordinate frame of the robot. Forward kinematics mappings can subsequently be defined from the manipulator's joint angles to specified points on the object. These mappings enable the estimation of points on the held object at arbitrary configurations, enabling robot motion to be designed with respect to coordinates on the grasped objects. We empirically evaluate our approach on a robot manipulator holding a diverse set of real-world objects.

Water caustics are commonly observed in seafloor imaging data from shallow-water areas. Traditional methods that remove caustic patterns from images often rely on 2D filtering or pre-training on an annotated dataset, hindering the performance when generalizing to real-world seafloor data with 3D structures. In this paper, we present a novel method Recurrent Gaussian Splatting (RecGS), which takes advantage of today's photorealistic 3D reconstruction technology, 3DGS, to separate caustics from seafloor imagery. With a sequence of images taken by an underwater robot, we build 3DGS recurrently and decompose the caustic with low-pass filtering in each iteration. In the experiments, we analyze and compare with different methods, including joint optimization, 2D filtering, and deep learning approaches. The results show that our method can effectively separate the caustic from the seafloor, improving the visual appearance, and can be potentially applied on more problems with inconsistent illumination., Comment: 8 pages, 9 figures

Large language models (LLMs) have shown immense potential across various domains, but their high memory requirements and inference costs remain critical challenges for deployment. Post-training quantization (PTQ) has emerged as a promising technique to reduce memory requirements and decoding latency. However, recent accurate quantization methods often depend on specialized computations or custom data formats to achieve better model quality, which limits their compatibility with popular frameworks, as they require dedicated inference kernels tailored to specific hardware and software platforms, hindering wider adoption. Furthermore, many competitive methods have high resource requirements and computational overhead, making it challenging to scale them to hundreds of billions of parameters. In response to these challenges, we propose LeanQuant (Loss-error-aware Network Quantization), a novel quantization method that is accurate, versatile, and scalable. In the existing popular iterative loss-error-based quantization framework, we identify a critical limitation in prior methods: the min-max affine quantization grid fails to preserve model quality due to outliers in inverse Hessian diagonals. To overcome this fundamental issue, we propose learning loss-error-aware grids, instead of using non-adaptive min-max affine grids. Our approach not only produces quantized models that are more accurate but also generalizes to a wider range of quantization types, including affine and non-uniform quantization, enhancing compatibility with more frameworks. Extensive empirical evaluations on recent LLMs demonstrate that LeanQuant is highly accurate, comparing favorably against recent competitive baselines in model quality, and scalable, achieving very accurate quantization of Llama-3.1 405B, one of the largest open-source LLMs to date, using two Quadro RTX 8000-48GB GPUs in 21 hours.

As mental health issues for young adults present a pressing public health concern, daily digital mood monitoring for early detection has become an important prospect. An active research area, digital phenotyping, involves collecting and analysing data from personal digital devices such as smartphones (usage and sensors) and wearables to infer behaviours and mental health. Whilst this data is standardly analysed using statistical and machine learning approaches, the emergence of large language models (LLMs) offers a new approach to make sense of smartphone sensing data. Despite their effectiveness across various domains, LLMs remain relatively unexplored in digital mental health, particularly in integrating mobile sensor data. Our study aims to bridge this gap by employing LLMs to predict affect outcomes based on smartphone sensing data from university students. We demonstrate the efficacy of zero-shot and few-shot embedding LLMs in inferring general wellbeing. Our findings reveal that LLMs can make promising predictions of affect measures using solely smartphone sensing data. This research sheds light on the potential of LLMs for affective state prediction, emphasizing the intricate link between smartphone behavioral patterns and affective states. To our knowledge, this is the first work to leverage LLMs for affective state prediction and digital phenotyping tasks.

The dynamic set cover problem has been subject to growing research attention in recent years. In this problem, we are given as input a dynamic universe of at most $n$ elements and a fixed collection of $m$ sets, where each element appears in a most $f$ sets and the cost of each set is in $[1/C, 1]$, and the goal is to efficiently maintain an approximate minimum set cover under element updates. Two algorithms that dynamize the classic greedy algorithm are known, providing $O(\log n)$ and $((1+\epsilon)\ln n)$-approximation with amortized update times $O(f \log n)$ and $O(\frac{f \log n}{\epsilon^5})$, respectively [GKKP (STOC'17); SU (STOC'23)]. The question of whether one can get approximation $O(\log n)$ (or even worse) with low worst-case update time has remained open -- only the naive $O(f \cdot n)$ time bound is known, even for unweighted instances. In this work we devise the first amortized greedy algorithm that is amenable to an efficient deamortization, and also develop a lossless deamortization approach suitable for the set cover problem, the combination of which yields a $((1+\epsilon)\ln n)$-approximation algorithm with a worst-case update time of $O(\frac{f\log n}{\epsilon^2})$. Our worst-case time bound -- the first to break the naive $O(f \cdot n)$ bound -- matches the previous best amortized bound, and actually improves its $\epsilon$-dependence. Further, to demonstrate the applicability of our deamortization approach, we employ it, in conjunction with the primal-dual amortized algorithm of [BHN (FOCS'19)], to obtain a $((1+\epsilon)f)$-approximation algorithm with a worst-case update time of $O(\frac{f\log n}{\epsilon^2})$, improving over the previous best bound of $O(\frac{f \cdot \log^2(Cn)}{\epsilon^3})$ [BHNW (SODA'21)]. Finally, as direct implications of our results for set cover, we [...], Comment: Accepted to FOCS 2024

Embodied agents require robust navigation systems to operate in unstructured environments, making the robustness of Simultaneous Localization and Mapping (SLAM) models critical to embodied agent autonomy. While real-world datasets are invaluable, simulation-based benchmarks offer a scalable approach for robustness evaluations. However, the creation of a challenging and controllable noisy world with diverse perturbations remains under-explored. To this end, we propose a novel, customizable pipeline for noisy data synthesis, aimed at assessing the resilience of multi-modal SLAM models against various perturbations. The pipeline comprises a comprehensive taxonomy of sensor and motion perturbations for embodied multi-modal (specifically RGB-D) sensing, categorized by their sources and propagation order, allowing for procedural composition. We also provide a toolbox for synthesizing these perturbations, enabling the transformation of clean environments into challenging noisy simulations. Utilizing the pipeline, we instantiate the large-scale Noisy-Replica benchmark, which includes diverse perturbation types, to evaluate the risk tolerance of existing advanced RGB-D SLAM models. Our extensive analysis uncovers the susceptibilities of both neural (NeRF and Gaussian Splatting -based) and non-neural SLAM models to disturbances, despite their demonstrated accuracy in standard benchmarks. Our code is publicly available at https://github.com/Xiaohao-Xu/SLAM-under-Perturbation., Comment: 50 pages. arXiv admin note: substantial text overlap with arXiv:2402.08125

Gene sequence search is a fundamental operation in computational genomics. Due to the petabyte scale of genome archives, most gene search systems now use hashing-based data structures such as Bloom Filters (BF). The state-of-the-art systems such as Compact bit-slicing signature index (COBS) and Repeated And Merged Bloom filters (RAMBO) use BF with Random Hash (RH) functions for gene representation and identification. The standard recipe is to cast the gene search problem as a sequence of membership problems testing if each subsequent gene substring (called kmer) of Q is present in the set of kmers of the entire gene database D. We observe that RH functions, which are crucial to the memory and the computational advantage of BF, are also detrimental to the system performance of gene-search systems. While subsequent kmers being queried are likely very similar, RH, oblivious to any similarity, uniformly distributes the kmers to different parts of potentially large BF, thus triggering excessive cache misses and causing system slowdown. We propose a novel hash function called the Identity with Locality (IDL) hash family, which co-locates the keys close in input space without causing collisions. This approach ensures both cache locality and key preservation. IDL functions can be a drop-in replacement for RH functions and help improve the performance of information retrieval systems. We give a simple but practical construction of IDL function families and show that replacing the RH with IDL functions reduces cache misses by a factor of 5x, thus improving query and indexing times of SOTA methods such as COBS and RAMBO by factors up to 2x without compromising their quality. We also provide a theoretical analysis of the false positive rate of BF with IDL functions. Our hash function is the first study that bridges Locality Sensitive Hash (LSH) and RH to obtain cache efficiency., Comment: 13 pages

As wireless networks evolve towards open architectures like O-RAN, testing, and integration platforms are crucial to address challenges like interoperability. This paper describes ARA-O-RAN, a novel O-RAN testbed established through the NSF Platforms for Advanced Wireless Research (PAWR) ARA platform. ARA provides an at-scale rural wireless living lab focused on technologies for digital agriculture and rural communities. As an O-RAN Alliance certified Open Testing and Integration Centre (OTIC), ARA launched ARA-O-RAN -- the first public O-RAN testbed tailored to rural and agriculture use cases, together with the end-to-end, whole-stack programmability. ARA-O-RAN uniquely combines support for outdoor testing across a university campus, surrounding farmlands, and rural communities with a 50-node indoor sandbox. The testbed facilitates vital R\&D to implement open architectures that can meet rural connectivity needs. The paper outlines ARA-O-RAN's hardware system design, software architecture, and enabled research experiments. It also discusses plans aligned with national spectrum policy and rural spectrum innovation. ARA-O-RAN exemplifies the value of purpose-built wireless testbeds in accelerating impactful wireless research.

Photoelasticity enables full-field stress analysis in transparent objects through stress-induced birefringence. Existing techniques are limited to 2D slices and require destructively slicing the object. Recovering the internal 3D stress distribution of the entire object is challenging as it involves solving a tensor tomography problem and handling phase wrapping ambiguities. We introduce NeST, an analysis-by-synthesis approach for reconstructing 3D stress tensor fields as neural implicit representations from polarization measurements. Our key insight is to jointly handle phase unwrapping and tensor tomography using a differentiable forward model based on Jones calculus. Our non-linear model faithfully matches real captures, unlike prior linear approximations. We develop an experimental multi-axis polariscope setup to capture 3D photoelasticity and experimentally demonstrate that NeST reconstructs the internal stress distribution for objects with varying shape and force conditions. Additionally, we showcase novel applications in stress analysis, such as visualizing photoelastic fringes by virtually slicing the object and viewing photoelastic fringes from unseen viewpoints. NeST paves the way for scalable non-destructive 3D photoelastic analysis., Comment: Project webpage: https://akshatdave.github.io/nest

Large Language Models (LLMs) have shown great potential in code generation. However, current LLMs still cannot reliably generate correct code. Moreover, it is unclear what kinds of code generation errors LLMs can make. To address this, we conducted an empirical study to analyze incorrect code snippets generated by six popular LLMs on the HumanEval dataset. We analyzed these errors alongside two dimensions of error characteristics -- semantic characteristics and syntactic characteristics -- to derive a comprehensive code generation error taxonomy for LLMs through open coding and thematic analysis. We then labeled all 557 incorrect code snippets based on this taxonomy. Our results showed that the six LLMs exhibited similar distributions of syntactic characteristics while different distributions of semantic characteristics. Furthermore, we analyzed the correlation between different error characteristics and factors such as task complexity, code length, and test-pass rate. Finally, we highlight the challenges that LLMs may encounter when generating code and propose implications for future research on reliable code generation with LLMs., Comment: Extended from our MAPS 2023 paper. Our data is available at https://llm-code-errors.cs.purdue.edu

Multi-object tracking (MOT) is an essential technique for navigation in autonomous driving. In tracking-by-detection systems, biases, false positives, and misses, which are referred to as outliers, are inevitable due to complex traffic scenarios. Recent tracking methods are based on filtering algorithms that overlook these outliers, leading to reduced tracking accuracy or even loss of the objects trajectory. To handle this challenge, we adopt a probabilistic perspective, regarding the generation of outliers as misspecification between the actual distribution of measurement data and the nominal measurement model used for filtering. We further demonstrate that, by designing a convolutional operation, we can mitigate this misspecification. Incorporating this operation into the widely used unscented Kalman filter (UKF) in commonly adopted tracking algorithms, we derive a variant of the UKF that is robust to outliers, called the convolutional UKF (ConvUKF). We show that ConvUKF maintains the Gaussian conjugate property, thus allowing for real-time tracking. We also prove that ConvUKF has a bounded tracking error in the presence of outliers, which implies robust stability. The experimental results on the KITTI and nuScenes datasets show improved accuracy compared to representative baseline algorithms for MOT tasks., Comment: IEEE Transactions on Intelligent Vehicles

Recently quanta image sensors (QIS) -- ultra-fast, zero-read-noise binary image sensors -- have demonstrated remarkable imaging capabilities in many challenging scenarios. Despite their potential, the adoption of these sensors is severely hampered by (a) high data rates and (b) the need for new computational pipelines to handle the unconventional raw data. We introduce a simple, low-bandwidth computational pipeline to address these challenges. Our approach is based on a novel streaming representation with a small memory footprint, efficiently capturing intensity information at multiple temporal scales. Updating the representation requires only 16 floating-point operations/pixel, which can be efficiently computed online at the native frame rate of the binary frames. We use a neural network operating on this representation to reconstruct videos in real-time (10-30 fps). We illustrate why such representation is well-suited for these emerging sensors, and how it offers low latency and high frame rate while retaining flexibility for downstream computer vision. Our approach results in significant data bandwidth reductions ~100X and real-time image reconstruction and computer vision -- $10^4$-$10^5$ reduction in computation than existing state-of-the-art approach while maintaining comparable quality. To the best of our knowledge, our approach is the first to achieve online, real-time image reconstruction on QIS.

Planning in textual environments have been shown to be a long-standing challenge even for current models. A recent, promising line of work uses LLMs to generate a formal representation of the environment that can be solved by a symbolic planner. However, existing methods rely on a fully-observed environment where all entity states are initially known, so a one-off representation can be constructed, leading to a complete plan. In contrast, we tackle partially-observed environments where there is initially no sufficient information to plan for the end-goal. We propose PDDLEGO that iteratively construct a planning representation that can lead to a partial plan for a given sub-goal. By accomplishing the sub-goal, more information is acquired to augment the representation, eventually achieving the end-goal. We show that plans produced by few-shot PDDLEGO are 43% more efficient than generating plans end-to-end on the Coin Collector simulation, with strong performance (98%) on the more complex Cooking World simulation where end-to-end LLMs fail to generate coherent plans (4%)., Comment: In *SEM 2024

This work reports the procedure for modeling piezoelectric acoustic resonators and filters at millimeter wave (mmWave). Different from conventional methods for lower frequency piezoelectric devices, we include both acoustic and electromagnetic (EM) effects, e.g., self-inductance, in both the circuit-level fitting and finite element analysis, toward higher accuracy at higher frequencies. To validate the method, thin-film lithium niobate (LiNbO3) first-order antisymmetric (A1) mode devices are used as the testbed, achieving great agreement for both the standalone resonators and a fifth-order ladder filter. Upon further development, the reported acoustic and EM co-modeling could guide the future design of compact piezoelectric devices at mmWave and beyond., Comment: 6 pages, 11 figures, submitted to IEEE JMEMS

Constructing large-scale labeled datasets for multi-modal perception model training in autonomous driving presents significant challenges. This has motivated the development of self-supervised pretraining strategies. However, existing pretraining methods mainly employ distinct approaches for each modality. In contrast, we focus on LiDAR-Camera 3D perception models and introduce a unified pretraining strategy, NeRF-Supervised Masked Auto Encoder (NS-MAE), which optimizes all modalities through a shared formulation. NS-MAE leverages NeRF's ability to encode both appearance and geometry, enabling efficient masked reconstruction of multi-modal data. Specifically, embeddings are extracted from corrupted LiDAR point clouds and images, conditioned on view directions and locations. Then, these embeddings are rendered into multi-modal feature maps from two crucial viewpoints for 3D driving perception: perspective and bird's-eye views. The original uncorrupted data serve as reconstruction targets for self-supervised learning. Extensive experiments demonstrate the superior transferability of NS-MAE across various 3D perception tasks under different fine-tuning settings. Notably, NS-MAE outperforms prior SOTA pre-training methods that employ separate strategies for each modality in BEV map segmentation under the label-efficient fine-tuning setting. Our code is publicly available at https://github.com/Xiaohao-Xu/Unified-Pretrain-AD/ ., Comment: 8 pages

Vizing's theorem states that any $n$-vertex $m$-edge graph of maximum degree $\Delta$ can be {\em edge colored} using at most $\Delta + 1$ different colors [Diskret.~Analiz, '64]. Vizing's original proof is algorithmic and shows that such an edge coloring can be found in $\tilde{O}(mn)$ time. This was subsequently improved to $\tilde O(m\sqrt{n})$, independently by Arjomandi [1982] and by Gabow et al.~[1985]. In this paper we present an algorithm that computes such an edge coloring in $\tilde O(mn^{1/3})$ time, giving the first polynomial improvement for this fundamental problem in over 40 years., Comment: Started to circulate in April 2024