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In this paper, we present a new analytical 3D placement framework with a bistratal wirelength model for F2F-bonded 3D ICs with heterogeneous technology nodes based on the electrostatic-based density model. The proposed framework, enabled GPU-acceleration, is capable of efficiently determining node partitioning and locations simultaneously, leveraging the dedicated 3D wirelength model and density model. The experimental results on ICCAD 2022 contest benchmarks demonstrate that our proposed 3D placement framework can achieve up to 6.1% wirelength improvement and 4.1% on average compared to the first-place winner with much fewer vertical interconnections and up to 9.8x runtime speedup. Notably, the proposed framework also outperforms the state-of-the-art 3D analytical placer by up to 3.3% wirelength improvement and 2.1% on average with up to 8.8x acceleration on large cases using GPUs.

In this paper, we design an efficient, multi-stage image segmentation framework that incorporates a weighted difference of anisotropic and isotropic total variation (AITV). The segmentation framework generally consists of two stages: smoothing and thresholding, thus referred to as SaT. In the first stage, a smoothed image is obtained by an AITV-regularized Mumford-Shah (MS) model, which can be solved efficiently by the alternating direction method of multipliers (ADMM) with a closed-form solution of a proximal operator of the $\ell_1 -\alpha \ell_2$ regularizer. Convergence of the ADMM algorithm is analyzed. In the second stage, we threshold the smoothed image by $K$-means clustering to obtain the final segmentation result. Numerical experiments demonstrate that the proposed segmentation framework is versatile for both grayscale and color images, efficient in producing high-quality segmentation results within a few seconds, and robust to input images that are corrupted with noise, blur, or both. We compare the AITV method with its original convex TV and nonconvex TV$^p (0<p<1)$ counterparts, showcasing the qualitative and quantitative advantages of our proposed method.

In this paper, we propose a black-box model based on Gaussian process regression for the identification of the inverse dynamics of robotic manipulators. The proposed model relies on a novel multidimensional kernel, called \textit{Lagrangian Inspired Polynomial} (\kernelInitials{}) kernel. The \kernelInitials{} kernel is based on two main ideas. First, instead of directly modeling the inverse dynamics components, we model as GPs the kinetic and potential energy of the system. The GP prior on the inverse dynamics components is derived from those on the energies by applying the properties of GPs under linear operators. Second, as regards the energy prior definition, we prove a polynomial structure of the kinetic and potential energy, and we derive a polynomial kernel that encodes this property. As a consequence, the proposed model allows also to estimate the kinetic and potential energy without requiring any label on these quantities. Results on simulation and on two real robotic manipulators, namely a 7 DOF Franka Emika Panda and a 6 DOF MELFA RV4FL, show that the proposed model outperforms state-of-the-art black-box estimators based both on Gaussian Processes and Neural Networks in terms of accuracy, generality and data efficiency. The experiments on the MELFA robot also demonstrate that our approach achieves performance comparable to fine-tuned model-based estimators, despite requiring less prior information.

In this paper, we consider the one-bit precoding problem for the multiuser downlink massive multiple-input multiple-output (MIMO) system with phase shift keying (PSK) modulation. We focus on the celebrated constructive interference (CI)-based problem formulation. We first establish the NP-hardness of the problem (even in the single-user case), which reveals the intrinsic difficulty of globally solving the problem. Then, we propose a novel negative $\ell_1$ penalty model for the considered problem, which penalizes the one-bit constraint into the objective by a negative $\ell_1$-norm term, and show the equivalence between (global and local) solutions of the original problem and the penalty problem when the penalty parameter is sufficiently large. We further transform the penalty model into an equivalent min-max problem and propose an efficient alternating proximal/projection gradient descent ascent (APGDA) algorithm for solving it, which performs a proximal gradient decent over one block of variables and a projection gradient ascent over the other block of variables alternately. The APGDA algorithm enjoys a low per-iteration complexity and is guaranteed to converge to a stationary point of the min-max problem and a local minimizer of the penalty problem. To further reduce the computational cost, we also propose a low-complexity implementation of the APGDA algorithm, where the values of the variables will be fixed in later iterations once they satisfy the one-bit constraint. Numerical results show that, compared to the state-of-the-art CI-based algorithms, both of the proposed algorithms generally achieve better bit-error-rate (BER) performance with lower computational cost.

In this study, we propose a novel deep spatio-temporal point process model, Deep Kernel Mixture Point Processes (DKMPP), that incorporates multimodal covariate information. DKMPP is an enhanced version of Deep Mixture Point Processes (DMPP), which uses a more flexible deep kernel to model complex relationships between events and covariate data, improving the model's expressiveness. To address the intractable training procedure of DKMPP due to the non-integrable deep kernel, we utilize an integration-free method based on score matching, and further improve efficiency by adopting a scalable denoising score matching method. Our experiments demonstrate that DKMPP and its corresponding score-based estimators outperform baseline models, showcasing the advantages of incorporating covariate information, utilizing a deep kernel, and employing score-based estimators.

In this paper, we propose LAN-grasp, a novel approach towards more appropriate semantic grasping. We use foundation models to provide the robot with a deeper understanding of the objects, the right place to grasp an object, or even the parts to avoid. This allows our robot to grasp and utilize objects in a more meaningful and safe manner. We leverage the combination of a Large Language Model, a Vision Language Model, and a traditional grasp planner to generate grasps demonstrating a deeper semantic understanding of the objects. We first prompt the Large Language Model about which object part is appropriate for grasping. Next, the Vision Language Model identifies the corresponding part in the object image. Finally, we generate grasp proposals in the region proposed by the Vision Language Model. Building on foundation models provides us with a zero-shot grasp method that can handle a wide range of objects without the need for further training or fine-tuning. We evaluated our method in real-world experiments on a custom object data set. We present the results of a survey that asks the participants to choose an object part appropriate for grasping. The results show that the grasps generated by our method are consistently ranked higher by the participants than those generated by a conventional grasping planner and a recent semantic grasping approach.

In this paper, we investigate a practical structure of reconfigurable intelligent surface (RIS)-based double spatial scattering modulation (DSSM) for millimeter-wave (mmWave) multiple-input multiple-output (MIMO) systems. A suboptimal detector is proposed, in which the beam direction is first demodulated according to the received beam strength, and then the remaining information is demodulated by adopting the maximum likelihood algorithm. Based on the proposed suboptimal detector, we derive the conditional pairwise error probability expression. Further, the exact numerical integral and closed-form expressions of unconditional pairwise error probability (UPEP) are derived via two different approaches. To provide more insights, we derive the upper bound and asymptotic expressions of UPEP. In addition, the diversity gain of the RIS-DSSM scheme was also given. Furthermore, the union upper bound of average bit error probability (ABEP) is obtained by combining the UPEP and the number of error bits. Simulation results are provided to validate the derived upper bound and asymptotic expressions of ABEP. We found an interesting phenomenon that the ABEP performance of the proposed system-based phase shift keying is better than that of the quadrature amplitude modulation. Additionally, the performance advantage of ABEP is more significant with the increase in the number of RIS elements.

In this paper, we discuss adaptive approximations of an elliptic eigenvalue optimization problem in a phase-field setting by a conforming finite element method. An adaptive algorithm is proposed and implemented in several two dimensional numerical examples for illustration of efficiency and accuracy. Theoretical findings consist in the vanishing limit of a subsequence of estimators and the convergence of the relevant subsequence of adaptively-generated solutions to a solution to the continuous optimality system.

In this paper, we proposed to apply meta learning approach for low-resource automatic speech recognition (ASR). We formulated ASR for different languages as different tasks, and meta-learned the initialization parameters from many pretraining languages to achieve fast adaptation on unseen target language, via recently proposed model-agnostic meta learning algorithm (MAML). We evaluated the proposed approach using six languages as pretraining tasks and four languages as target tasks. Preliminary results showed that the proposed method, MetaASR, significantly outperforms the state-of-the-art multitask pretraining approach on all target languages with different combinations of pretraining languages. In addition, since MAML's model-agnostic property, this paper also opens new research direction of applying meta learning to more speech-related applications.

In this paper, we propose the joint learning attention and recurrent neural network (RNN) models for multi-label classification. While approaches based on the use of either model exist (e.g., for the task of image captioning), training such existing network architectures typically require pre-defined label sequences. For multi-label classification, it would be desirable to have a robust inference process, so that the prediction error would not propagate and thus affect the performance. Our proposed model uniquely integrates attention and Long Short Term Memory (LSTM) models, which not only addresses the above problem but also allows one to identify visual objects of interests with varying sizes without the prior knowledge of particular label ordering. More importantly, label co-occurrence information can be jointly exploited by our LSTM model. Finally, by advancing the technique of beam search, prediction of multiple labels can be efficiently achieved by our proposed network model.