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In this work, we extend our previously proposed offline SpatialNet for long-term streaming multichannel speech enhancement in both static and moving speaker scenarios. SpatialNet exploits spatial information, such as the spatial/steering direction of speech, for discriminating between target speech and interferences, and achieved outstanding performance. The core of SpatialNet is a narrow-band self-attention module used for learning the temporal dynamic of spatial vectors. Towards long-term streaming speech enhancement, we propose to replace the offline self-attention network with online networks that have linear inference complexity w.r.t signal length and meanwhile maintain the capability of learning long-term information. Three variants are developed based on (i) masked self-attention, (ii) Retention, a self-attention variant with linear inference complexity, and (iii) Mamba, a structured-state-space-based RNN-like network. Moreover, we investigate the length extrapolation ability of different networks, namely test on signals that are much longer than training signals, and propose a short-signal training plus long-signal fine-tuning strategy, which largely improves the length extrapolation ability of the networks within limited training time. Overall, the proposed online SpatialNet achieves outstanding speech enhancement performance for long audio streams, and for both static and moving speakers. The proposed method will be open-sourced in //github.com/Audio-WestlakeU/NBSS.

This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We propose a novel CBF formulation inspired by collision cones, to ensure safety by constraining the relative velocity between the vehicle and the obstacle to always point away from each other. The efficacy of this approach is demonstrated through simulations and hardware implementations on the TurtleBot, Stoch-Jeep, and Crazyflie 2.1 quadrotor robot, showcasing its effectiveness in avoiding collisions with dynamic obstacles in both ground and aerial settings. The real-time controller is developed using CBF Quadratic Programs (CBF-QPs). Comparative analysis with the state-of-the-art CBFs highlights the less conservative nature of the proposed approach. Overall, this research contributes to a novel control formation that can give a guarantee for collision avoidance in unmanned vehicles by modifying the control inputs from existing path-planning controllers.

Effective Receptive field (ERF) plays an important role in transform coding, which determines how much redundancy can be removed at most during transform and how many spatial priors can be utilized to synthesize textures during inverse transform. Existing methods rely on stacks of small kernels, whose ERF remains not large enough instead, or heavy non-local attention mechanisms, which limit the potential of high resolution image coding. To tackle this issue, we propose Large Receptive Field Transform Coding with Adaptive Weights for Learned Image Compression (LLIC). Specifically, for the first time in learned image compression community, we introduce a few large kernel-based depth-wise convolutions to reduce more redundancy while maintaining modest complexity. Due to wide range of image diversity, we propose to enhance the adaptability of convolutions via generating weights in a self-conditioned manner. The large kernels cooperate with non-linear embedding and gate mechanisms for better expressiveness and lighter point-wise interactions. We also investigate improved training techniques to fully exploit the potential of large kernels. In addition, to enhance the interactions among channels, we propose the adaptive channel-wise bit allocation via generating channel importance factor in a self-conditioned manner. To demonstrate the effectiveness of proposed transform coding, we align the entropy model to compare with existing transform methods and obtain models LLIC-STF, LLIC-ELIC, LLIC-TCM. Extensive experiments demonstrate our proposed LLIC models have significant improvements over corresponding baselines and achieve state-of-the-art performances and better trade-off between performance and complexity.

The techniques used to generate pseudo-random numbers for Monte Carlo (MC) applications bear many implications on the quality and speed of that programs work. As a random number generator (RNG) slows, the production of random numbers begins to dominate runtime. As RNG output grows in correlation, the final product becomes less reliable. These difficulties are further compounded by the need for reproducibility and parallelism. For reproducibility, the numbers generated to determine any outcome must be the same each time a simulation is run. However, the concurrency that comes with most parallelism introduces race conditions. To have both reproducibility and concurrency, separate RNG states must be tracked for each independently schedulable unit of simulation, forming independent random number streams. We propose an alternative to the stride-based parallel LCG seeding approach that scales more practically with increased concurrency and workload by generating seeds through hashing and allowing for repeated outputs. Data gathered from normality tests of tally results from simple MC transport benchmark calculations indicates that the proposed hash-based RNG does not significantly affect the tally result normality property as compared to the conventional stride-based RNG.

This paper studies a multiplayer reach-avoid differential game in the presence of general polygonal obstacles that block the players' motions. The pursuers cooperate to protect a convex region from the evaders who try to reach the region. We propose a multiplayer onsite and close-to-goal (MOCG) pursuit strategy that can tell and achieve an increasing lower bound on the number of guaranteed defeated evaders. This pursuit strategy fuses the subgame outcomes for multiple pursuers against one evader with hierarchical optimal task allocation in the receding-horizon manner. To determine the qualitative subgame outcomes that who is the game winner, we construct three pursuit winning regions and strategies under which the pursuers guarantee to win against the evader, regardless of the unknown evader strategy. First, we utilize the expanded Apollonius circles and propose the onsite pursuit winning that achieves the capture in finite time. Second, we introduce convex goal-covering polygons (GCPs) and propose the close-to-goal pursuit winning for the pursuers whose visibility region contains the whole protected region, and the goal-visible property will be preserved afterwards. Third, we employ Euclidean shortest paths (ESPs) and construct a pursuit winning region and strategy for the non-goal-visible pursuers, where the pursuers are firstly steered to positions with goal visibility along ESPs. In each horizon, the hierarchical optimal task allocation maximizes the number of defeated evaders and consists of four sequential matchings: capture, enhanced, non-dominated and closest matchings. Numerical examples are presented to illustrate the results.

Many cyber-physical-human systems (CPHS) involve a human decision-maker who may receive recommendations from an artificial intelligence (AI) platform while holding the ultimate responsibility of making decisions. In such CPHS applications, the human decision-maker may depart from an optimal recommended decision and instead implement a different one for various reasons. In this letter, we develop a rigorous framework to overcome this challenge. In our framework, we consider that humans may deviate from AI recommendations as they perceive and interpret the system's state in a different way than the AI platform. We establish the structural properties of optimal recommendation strategies and develop an approximate human model (AHM) used by the AI. We provide theoretical bounds on the optimality gap that arises from an AHM and illustrate the efficacy of our results in a numerical example.

In this work, the uncertainty associated with the finite element discretization error is modeled following the Bayesian paradigm. First, a continuous formulation is derived, where a Gaussian process prior over the solution space is updated based on observations from a finite element discretization. To avoid the computation of intractable integrals, a second, finer, discretization is introduced that is assumed sufficiently dense to represent the true solution field. A prior distribution is assumed over the fine discretization, which is then updated based on observations from the coarse discretization. This yields a posterior distribution with a mean that serves as an estimate of the solution, and a covariance that models the uncertainty associated with this estimate. Two particular choices of prior are investigated: a prior defined implicitly by assigning a white noise distribution to the right-hand side term, and a prior whose covariance function is equal to the Green's function of the partial differential equation. The former yields a posterior distribution with a mean close to the reference solution, but a covariance that contains little information regarding the finite element discretization error. The latter, on the other hand, yields posterior distribution with a mean equal to the coarse finite element solution, and a covariance with a close connection to the discretization error. For both choices of prior a contradiction arises, since the discretization error depends on the right-hand side term, but the posterior covariance does not. We demonstrate how, by rescaling the eigenvalues of the posterior covariance, this independence can be avoided.

Collecting well-matched multimedia datasets is crucial for training cross-modal retrieval models. However, in real-world scenarios, massive multimodal data are harvested from the Internet, which inevitably contains Partially Mismatched Pairs (PMPs). Undoubtedly, such semantical irrelevant data will remarkably harm the cross-modal retrieval performance. Previous efforts tend to mitigate this problem by estimating a soft correspondence to down-weight the contribution of PMPs. In this paper, we aim to address this challenge from a new perspective: the potential semantic similarity among unpaired samples makes it possible to excavate useful knowledge from mismatched pairs. To achieve this, we propose L2RM, a general framework based on Optimal Transport (OT) that learns to rematch mismatched pairs. In detail, L2RM aims to generate refined alignments by seeking a minimal-cost transport plan across different modalities. To formalize the rematching idea in OT, first, we propose a self-supervised cost function that automatically learns from explicit similarity-cost mapping relation. Second, we present to model a partial OT problem while restricting the transport among false positives to further boost refined alignments. Extensive experiments on three benchmarks demonstrate our L2RM significantly improves the robustness against PMPs for existing models. The code is available at //github.com/hhc1997/L2RM.

Pre-trained Language Models (PLMs) have achieved great success in various Natural Language Processing (NLP) tasks under the pre-training and fine-tuning paradigm. With large quantities of parameters, PLMs are computation-intensive and resource-hungry. Hence, model pruning has been introduced to compress large-scale PLMs. However, most prior approaches only consider task-specific knowledge towards downstream tasks, but ignore the essential task-agnostic knowledge during pruning, which may cause catastrophic forgetting problem and lead to poor generalization ability. To maintain both task-agnostic and task-specific knowledge in our pruned model, we propose ContrAstive Pruning (CAP) under the paradigm of pre-training and fine-tuning. It is designed as a general framework, compatible with both structured and unstructured pruning. Unified in contrastive learning, CAP enables the pruned model to learn from the pre-trained model for task-agnostic knowledge, and fine-tuned model for task-specific knowledge. Besides, to better retain the performance of the pruned model, the snapshots (i.e., the intermediate models at each pruning iteration) also serve as effective supervisions for pruning. Our extensive experiments show that adopting CAP consistently yields significant improvements, especially in extremely high sparsity scenarios. With only 3% model parameters reserved (i.e., 97% sparsity), CAP successfully achieves 99.2% and 96.3% of the original BERT performance in QQP and MNLI tasks. In addition, our probing experiments demonstrate that the model pruned by CAP tends to achieve better generalization ability.

Multi-agent influence diagrams (MAIDs) are a popular form of graphical model that, for certain classes of games, have been shown to offer key complexity and explainability advantages over traditional extensive form game (EFG) representations. In this paper, we extend previous work on MAIDs by introducing the concept of a MAID subgame, as well as subgame perfect and trembling hand perfect equilibrium refinements. We then prove several equivalence results between MAIDs and EFGs. Finally, we describe an open source implementation for reasoning about MAIDs and computing their equilibria.