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This paper presents a framework that can interpret humans' navigation commands containing temporal elements and directly translate their natural language instructions into robot motion planning. Central to our framework is utilizing Large Language Models (LLMs). To enhance the reliability of LLMs in the framework and improve user experience, we propose methods to resolve the ambiguity in natural language instructions and capture user preferences. The process begins with an ambiguity classifier, identifying potential uncertainties in the instructions. Ambiguous statements trigger a GPT-4-based mechanism that generates clarifying questions, incorporating user responses for disambiguation. Also, the framework assesses and records user preferences for non-ambiguous instructions, enhancing future interactions. The last part of this process is the translation of disambiguated instructions into a robot motion plan using Linear Temporal Logic. This paper details the development of this framework and the evaluation of its performance in various test scenarios.

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High-Level Synthesis (HLS) has transformed the development of complex Hardware IPs (HWIP) by offering abstraction and configurability through languages like SystemC/C++, particularly for Field Programmable Gate Array (FPGA) accelerators in high-performance and cloud computing contexts. These IPs can be synthesized for different FPGA boards in cloud, offering compact area requirements and enhanced flexibility. HLS enables designs to execute directly on ARM processors within modern FPGAs without the need for Register Transfer Level (RTL) synthesis, thereby conserving FPGA resources. While HLS offers flexibility and efficiency, it also introduces potential vulnerabilities such as the presence of hidden circuitry, including the possibility of hosting hardware trojans within designs. In cloud environments, these vulnerabilities pose significant security concerns such as leakage of sensitive data, IP functionality disruption and hardware damage, necessitating the development of robust testing frameworks. This research presents an advanced testing approach for HLS-developed cloud IPs, specifically targeting hidden malicious functionalities that may exist in rare conditions within the design. The proposed method leverages selective instrumentation, combining greybox fuzzing and concolic execution techniques to enhance test generation capabilities. Evaluation conducted on various HLS benchmarks, possessing characteristics of FPGA-based cloud IPs with embedded cloud related threats, demonstrates the effectiveness of our framework in detecting trojans and rare scenarios, showcasing improvements in coverage, time efficiency, memory usage, and testing costs compared to existing methods.

Recent strides in large language models (LLMs) have yielded remarkable performance, leveraging reinforcement learning from human feedback (RLHF) to significantly enhance generation and alignment capabilities. However, RLHF encounters numerous challenges, including the objective mismatch issue, leading to suboptimal performance in Natural Language Understanding (NLU) tasks. To address this limitation, we propose a novel Reinforcement Learning framework enhanced with Label-sensitive Reward (RLLR) to amplify the performance of LLMs in NLU tasks. By incorporating label-sensitive pairs into reinforcement learning, our method aims to adeptly capture nuanced label-sensitive semantic features during RL, thereby enhancing natural language understanding. Experiments conducted on five diverse foundation models across eight tasks showcase promising results. In comparison to Supervised Fine-tuning models (SFT), RLLR demonstrates an average performance improvement of 1.54%. Compared with RLHF models, the improvement averages at 0.69%. These results reveal the effectiveness of our method for LLMs in NLU tasks. Code and data available at: //github.com/MagiaSN/ACL2024_RLLR.

This paper presents a novel algorithm, based on use of rational approximants of randomly scalarized boundary integral resolvents, for the evaluation of acoustic and electromagnetic resonances in open and closed cavities; for simplicity we restrict treatment to cavities in two-dimensional space. The desired open cavity resonances (also known as ``eigenvalues'' for interior problems, and ``scattering poles'' for exterior and open problems) are obtained as the poles of associated rational approximants; both the approximants and their poles are obtained by means of the recently introduced AAA rational-approximation algorithm. In fact, the proposed resonance-search method applies to any nonlinear eigenvalue problem (NEP) associated with a given function $F: U \to \mathbb{C}^{n\times n}$, wherein a complex value $k$ is sought for which $F_kw = 0$ for some nonzero $w\in \mathbb{C}^n$. For the cavity problems considered in this paper, $F_k$ is taken as a spectrally discretized version of a Green function-based boundary integral operator at spatial frequency $k$. In all cases, the scalarized resolvent is given by an expression of the form $u^* F_k^{-1} v$, where $u,v \in \mathbb{C}^n$ are fixed random vectors. A variety of numerical results are presented for both scattering resonances and other NEPs, demonstrating the accuracy of the method even for high frequency states.

Molecular design and synthesis planning are two critical steps in the process of molecular discovery that we propose to formulate as a single shared task of conditional synthetic pathway generation. We report an amortized approach to generate synthetic pathways as a Markov decision process conditioned on a target molecular embedding. This approach allows us to conduct synthesis planning in a bottom-up manner and design synthesizable molecules by decoding from optimized conditional codes, demonstrating the potential to solve both problems of design and synthesis simultaneously. The approach leverages neural networks to probabilistically model the synthetic trees, one reaction step at a time, according to reactivity rules encoded in a discrete action space of reaction templates. We train these networks on hundreds of thousands of artificial pathways generated from a pool of purchasable compounds and a list of expert-curated templates. We validate our method with (a) the recovery of molecules using conditional generation, (b) the identification of synthesizable structural analogs, and (c) the optimization of molecular structures given oracle functions relevant to drug discovery.

Translational distance-based knowledge graph embedding has shown progressive improvements on the link prediction task, from TransE to the latest state-of-the-art RotatE. However, N-1, 1-N and N-N predictions still remain challenging. In this work, we propose a novel translational distance-based approach for knowledge graph link prediction. The proposed method includes two-folds, first we extend the RotatE from 2D complex domain to high dimension space with orthogonal transforms to model relations for better modeling capacity. Second, the graph context is explicitly modeled via two directed context representations. These context representations are used as part of the distance scoring function to measure the plausibility of the triples during training and inference. The proposed approach effectively improves prediction accuracy on the difficult N-1, 1-N and N-N cases for knowledge graph link prediction task. The experimental results show that it achieves better performance on two benchmark data sets compared to the baseline RotatE, especially on data set (FB15k-237) with many high in-degree connection nodes.

Knowledge graphs capture interlinked information between entities and they represent an attractive source of structured information that can be harnessed for recommender systems. However, existing recommender engines use knowledge graphs by manually designing features, do not allow for end-to-end training, or provide poor scalability. Here we propose Knowledge Graph Convolutional Networks (KGCN), an end-to-end trainable framework that harnesses item relationships captured by the knowledge graph to provide better recommendations. Conceptually, KGCN computes user-specific item embeddings by first applying a trainable function that identifies important knowledge graph relations for a given user and then transforming the knowledge graph into a user-specific weighted graph. Then, KGCN applies a graph convolutional neural network that computes an embedding of an item node by propagating and aggregating knowledge graph neighborhood information. Moreover, to provide better inductive bias KGCN uses label smoothness (LS), which provides regularization over edge weights and we prove that it is equivalent to label propagation scheme on a graph. Finally, We unify KGCN and LS regularization, and present a scalable minibatch implementation for KGCN-LS model. Experiments show that KGCN-LS outperforms strong baselines in four datasets. KGCN-LS also achieves great performance in sparse scenarios and is highly scalable with respect to the knowledge graph size.

High spectral dimensionality and the shortage of annotations make hyperspectral image (HSI) classification a challenging problem. Recent studies suggest that convolutional neural networks can learn discriminative spatial features, which play a paramount role in HSI interpretation. However, most of these methods ignore the distinctive spectral-spatial characteristic of hyperspectral data. In addition, a large amount of unlabeled data remains an unexploited gold mine for efficient data use. Therefore, we proposed an integration of generative adversarial networks (GANs) and probabilistic graphical models for HSI classification. Specifically, we used a spectral-spatial generator and a discriminator to identify land cover categories of hyperspectral cubes. Moreover, to take advantage of a large amount of unlabeled data, we adopted a conditional random field to refine the preliminary classification results generated by GANs. Experimental results obtained using two commonly studied datasets demonstrate that the proposed framework achieved encouraging classification accuracy using a small number of data for training.

In order to answer natural language questions over knowledge graphs, most processing pipelines involve entity and relation linking. Traditionally, entity linking and relation linking has been performed either as dependent sequential tasks or independent parallel tasks. In this paper, we propose a framework called "EARL", which performs entity linking and relation linking as a joint single task. EARL uses a graph connection based solution to the problem. We model the linking task as an instance of the Generalised Travelling Salesman Problem (GTSP) and use GTSP approximate algorithm solutions. We later develop EARL which uses a pair-wise graph-distance based solution to the problem.The system determines the best semantic connection between all keywords of the question by referring to a knowledge graph. This is achieved by exploiting the "connection density" between entity candidates and relation candidates. The "connection density" based solution performs at par with the approximate GTSP solution.We have empirically evaluated the framework on a dataset with 5000 questions. Our system surpasses state-of-the-art scores for entity linking task by reporting an accuracy of 0.65 to 0.40 from the next best entity linker.

Detecting carried objects is one of the requirements for developing systems to reason about activities involving people and objects. We present an approach to detect carried objects from a single video frame with a novel method that incorporates features from multiple scales. Initially, a foreground mask in a video frame is segmented into multi-scale superpixels. Then the human-like regions in the segmented area are identified by matching a set of extracted features from superpixels against learned features in a codebook. A carried object probability map is generated using the complement of the matching probabilities of superpixels to human-like regions and background information. A group of superpixels with high carried object probability and strong edge support is then merged to obtain the shape of the carried object. We applied our method to two challenging datasets, and results show that our method is competitive with or better than the state-of-the-art.

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.

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