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This paper introduces a first-order method for solving optimal powered descent guidance (PDG) problems, that directly handles the nonconvex constraints associated with the maximum and minimum thrust bounds with varying mass and the pointing angle constraints on thrust vectors. This issue has been conventionally circumvented via lossless convexification (LCvx), which lifts a nonconvex feasible set to a higher-dimensional convex set, and via linear approximation of another nonconvex feasible set defined by exponential functions. However, this approach sometimes results in an infeasible solution when the solution obtained from the higher-dimensional space is projected back to the original space, especially when the problem involves a nonoptimal time of flight. Additionally, the Taylor series approximation introduces an approximation error that grows with both flight time and deviation from the reference trajectory. In this paper, we introduce a first-order approach that makes use of orthogonal projections onto nonconvex sets, allowing expansive projection (ExProj). We show that 1) this approach produces a feasible solution with better performance even for the nonoptimal time of flight cases for which conventional techniques fail to generate achievable trajectories and 2) the proposed method compensates for the linearization error that arises from Taylor series approximation, thus generating a superior guidance solution with less fuel consumption. We provide numerical examples featuring quantitative assessments to elucidate the effectiveness of the proposed methodology, particularly in terms of fuel consumption and flight time. Our analysis substantiates the assertion that the proposed approach affords enhanced flexibility in devising viable trajectories for a diverse array of planetary soft landing scenarios.

We analyze a stochastic approximation algorithm for decision-dependent problems, wherein the data distribution used by the algorithm evolves along the iterate sequence. The primary examples of such problems appear in performative prediction and its multiplayer extensions. We show that under mild assumptions, the deviation between the average iterate of the algorithm and the solution is asymptotically normal, with a covariance that clearly decouples the effects of the gradient noise and the distributional shift. Moreover, building on the work of H\'ajek and Le Cam, we show that the asymptotic performance of the algorithm with averaging is locally minimax optimal.

The task of predicting multiple links within knowledge graphs (KGs) stands as a challenge in the field of knowledge graph analysis, a challenge increasingly resolvable due to advancements in natural language processing (NLP) and KG embedding techniques. This paper introduces a novel methodology, the Knowledge Graph Large Language Model Framework (KG-LLM), which leverages pivotal NLP paradigms, including chain-of-thought (CoT) prompting and in-context learning (ICL), to enhance multi-hop link prediction in KGs. By converting the KG to a CoT prompt, our framework is designed to discern and learn the latent representations of entities and their interrelations. To show the efficacy of the KG-LLM Framework, we fine-tune three leading Large Language Models (LLMs) within this framework, employing both non-ICL and ICL tasks for a comprehensive evaluation. Further, we explore the framework's potential to provide LLMs with zero-shot capabilities for handling previously unseen prompts. Our experimental findings discover that integrating ICL and CoT not only augments the performance of our approach but also significantly boosts the models' generalization capacity, thereby ensuring more precise predictions in unfamiliar scenarios.

This paper presents a new approach to form-filling by reformulating the task as multimodal natural language Question Answering (QA). The reformulation is achieved by first translating the elements on the GUI form (text fields, buttons, icons, etc.) to natural language questions, where these questions capture the element's multimodal semantics. After a match is determined between the form element (Question) and the user utterance (Answer), the form element is filled through a pre-trained extractive QA system. By leveraging pre-trained QA models and not requiring form-specific training, this approach to form-filling is zero-shot. The paper also presents an approach to further refine the form-filling by using multi-task training to incorporate a potentially large number of successive tasks. Finally, the paper introduces a multimodal natural language form-filling dataset Multimodal Forms (mForms), as well as a multimodal extension of the popular ATIS dataset to support future research and experimentation. Results show the new approach not only maintains robust accuracy for sparse training conditions but achieves state-of-the-art F1 of 0.97 on ATIS with approximately 1/10th of the training data.

A recent paper by Abboud and Wallheimer [ITCS 2023] presents self-reductions for various fundamental graph problems, that transform worst-case instances to expanders, thus proving that the complexity remains unchanged if the input is assumed to be an expander. An interesting corollary of their self-reductions is that, if some problem admit such reduction, then the popular algorithmic paradigm based on expander-decompositions is useless against it. In this paper, we improve their core gadget, which augments a graph to make it an expander while retaining its important structure. Our new core construction has the benefit of being simple to analyze and generalize, while obtaining the following results: 1. A derandomization of the self-reductions, showing that the equivalence between worst-case and expander-case holds even for deterministic algorithms, and ruling out the use of expander-decompositions as a derandomization tool. 2. An extension of the results to other models of computation, such as the Fully Dynamic model and the Congested Clique model. In the former, we either improve or provide an alternative approach to some recent hardness results for dynamic expander graphs, by Henzinger, Paz, and Sricharan [ESA 2022]. In addition, we continue this line of research by designing new self-reductions for more problems, such as Max-Cut and dynamic Densest Subgraph, and demonstrating that the core gadget can be utilized to lift lower bounds based on the OMv Conjecture to expanders.

This paper introduces a novel method leveraging bi-encoder-based detectors along with a comprehensive study comparing different out-of-distribution (OOD) detection methods in NLP using different feature extractors. The feature extraction stage employs popular methods such as Universal Sentence Encoder (USE), BERT, MPNET, and GLOVE to extract informative representations from textual data. The evaluation is conducted on several datasets, including CLINC150, ROSTD-Coarse, SNIPS, and YELLOW. Performance is assessed using metrics such as F1-Score, MCC, FPR@90, FPR@95, AUPR, an AUROC. The experimental results demonstrate that the proposed bi-encoder-based detectors outperform other methods, both those that require OOD labels in training and those that do not, across all datasets, showing great potential for OOD detection in NLP. The simplicity of the training process and the superior detection performance make them applicable to real-world scenarios. The presented methods and benchmarking metrics serve as a valuable resource for future research in OOD detection, enabling further advancements in this field. The code and implementation details can be found on our GitHub repository: //github.com/yellowmessenger/ood-detection.

The recent development on large multimodal models (LMMs), especially GPT-4V(ision) and Gemini, has been quickly expanding the capability boundaries of multimodal models beyond traditional tasks like image captioning and visual question answering. In this work, we explore the potential of LMMs like GPT-4V as a generalist web agent that can follow natural language instructions to complete tasks on any given website. We propose SEEACT, a generalist web agent that harnesses the power of LMMs for integrated visual understanding and acting on the web. We evaluate on the recent MIND2WEB benchmark. In addition to standard offline evaluation on cached websites, we enable a new online evaluation setting by developing a tool that allows running web agents on live websites. We show that GPT-4V presents a great potential for web agents -- it can successfully complete 51.1 of the tasks on live websites if we manually ground its textual plans into actions on the websites. This substantially outperforms text-only LLMs like GPT-4 or smaller models (FLAN-T5 and BLIP-2) specifically fine-tuned for web agents. However, grounding still remains a major challenge. Existing LMM grounding strategies like set-of-mark prompting turns out to be not effective for web agents, and the best grounding strategy we develop in this paper leverages both the HTML structure and visuals. Yet, there is still a substantial gap with oracle grounding, leaving ample room for further improvement. All code, data, and evaluation tools are available at //github.com/OSU-NLP-Group/SeeAct.

The article "Interpolation and SAT-Based Model Checking" (McMillan, 2003) describes a formal-verification algorithm, which was originally devised to verify safety properties of finite-state transition systems. It derives interpolants from unsatisfiable BMC queries and collects them to construct an overapproximation of the set of reachable states. Although 20 years old, the algorithm is still state-of-the-art in hardware model checking. Unlike other formal-verification algorithms, such as k-induction or PDR, which have been extended to handle infinite-state systems and investigated for program analysis, McMillan's interpolation-based model-checking algorithm from 2003 has not been used to verify programs so far. Our contribution is to close this significant, two decades old gap in knowledge by adopting the algorithm to software verification. We implemented it in the verification framework CPAchecker and evaluated the implementation against other state-of-the-art software-verification techniques on the largest publicly available benchmark suite of C safety-verification tasks. The evaluation demonstrates that McMillan's interpolation-based model-checking algorithm from 2003 is competitive among other algorithms in terms of both the number of solved verification tasks and the run-time efficiency. Our results are important for the area of software verification, because researchers and developers now have one more approach to choose from.

The problem of answering questions using knowledge from pre-trained language models (LMs) and knowledge graphs (KGs) presents two challenges: given a QA context (question and answer choice), methods need to (i) identify relevant knowledge from large KGs, and (ii) perform joint reasoning over the QA context and KG. In this work, we propose a new model, QA-GNN, which addresses the above challenges through two key innovations: (i) relevance scoring, where we use LMs to estimate the importance of KG nodes relative to the given QA context, and (ii) joint reasoning, where we connect the QA context and KG to form a joint graph, and mutually update their representations through graph neural networks. We evaluate QA-GNN on the CommonsenseQA and OpenBookQA datasets, and show its improvement over existing LM and LM+KG models, as well as its capability to perform interpretable and structured reasoning, e.g., correctly handling negation in questions.

Aiming at expanding few-shot relations' coverage in knowledge graphs (KGs), few-shot knowledge graph completion (FKGC) has recently gained more research interests. Some existing models employ a few-shot relation's multi-hop neighbor information to enhance its semantic representation. However, noise neighbor information might be amplified when the neighborhood is excessively sparse and no neighbor is available to represent the few-shot relation. Moreover, modeling and inferring complex relations of one-to-many (1-N), many-to-one (N-1), and many-to-many (N-N) by previous knowledge graph completion approaches requires high model complexity and a large amount of training instances. Thus, inferring complex relations in the few-shot scenario is difficult for FKGC models due to limited training instances. In this paper, we propose a few-shot relational learning with global-local framework to address the above issues. At the global stage, a novel gated and attentive neighbor aggregator is built for accurately integrating the semantics of a few-shot relation's neighborhood, which helps filtering the noise neighbors even if a KG contains extremely sparse neighborhoods. For the local stage, a meta-learning based TransH (MTransH) method is designed to model complex relations and train our model in a few-shot learning fashion. Extensive experiments show that our model outperforms the state-of-the-art FKGC approaches on the frequently-used benchmark datasets NELL-One and Wiki-One. Compared with the strong baseline model MetaR, our model achieves 5-shot FKGC performance improvements of 8.0% on NELL-One and 2.8% on Wiki-One by the metric Hits@10.