亚洲男人的天堂2018av,欧美草比,久久久久久免费视频精选,国色天香在线看免费,久久久久亚洲av成人片仓井空

Synthesizing planning and control policies in robotics is a fundamental task, further complicated by factors such as complex logic specifications and high-dimensional robot dynamics. This paper presents a novel reinforcement learning approach to solving high-dimensional robot navigation tasks with complex logic specifications by co-learning planning and control policies. Notably, this approach significantly reduces the sample complexity in training, allowing us to train high-quality policies with much fewer samples compared to existing reinforcement learning algorithms. In addition, our methodology streamlines complex specification extraction from map images and enables the efficient generation of long-horizon robot motion paths across different map layouts. Moreover, our approach also demonstrates capabilities for high-dimensional control and avoiding suboptimal policies via policy alignment. The efficacy of our approach is demonstrated through experiments involving simulated high-dimensional quadruped robot dynamics and a real-world differential drive robot (TurtleBot3) under different types of task specifications.

Layered architectures have been widely used in robot systems. The majority of them implement planning and execution functions in separate layers. However, there still lacks a straightforward way to transit high-level tasks in the planning layer to the low-level motor commands in the execution layer. In order to tackle this challenge, we propose a novel approach to ground the manipulator primitive tasks to robot low-level actions using large language models (LLMs). We designed a program-function-like prompt based on the task frame formalism. In this way, we enable LLMs to generate position/force set-points for hybrid control. Evaluations over several state-of-the-art LLMs are provided.

Recommender systems are widely used to provide personalized recommendations to users. Recent research has shown that recommender systems may be subject to different types of biases, such as popularity bias, leading to an uneven distribution of recommendation exposure among producer groups. To mitigate this, producer-centered fairness re-ranking (PFR) approaches have been proposed to ensure equitable recommendation utility across groups. However, these approaches overlook the harm they may cause to within-group individuals associated with colder items, which are items with few or no interactions. This study reproduces previous PFR approaches and shows that they significantly harm colder items, leading to a fairness gap for these items in both advantaged and disadvantaged groups. Surprisingly, the unfair base recommendation models were providing greater exposure opportunities to these individual cold items, even though at the group level, they appeared to be unfair. To address this issue, the study proposes an amendment to the PFR approach that regulates the number of colder items recommended by the system. This modification achieves a balance between accuracy and producer fairness while optimizing the selection of colder items within each group, thereby preventing or reducing harm to within-group individuals and augmenting the novelty of all recommended items. The proposed method is able to register an increase in sub-group fairness (SGF) from 0.3104 to 0.3782, 0.6156, and 0.9442 while also improving group-level fairness (GF) (112% and 37% with respect to base models and traditional PFR). Moreover, the proposed method achieves these improvements with minimal or no reduction in accuracy (or even an increase sometimes). We evaluate the proposed method on various recommendation datasets and demonstrate promising results independent of the underlying model or datasets.

Integrating first-order logic constraints (FOLCs) with neural networks is a crucial but challenging problem since it involves modeling intricate correlations to satisfy the constraints. This paper proposes a novel neural layer, LogicMP, whose layers perform mean-field variational inference over an MLN. It can be plugged into any off-the-shelf neural network to encode FOLCs while retaining modularity and efficiency. By exploiting the structure and symmetries in MLNs, we theoretically demonstrate that our well-designed, efficient mean-field iterations effectively mitigate the difficulty of MLN inference, reducing the inference from sequential calculation to a series of parallel tensor operations. Empirical results in three kinds of tasks over graphs, images, and text show that LogicMP outperforms advanced competitors in both performance and efficiency.

In an era where scientific experimentation is often costly, multi-fidelity emulation provides a powerful tool for predictive scientific computing. While there has been notable work on multi-fidelity modeling, existing models do not incorporate an important "conglomerate" property of multi-fidelity simulators, where the accuracies of different simulator components are controlled by different fidelity parameters. Such conglomerate simulators are widely encountered in complex nuclear physics and astrophysics applications. We thus propose a new CONglomerate multi-FIdelity Gaussian process (CONFIG) model, which embeds this conglomerate structure within a novel non-stationary covariance function. We show that the proposed CONFIG model can capture prior knowledge on the numerical convergence of conglomerate simulators, which allows for cost-efficient emulation of multi-fidelity systems. We demonstrate the improved predictive performance of CONFIG over state-of-the-art models in a suite of numerical experiments and two applications, the first for emulation of cantilever beam deflection and the second for emulating the evolution of the quark-gluon plasma, which was theorized to have filled the Universe shortly after the Big Bang.

Stacked intelligent metasurface (SIM) is an emerging programmable metasurface architecture that can implement signal processing directly in the electromagnetic wave domain, thereby enabling efficient implementation of ultra-massive multiple-input multiple-output (MIMO) transceivers with a limited number of radio frequency (RF) chains. Channel estimation (CE) is challenging for SIM-enabled communication systems due to the multi-layer architecture of SIM, and because we need to estimate large dimensional channels between the SIM and users with a limited number of RF chains. To efficiently solve this problem, we develop a novel hybrid digital-wave domain channel estimator, in which the received training symbols are first processed in the wave domain within the SIM layers, and then processed in the digital domain. The wave domain channel estimator, parametrized by the phase shifts applied by the meta-atoms in all layers, is optimized to minimize the mean squared error (MSE) using a gradient descent algorithm, within which the digital part is optimally updated. For an SIM-enabled multi-user system equipped with 4 RF chains and a 6-layer SIM with 64 meta-atoms each, the proposed estimator yields an MSE that is very close to that achieved by fully digital CE in a massive MIMO system employing 64 RF chains. This high CE accuracy is achieved at the cost of a training overhead that can be reduced by exploiting the potential low rank of channel correlation matrices.

Graphon estimation has been one of the most fundamental problems in network analysis and has received considerable attention in the past decade. From the statistical perspective, the minimax error rate of graphon estimation has been established by Gao et al (2015) for both stochastic block model (SBM) and nonparametric graphon estimation. The statistical optimal estimators are based on constrained least squares and have computational complexity exponential in the dimension. From the computational perspective, the best-known polynomial-time estimator is based on universal singular value thresholding (USVT), but it can only achieve a much slower estimation error rate than the minimax one. It is natural to wonder if such a gap is essential. The computational optimality of the USVT or the existence of a computational barrier in graphon estimation has been a long-standing open problem. In this work, we take the first step towards it and provide rigorous evidence for the computational barrier in graphon estimation via low-degree polynomials. Specifically, in both SBM and nonparametric graphon estimation, we show that for low-degree polynomial estimators, their estimation error rates cannot be significantly better than that of the USVT under a wide range of parameter regimes. Our results are proved based on the recent development of low-degree polynomials by Schramm and Wein (2022), while we overcome a few key challenges in applying it to the general graphon estimation problem. By leveraging our main results, we also provide a computational lower bound on the clustering error for community detection in SBM with a growing number of communities and this yields a new piece of evidence for the conjectured Kesten-Stigum threshold for efficient community recovery.

With the rapid development of facial forgery techniques, forgery detection has attracted more and more attention due to security concerns. Existing approaches attempt to use frequency information to mine subtle artifacts under high-quality forged faces. However, the exploitation of frequency information is coarse-grained, and more importantly, their vanilla learning process struggles to extract fine-grained forgery traces. To address this issue, we propose a progressive enhancement learning framework to exploit both the RGB and fine-grained frequency clues. Specifically, we perform a fine-grained decomposition of RGB images to completely decouple the real and fake traces in the frequency space. Subsequently, we propose a progressive enhancement learning framework based on a two-branch network, combined with self-enhancement and mutual-enhancement modules. The self-enhancement module captures the traces in different input spaces based on spatial noise enhancement and channel attention. The Mutual-enhancement module concurrently enhances RGB and frequency features by communicating in the shared spatial dimension. The progressive enhancement process facilitates the learning of discriminative features with fine-grained face forgery clues. Extensive experiments on several datasets show that our method outperforms the state-of-the-art face forgery detection methods.

Conventional entity typing approaches are based on independent classification paradigms, which make them difficult to recognize inter-dependent, long-tailed and fine-grained entity types. In this paper, we argue that the implicitly entailed extrinsic and intrinsic dependencies between labels can provide critical knowledge to tackle the above challenges. To this end, we propose \emph{Label Reasoning Network(LRN)}, which sequentially reasons fine-grained entity labels by discovering and exploiting label dependencies knowledge entailed in the data. Specifically, LRN utilizes an auto-regressive network to conduct deductive reasoning and a bipartite attribute graph to conduct inductive reasoning between labels, which can effectively model, learn and reason complex label dependencies in a sequence-to-set, end-to-end manner. Experiments show that LRN achieves the state-of-the-art performance on standard ultra fine-grained entity typing benchmarks, and can also resolve the long tail label problem effectively.

Events are happening in real-world and real-time, which can be planned and organized occasions involving multiple people and objects. Social media platforms publish a lot of text messages containing public events with comprehensive topics. However, mining social events is challenging due to the heterogeneous event elements in texts and explicit and implicit social network structures. In this paper, we design an event meta-schema to characterize the semantic relatedness of social events and build an event-based heterogeneous information network (HIN) integrating information from external knowledge base, and propose a novel Pair-wise Popularity Graph Convolutional Network (PP-GCN) based fine-grained social event categorization model. We propose a Knowledgeable meta-paths Instances based social Event Similarity (KIES) between events and build a weighted adjacent matrix as input to the PP-GCN model. Comprehensive experiments on real data collections are conducted to compare various social event detection and clustering tasks. Experimental results demonstrate that our proposed framework outperforms other alternative social event categorization techniques.