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In recent years, the integration of large language models (LLMs) has revolutionized the field of robotics, enabling robots to communicate, understand, and reason with human-like proficiency. This paper explores the multifaceted impact of LLMs on robotics, addressing key challenges and opportunities for leveraging these models across various domains. By categorizing and analyzing LLM applications within core robotics elements -- communication, perception, planning, and control -- we aim to provide actionable insights for researchers seeking to integrate LLMs into their robotic systems. Our investigation focuses on LLMs developed post-GPT-3.5, primarily in text-based modalities while also considering multimodal approaches for perception and control. We offer comprehensive guidelines and examples for prompt engineering, facilitating beginners' access to LLM-based robotics solutions. Through tutorial-level examples and structured prompt construction, we illustrate how LLM-guided enhancements can be seamlessly integrated into robotics applications. This survey serves as a roadmap for researchers navigating the evolving landscape of LLM-driven robotics, offering a comprehensive overview and practical guidance for harnessing the power of language models in robotics development.

The amount of data generated and gathered in scientific simulations and data collection applications is continuously growing, putting mounting pressure on storage and bandwidth concerns. A means of reducing such issues is data compression; however, lossless data compression is typically ineffective when applied to floating-point data. Thus, users tend to apply a lossy data compressor, which allows for small deviations from the original data. It is essential to understand how the error from lossy compression impacts the accuracy of the data analytics. Thus, we must analyze not only the compression properties but the error as well. In this paper, we provide a statistical analysis of the error caused by ZFP compression, a state-of-the-art, lossy compression algorithm explicitly designed for floating-point data. We show that the error is indeed biased and propose simple modifications to the algorithm to neutralize the bias and further reduce the resulting error.

Video sequences offer valuable temporal information, but existing large multimodal models (LMMs) fall short in understanding extremely long videos. Many works address this by reducing the number of visual tokens using visual resamplers. Alternatively, in this paper, we approach this problem from the perspective of the language model. By simply extrapolating the context length of the language backbone, we enable LMMs to comprehend orders of magnitude more visual tokens without any video training. We call this phenomenon long context transfer and carefully ablate its properties. To effectively measure LMMs' ability to generalize to long contexts in the vision modality, we develop V-NIAH (Visual Needle-In-A-Haystack), a purely synthetic long vision benchmark inspired by the language model's NIAH test. Our proposed Long Video Assistant (LongVA) can process 2000 frames or over 200K visual tokens without additional complexities. With its extended context length, LongVA achieves state-of-the-art performance on Video-MME among 7B-scale models by densely sampling more input frames. Our work is open-sourced at //github.com/EvolvingLMMs-Lab/LongVA.

In this work, we propose using mechanistic interpretability -- techniques for reverse engineering model weights into human-interpretable algorithms -- to derive and compactly prove formal guarantees on model performance. We prototype this approach by formally proving lower bounds on the accuracy of 151 small transformers trained on a Max-of-$K$ task. We create 102 different computer-assisted proof strategies and assess their length and tightness of bound on each of our models. Using quantitative metrics, we find that shorter proofs seem to require and provide more mechanistic understanding. Moreover, we find that more faithful mechanistic understanding leads to tighter performance bounds. We confirm these connections by qualitatively examining a subset of our proofs. Finally, we identify compounding structureless noise as a key challenge for using mechanistic interpretability to generate compact proofs on model performance.

The emergence of heterogeneity in high-performance computing, which harnesses under one integrated system several platforms of different architectures, also led to the development of innovative cross-platform programming models. Along with the expectation that these models will yield computationally intensive performance, there is demand for them to provide a reasonable degree of performance portability. Therefore, new tools and metrics are being developed to measure and calculate the level of performance portability of applications and programming models. The ultimate measure of performance portability is performance efficiency. Performance efficiency refers to the achieved performance as a fraction of some peak theoretical or practical baseline performance. Application efficiency approaches are the most popular and attractive performance efficiency measures among researchers because they are simple to measure and calculate. Unfortunately, the way they are used yields results that do not make sense, while violating one of the basic criteria that defines and characterizes the performance portability metrics. In this paper, we demonstrate how researchers currently use application efficiency to calculate the performance portability of applications and explain why this method deviates from its original definition. Then, we show why the obtained results do not make sense and propose practical solutions that satisfy the definition and criteria of performance portability metrics.

We present MoCheQoS, a bounded model checker to analyse (QoS) properties of message-passing systems. Building on the dynamic temporal logic, the choreographic model, and the bounded model checking algorithm defined in our ICTAC 2023 paper, MoCheQoS enables the static analysis of QoS properties of systems built out from the composition of services. We consider QoS properties on measurable application-level attributes as well as resource consumption metrics for example those relating monetary cost to memory usage. The implementation of the tool is accompanied by an experimental evaluation. More precisely, we present two case studies meant to evaluate the applicability of MoCheQoS; the first is based on the AWS cloud while the second analyses a communicating system automatically extracted from code. Additionally, we consider synthetically generated experiments to assess the scalability of MoCheQoS. These experiments showed that our model can faithfully capture and effectively analyse QoS properties in industrial-strength scenarios.

Statistical modelling in the presence of data organized in groups is a crucial task in Bayesian statistics. The present paper conceives a mixture model based on a novel family of Bayesian priors designed for multilevel data and obtained by normalizing a finite point process. In particular, the work extends the popular Mixture of Finite Mixture model to the hierarchical framework to capture heterogeneity within and between groups. A full distribution theory for this new family and the induced clustering is developed, including the marginal, posterior, and predictive distributions. Efficient marginal and conditional Gibbs samplers are designed to provide posterior inference. The proposed mixture model overcomes the Hierarchical Dirichlet Process, the utmost tool for handling multilevel data, in terms of analytical feasibility, clustering discovery, and computational time. The motivating application comes from the analysis of shot put data, which contains performance measurements of athletes across different seasons. In this setting, the proposed model is exploited to induce clustering of the observations across seasons and athletes. By linking clusters across seasons, similarities and differences in athletes' performances are identified.

This work uniquely identifies and characterizes four prevalent multimodal model architectural patterns in the contemporary multimodal landscape. Systematically categorizing models by architecture type facilitates monitoring of developments in the multimodal domain. Distinct from recent survey papers that present general information on multimodal architectures, this research conducts a comprehensive exploration of architectural details and identifies four specific architectural types. The types are distinguished by their respective methodologies for integrating multimodal inputs into the deep neural network model. The first two types (Type A and B) deeply fuses multimodal inputs within the internal layers of the model, whereas the following two types (Type C and D) facilitate early fusion at the input stage. Type-A employs standard cross-attention, whereas Type-B utilizes custom-designed layers for modality fusion within the internal layers. On the other hand, Type-C utilizes modality-specific encoders, while Type-D leverages tokenizers to process the modalities at the model's input stage. The identified architecture types aid the monitoring of any-to-any multimodal model development. Notably, Type-C and Type-D are currently favored in the construction of any-to-any multimodal models. Type-C, distinguished by its non-tokenizing multimodal model architecture, is emerging as a viable alternative to Type-D, which utilizes input-tokenizing techniques. To assist in model selection, this work highlights the advantages and disadvantages of each architecture type based on data and compute requirements, architecture complexity, scalability, simplification of adding modalities, training objectives, and any-to-any multimodal generation capability.

Deep neural networks have revolutionized many machine learning tasks in power systems, ranging from pattern recognition to signal processing. The data in these tasks is typically represented in Euclidean domains. Nevertheless, there is an increasing number of applications in power systems, where data are collected from non-Euclidean domains and represented as the graph-structured data with high dimensional features and interdependency among nodes. The complexity of graph-structured data has brought significant challenges to the existing deep neural networks defined in Euclidean domains. Recently, many studies on extending deep neural networks for graph-structured data in power systems have emerged. In this paper, a comprehensive overview of graph neural networks (GNNs) in power systems is proposed. Specifically, several classical paradigms of GNNs structures (e.g., graph convolutional networks, graph recurrent neural networks, graph attention networks, graph generative networks, spatial-temporal graph convolutional networks, and hybrid forms of GNNs) are summarized, and key applications in power systems such as fault diagnosis, power prediction, power flow calculation, and data generation are reviewed in detail. Furthermore, main issues and some research trends about the applications of GNNs in power systems are discussed.

Image segmentation is an important component of many image understanding systems. It aims to group pixels in a spatially and perceptually coherent manner. Typically, these algorithms have a collection of parameters that control the degree of over-segmentation produced. It still remains a challenge to properly select such parameters for human-like perceptual grouping. In this work, we exploit the diversity of segments produced by different choices of parameters. We scan the segmentation parameter space and generate a collection of image segmentation hypotheses (from highly over-segmented to under-segmented). These are fed into a cost minimization framework that produces the final segmentation by selecting segments that: (1) better describe the natural contours of the image, and (2) are more stable and persistent among all the segmentation hypotheses. We compare our algorithm's performance with state-of-the-art algorithms, showing that we can achieve improved results. We also show that our framework is robust to the choice of segmentation kernel that produces the initial set of hypotheses.