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3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To address these challenges, we propose FC-Planner, a skeleton-guided planning framework that can achieve fast aerial coverage of complex 3D scenes without pre-processing. We decompose the scene into several simple subspaces by a skeleton-based space decomposition (SSD). Additionally, the skeleton guides us to effortlessly determine free space. We utilize the skeleton to efficiently generate a minimal set of specialized and informative viewpoints for complete coverage. Based on SSD, a hierarchical planner effectively divides the large planning problem into independent sub-problems, enabling parallel planning for each subspace. The carefully designed global and local planning strategies are then incorporated to guarantee both high quality and efficiency in path generation. We conduct extensive benchmark and real-world tests, where FC-Planner computes over 10 times faster compared to state-of-the-art methods with shorter path and more complete coverage. The source code will be open at //github.com/HKUST-Aerial-Robotics/FC-Planner.

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We present LongQLoRA, an efficient and effective method to extend context length of large language models with less training resources. LongQLoRA combines the advantages of Position Interpolation, QLoRA and Shift Short Attention of LongLoRA. With a single 32GB V100 GPU, LongQLoRA can extend the context length of LLaMA2 7B and 13B from 4096 to 8192 and even to 12k within 1000 finetuning steps. LongQLoRA achieves competitive perplexity performance on PG19 and Proof-pile datasets, our model outperforms LongLoRA and is very close to MPT-7B-8K within the evaluation context length of 8192. We collect and build 39k long instruction data to extend context length of Vicuna-13B from 4096 to 8192 and achieve good performance both in long and short context generation task. We also do some ablation experiments to study the effect of LoRA rank, finetuning steps and attention patterns in inference.The model weights, training data and code are avaliable at //github.com/yangjianxin1/LongQLoRA.

The blockchain brought interesting properties for many practical applications. However, some properties, such as the transaction processing throughput remained limited, especially in Proof-of-Work blockchains. Therefore, several promising directions, such as sharding designs and DAG-based protocols emerged. In this paper, we focus on DAG-based consensus protocols and present a discrete-event simulator for them. Our simulator can simulate realistic blockchain networks created from data of a Bitcoin network, while its network configuration and topology can be customized. The simulated network consists of honest and malicious miners. Malicious miners do not make any attack on consensus itself. Instead, they use a different transaction selection strategy than honest miners (who select transactions randomly) with the intention to earn unfairly more profits than honest miners at the cost of downgrading the protocol performance by duplicate transactions. As a consequence, this harms the performance of some DAG-based protocols (e.g., PHANTOM and GHOSTDAG) in terms of transaction processing throughput, which we demonstrate in our experiments and extend the results of the related work that contains a small-scale network of 10 nodes by the results obtained on a large-scale network with 7000 nodes. Next, we empirically compare different algorithms for the mempool structure, and we propose a composite mempool structure that is memory-efficient and thus convenient for simulations of resource-demanding large-scale networks.

To reduce the size of recommendation models, there have been many studies on compressing recommendation models using knowledge distillation. In this paper, we decompose recommendation models into three layers, i.e., the input layer, the intermediate layer, and the output layer, and address deficiencies layer by layer. First, previous methods focus only on two layers, neglecting the input layer. Second, in the intermediate layer, existing methods ignore the inconsistency of user preferences induced by the projectors. Third, in the output layer, existing methods use only hard labels rather than soft labels from the teacher. To address these deficiencies, we propose \textbf{M}ulti-layer \textbf{K}nowledge \textbf{D}istillation (MKD), which consists of three components: 1) Distillation with Neighbor-based Knowledge (NKD) utilizes the teacher's knowledge about entities with similar characteristics in the input layer to enable the student to learn robust representations. 2) Distillation with Consistent Preference (CPD) reduces the inconsistency of user preferences caused by projectors in the intermediate layer by two regularization terms. 3) Distillation with Soft Labels (SLD) constructs soft labels in the output layer by considering the predictions of both the teacher and the student. Our extensive experiments show that MKD even outperforms the teacher with one-tenth of the model size.

Many interpretable AI approaches have been proposed to provide plausible explanations for a model's decision-making. However, configuring an explainable model that effectively communicates among computational modules has received less attention. A recently proposed shared global workspace theory showed that networks of distributed modules can benefit from sharing information with a bottlenecked memory because the communication constraints encourage specialization, compositionality, and synchronization among the modules. Inspired by this, we propose Concept-Centric Transformers, a simple yet effective configuration of the shared global workspace for interpretability, consisting of: i) an object-centric-based memory module for extracting semantic concepts from input features, ii) a cross-attention mechanism between the learned concept and input embeddings, and iii) standard classification and explanation losses to allow human analysts to directly assess an explanation for the model's classification reasoning. We test our approach against other existing concept-based methods on classification tasks for various datasets, including CIFAR100, CUB-200-2011, and ImageNet, and we show that our model achieves better classification accuracy than all baselines across all problems but also generates more consistent concept-based explanations of classification output.

Ratings are frequently used to evaluate and compare subjects in various applications, from education to healthcare, because ratings provide succinct yet credible measures for comparing subjects. However, when multiple rating lists are combined or considered together, subjects often have missing ratings, because most rating lists do not rate every subject in the combined list. In this study, we propose analyses on missing value patterns using six real-world data sets in various applications, as well as the conditions for applicability of imputation algorithms. Based on the special structures and properties derived from the analyses, we propose optimization models and algorithms that minimize the total rating discordance across rating providers to impute missing ratings in the combined rating lists, using only the known rating information. The total rating discordance is defined as the sum of the pairwise discordance metric, which can be written as a quadratic function. Computational experiments based on real-world and synthetic rating data sets show that the proposed methods outperform the state-of-the-art general imputation methods in the literature in terms of imputation accuracy.

Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent solutions, real-world scenarios often require multiple robots to work together on rearrangement tasks. This paper proposes a comprehensive learning-based framework for multi-agent object rearrangement planning, addressing the challenges of task sequencing and path planning in complex environments. The proposed method iteratively selects objects, determines their relocation regions, and pairs them with available robots under kinematic feasibility and task reachability for execution to achieve the target arrangement. Our experiments on a diverse range of simulated and real-world environments demonstrate the effectiveness and robustness of the proposed framework. Furthermore, results indicate improved performance in terms of traversal time and success rate compared to baseline approaches.

Pre-trained Language Models (PLMs) which are trained on large text corpus via self-supervised learning method, have yielded promising performance on various tasks in Natural Language Processing (NLP). However, though PLMs with huge parameters can effectively possess rich knowledge learned from massive training text and benefit downstream tasks at the fine-tuning stage, they still have some limitations such as poor reasoning ability due to the lack of external knowledge. Research has been dedicated to incorporating knowledge into PLMs to tackle these issues. In this paper, we present a comprehensive review of Knowledge-Enhanced Pre-trained Language Models (KE-PLMs) to provide a clear insight into this thriving field. We introduce appropriate taxonomies respectively for Natural Language Understanding (NLU) and Natural Language Generation (NLG) to highlight these two main tasks of NLP. For NLU, we divide the types of knowledge into four categories: linguistic knowledge, text knowledge, knowledge graph (KG), and rule knowledge. The KE-PLMs for NLG are categorized into KG-based and retrieval-based methods. Finally, we point out some promising future directions of KE-PLMs.

In pace with developments in the research field of artificial intelligence, knowledge graphs (KGs) have attracted a surge of interest from both academia and industry. As a representation of semantic relations between entities, KGs have proven to be particularly relevant for natural language processing (NLP), experiencing a rapid spread and wide adoption within recent years. Given the increasing amount of research work in this area, several KG-related approaches have been surveyed in the NLP research community. However, a comprehensive study that categorizes established topics and reviews the maturity of individual research streams remains absent to this day. Contributing to closing this gap, we systematically analyzed 507 papers from the literature on KGs in NLP. Our survey encompasses a multifaceted review of tasks, research types, and contributions. As a result, we present a structured overview of the research landscape, provide a taxonomy of tasks, summarize our findings, and highlight directions for future work.

With the advances of data-driven machine learning research, a wide variety of prediction problems have been tackled. It has become critical to explore how machine learning and specifically deep learning methods can be exploited to analyse healthcare data. A major limitation of existing methods has been the focus on grid-like data; however, the structure of physiological recordings are often irregular and unordered which makes it difficult to conceptualise them as a matrix. As such, graph neural networks have attracted significant attention by exploiting implicit information that resides in a biological system, with interactive nodes connected by edges whose weights can be either temporal associations or anatomical junctions. In this survey, we thoroughly review the different types of graph architectures and their applications in healthcare. We provide an overview of these methods in a systematic manner, organized by their domain of application including functional connectivity, anatomical structure and electrical-based analysis. We also outline the limitations of existing techniques and discuss potential directions for future research.

Many tasks in natural language processing can be viewed as multi-label classification problems. However, most of the existing models are trained with the standard cross-entropy loss function and use a fixed prediction policy (e.g., a threshold of 0.5) for all the labels, which completely ignores the complexity and dependencies among different labels. In this paper, we propose a meta-learning method to capture these complex label dependencies. More specifically, our method utilizes a meta-learner to jointly learn the training policies and prediction policies for different labels. The training policies are then used to train the classifier with the cross-entropy loss function, and the prediction policies are further implemented for prediction. Experimental results on fine-grained entity typing and text classification demonstrate that our proposed method can obtain more accurate multi-label classification results.

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