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Few-shot knowledge graph completion (FKGC) aims to query the unseen facts of a relation given its few-shot reference entity pairs. The side effect of noises due to the uncertainty of entities and triples may limit the few-shot learning, but existing FKGC works neglect such uncertainty, which leads them more susceptible to limited reference samples with noises. In this paper, we propose a novel uncertainty-aware few-shot KG completion framework (UFKGC) to model uncertainty for a better understanding of the limited data by learning representations under Gaussian distribution. Uncertainty representation is first designed for estimating the uncertainty scope of the entity pairs after transferring feature representations into a Gaussian distribution. Further, to better integrate the neighbors with uncertainty characteristics for entity features, we design an uncertainty-aware relational graph neural network (UR-GNN) to conduct convolution operations between the Gaussian distributions. Then, multiple random samplings are conducted for reference triples within the Gaussian distribution to generate smooth reference representations during the optimization. The final completion score for each query instance is measured by the designed uncertainty optimization to make our approach more robust to the noises in few-shot scenarios. Experimental results show that our approach achieves excellent performance on two benchmark datasets compared to its competitors.

Model-predictive control (MPC) is a powerful tool for controlling highly dynamic robotic systems subject to complex constraints. However, MPC is computationally demanding, and is often impractical to implement on small, resource-constrained robotic platforms. We present TinyMPC, a high-speed MPC solver with a low memory footprint targeting the microcontrollers common on small robots. Our approach is based on the alternating direction method of multipliers (ADMM) and leverages the structure of the MPC problem for efficiency. We demonstrate TinyMPC's effectiveness by benchmarking against the state-of-the-art solver OSQP, achieving nearly an order of magnitude speed increase, as well as through hardware experiments on a 27 gram quadrotor, demonstrating high-speed trajectory tracking and dynamic obstacle avoidance. TinyMPC is publicly available at //tinympc.org.

We propose a channel estimation scheme based on joint sparsity pattern learning (JSPL) for massive multi-input multi-output (MIMO) orthogonal time-frequency-space (OTFS) modulation aided systems. By exploiting the potential joint sparsity of the delay-Doppler-angle (DDA) domain channel, the channel estimation problem is transformed into a sparse recovery problem. To solve it, we first apply the spike and slab prior model to iteratively estimate the support set of the channel matrix, and a higher-accuracy parameter update rule relying on the identified support set is introduced into the iteration. Then the specific values of the channel elements corresponding to the support set are estimated by the orthogonal matching pursuit (OMP) method. Both our simulation results and analysis demonstrate that the proposed JSPL channel estimation scheme achieves an improved performance over the representative state-of-the-art baseline schemes, despite its reduced pilot overhead.

Video stabilization is a longstanding computer vision problem, particularly pixel-level synthesis solutions for video stabilization which synthesize full frames add to the complexity of this task. These techniques aim to stabilize videos by synthesizing full frames while enhancing the stability of the considered video. This intensifies the complexity of the task due to the distinct mix of unique motion profiles and visual content present in each video sequence, making robust generalization with fixed parameters difficult. In our study, we introduce a novel approach to enhance the performance of pixel-level synthesis solutions for video stabilization by adapting these models to individual input video sequences. The proposed adaptation exploits low-level visual cues accessible during test-time to improve both the stability and quality of resulting videos. We highlight the efficacy of our methodology of "test-time adaptation" through simple fine-tuning of one of these models, followed by significant stability gain via the integration of meta-learning techniques. Notably, significant improvement is achieved with only a single adaptation step. The versatility of the proposed algorithm is demonstrated by consistently improving the performance of various pixel-level synthesis models for video stabilization in real-world scenarios.

Recent text-to-image (T2I) models have had great success, and many benchmarks have been proposed to evaluate their performance and safety. However, they only consider explicit prompts while neglecting implicit prompts (hint at a target without explicitly mentioning it). These prompts may get rid of safety constraints and pose potential threats to the applications of these models. This position paper highlights the current state of T2I models toward implicit prompts. We present a benchmark named ImplicitBench and conduct an investigation on the performance and impacts of implicit prompts with popular T2I models. Specifically, we design and collect more than 2,000 implicit prompts of three aspects: General Symbols, Celebrity Privacy, and Not-Safe-For-Work (NSFW) Issues, and evaluate six well-known T2I models' capabilities under these implicit prompts. Experiment results show that (1) T2I models are able to accurately create various target symbols indicated by implicit prompts; (2) Implicit prompts bring potential risks of privacy leakage for T2I models. (3) Constraints of NSFW in most of the evaluated T2I models can be bypassed with implicit prompts. We call for increased attention to the potential and risks of implicit prompts in the T2I community and further investigation into the capabilities and impacts of implicit prompts, advocating for a balanced approach that harnesses their benefits while mitigating their risks.

The challenge of visual grounding and masking in multimodal machine translation (MMT) systems has encouraged varying approaches to the detection and selection of visually-grounded text tokens for masking. We introduce new methods for detection of visually and contextually relevant (concrete) tokens from source sentences, including detection with natural language processing (NLP), detection with object detection, and a joint detection-verification technique. We also introduce new methods for selection of detected tokens, including shortest $n$ tokens, longest $n$ tokens, and all detected concrete tokens. We utilize the GRAM MMT architecture to train models against synthetically collated multimodal datasets of source images with masked sentences, showing performance improvements and improved usage of visual context during translation tasks over the baseline model.

Existing approaches on zero-shot event detection usually train models on datasets annotated with known event types, and prompt them with unseen event definitions. These approaches yield sporadic successes, yet generally fall short of expectations. In this work, we aim to improve zero-shot event detection by training models to better follow event definitions. We hypothesize that a diverse set of event types and definitions are the key for models to learn to follow event definitions while existing event extraction datasets focus on annotating many high-quality examples for a few event types. To verify our hypothesis, we construct an automatically generated Diverse Event Definition (DivED) dataset and conduct comparative studies. Our experiments reveal that a large number of event types (200) and diverse event definitions can significantly boost event extraction performance; on the other hand, the performance does not scale with over ten examples per event type. Beyond scaling, we incorporate event ontology information and hard-negative samples during training, further boosting the performance. Based on these findings, we fine-tuned a LLaMA-2-7B model on our DivED dataset, yielding performance that surpasses SOTA large language models like GPT-3.5 across three open benchmarks on zero-shot event detection.

Guided trajectory planning involves a leader robot strategically directing a follower robot to collaboratively reach a designated destination. However, this task becomes notably challenging when the leader lacks complete knowledge of the follower's decision-making model. There is a need for learning-based methods to effectively design the cooperative plan. To this end, we develop a Stackelberg game-theoretic approach based on the Koopman operator to address the challenge. We first formulate the guided trajectory planning problem through the lens of a dynamic Stackelberg game. We then leverage Koopman operator theory to acquire a learning-based linear system model that approximates the follower's feedback dynamics. Based on this learned model, the leader devises a collision-free trajectory to guide the follower using receding horizon planning. We use simulations to elaborate on the effectiveness of our approach in generating learning models that accurately predict the follower's multi-step behavior when compared to alternative learning techniques. Moreover, our approach successfully accomplishes the guidance task and notably reduces the leader's planning time to nearly half when contrasted with the model-based baseline method.

Current models for event causality identification (ECI) mainly adopt a supervised framework, which heavily rely on labeled data for training. Unfortunately, the scale of current annotated datasets is relatively limited, which cannot provide sufficient support for models to capture useful indicators from causal statements, especially for handing those new, unseen cases. To alleviate this problem, we propose a novel approach, shortly named CauSeRL, which leverages external causal statements for event causality identification. First of all, we design a self-supervised framework to learn context-specific causal patterns from external causal statements. Then, we adopt a contrastive transfer strategy to incorporate the learned context-specific causal patterns into the target ECI model. Experimental results show that our method significantly outperforms previous methods on EventStoryLine and Causal-TimeBank (+2.0 and +3.4 points on F1 value respectively).

Few-shot Knowledge Graph (KG) completion is a focus of current research, where each task aims at querying unseen facts of a relation given its few-shot reference entity pairs. Recent attempts solve this problem by learning static representations of entities and references, ignoring their dynamic properties, i.e., entities may exhibit diverse roles within task relations, and references may make different contributions to queries. This work proposes an adaptive attentional network for few-shot KG completion by learning adaptive entity and reference representations. Specifically, entities are modeled by an adaptive neighbor encoder to discern their task-oriented roles, while references are modeled by an adaptive query-aware aggregator to differentiate their contributions. Through the attention mechanism, both entities and references can capture their fine-grained semantic meanings, and thus render more expressive representations. This will be more predictive for knowledge acquisition in the few-shot scenario. Evaluation in link prediction on two public datasets shows that our approach achieves new state-of-the-art results with different few-shot sizes.