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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 both 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 g quadrotor, demonstrating high-speed trajectory tracking and dynamic obstacle avoidance.

We propose LLM-FP4 for quantizing both weights and activations in large language models (LLMs) down to 4-bit floating-point values, in a post-training manner. Existing post-training quantization (PTQ) solutions are primarily integer-based and struggle with bit widths below 8 bits. Compared to integer quantization, floating-point (FP) quantization is more flexible and can better handle long-tail or bell-shaped distributions, and it has emerged as a default choice in many hardware platforms. One characteristic of FP quantization is that its performance largely depends on the choice of exponent bits and clipping range. In this regard, we construct a strong FP-PTQ baseline by searching for the optimal quantization parameters. Furthermore, we observe a high inter-channel variance and low intra-channel variance pattern in activation distributions, which adds activation quantization difficulty. We recognize this pattern to be consistent across a spectrum of transformer models designed for diverse tasks, such as LLMs, BERT, and Vision Transformer models. To tackle this, we propose per-channel activation quantization and show that these additional scaling factors can be reparameterized as exponential biases of weights, incurring a negligible cost. Our method, for the first time, can quantize both weights and activations in the LLaMA-13B to only 4-bit and achieves an average score of 63.1 on the common sense zero-shot reasoning tasks, which is only 5.8 lower than the full-precision model, significantly outperforming the previous state-of-the-art by 12.7 points. Code is available at: //github.com/nbasyl/LLM-FP4.

Facial Expression Recognition (FER) is a crucial task in affective computing, but its conventional focus on the seven basic emotions limits its applicability to the complex and expanding emotional spectrum. To address the issue of new and unseen emotions present in dynamic in-the-wild FER, we propose a novel vision-language model that utilises sample-level text descriptions (i.e. captions of the context, expressions or emotional cues) as natural language supervision, aiming to enhance the learning of rich latent representations, for zero-shot classification. To test this, we evaluate using zero-shot classification of the model trained on sample-level descriptions on four popular dynamic FER datasets. Our findings show that this approach yields significant improvements when compared to baseline methods. Specifically, for zero-shot video FER, we outperform CLIP by over 10\% in terms of Weighted Average Recall and 5\% in terms of Unweighted Average Recall on several datasets. Furthermore, we evaluate the representations obtained from the network trained using sample-level descriptions on the downstream task of mental health symptom estimation, achieving performance comparable or superior to state-of-the-art methods and strong agreement with human experts. Namely, we achieve a Pearson's Correlation Coefficient of up to 0.85 on schizophrenia symptom severity estimation, which is comparable to human experts' agreement. The code is publicly available at: //github.com/NickyFot/EmoCLIP.

Addressing the communication bottleneck inherent in federated learning (FL), over-the-air FL (AirFL) has emerged as a promising solution, which is, however, hampered by deep fading conditions. In this paper, we propose AirFL-Mem, a novel scheme designed to mitigate the impact of deep fading by implementing a \emph{long-term} memory mechanism. Convergence bounds are provided that account for long-term memory, as well as for existing AirFL variants with short-term memory, for general non-convex objectives. The theory demonstrates that AirFL-Mem exhibits the same convergence rate of federated averaging (FedAvg) with ideal communication, while the performance of existing schemes is generally limited by error floors. The theoretical results are also leveraged to propose a novel convex optimization strategy for the truncation threshold used for power control in the presence of Rayleigh fading channels. Experimental results validate the analysis, confirming the advantages of a long-term memory mechanism for the mitigation of deep fading.

We introduce AO-Grasp, a grasp proposal method that generates stable and actionable 6 degree-of-freedom grasps for articulated objects. Our generated grasps enable robots to interact with articulated objects, such as opening and closing cabinets and appliances. Given a segmented partial point cloud of a single articulated object, AO-Grasp predicts the best grasp points on the object with a novel Actionable Grasp Point Predictor model and then finds corresponding grasp orientations for each point by leveraging a state-of-the-art rigid object grasping method. We train AO-Grasp on our new AO-Grasp Dataset, which contains 48K actionable parallel-jaw grasps on synthetic articulated objects. In simulation, AO-Grasp achieves higher grasp success rates than existing rigid object grasping and articulated object interaction baselines on both train and test categories. Additionally, we evaluate AO-Grasp on 120 realworld scenes of objects with varied geometries, articulation axes, and joint states, where AO-Grasp produces successful grasps on 67.5% of scenes, while the baseline only produces successful grasps on 33.3% of scenes.

5G New Radio (NR) has stringent demands on both performance and complexity for the design of low-density parity-check (LDPC) decoding algorithms and corresponding VLSI implementations. Furthermore, decoders must fully support the wide range of all 5G NR blocklengths and code rates, which is a significant challenge. In this paper, we present a high-performance and low-complexity LDPC decoder, tailor-made to fulfill the 5G requirements. First, to close the gap between belief propagation (BP) decoding and its approximations in hardware, we propose an extension of adjusted min-sum decoding, called generalized adjusted min-sum (GA-MS) decoding. This decoding algorithm flexibly truncates the incoming messages at the check node level and carefully approximates the non-linear functions of BP decoding to balance the error-rate and hardware complexity. Numerical results demonstrate that the proposed fixed-point GAMS has only a minor gap of 0.1 dB compared to floating-point BP under various scenarios of 5G standard specifications. Secondly, we present a fully reconfigurable 5G NR LDPC decoder implementation based on GA-MS decoding. Given that memory occupies a substantial portion of the decoder area, we adopt multiple data compression and approximation techniques to reduce 42.2% of the memory overhead. The corresponding 28nm FD-SOI ASIC decoder has a core area of 1.823 mm2 and operates at 895 MHz. It is compatible with all 5G NR LDPC codes and achieves a peak throughput of 24.42 Gbps and a maximum area efficiency of 13.40 Gbps/mm2 at 4 decoding iterations.

Similar case retrieval (SCR) is a representative legal AI application that plays a pivotal role in promoting judicial fairness. However, existing SCR datasets only focus on the fact description section when judging the similarity between cases, ignoring other valuable sections (e.g., the court's opinion) that can provide insightful reasoning process behind. Furthermore, the case similarities are typically measured solely by the textual semantics of the fact descriptions, which may fail to capture the full complexity of legal cases from the perspective of legal knowledge. In this work, we present MUSER, a similar case retrieval dataset based on multi-view similarity measurement and comprehensive legal element with sentence-level legal element annotations. Specifically, we select three perspectives (legal fact, dispute focus, and law statutory) and build a comprehensive and structured label schema of legal elements for each of them, to enable accurate and knowledgeable evaluation of case similarities. The constructed dataset originates from Chinese civil cases and contains 100 query cases and 4,024 candidate cases. We implement several text classification algorithms for legal element prediction and various retrieval methods for retrieving similar cases on MUSER. The experimental results indicate that incorporating legal elements can benefit the performance of SCR models, but further efforts are still required to address the remaining challenges posed by MUSER. The source code and dataset are released at //github.com/THUlawtech/MUSER.

Deep models, e.g., CNNs and Vision Transformers, have achieved impressive achievements in many vision tasks in the closed world. However, novel classes emerge from time to time in our ever-changing world, requiring a learning system to acquire new knowledge continually. For example, a robot needs to understand new instructions, and an opinion monitoring system should analyze emerging topics every day. Class-Incremental Learning (CIL) enables the learner to incorporate the knowledge of new classes incrementally and build a universal classifier among all seen classes. Correspondingly, when directly training the model with new class instances, a fatal problem occurs -- the model tends to catastrophically forget the characteristics of former ones, and its performance drastically degrades. There have been numerous efforts to tackle catastrophic forgetting in the machine learning community. In this paper, we survey comprehensively recent advances in deep class-incremental learning and summarize these methods from three aspects, i.e., data-centric, model-centric, and algorithm-centric. We also provide a rigorous and unified evaluation of 16 methods in benchmark image classification tasks to find out the characteristics of different algorithms empirically. Furthermore, we notice that the current comparison protocol ignores the influence of memory budget in model storage, which may result in unfair comparison and biased results. Hence, we advocate fair comparison by aligning the memory budget in evaluation, as well as several memory-agnostic performance measures. The source code to reproduce these evaluations is available at //github.com/zhoudw-zdw/CIL_Survey/

Recurrent neural nets (RNN) and convolutional neural nets (CNN) are widely used on NLP tasks to capture the long-term and local dependencies, respectively. Attention mechanisms have recently attracted enormous interest due to their highly parallelizable computation, significantly less training time, and flexibility in modeling dependencies. We propose a novel attention mechanism in which the attention between elements from input sequence(s) is directional and multi-dimensional (i.e., feature-wise). A light-weight neural net, "Directional Self-Attention Network (DiSAN)", is then proposed to learn sentence embedding, based solely on the proposed attention without any RNN/CNN structure. DiSAN is only composed of a directional self-attention with temporal order encoded, followed by a multi-dimensional attention that compresses the sequence into a vector representation. Despite its simple form, DiSAN outperforms complicated RNN models on both prediction quality and time efficiency. It achieves the best test accuracy among all sentence encoding methods and improves the most recent best result by 1.02% on the Stanford Natural Language Inference (SNLI) dataset, and shows state-of-the-art test accuracy on the Stanford Sentiment Treebank (SST), Multi-Genre natural language inference (MultiNLI), Sentences Involving Compositional Knowledge (SICK), Customer Review, MPQA, TREC question-type classification and Subjectivity (SUBJ) datasets.