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This paper presents a novel learning-based control framework that uses keyframing to incorporate high-level objectives in natural locomotion for legged robots. These high-level objectives are specified as a variable number of partial or complete pose targets that are spaced arbitrarily in time. Our proposed framework utilizes a multi-critic reinforcement learning algorithm to effectively handle the mixture of dense and sparse rewards. Additionally, it employs a transformer-based encoder to accommodate a variable number of input targets, each associated with specific time-to-arrivals. Throughout simulation and hardware experiments, we demonstrate that our framework can effectively satisfy the target keyframe sequence at the required times. In the experiments, the multi-critic method significantly reduces the effort of hyperparameter tuning compared to the standard single-critic alternative. Moreover, the proposed transformer-based architecture enables robots to anticipate future goals, which results in quantitative improvements in their ability to reach their targets.

This paper proposes a novel approach to evaluate Counter Narrative (CN) generation using a Large Language Model (LLM) as an evaluator. We show that traditional automatic metrics correlate poorly with human judgements and fail to capture the nuanced relationship between generated CNs and human perception. To alleviate this, we introduce a model ranking pipeline based on pairwise comparisons of generated CNs from different models, organized in a tournament-style format. The proposed evaluation method achieves a high correlation with human preference, with a $\rho$ score of 0.88. As an additional contribution, we leverage LLMs as zero-shot CN generators and provide a comparative analysis of chat, instruct, and base models, exploring their respective strengths and limitations. Through meticulous evaluation, including fine-tuning experiments, we elucidate the differences in performance and responsiveness to domain-specific data. We conclude that chat-aligned models in zero-shot are the best option for carrying out the task, provided they do not refuse to generate an answer due to security concerns.

In this paper, we propose a novel multi-view stereo (MVS) framework that gets rid of the depth range prior. Unlike recent prior-free MVS methods that work in a pair-wise manner, our method simultaneously considers all the source images. Specifically, we introduce a Multi-view Disparity Attention (MDA) module to aggregate long-range context information within and across multi-view images. Considering the asymmetry of the epipolar disparity flow, the key to our method lies in accurately modeling multi-view geometric constraints. We integrate pose embedding to encapsulate information such as multi-view camera poses, providing implicit geometric constraints for multi-view disparity feature fusion dominated by attention. Additionally, we construct corresponding hidden states for each source image due to significant differences in the observation quality of the same pixel in the reference frame across multiple source frames. We explicitly estimate the quality of the current pixel corresponding to sampled points on the epipolar line of the source image and dynamically update hidden states through the uncertainty estimation module. Extensive results on the DTU dataset and Tanks&Temple benchmark demonstrate the effectiveness of our method. The code is available at our project page: //zju3dv.github.io/GD-PoseMVS/.

This paper investigates supervised fine-tuning of large language models (LLMs) to improve their pedagogical alignment in computing education, addressing concerns that LLMs may hinder learning outcomes. The project utilised a proprietary dataset of 2,500 high quality question/answer pairs from programming course forums, and explores two research questions: the suitability of university course forums in contributing to fine-tuning datasets, and how supervised fine-tuning can improve LLMs' alignment with educational principles such as constructivism. Initial findings suggest benefits in pedagogical alignment of LLMs, with deeper evaluations required.

The paper formalizes a version of parallel online directed acyclic graph (DAG) exploration, general enough to be readily mapped to many computational scenarios. In both the offline and online versions, vertices are weighted with the work units required for their processing, at least one parent must be completely processed before a child is processed, and at any given time only one processor can work on any given vertex. The online version has the following additional natural restriction: only after a vertex is processed, are its required work units or its children known. Using the Actor Model of parallel computation, it is shown that a natural class of parallel online algorithms meets a simple competitive ratio bound. We demonstrate and focus on the problem's occurrence in the scenario of energy landscape roadmapping or atlasing under pair-potentials, a highly compute-and-storage intensive modeling component integral to diverse applications involving soft-matter assembly. The method is experimentally validated using a C++ Actor Framework (CAF) software implementation built atop EASAL (Efficient Atlasing and Search of Assembly Landscapes), a substantial opensource software suite, running on multiple CPU cores of the HiperGator supercomputer, demonstrating linear speedup results.

We present a novel iterative detection and decoding (IDD) scheme for Reconfigurable Intelligent Surface (RIS)-assisted multiuser multiple-antenna systems. The proposed approach introduces a joint iterative detection strategy that integrates Low-Density Parity-Check (LDPC) codes, RIS processing and iterative detection and decoding. In particular, we employ a minimum mean square error receive filter that performs truncation at the RIS and soft interference cancelation at the receiver. Simulation results evaluate the system's overall capacity and bit error rate, and demonstrate substantial improvements in bit error rate across block-fading channels.

In recent years, computational Time-of-Flight (ToF) imaging has emerged as an exciting and a novel imaging modality that offers new and powerful interpretations of natural scenes, with applications extending to 3D, light-in-flight, and non-line-of-sight imaging. Mathematically, ToF imaging relies on algorithmic super-resolution, as the back-scattered sparse light echoes lie on a finer time resolution than what digital devices can capture. Traditional methods necessitate knowledge of the emitted light pulses or kernels and employ sparse deconvolution to recover scenes. Unlike previous approaches, this paper introduces a novel, blind ToF imaging technique that does not require kernel calibration and recovers sparse spikes on a continuum, rather than a discrete grid. By studying the shared characteristics of various ToF modalities, we capitalize on the fact that most physical pulses approximately satisfy the Strang-Fix conditions from approximation theory. This leads to a new mathematical formulation for sparse super-resolution. Our recovery approach uses an optimization method that is pivoted on an alternating minimization strategy. We benchmark our blind ToF method against traditional kernel calibration methods, which serve as the baseline. Extensive hardware experiments across different ToF modalities demonstrate the algorithmic advantages, flexibility and empirical robustness of our approach. We show that our work facilitates super-resolution in scenarios where distinguishing between closely spaced objects is challenging, while maintaining performance comparable to known kernel situations. Examples of light-in-flight imaging and light-sweep videos highlight the practical benefits of our blind super-resolution method in enhancing the understanding of natural scenes.

This paper concerns diffraction-tomographic reconstruction of an object characterized by its scattering potential. We establish a rigorous generalization of the Fourier diffraction theorem in arbitrary dimension, giving a precise relation in the Fourier domain between measurements of the scattered wave and reconstructions of the scattering potential. With this theorem at hand, Fourier coverages for different experimental setups are investigated taking into account parameters such as object orientation, direction of incidence and frequency of illumination. Allowing for simultaneous and discontinuous variation of these parameters, a general filtered backpropagation formula is derived resulting in an explicit approximation of the scattering potential for a large class of experimental setups.

While large language models (LLMs) have demonstrated remarkable capabilities across a range of downstream tasks, a significant concern revolves around their propensity to exhibit hallucinations: LLMs occasionally generate content that diverges from the user input, contradicts previously generated context, or misaligns with established world knowledge. This phenomenon poses a substantial challenge to the reliability of LLMs in real-world scenarios. In this paper, we survey recent efforts on the detection, explanation, and mitigation of hallucination, with an emphasis on the unique challenges posed by LLMs. We present taxonomies of the LLM hallucination phenomena and evaluation benchmarks, analyze existing approaches aiming at mitigating LLM hallucination, and discuss potential directions for future research.

In this paper, we propose a novel Feature Decomposition and Reconstruction Learning (FDRL) method for effective facial expression recognition. We view the expression information as the combination of the shared information (expression similarities) across different expressions and the unique information (expression-specific variations) for each expression. More specifically, FDRL mainly consists of two crucial networks: a Feature Decomposition Network (FDN) and a Feature Reconstruction Network (FRN). In particular, FDN first decomposes the basic features extracted from a backbone network into a set of facial action-aware latent features to model expression similarities. Then, FRN captures the intra-feature and inter-feature relationships for latent features to characterize expression-specific variations, and reconstructs the expression feature. To this end, two modules including an intra-feature relation modeling module and an inter-feature relation modeling module are developed in FRN. Experimental results on both the in-the-lab databases (including CK+, MMI, and Oulu-CASIA) and the in-the-wild databases (including RAF-DB and SFEW) show that the proposed FDRL method consistently achieves higher recognition accuracy than several state-of-the-art methods. This clearly highlights the benefit of feature decomposition and reconstruction for classifying expressions.