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Graph neural networks (GNNs) are a powerful solution for various structure learning applications due to their strong representation capabilities for graph data. However, traditional GNNs, relying on message-passing mechanisms that gather information exclusively from first-order neighbours (known as positive samples), can lead to issues such as over-smoothing and over-squashing. To mitigate these issues, we propose a layer-diverse negative sampling method for message-passing propagation. This method employs a sampling matrix within a determinantal point process, which transforms the candidate set into a space and selectively samples from this space to generate negative samples. To further enhance the diversity of the negative samples during each forward pass, we develop a space-squeezing method to achieve layer-wise diversity in multi-layer GNNs. Experiments on various real-world graph datasets demonstrate the effectiveness of our approach in improving the diversity of negative samples and overall learning performance. Moreover, adding negative samples dynamically changes the graph's topology, thus with the strong potential to improve the expressiveness of GNNs and reduce the risk of over-squashing.

Large language models (LLMs) have demonstrated notable proficiency in code generation, with numerous prior studies showing their promising capabilities in various development scenarios. However, these studies mainly provide evaluations in research settings, which leaves a significant gap in understanding how effectively LLMs can support developers in real-world. To address this, we conducted an empirical analysis of conversations in DevGPT, a dataset collected from developers' conversations with ChatGPT (captured with the Share Link feature on platforms such as GitHub). Our empirical findings indicate that the current practice of using LLM-generated code is typically limited to either demonstrating high-level concepts or providing examples in documentation, rather than to be used as production-ready code. These findings indicate that there is much future work needed to improve LLMs in code generation before they can be integral parts of modern software development.

Evolutionary computation-based neural architecture search (ENAS) is a popular technique for automating architecture design of deep neural networks. Despite its groundbreaking applications, there is no theoretical study for ENAS. The expected hitting time (EHT) is one of the most important theoretical issues, since it implies the average computational time complexity. This paper proposes a general method by integrating theory and experiment for estimating the EHT of ENAS algorithms, which includes common configuration, search space partition, transition probability estimation, population distribution fitting, and hitting time analysis. By exploiting the proposed method, we consider the ($\lambda$+$\lambda$)-ENAS algorithms with different mutation operators and estimate the lower bounds of the EHT. Furthermore, we study the EHT on the NAS-Bench-101 problem, and the results demonstrate the validity of the proposed method. To the best of our knowledge, this work is the first attempt to establish a theoretical foundation for ENAS algorithms.

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 made publicly available to benefit the community. Project page: //hkust-aerial-robotics.github.io/FC-Planner.

State estimation is a crucial component for the successful implementation of robotic systems, relying on sensors such as cameras, LiDAR, and IMUs. However, in real-world scenarios, the performance of these sensors is degraded by challenging environments, e.g. adverse weather conditions and low-light scenarios. The emerging 4D imaging radar technology is capable of providing robust perception in adverse conditions. Despite its potential, challenges remain for indoor settings where noisy radar data does not present clear geometric features. Moreover, disparities in radar data resolution and field of view (FOV) can lead to inaccurate measurements. While prior research has explored radar-inertial odometry based on Doppler velocity information, challenges remain for the estimation of 3D motion because of the discrepancy in the FOV and resolution of the radar sensor. In this paper, we address Doppler velocity measurement uncertainties. We present a method to optimize body frame velocity while managing Doppler velocity uncertainty. Based on our observations, we propose a dual imaging radar configuration to mitigate the challenge of discrepancy in radar data. To attain high-precision 3D state estimation, we introduce a strategy that seamlessly integrates radar data with a consumer-grade IMU sensor using fixed-lag smoothing optimization. Finally, we evaluate our approach using real-world 3D motion data.

The accuracy requirements in many scientific computing workloads result in the use of double-precision floating-point arithmetic in the execution kernels. Nevertheless, emerging real-number representations, such as posit arithmetic, show promise in delivering even higher accuracy in such computations. In this work, we explore the native use of 64-bit posits in a series of numerical benchmarks and compare their timing performance, accuracy and hardware cost to IEEE 754 doubles. In addition, we also study the conjugate gradient method for numerically solving systems of linear equations in real-world applications. For this, we extend the PERCIVAL RISC-V core and the Xposit custom RISC-V extension with posit64 and quire operations. Results show that posit64 can obtain up to 4 orders of magnitude lower mean square error than doubles. This leads to a reduction in the number of iterations required for convergence in some iterative solvers. However, leveraging the quire accumulator register can limit the order of some operations such as matrix multiplications. Furthermore, detailed FPGA and ASIC synthesis results highlight the significant hardware cost of 64-bit posit arithmetic and quire. Despite this, the large accuracy improvements achieved with the same memory bandwidth suggest that posit arithmetic may provide a potential alternative representation for scientific computing.

Although model editing has shown promise in revising knowledge in Large Language Models (LLMs), its impact on the inherent capabilities of LLMs is often overlooked. In this work, we reveal a critical phenomenon: even a single edit can trigger model collapse, manifesting as significant performance degradation in various benchmark tasks. However, benchmarking LLMs after each edit, while necessary to prevent such collapses, is impractically time-consuming and resource-intensive. To mitigate this, we propose using perplexity as a surrogate metric, validated by extensive experiments demonstrating its strong correlation with downstream tasks performance. We further conduct an in-depth study on sequential editing, a practical setting for real-world scenarios, across various editing methods and LLMs, focusing on hard cases from our previous single edit studies. The results indicate that nearly all examined editing methods result in model collapse after only few edits. To facilitate further research, we have utilized GPT-3.5 to develop a new dataset, HardEdit, based on those hard cases. This dataset aims to establish the foundation for pioneering research in reliable model editing and the mechanisms underlying editing-induced model collapse. We hope this work can draw the community's attention to the potential risks inherent in model editing practices.

Long-tailed semi-supervised learning (LTSSL) represents a practical scenario for semi-supervised applications, challenged by skewed labeled distributions that bias classifiers. This problem is often aggravated by discrepancies between labeled and unlabeled class distributions, leading to biased pseudo-labels, neglect of rare classes, and poorly calibrated probabilities. To address these issues, we introduce Flexible Distribution Alignment (FlexDA), a novel adaptive logit-adjusted loss framework designed to dynamically estimate and align predictions with the actual distribution of unlabeled data and achieve a balanced classifier by the end of training. FlexDA is further enhanced by a distillation-based consistency loss, promoting fair data usage across classes and effectively leveraging underconfident samples. This method, encapsulated in ADELLO (Align and Distill Everything All at Once), proves robust against label shift, significantly improves model calibration in LTSSL contexts, and surpasses previous state-of-of-art approaches across multiple benchmarks, including CIFAR100-LT, STL10-LT, and ImageNet127, addressing class imbalance challenges in semi-supervised learning. Our code will be made available upon paper acceptance.

Large Language Models (LLMs) applied to code-related applications have emerged as a prominent field, attracting significant interest from both academia and industry. However, as new and improved LLMs are developed, existing evaluation benchmarks (e.g., HumanEval, MBPP) are no longer sufficient for assessing their capabilities. In this work, we propose LiveCodeBench, a comprehensive and contamination-free evaluation of LLMs for code, which continuously collects new problems over time from contests across three competition platforms, namely LeetCode, AtCoder, and CodeForces. Notably, our benchmark also focuses on a broader range of code related capabilities, such as self-repair, code execution, and test output prediction, beyond just code generation. Currently, LiveCodeBench hosts four hundred high-quality coding problems that were published between May 2023 and February 2024. We have evaluated 9 base LLMs and 20 instruction-tuned LLMs on LiveCodeBench. We present empirical findings on contamination, holistic performance comparisons, potential overfitting in existing benchmarks as well as individual model comparisons. We will release all prompts and model completions for further community analysis, along with a general toolkit for adding new scenarios and model

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.