In this paper, we propose a continuous-time lidar-inertial odometry (CT-LIO) system named SLICT2, which promotes two main insights. One, contrary to conventional wisdom, CT-LIO algorithm can be optimized by linear solvers in only a few iterations, which is more efficient than commonly used nonlinear solvers. Two, CT-LIO benefits more from the correct association than the number of iterations. Based on these ideas, we implement our method with a customized solver where the feature association process is performed immediately after each incremental step, and the solution can converge within a few iterations. Our implementation can achieve real-time performance with a high density of control points while yielding competitive performance in highly dynamical motion scenarios. We demonstrate the advantages of our method by comparing with other existing state-of-the-art CT-LIO methods. The source code will be released for the benefit of the community.
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In this work, we introduce the Virtual In-Hand Eye Transformer (VIHE), a novel method designed to enhance 3D manipulation capabilities through action-aware view rendering. VIHE autoregressively refines actions in multiple stages by conditioning on rendered views posed from action predictions in the earlier stages. These virtual in-hand views provide a strong inductive bias for effectively recognizing the correct pose for the hand, especially for challenging high-precision tasks such as peg insertion. On 18 manipulation tasks in RLBench simulated environments, VIHE achieves a new state-of-the-art, with a 12% absolute improvement, increasing from 65% to 77% over the existing state-of-the-art model using 100 demonstrations per task. In real-world scenarios, VIHE can learn manipulation tasks with just a handful of demonstrations, highlighting its practical utility. Videos and code implementation can be found at our project site: //vihe-3d.github.io.
In this paper, we formulate the multi-agent graph bandit problem as a multi-agent extension of the graph bandit problem introduced by Zhang, Johansson, and Li [CISS 57, 1-6 (2023)]. In our formulation, $N$ cooperative agents travel on a connected graph $G$ with $K$ nodes. Upon arrival at each node, agents observe a random reward drawn from a node-dependent probability distribution. The reward of the system is modeled as a weighted sum of the rewards the agents observe, where the weights capture some transformation of the reward associated with multiple agents sampling the same node at the same time. We propose an Upper Confidence Bound (UCB)-based learning algorithm, Multi-G-UCB, and prove that its expected regret over $T$ steps is bounded by $O(\gamma N\log(T)[\sqrt{KT} + DK])$, where $D$ is the diameter of graph $G$ and $\gamma$ a boundedness parameter associated with the weight functions. Lastly, we numerically test our algorithm by comparing it to alternative methods.
In this paper, we delve into the advancement of domain-specific Large Language Models (LLMs) with a focus on their application in software development. We introduce DevAssistLlama, a model developed through instruction tuning, to assist developers in processing software-related natural language queries. This model, a variant of instruction tuned LLM, is particularly adept at handling intricate technical documentation, enhancing developer capability in software specific tasks. The creation of DevAssistLlama involved constructing an extensive instruction dataset from various software systems, enabling effective handling of Named Entity Recognition (NER), Relation Extraction (RE), and Link Prediction (LP). Our results demonstrate DevAssistLlama's superior capabilities in these tasks, in comparison with other models including ChatGPT. This research not only highlights the potential of specialized LLMs in software development also the pioneer LLM for this domain.
In this work, we propose fully nonconforming, locally exactly divergence-free discretizations based on lowest order Crouziex-Raviart finite element and piecewise constant spaces to study the optimal control of stationary double diffusion model presented in [B\"urger, M\'endez, Ruiz-Baier, SINUM (2019), 57:1318-1343]. The well-posedness of the discrete uncontrolled state and adjoint equations are discussed using discrete lifting and fixed point arguments, and convergence results are derived rigorously under minimal regularity. Building upon our recent work [Tushar, Khan, Mohan arXiv (2023)], we prove the local optimality of a reference control using second-order sufficient optimality condition for the control problem, and use it along with an optimize-then-discretize approach to prove optimal order a priori error estimates for the control, state and adjoint variables upto the regularity of the solution. The optimal control is computed using a primal-dual active set strategy as a semi-smooth Newton method and computational tests validate the predicted error decay rates and illustrate the proposed scheme's applicability to optimal control of thermohaline circulation problems.
In this paper, we present Pre-CoFactv3, a comprehensive framework comprised of Question Answering and Text Classification components for fact verification. Leveraging In-Context Learning, Fine-tuned Large Language Models (LLMs), and the FakeNet model, we address the challenges of fact verification. Our experiments explore diverse approaches, comparing different Pre-trained LLMs, introducing FakeNet, and implementing various ensemble methods. Notably, our team, Trifecta, secured first place in the AAAI-24 Factify 3.0 Workshop, surpassing the baseline accuracy by 103% and maintaining a 70% lead over the second competitor. This success underscores the efficacy of our approach and its potential contributions to advancing fact verification research.
In spite of their huge success, transformer models remain difficult to scale in depth. In this work, we develop a unified signal propagation theory and provide formulae that govern the moments of the forward and backward signal through the transformer model. Our framework can be used to understand and mitigate vanishing/exploding gradients, rank collapse, and instability associated with high attention scores. We also propose DeepScaleLM, an initialization and scaling scheme that conserves unit output/gradient moments throughout the model, enabling the training of very deep models with 100s of layers. We find that transformer models could be much deeper - our deep models with fewer parameters outperform shallow models in Language Modeling, Speech Translation, and Image Classification, across Encoder-only, Decoder-only and Encoder-Decoder variants, for both Pre-LN and Post-LN transformers, for multiple datasets and model sizes. These improvements also translate into improved performance on downstream Question Answering tasks and improved robustness for image classification.
We propose an objective intelligibility measure (OIM), called the Gammachirp Envelope Similarity Index (GESI), which can predict the speech intelligibility (SI) of simulated hearing loss (HL) sounds for normal hearing (NH) listeners. GESI is an intrusive method that computes the SI metric using the gammachirp filterbank (GCFB), the modulation filterbank, and the extended cosine similarity measure. The unique features of GESI are that i) it reflects the hearing impaired (HI) listener's HL that appears in the audiogram and is caused by active and passive cochlear dysfunction, ii) it provides a single goodness metric, as in the widely used STOI and ESTOI, that can be used immediately to evaluate SE algorithms, and iii) it provides a simple control parameter to accept the level asymmetry of the reference and test sounds and to deal with individual listening conditions and environments. We evaluated GESI and the conventional OIMs, STOI, ESTOI, MBSTOI, and HASPI versions 1 and 2 by using four SI experiments on words of male and female speech sounds in both laboratory and remote environments. GESI was shown to outperform the other OIMs in the evaluations. GESI could be used to improve SE algorithms in assistive listening devices for individual HI listeners.
In this paper we propose a language for conveniently defining a wide range of execution strategies for real-time rewrite theories, and provide Maude-strategy-implemented versions of most Real-Time Maude analysis methods, albeit with user-defined discrete and timed strategies. We also identify a new time sampling strategy that should provide both efficient and exhaustive analysis for many distributed real-time systems. We exemplify the use of our language and its analyses on a simple round trip time protocol, and compare the performance of standard Maude search with our strategy-implemented reachability analyses on the CASH scheduling algorithm benchmark.
In this paper, we introduce a new flow-based method for global optimization of Lipschitz functions, called Stein Boltzmann Sampling (SBS). Our method samples from the Boltzmann distribution that becomes asymptotically uniform over the set of the minimizers of the function to be optimized. Candidate solutions are sampled via the \emph{Stein Variational Gradient Descent} algorithm. We prove the asymptotic convergence of our method, introduce two SBS variants, and provide a detailed comparison with several state-of-the-art global optimization algorithms on various benchmark functions. The design of our method, the theoretical results, and our experiments, suggest that SBS is particularly well-suited to be used as a continuation of efficient global optimization methods as it can produce better solutions while making a good use of the budget.
In this paper, we investigate the use of 'prosody' (the musical elements of speech) as a communicative signal for intuitive human-robot interaction interfaces. Our approach, rooted in Research through Design (RtD), examines the application of prosody in directing a quadruped robot navigation. We involved ten team members in an experiment to command a robot through an obstacle course using natural interaction. A human operator, serving as the robot's sensory and processing proxy, translated human communication into a basic set of navigation commands, effectively simulating an intuitive interface. During our analysis of interaction videos, when lexical and visual cues proved insufficient for accurate command interpretation, we turned to non-verbal auditory cues. Qualitative evidence suggests that participants intuitively relied on prosody to control robot navigation. We highlight specific distinct prosodic constructs that emerged from this preliminary exploration and discuss their pragmatic functions. This work contributes a discussion on the broader potential of prosody as a multifunctional communicative signal for designing future intuitive robotic interfaces, enabling lifelong learning and personalization in human-robot interaction.
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