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This paper presents a novel wireless image transmission paradigm that can exploit feedback from the receiver, called DeepJSCC-ViT-f. We consider a block feedback channel model, where the transmitter receives noiseless/noisy channel output feedback after each block. The proposed scheme employs a single encoder to facilitate transmission over multiple blocks, refining the receiver's estimation at each block. Specifically, the unified encoder of DeepJSCC-ViT-f can leverage the semantic information from the source image, and acquire channel state information and the decoder's current belief about the source image from the feedback signal to generate coded symbols at each block. Numerical experiments show that our DeepJSCC-ViT-f scheme achieves state-of-the-art transmission performance with robustness to noise in the feedback link. Additionally, DeepJSCC-ViT-f can adapt to the channel condition directly through feedback without the need for separate channel estimation. We further extend the scope of the DeepJSCC-ViT-f approach to include the broadcast channel, which enables the transmitter to generate broadcast codes in accordance with signal semantics and channel feedback from individual receivers.

This paper presents a novel method for efficiently solving a trajectory planning problem for swarm robotics in cluttered environments. Recent research has demonstrated high success rates in real-time local trajectory planning for swarm robotics in cluttered environments, but optimizing trajectories for each robot is still computationally expensive, with a computational complexity from $O\left(k\left(n_t,\varepsilon \right)n_t^2\right)$ to $ O\left(k\left(n_t,\varepsilon \right)n_t^3\right)$ where $n_t$ is the number of parameters in the parameterized trajectory, $\varepsilon$ is precision and $k\left(n_t,\varepsilon \right)$ is the number of iterations with respect to $n_t$ and $\varepsilon$. Furthermore, the swarm is difficult to move as a group. To address this issue, we define and then construct the optimal virtual tube, which includes infinite optimal trajectories. Under certain conditions, any optimal trajectory in the optimal virtual tube can be expressed as a convex combination of a finite number of optimal trajectories, with a computational complexity of $O\left(n_t\right)$. Afterward, a hierarchical approach including a planning method of the optimal virtual tube with minimizing energy and distributed model predictive control is proposed. In simulations and experiments, the proposed approach is validated and its effectiveness over other methods is demonstrated through comparison.

Machine learning methods are widely used in the natural sciences to model and predict physical systems from observation data. Yet, they are often used as poorly understood "black boxes," disregarding existing mathematical structure and invariants of the problem. Recently, the proposal of Hamiltonian Neural Networks (HNNs) took a first step towards a unified "gray box" approach, using physical insight to improve performance for Hamiltonian systems. In this paper, we explore a significantly improved training method for HNNs, exploiting the symplectic structure of Hamiltonian systems with a different loss function. This frees the loss from an artificial lower bound. We mathematically guarantee the existence of an exact Hamiltonian function which the HNN can learn. This allows us to prove and numerically analyze the errors made by HNNs which, in turn, renders them fully explainable. Finally, we present a novel post-training correction to obtain the true Hamiltonian only from discretized observation data, up to an arbitrary order.

Within the multimodal field, the key to integrating vision and language lies in establishing a good alignment strategy. Recently, benefiting from the success of self-supervised learning, significant progress has been made in multimodal semantic representation based on pre-trained models for vision and language. However, there is still room for improvement in visual semantic representation. The lack of spatial semantic coherence and vulnerability to noise makes it challenging for current pixel or patch-based methods to accurately extract complex scene boundaries. To this end, this paper develops superpixel as a comprehensive compact representation of learnable image data, which effectively reduces the number of visual primitives for subsequent processing by clustering perceptually similar pixels. To mine more precise topological relations, we propose a Multiscale Difference Graph Convolutional Network (MDGCN). It parses the entire image as a fine-to-coarse hierarchical structure of constituent visual patterns, and captures multiscale features by progressively merging adjacent superpixels as graph nodes. Moreover, we predict the differences between adjacent nodes through the graph structure, facilitating key information aggregation of graph nodes to reason actual semantic relations. Afterward, we design a multi-level fusion rule in a bottom-up manner to avoid understanding deviation by learning complementary spatial information at different regional scales. Our proposed method can be well applied to multiple downstream task learning. Extensive experiments demonstrate that our method is competitive with other state-of-the-art methods in visual reasoning. Our code will be released upon publication.

Verifying the robustness of machine learning models against evasion attacks at test time is an important research problem. Unfortunately, prior work established that this problem is NP-hard for decision tree ensembles, hence bound to be intractable for specific inputs. In this paper, we identify a restricted class of decision tree ensembles, called large-spread ensembles, which admit a security verification algorithm running in polynomial time. We then propose a new approach called verifiable learning, which advocates the training of such restricted model classes which are amenable for efficient verification. We show the benefits of this idea by designing a new training algorithm that automatically learns a large-spread decision tree ensemble from labelled data, thus enabling its security verification in polynomial time. Experimental results on public datasets confirm that large-spread ensembles trained using our algorithm can be verified in a matter of seconds, using standard commercial hardware. Moreover, large-spread ensembles are more robust than traditional ensembles against evasion attacks, at the cost of an acceptable loss of accuracy in the non-adversarial setting.

Tool use is a hallmark of advanced intelligence, exemplified in both animal behavior and robotic capabilities. This paper investigates the feasibility of imbuing robots with the ability to creatively use tools in tasks that involve implicit physical constraints and long-term planning. Leveraging Large Language Models (LLMs), we develop RoboTool, a system that accepts natural language instructions and outputs executable code for controlling robots in both simulated and real-world environments. RoboTool incorporates four pivotal components: (i) an "Analyzer" that interprets natural language to discern key task-related concepts, (ii) a "Planner" that generates comprehensive strategies based on the language input and key concepts, (iii) a "Calculator" that computes parameters for each skill, and (iv) a "Coder" that translates these plans into executable Python code. Our results show that RoboTool can not only comprehend explicit or implicit physical constraints and environmental factors but also demonstrate creative tool use. Unlike traditional Task and Motion Planning (TAMP) methods that rely on explicit optimization, our LLM-based system offers a more flexible, efficient, and user-friendly solution for complex robotics tasks. Through extensive experiments, we validate that RoboTool is proficient in handling tasks that would otherwise be infeasible without the creative use of tools, thereby expanding the capabilities of robotic systems. Demos are available on our project page: //creative-robotool.github.io/.

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.

Translational distance-based knowledge graph embedding has shown progressive improvements on the link prediction task, from TransE to the latest state-of-the-art RotatE. However, N-1, 1-N and N-N predictions still remain challenging. In this work, we propose a novel translational distance-based approach for knowledge graph link prediction. The proposed method includes two-folds, first we extend the RotatE from 2D complex domain to high dimension space with orthogonal transforms to model relations for better modeling capacity. Second, the graph context is explicitly modeled via two directed context representations. These context representations are used as part of the distance scoring function to measure the plausibility of the triples during training and inference. The proposed approach effectively improves prediction accuracy on the difficult N-1, 1-N and N-N cases for knowledge graph link prediction task. The experimental results show that it achieves better performance on two benchmark data sets compared to the baseline RotatE, especially on data set (FB15k-237) with many high in-degree connection nodes.

Knowledge graph completion aims to predict missing relations between entities in a knowledge graph. While many different methods have been proposed, there is a lack of a unifying framework that would lead to state-of-the-art results. Here we develop PathCon, a knowledge graph completion method that harnesses four novel insights to outperform existing methods. PathCon predicts relations between a pair of entities by: (1) Considering the Relational Context of each entity by capturing the relation types adjacent to the entity and modeled through a novel edge-based message passing scheme; (2) Considering the Relational Paths capturing all paths between the two entities; And, (3) adaptively integrating the Relational Context and Relational Path through a learnable attention mechanism. Importantly, (4) in contrast to conventional node-based representations, PathCon represents context and path only using the relation types, which makes it applicable in an inductive setting. Experimental results on knowledge graph benchmarks as well as our newly proposed dataset show that PathCon outperforms state-of-the-art knowledge graph completion methods by a large margin. Finally, PathCon is able to provide interpretable explanations by identifying relations that provide the context and paths that are important for a given predicted relation.

In this paper, we propose a conceptually simple and geometrically interpretable objective function, i.e. additive margin Softmax (AM-Softmax), for deep face verification. In general, the face verification task can be viewed as a metric learning problem, so learning large-margin face features whose intra-class variation is small and inter-class difference is large is of great importance in order to achieve good performance. Recently, Large-margin Softmax and Angular Softmax have been proposed to incorporate the angular margin in a multiplicative manner. In this work, we introduce a novel additive angular margin for the Softmax loss, which is intuitively appealing and more interpretable than the existing works. We also emphasize and discuss the importance of feature normalization in the paper. Most importantly, our experiments on LFW BLUFR and MegaFace show that our additive margin softmax loss consistently performs better than the current state-of-the-art methods using the same network architecture and training dataset. Our code has also been made available at //github.com/happynear/AMSoftmax