This work introduces JEMA (Joint Embedding with Multimodal Alignment), a novel co-learning framework tailored for laser metal deposition (LMD), a pivotal process in metal additive manufacturing. As Industry 5.0 gains traction in industrial applications, efficient process monitoring becomes increasingly crucial. However, limited data and the opaque nature of AI present challenges for its application in an industrial setting. JEMA addresses this challenges by leveraging multimodal data, including multi-view images and metadata such as process parameters, to learn transferable semantic representations. By applying a supervised contrastive loss function, JEMA enables robust learning and subsequent process monitoring using only the primary modality, simplifying hardware requirements and computational overhead. We investigate the effectiveness of JEMA in LMD process monitoring, focusing specifically on its generalization to downstream tasks such as melt pool geometry prediction, achieved without extensive fine-tuning. Our empirical evaluation demonstrates the high scalability and performance of JEMA, particularly when combined with Vision Transformer models. We report an 8% increase in performance in multimodal settings and a 1% improvement in unimodal settings compared to supervised contrastive learning. Additionally, the learned embedding representation enables the prediction of metadata, enhancing interpretability and making possible the assessment of the added metadata's contributions. Our framework lays the foundation for integrating multisensor data with metadata, enabling diverse downstream tasks within the LMD domain and beyond.
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Regulatory documents are rich in nuanced terminology and specialized semantics. FRAG systems: Frozen retrieval-augmented generators utilizing pre-trained (or, frozen) components face consequent challenges with both retriever and answering performance. We present a system that adapts the retriever performance to the target domain using a multi-stage tuning (MST) strategy. Our retrieval approach, called MST-R (a) first fine-tunes encoders used in vector stores using hard negative mining, (b) then uses a hybrid retriever, combining sparse and dense retrievers using reciprocal rank fusion, and then (c) adapts the cross-attention encoder by fine-tuning only the top-k retrieved results. We benchmark the system performance on the dataset released for the RIRAG challenge (as part of the RegNLP workshop at COLING 2025). We achieve significant performance gains obtaining a top rank on the RegNLP challenge leaderboard. We also show that a trivial answering approach games the RePASs metric outscoring all baselines and a pre-trained Llama model. Analyzing this anomaly, we present important takeaways for future research.
Large Language Models (LLMs) are increasingly employed in complex workflows, where different LLMs and fine-tuned variants collaboratively address complex tasks. However, these systems face significant inefficiencies due to redundant context processing of the shared context. We propose DroidSpeak, a framework that optimizes context sharing between fine-tuned LLMs derived from the same foundational model. DroidSpeak identifies critical layers in the KV cache and selectively recomputes them, enabling effective reuse of intermediate data while maintaining high accuracy. Our approach balances computational efficiency and task fidelity, significantly reducing inference latency and throughput bottlenecks. Experiments on diverse datasets and model pairs demonstrate that DroidSpeak achieves up to 3x higher throughputs and 2.6x faster prefill times with negligible accuracy loss compared to full recomputation.
We introduce Limited Rollout Beam Search (LRBS), a beam search strategy for deep reinforcement learning (DRL) based combinatorial optimization improvement heuristics. Utilizing pre-trained models on the Euclidean Traveling Salesperson Problem, LRBS significantly enhances both in-distribution performance and generalization to larger problem instances, achieving optimality gaps that outperform existing improvement heuristics and narrowing the gap with state-of-the-art constructive methods. We also extend our analysis to two pickup and delivery TSP variants to validate our results. Finally, we employ our search strategy for offline and online adaptation of the pre-trained improvement policy, leading to improved search performance and surpassing recent adaptive methods for constructive heuristics.
We introduce SimAvatar, a framework designed to generate simulation-ready clothed 3D human avatars from a text prompt. Current text-driven human avatar generation methods either model hair, clothing, and the human body using a unified geometry or produce hair and garments that are not easily adaptable for simulation within existing simulation pipelines. The primary challenge lies in representing the hair and garment geometry in a way that allows leveraging established prior knowledge from foundational image diffusion models (e.g., Stable Diffusion) while being simulation-ready using either physics or neural simulators. To address this task, we propose a two-stage framework that combines the flexibility of 3D Gaussians with simulation-ready hair strands and garment meshes. Specifically, we first employ three text-conditioned 3D generative models to generate garment mesh, body shape and hair strands from the given text prompt. To leverage prior knowledge from foundational diffusion models, we attach 3D Gaussians to the body mesh, garment mesh, as well as hair strands and learn the avatar appearance through optimization. To drive the avatar given a pose sequence, we first apply physics simulators onto the garment meshes and hair strands. We then transfer the motion onto 3D Gaussians through carefully designed mechanisms for each body part. As a result, our synthesized avatars have vivid texture and realistic dynamic motion. To the best of our knowledge, our method is the first to produce highly realistic, fully simulation-ready 3D avatars, surpassing the capabilities of current approaches.
We introduce the Coarse Payoff-Assessment Learning (CPAL) model, which captures reinforcement learning by boundedly rational decision-makers who focus on the aggregate outcomes of choosing among exogenously defined clusters of alternatives (similarity classes), rather than evaluating each alternative individually. Analyzing a smooth approximation of the model, we show that the learning dynamics exhibit steady-states corresponding to smooth Valuation Equilibria (Jehiel and Samet, 2007). We demonstrate the existence of multiple equilibria in decision trees with generic payoffs and establish the local asymptotic stability of pure equilibria when they occur. Conversely, when trivial choices featuring alternatives within the same similarity class yield sufficiently high payoffs, a unique mixed equilibrium emerges, characterized by indifferences between similarity classes, even under acute sensitivity to payoff differences. Finally, we prove that this unique mixed equilibrium is globally asymptotically stable under the CPAL dynamics.
Recent advances in deep learning research have shown remarkable achievements across many tasks in computer vision (CV) and natural language processing (NLP). At the intersection of CV and NLP is the problem of image captioning, where the related models' robustness against adversarial attacks has not been well studied. This paper presents a novel adversarial attack strategy, AICAttack (Attention-based Image Captioning Attack), designed to attack image captioning models through subtle perturbations on images. Operating within a black-box attack scenario, our algorithm requires no access to the target model's architecture, parameters, or gradient information. We introduce an attention-based candidate selection mechanism that identifies the optimal pixels to attack, followed by a customised differential evolution method to optimise the perturbations of pixels' RGB values. We demonstrate AICAttack's effectiveness through extensive experiments on benchmark datasets against multiple victim models. The experimental results demonstrate that our method outperforms current leading-edge techniques by achieving consistently higher attack success rates.
Most existing visual-inertial odometry (VIO) initialization methods rely on accurate pre-calibrated extrinsic parameters. However, during long-term use, irreversible structural deformation caused by temperature changes, mechanical squeezing, etc. will cause changes in extrinsic parameters, especially in the rotational part. Existing initialization methods that simultaneously estimate extrinsic parameters suffer from poor robustness, low precision, and long initialization latency due to the need for sufficient translational motion. To address these problems, we propose a novel VIO initialization method, which jointly considers extrinsic orientation and gyroscope bias within the normal epipolar constraints, achieving higher precision and better robustness without delayed rotational calibration. First, a rotation-only constraint is designed for extrinsic orientation and gyroscope bias estimation, which tightly couples gyroscope measurements and visual observations and can be solved in pure-rotation cases. Second, we propose a weighting strategy together with a failure detection strategy to enhance the precision and robustness of the estimator. Finally, we leverage Maximum A Posteriori to refine the results before enough translation parallax comes. Extensive experiments have demonstrated that our method outperforms the state-of-the-art methods in both accuracy and robustness while maintaining competitive efficiency.
This paper describes two C++/Open Motion Planning Library implementations of the recently developed motion planning algorithms HyRRT arXiv:2210.15082v1 [cs.RO] and HySST arXiv:2305.18649v1 [cs.RO]. Specifically, cHyRRT, an implementation of the HyRRT algorithm, is capable of generating a solution to a motion planning problem for hybrid systems with probabilistically completeness, while cHySST, an implementation of the asymptotically near-optimal HySST algorithm, is capable of computing a trajectory to solve the optimal motion planning problem for hybrid systems. cHyRRT is suitable for motion planning problems where an optimal solution is not required, whereas cHySST is suitable for such problems that prefer optimal solutions, within all feasible solutions. The structure, components, and usage of the two tools are described. Examples are included to illustrate the main capabilities of the toolbox.
Retrieval-Augmented Generation (RAG) merges retrieval methods with deep learning advancements to address the static limitations of large language models (LLMs) by enabling the dynamic integration of up-to-date external information. This methodology, focusing primarily on the text domain, provides a cost-effective solution to the generation of plausible but incorrect responses by LLMs, thereby enhancing the accuracy and reliability of their outputs through the use of real-world data. As RAG grows in complexity and incorporates multiple concepts that can influence its performance, this paper organizes the RAG paradigm into four categories: pre-retrieval, retrieval, post-retrieval, and generation, offering a detailed perspective from the retrieval viewpoint. It outlines RAG's evolution and discusses the field's progression through the analysis of significant studies. Additionally, the paper introduces evaluation methods for RAG, addressing the challenges faced and proposing future research directions. By offering an organized framework and categorization, the study aims to consolidate existing research on RAG, clarify its technological underpinnings, and highlight its potential to broaden the adaptability and applications of LLMs.
State-of-the-art Convolutional Neural Network (CNN) benefits a lot from multi-task learning (MTL), which learns multiple related tasks simultaneously to obtain shared or mutually related representations for different tasks. The most widely-used MTL CNN structure is based on an empirical or heuristic split on a specific layer (e.g., the last convolutional layer) to minimize different task-specific losses. However, this heuristic sharing/splitting strategy may be harmful to the final performance of one or multiple tasks. In this paper, we propose a novel CNN structure for MTL, which enables automatic feature fusing at every layer. Specifically, we first concatenate features from different tasks according to their channel dimension, and then formulate the feature fusing problem as discriminative dimensionality reduction. We show that this discriminative dimensionality reduction can be done by 1x1 Convolution, Batch Normalization, and Weight Decay in one CNN, which we refer to as Neural Discriminative Dimensionality Reduction (NDDR). We perform ablation analysis in details for different configurations in training the network. The experiments carried out on different network structures and different task sets demonstrate the promising performance and desirable generalizability of our proposed method.
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