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In recent years, Neural Radiance Fields (NeRFs) have demonstrated significant potential in encoding highly-detailed 3D geometry and environmental appearance, positioning themselves as a promising alternative to traditional explicit representation for 3D scene reconstruction. However, the predominant reliance on RGB imaging presupposes ideal lighting conditions: a premise frequently unmet in robotic applications plagued by poor lighting or visual obstructions. This limitation overlooks the capabilities of infrared (IR) cameras, which excel in low-light detection and present a robust alternative under such adverse scenarios. To tackle these issues, we introduce Thermal-NeRF, the first method that estimates a volumetric scene representation in the form of a NeRF solely from IR imaging. By leveraging a thermal mapping and structural thermal constraint derived from the thermal characteristics of IR imaging, our method showcasing unparalleled proficiency in recovering NeRFs in visually degraded scenes where RGB-based methods fall short. We conduct extensive experiments to demonstrate that Thermal-NeRF can achieve superior quality compared to existing methods. Furthermore, we contribute a dataset for IR-based NeRF applications, paving the way for future research in IR NeRF reconstruction.

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.

We introduce Efficient Motion Diffusion Model (EMDM) for fast and high-quality human motion generation. Current state-of-the-art generative diffusion models have produced impressive results but struggle to achieve fast generation without sacrificing quality. On the one hand, previous works, like motion latent diffusion, conduct diffusion within a latent space for efficiency, but learning such a latent space can be a non-trivial effort. On the other hand, accelerating generation by naively increasing the sampling step size, e.g., DDIM, often leads to quality degradation as it fails to approximate the complex denoising distribution. To address these issues, we propose EMDM, which captures the complex distribution during multiple sampling steps in the diffusion model, allowing for much fewer sampling steps and significant acceleration in generation. This is achieved by a conditional denoising diffusion GAN to capture multimodal data distributions among arbitrary (and potentially larger) step sizes conditioned on control signals, enabling fewer-step motion sampling with high fidelity and diversity. To minimize undesired motion artifacts, geometric losses are imposed during network learning. As a result, EMDM achieves real-time motion generation and significantly improves the efficiency of motion diffusion models compared to existing methods while achieving high-quality motion generation. Our code will be publicly available upon publication.

Powerful generative Large Language Models (LLMs) are becoming popular tools amongst the general public as question-answering systems, and are being utilised by vulnerable groups such as children. With children increasingly interacting with these tools, it is imperative for researchers to scrutinise the safety of LLMs, especially for applications that could lead to serious outcomes, such as online child safety queries. In this paper, the efficacy of LLMs for online grooming prevention is explored both for identifying and avoiding grooming through advice generation, and the impact of prompt design on model performance is investigated by varying the provided context and prompt specificity. In results reflecting over 6,000 LLM interactions, we find that no models were clearly appropriate for online grooming prevention, with an observed lack of consistency in behaviours, and potential for harmful answer generation, especially from open-source models. We outline where and how models fall short, providing suggestions for improvement, and identify prompt designs that heavily altered model performance in troubling ways, with findings that can be used to inform best practice usage guides.

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.

A popular framework for enforcing safe actions in Reinforcement Learning (RL) is Constrained RL, where trajectory based constraints on expected cost (or other cost measures) are employed to enforce safety and more importantly these constraints are enforced while maximizing expected reward. Most recent approaches for solving Constrained RL convert the trajectory based cost constraint into a surrogate problem that can be solved using minor modifications to RL methods. A key drawback with such approaches is an over or underestimation of the cost constraint at each state. Therefore, we provide an approach that does not modify the trajectory based cost constraint and instead imitates ``good'' trajectories and avoids ``bad'' trajectories generated from incrementally improving policies. We employ an oracle that utilizes a reward threshold (which is varied with learning) and the overall cost constraint to label trajectories as ``good'' or ``bad''. A key advantage of our approach is that we are able to work from any starting policy or set of trajectories and improve on it. In an exhaustive set of experiments, we demonstrate that our approach is able to outperform top benchmark approaches for solving Constrained RL problems, with respect to expected cost, CVaR cost, or even unknown cost constraints.

As jurisdictions around the world take their first steps toward regulating the most powerful AI systems, such as the EU AI Act and the US Executive Order 14110, there is a growing need for effective enforcement mechanisms that can verify compliance and respond to violations. We argue that compute providers should have legal obligations and ethical responsibilities associated with AI development and deployment, both to provide secure infrastructure and to serve as intermediaries for AI regulation. Compute providers can play an essential role in a regulatory ecosystem via four key capacities: as securers, safeguarding AI systems and critical infrastructure; as record keepers, enhancing visibility for policymakers; as verifiers of customer activities, ensuring oversight; and as enforcers, taking actions against rule violations. We analyze the technical feasibility of performing these functions in a targeted and privacy-conscious manner and present a range of technical instruments. In particular, we describe how non-confidential information, to which compute providers largely already have access, can provide two key governance-relevant properties of a computational workload: its type-e.g., large-scale training or inference-and the amount of compute it has consumed. Using AI Executive Order 14110 as a case study, we outline how the US is beginning to implement record keeping requirements for compute providers. We also explore how verification and enforcement roles could be added to establish a comprehensive AI compute oversight scheme. We argue that internationalization will be key to effective implementation, and highlight the critical challenge of balancing confidentiality and privacy with risk mitigation as the role of compute providers in AI regulation expands.

Recent developments in Language Models (LMs) have shown their effectiveness in NLP tasks, particularly in knowledge-intensive tasks. However, the mechanisms underlying knowledge storage and memory access within their parameters remain elusive. In this paper, we investigate whether a generative LM (e.g., GPT-2) is able to access its memory sequentially or randomly. Through carefully-designed synthetic tasks, covering the scenarios of full recitation, selective recitation and grounded question answering, we reveal that LMs manage to sequentially access their memory while encountering challenges in randomly accessing memorized content. We find that techniques including recitation and permutation improve the random memory access capability of LMs. Furthermore, by applying this intervention to realistic scenarios of open-domain question answering, we validate that enhancing random access by recitation leads to notable improvements in question answering. The code to reproduce our experiments can be found at //github.com/sail-sg/lm-random-memory-access.

Instruction tuning represents a prevalent strategy employed by Multimodal Large Language Models (MLLMs) to align with human instructions and adapt to new tasks. Nevertheless, MLLMs encounter the challenge of adapting to users' evolving knowledge and demands. Therefore, how to retain existing skills while acquiring new knowledge needs to be investigated. In this paper, we present a comprehensive benchmark, namely Continual Instruction tuNing (CoIN), to assess existing MLLMs in the sequential instruction tuning paradigm. CoIN comprises 10 commonly used datasets spanning 8 task categories, ensuring a diverse range of instructions and tasks. Besides, the trained model is evaluated from two aspects: Instruction Following and General Knowledge, which assess the alignment with human intention and knowledge preserved for reasoning, respectively. Experiments on CoIN demonstrate that current powerful MLLMs still suffer catastrophic forgetting, and the failure in intention alignment assumes the main responsibility, instead of the knowledge forgetting. To this end, we introduce MoELoRA to MLLMs which is effective to retain the previous instruction alignment. Experimental results consistently illustrate the forgetting decreased from this method on CoIN.

Pre-trained Language Models (PLMs) have achieved great success in various Natural Language Processing (NLP) tasks under the pre-training and fine-tuning paradigm. With large quantities of parameters, PLMs are computation-intensive and resource-hungry. Hence, model pruning has been introduced to compress large-scale PLMs. However, most prior approaches only consider task-specific knowledge towards downstream tasks, but ignore the essential task-agnostic knowledge during pruning, which may cause catastrophic forgetting problem and lead to poor generalization ability. To maintain both task-agnostic and task-specific knowledge in our pruned model, we propose ContrAstive Pruning (CAP) under the paradigm of pre-training and fine-tuning. It is designed as a general framework, compatible with both structured and unstructured pruning. Unified in contrastive learning, CAP enables the pruned model to learn from the pre-trained model for task-agnostic knowledge, and fine-tuned model for task-specific knowledge. Besides, to better retain the performance of the pruned model, the snapshots (i.e., the intermediate models at each pruning iteration) also serve as effective supervisions for pruning. Our extensive experiments show that adopting CAP consistently yields significant improvements, especially in extremely high sparsity scenarios. With only 3% model parameters reserved (i.e., 97% sparsity), CAP successfully achieves 99.2% and 96.3% of the original BERT performance in QQP and MNLI tasks. In addition, our probing experiments demonstrate that the model pruned by CAP tends to achieve better generalization ability.