We introduce NeuV-SLAM, a novel dense simultaneous localization and mapping pipeline based on neural multiresolution voxels, characterized by ultra-fast convergence and incremental expansion capabilities. This pipeline utilizes RGBD images as input to construct multiresolution neural voxels, achieving rapid convergence while maintaining robust incremental scene reconstruction and camera tracking. Central to our methodology is to propose a novel implicit representation, termed VDF that combines the implementation of neural signed distance field (SDF) voxels with an SDF activation strategy. This approach entails the direct optimization of color features and SDF values anchored within the voxels, substantially enhancing the rate of scene convergence. To ensure the acquisition of clear edge delineation, SDF activation is designed, which maintains exemplary scene representation fidelity even under constraints of voxel resolution. Furthermore, in pursuit of advancing rapid incremental expansion with low computational overhead, we developed hashMV, a novel hash-based multiresolution voxel management structure. This architecture is complemented by a strategically designed voxel generation technique that synergizes with a two-dimensional scene prior. Our empirical evaluations, conducted on the Replica and ScanNet Datasets, substantiate NeuV-SLAM's exceptional efficacy in terms of convergence speed, tracking accuracy, scene reconstruction, and rendering quality.
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This paper introduces LeTO, a method for learning constrained visuomotor policy via differentiable trajectory optimization. Our approach uniquely integrates a differentiable optimization layer into the neural network. By formulating the optimization layer as a trajectory optimization problem, we enable the model to end-to-end generate actions in a safe and controlled fashion without extra modules. Our method allows for the introduction of constraints information during the training process, thereby balancing the training objectives of satisfying constraints, smoothing the trajectories, and minimizing errors with demonstrations. This "gray box" method marries the optimization-based safety and interpretability with the powerful representational abilities of neural networks. We quantitatively evaluate LeTO in simulation and on the real robot. In simulation, LeTO achieves a success rate comparable to state-of-the-art imitation learning methods, but the generated trajectories are of less uncertainty, higher quality, and smoother. In real-world experiments, we deployed LeTO to handle constraints-critical tasks. The results show the effectiveness of LeTO comparing with state-of-the-art imitation learning approaches. We release our code at //github.com/ZhengtongXu/LeTO.
The scaling of Large Language Models (LLMs) for retrieval-based tasks, particularly in Retrieval Augmented Generation (RAG), faces significant memory constraints, especially when fine-tuning extensive prompt sequences. Current open-source libraries support full-model inference and fine-tuning across multiple GPUs but fall short of accommodating the efficient parameter distribution required for retrieved context. Addressing this gap, we introduce a novel framework for PEFT-compatible fine-tuning of Llama-2 models, leveraging distributed training. Our framework uniquely utilizes JAX's just-in-time (JIT) compilation and tensor-sharding for efficient resource management, thereby enabling accelerated fine-tuning with reduced memory requirements. This advancement significantly improves the scalability and feasibility of fine-tuning LLMs for complex RAG applications, even on systems with limited GPU resources. Our experiments show more than 12x improvement in runtime compared to Hugging Face/DeepSpeed implementation with four GPUs while consuming less than half the VRAM per GPU. Our library will be open-sourced in due course.
This study introduces the Hybrid Sequential Manipulation Planner (H-MaP), a novel approach that iteratively does motion planning using contact points and waypoints for complex sequential manipulation tasks in robotics. Combining optimization-based methods for generalizability and sampling-based methods for robustness, H-MaP enhances manipulation planning through active contact mode switches and enables interactions with auxiliary objects and tools. This framework, validated by a series of diverse physical manipulation tasks and real-robot experiments, offers a scalable and adaptable solution for complex real-world applications in robotic manipulation.
We present COGNAC, a novel strategy for compiling quantum circuits based on numerical optimization algorithms from scientific computing. Using a simple noise model informed by the duration of entangling gates, our gradient-based method can quickly converge to a local optimum that closely approximates the target unitary. By iteratively and continuously decreasing a gate's duration to zero, we reduce a circuit's gate count without the need for a large number of explicit elimination rewrite rules. We have implemented this technique as a general-purpose Qiskit compiler plugin and compared performance with state-of-the-art optimizers on a variety of standard 4-qubit benchmarks. COGNAC typically outperforms existing optimizers in reducing 2-qubit gate count, sometimes significantly. Running on a low-end laptop, our plugin takes seconds to optimize a small circuit, making it effective and accessible for a typical quantum programmer.
Recently, numerous approaches have achieved notable success in compressed video quality enhancement (VQE). However, these methods usually ignore the utilization of valuable coding priors inherently embedded in compressed videos, such as motion vectors and residual frames, which carry abundant temporal and spatial information. To remedy this problem, we propose the Coding Priors-Guided Aggregation (CPGA) network to utilize temporal and spatial information from coding priors. The CPGA mainly consists of an inter-frame temporal aggregation (ITA) module and a multi-scale non-local aggregation (MNA) module. Specifically, the ITA module aggregates temporal information from consecutive frames and coding priors, while the MNA module globally captures spatial information guided by residual frames. In addition, to facilitate research in VQE task, we newly construct the Video Coding Priors (VCP) dataset, comprising 300 videos with various coding priors extracted from corresponding bitstreams. It remedies the shortage of previous datasets on the lack of coding information. Experimental results demonstrate the superiority of our method compared to existing state-of-the-art methods. The code and dataset will be released at //github.com/CPGA/CPGA.git.
This paper introduces the M&M model, a novel multimodal-multitask learning framework, applied to the AVCAffe dataset for cognitive load assessment (CLA). M&M uniquely integrates audiovisual cues through a dual-pathway architecture, featuring specialized streams for audio and video inputs. A key innovation lies in its cross-modality multihead attention mechanism, fusing the different modalities for synchronized multitasking. Another notable feature is the model's three specialized branches, each tailored to a specific cognitive load label, enabling nuanced, task-specific analysis. While it shows modest performance compared to the AVCAffe's single-task baseline, M\&M demonstrates a promising framework for integrated multimodal processing. This work paves the way for future enhancements in multimodal-multitask learning systems, emphasizing the fusion of diverse data types for complex task handling.
This paper introduces the open-source framework, GIRA, which implements fundamental robotics algorithms for reconstruction, pose estimation, and occupancy modeling using compact generative models. Compactness enables perception in the large by ensuring that the perceptual models can be communicated through low-bandwidth channels during large-scale mobile robot deployments. The generative property enables perception in the small by providing high-resolution reconstruction capability. These properties address perception needs for diverse robotic applications, including multi-robot exploration and dexterous manipulation. State-of-the-art perception systems construct perceptual models via multiple disparate pipelines that reuse the same underlying sensor data, which leads to increased computation, redundancy, and complexity. GIRA bridges this gap by providing a unified perceptual modeling framework using Gaussian mixture models (GMMs) as well as a novel systems contribution, which consists of GPU-accelerated functions to learn GMMs 10-100x faster compared to existing CPU implementations. Because few GMM-based frameworks are open-sourced, this work seeks to accelerate innovation and broaden adoption of these techniques.
Graph neural networks (GNNs) have emerged as a series of competent graph learning methods for diverse real-world scenarios, ranging from daily applications like recommendation systems and question answering to cutting-edge technologies such as drug discovery in life sciences and n-body simulation in astrophysics. However, task performance is not the only requirement for GNNs. Performance-oriented GNNs have exhibited potential adverse effects like vulnerability to adversarial attacks, unexplainable discrimination against disadvantaged groups, or excessive resource consumption in edge computing environments. To avoid these unintentional harms, it is necessary to build competent GNNs characterised by trustworthiness. To this end, we propose a comprehensive roadmap to build trustworthy GNNs from the view of the various computing technologies involved. In this survey, we introduce basic concepts and comprehensively summarise existing efforts for trustworthy GNNs from six aspects, including robustness, explainability, privacy, fairness, accountability, and environmental well-being. Additionally, we highlight the intricate cross-aspect relations between the above six aspects of trustworthy GNNs. Finally, we present a thorough overview of trending directions for facilitating the research and industrialisation of trustworthy GNNs.
We present MMKG, a collection of three knowledge graphs that contain both numerical features and (links to) images for all entities as well as entity alignments between pairs of KGs. Therefore, multi-relational link prediction and entity matching communities can benefit from this resource. We believe this data set has the potential to facilitate the development of novel multi-modal learning approaches for knowledge graphs.We validate the utility ofMMKG in the sameAs link prediction task with an extensive set of experiments. These experiments show that the task at hand benefits from learning of multiple feature types.
We study the problem of learning to reason in large scale knowledge graphs (KGs). More specifically, we describe a novel reinforcement learning framework for learning multi-hop relational paths: we use a policy-based agent with continuous states based on knowledge graph embeddings, which reasons in a KG vector space by sampling the most promising relation to extend its path. In contrast to prior work, our approach includes a reward function that takes the accuracy, diversity, and efficiency into consideration. Experimentally, we show that our proposed method outperforms a path-ranking based algorithm and knowledge graph embedding methods on Freebase and Never-Ending Language Learning datasets.
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