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Distributed approaches have many computational benefits, but they are vulnerable to attacks from a subset of devices transmitting incorrect information. This paper investigates Byzantine-resilient algorithms in a decentralized setting, where devices communicate directly with one another. We leverage the so-called dual approach to design a general robust decentralized optimization method. We provide both global and local clipping rules in the special case of average consensus, with tight convergence guarantees. These clipping rules are practical, and yield results that finely characterize the impact of Byzantine nodes, highlighting for instance a qualitative difference in convergence between global and local clipping thresholds. Lastly, we demonstrate that they can serve as a basis for designing efficient attacks.

In advancing parallel programming, particularly with OpenMP, the shift towards NLP-based methods marks a significant innovation beyond traditional S2S tools like Autopar and Cetus. These NLP approaches train on extensive datasets of examples to efficiently generate optimized parallel code, streamlining the development process. This method's strength lies in its ability to swiftly produce parallelized code that runs efficiently. However, this reliance on NLP models, without direct code analysis, can introduce inaccuracies, as these models might not fully grasp the nuanced semantics of the code they parallelize. We build OMP-Engineer, which balances the efficiency and scalability of NLP models with the accuracy and reliability of traditional methods, aiming to enhance the performance of automating parallelization while navigating its inherent challenges.

This paper explores the utilization of diffusion models and textual guidance for achieving localized editing of building facades, addressing the escalating demand for sophisticated editing methodologies in architectural design and urban planning. Leveraging the robust generative capabilities of diffusion models, this study presents a promising avenue for realistically synthesizing and modifying architectural facades. Through iterative diffusion and text descriptions, these models adeptly capture both the intricate global and local structures inherent in architectural facades, thus effectively navigating the complexity of such designs. Additionally, the paper examines the expansive potential of diffusion models in various facets, including the generation of novel facade designs, the enhancement of existing facades, and the realization of personalized customization. Despite their promise, diffusion models encounter obstacles such as computational resource constraints and data imbalances. To address these challenges, the study introduces the innovative Blended Latent Diffusion method for architectural facade editing, accompanied by a comprehensive visual analysis of its viability and efficacy. Through these endeavors, we aims to propel forward the field of architectural facade editing, contributing to its advancement and practical application.

The majority of visual SLAM systems are not robust in dynamic scenarios. The ones that deal with dynamic objects in the scenes usually rely on deep-learning-based methods to detect and filter these objects. However, these methods cannot deal with unknown moving objects. This work presents Panoptic-SLAM, an open-source visual SLAM system robust to dynamic environments, even in the presence of unknown objects. It uses panoptic segmentation to filter dynamic objects from the scene during the state estimation process. Panoptic-SLAM is based on ORB-SLAM3, a state-of-the-art SLAM system for static environments. The implementation was tested using real-world datasets and compared with several state-of-the-art systems from the literature, including DynaSLAM, DS-SLAM, SaD-SLAM, PVO and FusingPanoptic. For example, Panoptic-SLAM is on average four times more accurate than PVO, the most recent panoptic-based approach for visual SLAM. Also, experiments were performed using a quadruped robot with an RGB-D camera to test the applicability of our method in real-world scenarios. The tests were validated by a ground-truth created with a motion capture system.

This paper investigates a joint active and passive beamforming design for distributed simultaneous transmitting and reflecting (STAR) reconfigurable intelligent surface (RIS) assisted multi-user (MU)- mutiple input single output (MISO) systems, where the energy splitting (ES) mode is considered for the STAR-RIS. We aim to design the active beamforming vectors at the base station (BS) and the passive beamforming at the STAR-RIS to maximize the user sum rate under transmitting power constraints. The formulated problem is non-convex and nontrivial to obtain the global optimum due to the coupling between active beamforming vectors and STAR-RIS phase shifts. To efficiently solve the problem, we propose a novel graph neural network (GNN)-based framework. Specifically, we first model the interactions among users and network entities are using a heterogeneous graph representation. A heterogeneous graph neural network (HGNN) implementation is then introduced to directly optimizes beamforming vectors and STAR-RIS coefficients with the system objective. Numerical results show that the proposed approach yields efficient performance compared to the previous benchmarks. Furthermore, the proposed GNN is scalable with various system configurations.

Varied approaches for aligning language models have been proposed, including supervised fine-tuning, RLHF, and direct optimization methods such as DPO. Although DPO has rapidly gained popularity due to its straightforward training process and competitive results, there is an open question of whether there remain practical advantages of using a discriminator, like a reward model, to evaluate responses. We propose D2PO, discriminator-guided DPO, an approach for the online setting where preferences are being collected throughout learning. As we collect gold preferences, we use these not only to train our policy, but to train a discriminative response evaluation model to silver-label even more synthetic data for policy training. We explore this approach across a set of diverse tasks, including a realistic chat setting, we find that our approach leads to higher-quality outputs compared to DPO with the same data budget, and greater efficiency in terms of preference data requirements. Furthermore, we show conditions under which silver labeling is most helpful: it is most effective when training the policy with DPO, outperforming traditional PPO, and benefits from maintaining a separate discriminator from the policy model.

This paper introduces GTX a standalone main-memory write-optimized graph system that specializes in structural and graph property updates while maintaining concurrent reads and graph analytics with snapshot isolation-level transactional concurrency. Recent graph libraries target efficient concurrent read and write support while guaranteeing transactional consistency. However, their performance suffers for updates with strong temporal locality over the same vertexes and edges due to vertex-centric lock contentions. GTX introduces a new delta-chain-centric concurrency-control protocol that eliminates traditional mutually exclusive latches. GTX resolves the conflicts caused by vertex-level locking, and adapts to real-life workloads while maintaining sequential access to the graph's adjacency lists storage. This combination of features has been demonstrated to provide good performance in graph analytical queries. GTX's transactions support fast group commit, novel write-write conflict prevention, and lazy garbage collection. Based on extensive experimental and comparative studies, in addition to maintaining competitive concurrent read and analytical performance, GTX demonstrates high throughput over state-of-the-art techniques when handling concurrent transaction+analytics workloads. For write-heavy transactional workloads, GTX performs up to 11x better than the best-performing state-of-the-art systems in transaction throughput. At the same time, GTX does not sacrifice the performance of read-heavy analytical workloads, and has competitive performance similar to state-of-the-art systems.

This paper introduces a trajectory prediction model tailored for autonomous driving, focusing on capturing complex interactions in dynamic traffic scenarios without reliance on high-definition maps. The model, termed MFTraj, harnesses historical trajectory data combined with a novel dynamic geometric graph-based behavior-aware module. At its core, an adaptive structure-aware interactive graph convolutional network captures both positional and behavioral features of road users, preserving spatial-temporal intricacies. Enhanced by a linear attention mechanism, the model achieves computational efficiency and reduced parameter overhead. Evaluations on the Argoverse, NGSIM, HighD, and MoCAD datasets underscore MFTraj's robustness and adaptability, outperforming numerous benchmarks even in data-challenged scenarios without the need for additional information such as HD maps or vectorized maps. Importantly, it maintains competitive performance even in scenarios with substantial missing data, on par with most existing state-of-the-art models. The results and methodology suggest a significant advancement in autonomous driving trajectory prediction, paving the way for safer and more efficient autonomous systems.

In the rapidly advancing realm of visual generation, diffusion models have revolutionized the landscape, marking a significant shift in capabilities with their impressive text-guided generative functions. However, relying solely on text for conditioning these models does not fully cater to the varied and complex requirements of different applications and scenarios. Acknowledging this shortfall, a variety of studies aim to control pre-trained text-to-image (T2I) models to support novel conditions. In this survey, we undertake a thorough review of the literature on controllable generation with T2I diffusion models, covering both the theoretical foundations and practical advancements in this domain. Our review begins with a brief introduction to the basics of denoising diffusion probabilistic models (DDPMs) and widely used T2I diffusion models. We then reveal the controlling mechanisms of diffusion models, theoretically analyzing how novel conditions are introduced into the denoising process for conditional generation. Additionally, we offer a detailed overview of research in this area, organizing it into distinct categories from the condition perspective: generation with specific conditions, generation with multiple conditions, and universal controllable generation. For an exhaustive list of the controllable generation literature surveyed, please refer to our curated repository at \url{//github.com/PRIV-Creation/Awesome-Controllable-T2I-Diffusion-Models}.

The design of deep graph models still remains to be investigated and the crucial part is how to explore and exploit the knowledge from different hops of neighbors in an efficient way. In this paper, we propose a novel RNN-like deep graph neural network architecture by incorporating AdaBoost into the computation of network; and the proposed graph convolutional network called AdaGCN~(AdaBoosting Graph Convolutional Network) has the ability to efficiently extract knowledge from high-order neighbors and integrate knowledge from different hops of neighbors into the network in an AdaBoost way. We also present the architectural difference between AdaGCN and existing graph convolutional methods to show the benefits of our proposal. Finally, extensive experiments demonstrate the state-of-the-art prediction performance and the computational advantage of our approach AdaGCN.