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In this paper, we propose R$^3$: Learning Reasoning through Reverse Curriculum Reinforcement Learning (RL), a novel method that employs only outcome supervision to achieve the benefits of process supervision for large language models. The core challenge in applying RL to complex reasoning is to identify a sequence of actions that result in positive rewards and provide appropriate supervision for optimization. Outcome supervision provides sparse rewards for final results without identifying error locations, whereas process supervision offers step-wise rewards but requires extensive manual annotation. R$^3$ overcomes these limitations by learning from correct demonstrations. Specifically, R$^3$ progressively slides the start state of reasoning from a demonstration's end to its beginning, facilitating easier model exploration at all stages. Thus, R$^3$ establishes a step-wise curriculum, allowing outcome supervision to offer step-level signals and precisely pinpoint errors. Using Llama2-7B, our method surpasses RL baseline on eight reasoning tasks by $4.1$ points on average. Notebaly, in program-based reasoning on GSM8K, it exceeds the baseline by $4.2$ points across three backbone models, and without any extra data, Codellama-7B + R$^3$ performs comparable to larger models or closed-source models.

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.

This paper introduces 3DFIRES, a novel system for scene-level 3D reconstruction from posed images. Designed to work with as few as one view, 3DFIRES reconstructs the complete geometry of unseen scenes, including hidden surfaces. With multiple view inputs, our method produces full reconstruction within all camera frustums. A key feature of our approach is the fusion of multi-view information at the feature level, enabling the production of coherent and comprehensive 3D reconstruction. We train our system on non-watertight scans from large-scale real scene dataset. We show it matches the efficacy of single-view reconstruction methods with only one input and surpasses existing techniques in both quantitative and qualitative measures for sparse-view 3D reconstruction.

In this work, we present COSTREAM, a novel learned cost model for Distributed Stream Processing Systems that provides accurate predictions of the execution costs of a streaming query in an edge-cloud environment. The cost model can be used to find an initial placement of operators across heterogeneous hardware, which is particularly important in these environments. In our evaluation, we demonstrate that COSTREAM can produce highly accurate cost estimates for the initial operator placement and even generalize to unseen placements, queries, and hardware. When using COSTREAM to optimize the placements of streaming operators, a median speed-up of around 21x can be achieved compared to baselines.

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.

We present CoDEx, a set of knowledge graph completion datasets extracted from Wikidata and Wikipedia that improve upon existing knowledge graph completion benchmarks in scope and level of difficulty. In terms of scope, CoDEx comprises three knowledge graphs varying in size and structure, multilingual descriptions of entities and relations, and tens of thousands of hard negative triples that are plausible but verified to be false. To characterize CoDEx, we contribute thorough empirical analyses and benchmarking experiments. First, we analyze each CoDEx dataset in terms of logical relation patterns. Next, we report baseline link prediction and triple classification results on CoDEx for five extensively tuned embedding models. Finally, we differentiate CoDEx from the popular FB15K-237 knowledge graph completion dataset by showing that CoDEx covers more diverse and interpretable content, and is a more difficult link prediction benchmark. Data, code, and pretrained models are available at //bit.ly/2EPbrJs.

In this paper, we propose Latent Relation Language Models (LRLMs), a class of language models that parameterizes the joint distribution over the words in a document and the entities that occur therein via knowledge graph relations. This model has a number of attractive properties: it not only improves language modeling performance, but is also able to annotate the posterior probability of entity spans for a given text through relations. Experiments demonstrate empirical improvements over both a word-based baseline language model and a previous approach that incorporates knowledge graph information. Qualitative analysis further demonstrates the proposed model's ability to learn to predict appropriate relations in context.

We consider an interesting problem-salient instance segmentation in this paper. Other than producing bounding boxes, our network also outputs high-quality instance-level segments. Taking into account the category-independent property of each target, we design a single stage salient instance segmentation framework, with a novel segmentation branch. Our new branch regards not only local context inside each detection window but also its surrounding context, enabling us to distinguish the instances in the same scope even with obstruction. Our network is end-to-end trainable and runs at a fast speed (40 fps when processing an image with resolution 320x320). We evaluate our approach on a publicly available benchmark and show that it outperforms other alternative solutions. We also provide a thorough analysis of the design choices to help readers better understand the functions of each part of our network. The source code can be found at \url{//github.com/RuochenFan/S4Net}.

In this paper, we introduce the Reinforced Mnemonic Reader for machine reading comprehension tasks, which enhances previous attentive readers in two aspects. First, a reattention mechanism is proposed to refine current attentions by directly accessing to past attentions that are temporally memorized in a multi-round alignment architecture, so as to avoid the problems of attention redundancy and attention deficiency. Second, a new optimization approach, called dynamic-critical reinforcement learning, is introduced to extend the standard supervised method. It always encourages to predict a more acceptable answer so as to address the convergence suppression problem occurred in traditional reinforcement learning algorithms. Extensive experiments on the Stanford Question Answering Dataset (SQuAD) show that our model achieves state-of-the-art results. Meanwhile, our model outperforms previous systems by over 6% in terms of both Exact Match and F1 metrics on two adversarial SQuAD datasets.