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Accurately simulating diverse behaviors of heterogeneous agents in various scenarios is fundamental to autonomous driving simulation. This task is challenging due to the multi-modality of behavior distribution, the high-dimensionality of driving scenarios, distribution shift, and incomplete information. Our first insight is to leverage state-matching through differentiable simulation to provide meaningful learning signals and achieve efficient credit assignment for the policy. This is demonstrated by revealing the existence of gradient highways and interagent gradient pathways. However, the issues of gradient explosion and weak supervision in low-density regions are discovered. Our second insight is that these issues can be addressed by applying dual policy regularizations to narrow the function space. Further considering diversity, our third insight is that the behaviors of heterogeneous agents in the dataset can be effectively compressed as a series of prototype vectors for retrieval. These lead to our model-based reinforcement-imitation learning framework with temporally abstracted mixture-of-codebooks (MRIC). MRIC introduces the open-loop modelbased imitation learning regularization to stabilize training, and modelbased reinforcement learning (RL) regularization to inject domain knowledge. The RL regularization involves differentiable Minkowskidifference-based collision avoidance and projection-based on-road and traffic rule compliance rewards. A dynamic multiplier mechanism is further proposed to eliminate the interference from the regularizations while ensuring their effectiveness. Experimental results using the largescale Waymo open motion dataset show that MRIC outperforms state-ofthe-art baselines on diversity, behavioral realism, and distributional realism, with large margins on some key metrics (e.g., collision rate, minSADE, and time-to-collision JSD).

With the evolution of Text-to-Image (T2I) models, the quality defects of AI-Generated Images (AIGIs) pose a significant barrier to their widespread adoption. In terms of both perception and alignment, existing models cannot always guarantee high-quality results. To mitigate this limitation, we introduce G-Refine, a general image quality refiner designed to enhance low-quality images without compromising the integrity of high-quality ones. The model is composed of three interconnected modules: a perception quality indicator, an alignment quality indicator, and a general quality enhancement module. Based on the mechanisms of the Human Visual System (HVS) and syntax trees, the first two indicators can respectively identify the perception and alignment deficiencies, and the last module can apply targeted quality enhancement accordingly. Extensive experimentation reveals that when compared to alternative optimization methods, AIGIs after G-Refine outperform in 10+ quality metrics across 4 databases. This improvement significantly contributes to the practical application of contemporary T2I models, paving the way for their broader adoption. The code will be released on //github.com/Q-Future/Q-Refine.

Guessing random additive noise decoding (GRAND) has received widespread attention recently, and among its variants, ordered reliability bits GRAND (ORBGRAND) is particularly attractive due to its efficient utilization of soft information and its amenability to hardware implementation. It has been recently shown that ORBGRAND is almost capacity-achieving in additive white Gaussian noise channels under antipodal input. In this work, we first extend the analysis of ORBGRAND achievable rate to memoryless binary-input bit channels with general output conditional probability distributions. The analytical result also sheds insight into understanding the gap between the ORBGRAND achievable rate and the channel mutual information. As an application of the analysis, we study the ORBGRAND achievable rate of bit-interleaved coded modulation (BICM). Numerical results indicate that for BICM, the gap between the ORBGRAND achievable rate and the channel mutual information is typically small, and hence suggest the feasibility of ORBGRAND for channels with high-order coded modulation schemes.

Image-text matching remains a challenging task due to heterogeneous semantic diversity across modalities and insufficient distance separability within triplets. Different from previous approaches focusing on enhancing multi-modal representations or exploiting cross-modal correspondence for more accurate retrieval, in this paper we aim to leverage the knowledge transfer between peer branches in a boosting manner to seek a more powerful matching model. Specifically, we propose a brand-new Deep Boosting Learning (DBL) algorithm, where an anchor branch is first trained to provide insights into the data properties, with a target branch gaining more advanced knowledge to develop optimal features and distance metrics. Concretely, an anchor branch initially learns the absolute or relative distance between positive and negative pairs, providing a foundational understanding of the particular network and data distribution. Building upon this knowledge, a target branch is concurrently tasked with more adaptive margin constraints to further enlarge the relative distance between matched and unmatched samples. Extensive experiments validate that our DBL can achieve impressive and consistent improvements based on various recent state-of-the-art models in the image-text matching field, and outperform related popular cooperative strategies, e.g., Conventional Distillation, Mutual Learning, and Contrastive Learning. Beyond the above, we confirm that DBL can be seamlessly integrated into their training scenarios and achieve superior performance under the same computational costs, demonstrating the flexibility and broad applicability of our proposed method. Our code is publicly available at: //github.com/Paranioar/DBL.

State estimation for legged robots is challenging due to their highly dynamic motion and limitations imposed by sensor accuracy. By integrating Kalman filtering, optimization, and learning-based modalities, we propose a hybrid solution that combines proprioception and exteroceptive information for estimating the state of the robot's trunk. Leveraging joint encoder and IMU measurements, our Kalman filter is enhanced through a single-rigid body model that incorporates ground reaction force control outputs from convex Model Predictive Control optimization. The estimation is further refined through Gated Recurrent Units, which also considers semantic insights and robot height from a Vision Transformer autoencoder applied on depth images. This framework not only furnishes accurate robot state estimates, including uncertainty evaluations, but can minimize the nonlinear errors that arise from sensor measurements and model simplifications through learning. The proposed methodology is evaluated in hardware using a quadruped robot on various terrains, yielding a 65% improvement on the Root Mean Squared Error compared to our VIO SLAM baseline. Code example: //github.com/AlexS28/OptiState

Animals possess a remarkable ability to navigate challenging terrains, achieved through the interplay of various pathways between the brain, central pattern generators (CPGs) in the spinal cord, and musculoskeletal system. Traditional bioinspired control frameworks often rely on a singular control policy that models both higher (supraspinal) and spinal cord functions. In this work, we build upon our previous research by introducing two distinct neural networks: one tasked with modulating the frequency and amplitude of CPGs to generate the basic locomotor rhythm (referred to as the spinal policy, SCP), and the other responsible for receiving environmental perception data and directly modulating the rhythmic output from the SCP to execute precise movements on challenging terrains (referred to as the descending modulation policy). This division of labor more closely mimics the hierarchical locomotor control systems observed in legged animals, thereby enhancing the robot's ability to navigate various uneven surfaces, including steps, high obstacles, and terrains with gaps. Additionally, we investigate the impact of sensorimotor delays within our framework, validating several biological assumptions about animal locomotion systems. Specifically, we demonstrate that spinal circuits play a crucial role in generating the basic locomotor rhythm, while descending pathways are essential for enabling appropriate gait modifications to accommodate uneven terrain. Notably, our findings also reveal that the multi-layered control inherent in animals exhibits remarkable robustness against time delays. Through these investigations, this paper contributes to a deeper understanding of the fundamental principles of interplay between spinal and supraspinal mechanisms in biological locomotion. It also supports the development of locomotion controllers in parallel to biological structures which are ...

Current recommendation systems are significantly affected by a serious issue of temporal data shift, which is the inconsistency between the distribution of historical data and that of online data. Most existing models focus on utilizing updated data, overlooking the transferable, temporal data shift-free information that can be learned from shifting data. We propose the Temporal Invariance of Association theorem, which suggests that given a fixed search space, the relationship between the data and the data in the search space keeps invariant over time. Leveraging this principle, we designed a retrieval-based recommendation system framework that can train a data shift-free relevance network using shifting data, significantly enhancing the predictive performance of the original model in the recommendation system. However, retrieval-based recommendation models face substantial inference time costs when deployed online. To address this, we further designed a distill framework that can distill information from the relevance network into a parameterized module using shifting data. The distilled model can be deployed online alongside the original model, with only a minimal increase in inference time. Extensive experiments on multiple real datasets demonstrate that our framework significantly improves the performance of the original model by utilizing shifting data.

In modern manufacturing, most of the product lines are conforming. Few products are nonconforming but with different defect types. The identification of defect types can help further root cause diagnosis of production lines. With the sensing development, signals of process variables can be collected in high resolution, which can be regarded as multichannel functional data. They have abundant information to characterize the process and help identify the defect types. Motivated by a real example from the pipe tightening process, we focus on defect classification where each sample is a multichannel functional data. However, the available samples for each defect type are limited and imbalanced. Moreover, the functions are incomplete since the pre-tightening process before the pipe tightening process is unobserved. To classify the defect samples based on imbalanced, multichannel, and incomplete functional data is very important but challenging. Thus, we propose an innovative classification framework based on deep metric learning using functional data (DeepFunction). The framework leverages the power of deep metric learning to train on imbalanced datasets. A neural network specially crafted for processing functional data is also proposed to handle multichannel and incomplete functional data. The results from a real-world case study demonstrate the superior accuracy of our framework when compared to existing benchmarks.

In mesh simplification, common requirements like accuracy, triangle quality, and feature alignment are often considered as a trade-off. Existing algorithms concentrate on just one or a few specific aspects of these requirements. For example, the well-known Quadric Error Metrics (QEM) approach prioritizes accuracy and can preserve strong feature lines/points as well but falls short in ensuring high triangle quality and may degrade weak features that are not as distinctive as strong ones. In this paper, we propose a smooth functional that simultaneously considers all of these requirements. The functional comprises a normal anisotropy term and a Centroidal Voronoi Tessellation (CVT) energy term, with the variables being a set of movable points lying on the surface. The former inherits the spirit of QEM but operates in a continuous setting, while the latter encourages even point distribution, allowing various surface metrics. We further introduce a decaying weight to automatically balance the two terms. We selected 100 CAD models from the ABC dataset, along with 21 organic models, to compare the existing mesh simplification algorithms with ours. Experimental results reveal an important observation: the introduction of a decaying weight effectively reduces the conflict between the two terms and enables the alignment of weak features. This distinctive feature sets our approach apart from most existing mesh simplification methods and demonstrates significant potential in shape understanding.

Recently pre-trained language representation models such as BERT have shown great success when fine-tuned on downstream tasks including information retrieval (IR). However, pre-training objectives tailored for ad-hoc retrieval have not been well explored. In this paper, we propose Pre-training with Representative wOrds Prediction (PROP) for ad-hoc retrieval. PROP is inspired by the classical statistical language model for IR, specifically the query likelihood model, which assumes that the query is generated as the piece of text representative of the "ideal" document. Based on this idea, we construct the representative words prediction (ROP) task for pre-training. Given an input document, we sample a pair of word sets according to the document language model, where the set with higher likelihood is deemed as more representative of the document. We then pre-train the Transformer model to predict the pairwise preference between the two word sets, jointly with the Masked Language Model (MLM) objective. By further fine-tuning on a variety of representative downstream ad-hoc retrieval tasks, PROP achieves significant improvements over baselines without pre-training or with other pre-training methods. We also show that PROP can achieve exciting performance under both the zero- and low-resource IR settings. The code and pre-trained models are available at //github.com/Albert-Ma/PROP.