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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.

The ever-evolving social media discourse has witnessed an overwhelming use of memes to express opinions or dissent. Besides being misused for spreading malcontent, they are mined by corporations and political parties to glean the public's opinion. Therefore, memes predominantly offer affect-enriched insights towards ascertaining the societal psyche. However, the current approaches are yet to model the affective dimensions expressed in memes effectively. They rely extensively on large multimodal datasets for pre-training and do not generalize well due to constrained visual-linguistic grounding. In this paper, we introduce MOOD (Meme emOtiOns Dataset), which embodies six basic emotions. We then present ALFRED (emotion-Aware muLtimodal Fusion foR Emotion Detection), a novel multimodal neural framework that (i) explicitly models emotion-enriched visual cues, and (ii) employs an efficient cross-modal fusion via a gating mechanism. Our investigation establishes ALFRED's superiority over existing baselines by 4.94% F1. Additionally, ALFRED competes strongly with previous best approaches on the challenging Memotion task. We then discuss ALFRED's domain-agnostic generalizability by demonstrating its dominance on two recently-released datasets - HarMeme and Dank Memes, over other baselines. Further, we analyze ALFRED's interpretability using attention maps. Finally, we highlight the inherent challenges posed by the complex interplay of disparate modality-specific cues toward meme analysis.

The field of efficient Large Language Model (LLM) inference is rapidly evolving, presenting a unique blend of opportunities and challenges. Although the field has expanded and is vibrant, there hasn't been a concise framework that analyzes the various methods of LLM Inference to provide a clear understanding of this domain. Our survey stands out from traditional literature reviews by not only summarizing the current state of research but also by introducing a framework based on roofline model for systematic analysis of LLM inference techniques. This framework identifies the bottlenecks when deploying LLMs on hardware devices and provides a clear understanding of practical problems, such as why LLMs are memory-bound, how much memory and computation they need, and how to choose the right hardware. We systematically collate the latest advancements in efficient LLM inference, covering crucial areas such as model compression (e.g., Knowledge Distillation and Quantization), algorithm improvements (e.g., Early Exit and Mixture-of-Expert), and both hardware and system-level enhancements. Our survey stands out by analyzing these methods with roofline model, helping us understand their impact on memory access and computation. This distinctive approach not only showcases the current research landscape but also delivers valuable insights for practical implementation, positioning our work as an indispensable resource for researchers new to the field as well as for those seeking to deepen their understanding of efficient LLM deployment. The analyze tool, LLM-Viewer, is open-sourced.

Taxation and government spending are crucial tools for governments to promote economic growth and maintain social equity. However, the difficulty in accurately predicting the dynamic strategies of diverse self-interested households presents a challenge for governments to implement effective tax policies. Given its proficiency in modeling other agents in partially observable environments and adaptively learning to find optimal policies, Multi-Agent Reinforcement Learning (MARL) is highly suitable for solving dynamic games between the government and numerous households. Although MARL shows more potential than traditional methods such as the genetic algorithm and dynamic programming, there is a lack of large-scale multi-agent reinforcement learning economic simulators. Therefore, we propose a MARL environment, named \textbf{TaxAI}, for dynamic games involving $N$ households, government, firms, and financial intermediaries based on the Bewley-Aiyagari economic model. Our study benchmarks 2 traditional economic methods with 7 MARL methods on TaxAI, demonstrating the effectiveness and superiority of MARL algorithms. Moreover, TaxAI's scalability in simulating dynamic interactions between the government and 10,000 households, coupled with real-data calibration, grants it a substantial improvement in scale and reality over existing simulators. Therefore, TaxAI is the most realistic economic simulator for optimal tax policy, which aims to generate feasible recommendations for governments and individuals.

Enterprises and organizations are faced with potential threats from insider employees that may lead to serious consequences. Previous studies on insider threat detection (ITD) mainly focus on detecting abnormal users or abnormal time periods (e.g., a week or a day). However, a user may have hundreds of thousands of activities in the log, and even within a day there may exist thousands of activities for a user, requiring a high investigation budget to verify abnormal users or activities given the detection results. On the other hand, existing works are mainly post-hoc methods rather than real-time detection, which can not report insider threats in time before they cause loss. In this paper, we conduct the first study towards real-time ITD at activity level, and present a fine-grained and efficient framework LAN. Specifically, LAN simultaneously learns the temporal dependencies within an activity sequence and the relationships between activities across sequences with graph structure learning. Moreover, to mitigate the data imbalance problem in ITD, we propose a novel hybrid prediction loss, which integrates self-supervision signals {from normal activities} and supervision signals from abnormal activities into a unified loss for anomaly detection. We evaluate the performance of LAN on two widely used datasets, i.e., CERT r4.2 and CERT r5.2. Extensive and comparative experiments demonstrate the superiority of LAN, outperforming 9 state-of-the-art baselines by at least 9.92% and 6.35% in AUC for real-time ITD on CERT r4.2 and r5.2, respectively. Moreover, LAN can be also applied to post-hoc ITD, surpassing 8 competitive baselines by at least 7.70% and 4.03% in AUC on two datasets. Finally, the ablation study, parameter analysis, and compatibility analysis evaluate the impact of each module and hyper-parameter in LAN.

Various perception-aware planning approaches have attempted to enhance the state estimation accuracy during maneuvers, while the feature matchability among frames, a crucial factor influencing estimation accuracy, has often been overlooked. In this paper, we present APACE, an Agile and Perception-Aware trajeCtory gEneration framework for quadrotors aggressive flight, that takes into account feature matchability during trajectory planning. We seek to generate a perception-aware trajectory that reduces the error of visual-based estimator while satisfying the constraints on smoothness, safety, agility and the quadrotor dynamics. The perception objective is achieved by maximizing the number of covisible features while ensuring small enough parallax angles. Additionally, we propose a differentiable and accurate visibility model that allows decomposition of the trajectory planning problem for efficient optimization resolution. Through validations conducted in both a photorealistic simulator and real-world experiments, we demonstrate that the trajectories generated by our method significantly improve state estimation accuracy, with root mean square error (RMSE) reduced by up to an order of magnitude. The source code will be released to benefit the community.

In recent years, disinformation including fake news, has became a global phenomenon due to its explosive growth, particularly on social media. The wide spread of disinformation and fake news can cause detrimental societal effects. Despite the recent progress in detecting disinformation and fake news, it is still non-trivial due to its complexity, diversity, multi-modality, and costs of fact-checking or annotation. The goal of this chapter is to pave the way for appreciating the challenges and advancements via: (1) introducing the types of information disorder on social media and examine their differences and connections; (2) describing important and emerging tasks to combat disinformation for characterization, detection and attribution; and (3) discussing a weak supervision approach to detect disinformation with limited labeled data. We then provide an overview of the chapters in this book that represent the recent advancements in three related parts: (1) user engagements in the dissemination of information disorder; (2) techniques on detecting and mitigating disinformation; and (3) trending issues such as ethics, blockchain, clickbaits, etc. We hope this book to be a convenient entry point for researchers, practitioners, and students to understand the problems and challenges, learn state-of-the-art solutions for their specific needs, and quickly identify new research problems in their domains.

Generative adversarial networks (GANs) have been extensively studied in the past few years. Arguably the revolutionary techniques are in the area of computer vision such as plausible image generation, image to image translation, facial attribute manipulation and similar domains. Despite the significant success achieved in computer vision field, applying GANs over real-world problems still have three main challenges: (1) High quality image generation; (2) Diverse image generation; and (3) Stable training. Considering numerous GAN-related research in the literature, we provide a study on the architecture-variants and loss-variants, which are proposed to handle these three challenges from two perspectives. We propose loss and architecture-variants for classifying most popular GANs, and discuss the potential improvements with focusing on these two aspects. While several reviews for GANs have been presented, there is no work focusing on the review of GAN-variants based on handling challenges mentioned above. In this paper, we review and critically discuss 7 architecture-variant GANs and 9 loss-variant GANs for remedying those three challenges. The objective of this review is to provide an insight on the footprint that current GANs research focuses on the performance improvement. Code related to GAN-variants studied in this work is summarized on //github.com/sheqi/GAN_Review.

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}.

Online news recommender systems aim to address the information explosion of news and make personalized recommendation for users. In general, news language is highly condensed, full of knowledge entities and common sense. However, existing methods are unaware of such external knowledge and cannot fully discover latent knowledge-level connections among news. The recommended results for a user are consequently limited to simple patterns and cannot be extended reasonably. Moreover, news recommendation also faces the challenges of high time-sensitivity of news and dynamic diversity of users' interests. To solve the above problems, in this paper, we propose a deep knowledge-aware network (DKN) that incorporates knowledge graph representation into news recommendation. DKN is a content-based deep recommendation framework for click-through rate prediction. The key component of DKN is a multi-channel and word-entity-aligned knowledge-aware convolutional neural network (KCNN) that fuses semantic-level and knowledge-level representations of news. KCNN treats words and entities as multiple channels, and explicitly keeps their alignment relationship during convolution. In addition, to address users' diverse interests, we also design an attention module in DKN to dynamically aggregate a user's history with respect to current candidate news. Through extensive experiments on a real online news platform, we demonstrate that DKN achieves substantial gains over state-of-the-art deep recommendation models. We also validate the efficacy of the usage of knowledge in DKN.