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This work reports a novel Bundle Adjustment (BA) formulation using a Reproducing Kernel Hilbert Space (RKHS) representation called RKHS-BA. The proposed formulation is correspondence-free, enables the BA to use RGB-D/LiDAR and semantic labels in the optimization directly, and provides a generalization for the photometric loss function commonly used in direct methods. RKHS-BA can incorporate appearance and semantic labels within a continuous spatial-semantic functional representation that does not require optimization via image pyramids. We demonstrate its applications in sliding-window odometry and global LiDAR mapping, which show highly robust performance in extremely challenging scenes and the best trade-off of generalization and accuracy.

Reconstructing visual stimuli from functional Magnetic Resonance Imaging (fMRI) based on Latent Diffusion Models (LDM) provides a fine-grained retrieval of the brain. A challenge persists in reconstructing a cohesive alignment of details (such as structure, background, texture, color, etc.). Moreover, LDMs would generate different image results even under the same conditions. For these, we first uncover the neuroscientific perspective of LDM-based methods that is top-down creation based on pre-trained knowledge from massive images but lack of detail-driven bottom-up perception resulting in unfaithful details. We propose NeuralDiffuser which introduces primary visual feature guidance to provide detail cues in the form of gradients, extending the bottom-up process for LDM-based methods to achieve faithful semantics and details. We also developed a novel guidance strategy to ensure the consistency of repeated reconstructions rather than a variety of results. We obtain the state-of-the-art performance of NeuralDiffuser on the Natural Senses Dataset (NSD), which offers more faithful details and consistent results.

We evaluate recent Large language Models (LLMs) on the challenging task of summarizing short stories, which can be lengthy, and include nuanced subtext or scrambled timelines. Importantly, we work directly with authors to ensure that the stories have not been shared online (and therefore are unseen by the models), and to obtain informed evaluations of summary quality using judgments from the authors themselves. Through quantitative and qualitative analysis grounded in narrative theory, we compare GPT-4, Claude-2.1, and LLama-2-70B. We find that all three models make faithfulness mistakes in over 50% of summaries and struggle to interpret difficult subtext. However, at their best, the models can provide thoughtful thematic analysis of stories. We additionally demonstrate that LLM judgments of summary quality do not match the feedback from the writers.

Sample efficiency remains a crucial challenge in applying Reinforcement Learning (RL) to real-world tasks. While recent algorithms have made significant strides in improving sample efficiency, none have achieved consistently superior performance across diverse domains. In this paper, we introduce EfficientZero V2, a general framework designed for sample-efficient RL algorithms. We have expanded the performance of EfficientZero to multiple domains, encompassing both continuous and discrete actions, as well as visual and low-dimensional inputs. With a series of improvements we propose, EfficientZero V2 outperforms the current state-of-the-art (SOTA) by a significant margin in diverse tasks under the limited data setting. EfficientZero V2 exhibits a notable advancement over the prevailing general algorithm, DreamerV3, achieving superior outcomes in 50 of 66 evaluated tasks across diverse benchmarks, such as Atari 100k, Proprio Control, and Vision Control.

Deep neural network (DNN) typically involves convolutions, pooling, and activation function. Due to the growing concern about privacy, privacy-preserving DNN becomes a hot research topic. Generally, the convolution and pooling operations can be supported by additive homomorphic and secure comparison, but the secure implementation of activation functions is not so straightforward for the requirements of accuracy and efficiency, especially for the non-linear ones such as exponential, sigmoid, and tanh functions. This paper pays a special attention to the implementation of such non-linear functions in semi-honest model with two-party settings, for which SIRNN is the current state-of-the-art. Different from previous works, we proposed improved implementations for these functions by using their intrinsic features as well as worthy tiny tricks. At first, we propose a novel and efficient protocol for exponential function by using a divide-and-conquer strategy with most of the computations executed locally. Exponential protocol is widely used in machine learning tasks such as Poisson regression, and is also a key component of sigmoid and tanh functions. Next, we take advantage of the symmetry of sigmoid and Tanh, and fine-tune the inputs to reduce the 2PC building blocks, which helps to save overhead and improve performance. As a result, we implement these functions with fewer fundamental building blocks. The comprehensive evaluations show that our protocols achieve state-of-the-art precision while reducing run-time by approximately 57%, 44%, and 42% for exponential (with only negative inputs), sigmoid, and Tanh functions, respectively.

Field-Programmable Gate Array (FPGA) accelerators have proven successful in handling latency- and resource-critical deep neural network (DNN) inference tasks. Among the most computationally intensive operations in a neural network (NN) is the dot product between the feature and weight vectors. Thus, some previous FPGA acceleration works have proposed mapping neurons with quantized inputs and outputs directly to lookup tables (LUTs) for hardware implementation. In these works, the boundaries of the neurons coincide with the boundaries of the LUTs. We propose relaxing these boundaries and mapping entire sub-networks to a single LUT. As the sub-networks are absorbed within the LUT, the NN topology and precision within a partition do not affect the size of the lookup tables generated. Therefore, we utilize fully connected layers with floating-point precision inside each partition, which benefit from being universal function approximators, with rigid sparsity and quantization enforced only between partitions, where the NN topology becomes exposed to the circuit topology. Although cheap to implement, this approach can lead to very deep NNs, and so to tackle challenges like vanishing gradients, we also introduce skip connections inside the partitions. The resulting methodology can be seen as training DNNs with a specific sparsity pattern that allows them to be mapped to much shallower circuit-level networks, thereby significantly improving latency. We validate our proposed method on a known latency-critical task, jet substructure tagging, and on the classical computer vision task, the digit classification using MNIST. Our approach allows for greater function expressivity within the LUTs compared to existing work, leading to lower latency NNs for the same accuracy.

The rapid advancement of large language models (LLMs) has led to a new era marked by the development of autonomous applications in real-world scenarios, which drives innovation in creating advanced web agents. Existing web agents typically only handle one input modality and are evaluated only in simplified web simulators or static web snapshots, greatly limiting their applicability in real-world scenarios. To bridge this gap, we introduce WebVoyager, an innovative Large Multimodal Model (LMM) powered web agent that can complete user instructions end-to-end by interacting with real-world websites. Moreover, we establish a new benchmark by compiling real-world tasks from 15 popular websites and introduce an automatic evaluation protocol leveraging multimodal understanding abilities of GPT-4V to evaluate open-ended web agents. We show that WebVoyager achieves a 59.1% task success rate on our benchmark, significantly surpassing the performance of both GPT-4 (All Tools) and the WebVoyager (text-only) setups, underscoring the exceptional capability of WebVoyager. The proposed automatic evaluation metric achieves 85.3% agreement with human judgment, indicating its effectiveness in providing reliable and accurate assessments of web agents.

In recent years, large language models have achieved state-of-the-art performance across various NLP tasks. However, investigations have shown that these models tend to rely on shortcut features, leading to inaccurate predictions and causing the models to be unreliable at generalization to out-of-distribution (OOD) samples. For instance, in the context of relation extraction (RE), we would expect a model to identify the same relation independently of the entities involved in it. For example, consider the sentence "Leonardo da Vinci painted the Mona Lisa" expressing the created(Leonardo_da_Vinci, Mona_Lisa) relation. If we substiute "Leonardo da Vinci" with "Barack Obama", then the sentence still expresses the created relation. A robust model is supposed to detect the same relation in both cases. In this work, we describe several semantically-motivated strategies to generate adversarial examples by replacing entity mentions and investigate how state-of-the-art RE models perform under pressure. Our analyses show that the performance of these models significantly deteriorates on the modified datasets (avg. of -48.5% in F1), which indicates that these models rely to a great extent on shortcuts, such as surface forms (or patterns therein) of entities, without making full use of the information present in the sentences.

Large Language Models (LLMs) are a class of generative AI models built using the Transformer network, capable of leveraging vast datasets to identify, summarize, translate, predict, and generate language. LLMs promise to revolutionize society, yet training these foundational models poses immense challenges. Semantic vector search within large language models is a potent technique that can significantly enhance search result accuracy and relevance. Unlike traditional keyword-based search methods, semantic search utilizes the meaning and context of words to grasp the intent behind queries and deliver more precise outcomes. Elasticsearch emerges as one of the most popular tools for implementing semantic search an exceptionally scalable and robust search engine designed for indexing and searching extensive datasets. In this article, we delve into the fundamentals of semantic search and explore how to harness Elasticsearch and Transformer models to bolster large language model processing paradigms. We gain a comprehensive understanding of semantic search principles and acquire practical skills for implementing semantic search in real-world model application scenarios.

Graph Neural Networks (GNNs) have gained momentum in graph representation learning and boosted the state of the art in a variety of areas, such as data mining (\emph{e.g.,} social network analysis and recommender systems), computer vision (\emph{e.g.,} object detection and point cloud learning), and natural language processing (\emph{e.g.,} relation extraction and sequence learning), to name a few. With the emergence of Transformers in natural language processing and computer vision, graph Transformers embed a graph structure into the Transformer architecture to overcome the limitations of local neighborhood aggregation while avoiding strict structural inductive biases. In this paper, we present a comprehensive review of GNNs and graph Transformers in computer vision from a task-oriented perspective. Specifically, we divide their applications in computer vision into five categories according to the modality of input data, \emph{i.e.,} 2D natural images, videos, 3D data, vision + language, and medical images. In each category, we further divide the applications according to a set of vision tasks. Such a task-oriented taxonomy allows us to examine how each task is tackled by different GNN-based approaches and how well these approaches perform. Based on the necessary preliminaries, we provide the definitions and challenges of the tasks, in-depth coverage of the representative approaches, as well as discussions regarding insights, limitations, and future directions.