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Targetless IMU-LiDAR extrinsic calibration methods are gaining significant attention as the importance of the IMU-LiDAR fusion system increases. Notably, existing calibration methods derive calibration parameters under the assumption that the methods require full motion in all axes. When IMU and LiDAR are mounted on a ground robot the motion of which is restricted to planar motion, existing calibration methods are likely to exhibit degraded performance. To address this issue, we present GRIL-Calib: a novel targetless Ground Robot IMU-LiDAR Calibration method. Our proposed method leverages ground information to compensate for the lack of unrestricted full motion. First, we propose LiDAR Odometry (LO) using ground plane residuals to enhance calibration accuracy. Second, we propose the Ground Plane Motion (GPM) constraint and incorporate it into the optimization for calibration, enabling the determination of full 6-DoF extrinsic parameters, including theoretically unobservable direction. Finally, unlike baseline methods, we formulate the calibration not as sequential two optimizations but as a single optimization (SO) problem, solving all calibration parameters simultaneously and improving accuracy. We validate our \textit{GRIL-Calib} by applying it to three public real-world datasets and comparing its performance with that of existing state-of-the-art methods in terms of accuracy and robustness. Our code is available at //github.com/Taeyoung96/GRIL-Calib.

Radiofrequency ablation (RFA) is a widely used minimally invasive technique for ablating solid tumors. Achieving precise personalized treatment necessitates feedback information on in situ thermal effects induced by the RFA procedure. While computer simulation facilitates the prediction of electrical and thermal phenomena associated with RFA, its practical implementation in clinical settings is hindered by high computational demands. In this paper, we propose a physics-guided neural network model, named PhysRFANet, to enable real-time prediction of thermal effect during RFA treatment. The networks, designed for predicting temperature distribution and the corresponding ablation lesion, were trained using biophysical computational models that integrated electrostatics, bio-heat transfer, and cell necrosis, alongside magnetic resonance (MR) images of breast cancer patients. Validation of the computational model was performed through experiments on ex vivo bovine liver tissue. Our model demonstrated a 96% Dice score in predicting the lesion volume and an RMSE of 0.4854 for temperature distribution when tested with foreseen tumor images. Notably, even with unforeseen images, it achieved a 93% Dice score for the ablation lesion and an RMSE of 0.6783 for temperature distribution. All networks were capable of inferring results within 10 ms. The presented technique, applied to optimize the placement of the electrode for a specific target region, holds significant promise in enhancing the safety and efficacy of RFA treatments.

Despite significant recent progress in the field of autonomous driving, modern methods still struggle and can incur serious accidents when encountering long-tail unforeseen events and challenging urban scenarios. On the one hand, large language models (LLM) have shown impressive reasoning capabilities that approach "Artificial General Intelligence". On the other hand, previous autonomous driving methods tend to rely on limited-format inputs (e.g. sensor data and navigation waypoints), restricting the vehicle's ability to understand language information and interact with humans. To this end, this paper introduces LMDrive, a novel language-guided, end-to-end, closed-loop autonomous driving framework. LMDrive uniquely processes and integrates multi-modal sensor data with natural language instructions, enabling interaction with humans and navigation software in realistic instructional settings. To facilitate further research in language-based closed-loop autonomous driving, we also publicly release the corresponding dataset which includes approximately 64K instruction-following data clips, and the LangAuto benchmark that tests the system's ability to handle complex instructions and challenging driving scenarios. Extensive closed-loop experiments are conducted to demonstrate LMDrive's effectiveness. To the best of our knowledge, we're the very first work to leverage LLMs for closed-loop end-to-end autonomous driving. Codes, models, and datasets can be found at //github.com/opendilab/LMDrive

Super-resolution (SR) techniques have recently been proposed to upscale the outputs of neural radiance fields (NeRF) and generate high-quality images with enhanced inference speeds. However, existing NeRF+SR methods increase training overhead by using extra input features, loss functions, and/or expensive training procedures such as knowledge distillation. In this paper, we aim to leverage SR for efficiency gains without costly training or architectural changes. Specifically, we build a simple NeRF+SR pipeline that directly combines existing modules, and we propose a lightweight augmentation technique, random patch sampling, for training. Compared to existing NeRF+SR methods, our pipeline mitigates the SR computing overhead and can be trained up to 23x faster, making it feasible to run on consumer devices such as the Apple MacBook. Experiments show our pipeline can upscale NeRF outputs by 2-4x while maintaining high quality, increasing inference speeds by up to 18x on an NVIDIA V100 GPU and 12.8x on an M1 Pro chip. We conclude that SR can be a simple but effective technique for improving the efficiency of NeRF models for consumer devices.

In rapidly-evolving domains such as autonomous driving, the use of multiple sensors with different modalities is crucial to ensure high operational precision and stability. To correctly exploit the provided information by each sensor in a single common frame, it is essential for these sensors to be accurately calibrated. In this paper, we leverage the ability of Neural Radiance Fields (NeRF) to represent different sensors modalities in a common volumetric representation to achieve robust and accurate spatio-temporal sensor calibration. By designing a partitioning approach based on the visible part of the scene for each sensor, we formulate the calibration problem using only the overlapping areas. This strategy results in a more robust and accurate calibration that is less prone to failure. We demonstrate that our approach works on outdoor urban scenes by validating it on multiple established driving datasets. Results show that our method is able to get better accuracy and robustness compared to existing methods.

In AI research, the optimization of Large Language Models (LLMs) remains a significant challenge, crucial for advancing the field's practical applications and sustainability. Building upon the foundational work of Professor Song Han's lab at MIT, this paper introduces a novel approach in developing Mini-GPTs via contextual pruning. Our methodology strategically prunes the computational architecture of traditional LLMs, like Phi-1.5, focusing on retaining core functionalities while drastically reducing model sizes. We employ the technique across diverse and complex datasets, including US law, Medical Q&A, Skyrim dialogue, English-Taiwanese translation, and Economics articles. The results underscore the efficiency and effectiveness of contextual pruning, not merely as a theoretical concept but as a practical tool in developing domain-specific, resource-efficient LLMs. Contextual pruning is a promising method for building domain-specific LLMs, and this research is a building block towards future development with more hardware compute, refined fine-tuning, and quantization.

Few-shot Knowledge Graph (KG) completion is a focus of current research, where each task aims at querying unseen facts of a relation given its few-shot reference entity pairs. Recent attempts solve this problem by learning static representations of entities and references, ignoring their dynamic properties, i.e., entities may exhibit diverse roles within task relations, and references may make different contributions to queries. This work proposes an adaptive attentional network for few-shot KG completion by learning adaptive entity and reference representations. Specifically, entities are modeled by an adaptive neighbor encoder to discern their task-oriented roles, while references are modeled by an adaptive query-aware aggregator to differentiate their contributions. Through the attention mechanism, both entities and references can capture their fine-grained semantic meanings, and thus render more expressive representations. This will be more predictive for knowledge acquisition in the few-shot scenario. Evaluation in link prediction on two public datasets shows that our approach achieves new state-of-the-art results with different few-shot sizes.

We present Emu, a system that semantically enhances multilingual sentence embeddings. Our framework fine-tunes pre-trained multilingual sentence embeddings using two main components: a semantic classifier and a language discriminator. The semantic classifier improves the semantic similarity of related sentences, whereas the language discriminator enhances the multilinguality of the embeddings via multilingual adversarial training. Our experimental results based on several language pairs show that our specialized embeddings outperform the state-of-the-art multilingual sentence embedding model on the task of cross-lingual intent classification using only monolingual labeled data.

Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis.

Spectral clustering is a leading and popular technique in unsupervised data analysis. Two of its major limitations are scalability and generalization of the spectral embedding (i.e., out-of-sample-extension). In this paper we introduce a deep learning approach to spectral clustering that overcomes the above shortcomings. Our network, which we call SpectralNet, learns a map that embeds input data points into the eigenspace of their associated graph Laplacian matrix and subsequently clusters them. We train SpectralNet using a procedure that involves constrained stochastic optimization. Stochastic optimization allows it to scale to large datasets, while the constraints, which are implemented using a special-purpose output layer, allow us to keep the network output orthogonal. Moreover, the map learned by SpectralNet naturally generalizes the spectral embedding to unseen data points. To further improve the quality of the clustering, we replace the standard pairwise Gaussian affinities with affinities leaned from unlabeled data using a Siamese network. Additional improvement can be achieved by applying the network to code representations produced, e.g., by standard autoencoders. Our end-to-end learning procedure is fully unsupervised. In addition, we apply VC dimension theory to derive a lower bound on the size of SpectralNet. State-of-the-art clustering results are reported on the Reuters dataset. Our implementation is publicly available at //github.com/kstant0725/SpectralNet .