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This work presents HiLMa-Res, a hierarchical framework leveraging reinforcement learning to tackle manipulation tasks while performing continuous locomotion using quadrupedal robots. Unlike most previous efforts that focus on solving a specific task, HiLMa-Res is designed to be general for various loco-manipulation tasks that require quadrupedal robots to maintain sustained mobility. The novel design of this framework tackles the challenges of integrating continuous locomotion control and manipulation using legs. It develops an operational space locomotion controller that can track arbitrary robot end-effector (toe) trajectories while walking at different velocities. This controller is designed to be general to different downstream tasks, and therefore, can be utilized in high-level manipulation planning policy to address specific tasks. To demonstrate the versatility of this framework, we utilize HiLMa-Res to tackle several challenging loco-manipulation tasks using a quadrupedal robot in the real world. These tasks span from leveraging state-based policy to vision-based policy, from training purely from the simulation data to learning from real-world data. In these tasks, HiLMa-Res shows better performance than other methods.

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A crucial reason for the success of existing NeRF-based methods is to build a neural density field for the geometry representation via multiple perceptron layers (MLPs). MLPs are continuous functions, however, real geometry or density field is frequently discontinuous at the interface between the air and the surface. Such a contrary brings the problem of unfaithful geometry representation. To this end, this paper proposes spiking NeRF, which leverages spiking neurons and a hybrid Artificial Neural Network (ANN)-Spiking Neural Network (SNN) framework to build a discontinuous density field for faithful geometry representation. Specifically, we first demonstrate the reason why continuous density fields will bring inaccuracy. Then, we propose to use the spiking neurons to build a discontinuous density field. We conduct a comprehensive analysis for the problem of existing spiking neuron models and then provide the numerical relationship between the parameter of the spiking neuron and the theoretical accuracy of geometry. Based on this, we propose a bounded spiking neuron to build the discontinuous density field. Our method achieves SOTA performance. The source code and the supplementary material are available at //github.com/liaozhanfeng/Spiking-NeRF.

We study infinite-horizon average-reward reinforcement learning (RL) for Lipschitz MDPs and develop an algorithm PZRL that discretizes the state-action space adaptively and zooms in to promising regions of the "policy space" which seems to yield high average rewards. We show that the regret of PZRL can be bounded as $\tilde{\mathcal{O}}\big(T^{1 - d_{\text{eff.}}^{-1}}\big)$, where $d_{\text{eff.}}= 2d_\mathcal{S} + d^\Phi_z+2$, $d_\mathcal{S}$ is the dimension of the state space, and $d^\Phi_z$ is the zooming dimension. $d^\Phi_z$ is a problem-dependent quantity that depends not only on the underlying MDP but also the class of policies $\Phi$ used by the agent, which allows us to conclude that if the agent apriori knows that optimal policy belongs to a low-complexity class (that has small $d^\Phi_z$), then its regret will be small. The current work shows how to capture adaptivity gains for infinite-horizon average-reward RL in terms of $d^\Phi_z$. We note that the preexisting notions of zooming dimension are adept at handling only the episodic RL case since zooming dimension approaches covering dimension of state-action space as $T\to\infty$ and hence do not yield any possible adaptivity gains. Several experiments are conducted to evaluate the performance of PZRL. PZRL outperforms other state-of-the-art algorithms; this clearly demonstrates the gains arising due to adaptivity.

Retrieval-Augmented Generation (RAG) merges retrieval methods with deep learning advancements to address the static limitations of large language models (LLMs) by enabling the dynamic integration of up-to-date external information. This methodology, focusing primarily on the text domain, provides a cost-effective solution to the generation of plausible but incorrect responses by LLMs, thereby enhancing the accuracy and reliability of their outputs through the use of real-world data. As RAG grows in complexity and incorporates multiple concepts that can influence its performance, this paper organizes the RAG paradigm into four categories: pre-retrieval, retrieval, post-retrieval, and generation, offering a detailed perspective from the retrieval viewpoint. It outlines RAG's evolution and discusses the field's progression through the analysis of significant studies. Additionally, the paper introduces evaluation methods for RAG, addressing the challenges faced and proposing future research directions. By offering an organized framework and categorization, the study aims to consolidate existing research on RAG, clarify its technological underpinnings, and highlight its potential to broaden the adaptability and applications of LLMs.

The problem of answering questions using knowledge from pre-trained language models (LMs) and knowledge graphs (KGs) presents two challenges: given a QA context (question and answer choice), methods need to (i) identify relevant knowledge from large KGs, and (ii) perform joint reasoning over the QA context and KG. In this work, we propose a new model, QA-GNN, which addresses the above challenges through two key innovations: (i) relevance scoring, where we use LMs to estimate the importance of KG nodes relative to the given QA context, and (ii) joint reasoning, where we connect the QA context and KG to form a joint graph, and mutually update their representations through graph neural networks. We evaluate QA-GNN on the CommonsenseQA and OpenBookQA datasets, and show its improvement over existing LM and LM+KG models, as well as its capability to perform interpretable and structured reasoning, e.g., correctly handling negation in questions.

There recently has been a surge of interest in developing a new class of deep learning (DL) architectures that integrate an explicit time dimension as a fundamental building block of learning and representation mechanisms. In turn, many recent results show that topological descriptors of the observed data, encoding information on the shape of the dataset in a topological space at different scales, that is, persistent homology of the data, may contain important complementary information, improving both performance and robustness of DL. As convergence of these two emerging ideas, we propose to enhance DL architectures with the most salient time-conditioned topological information of the data and introduce the concept of zigzag persistence into time-aware graph convolutional networks (GCNs). Zigzag persistence provides a systematic and mathematically rigorous framework to track the most important topological features of the observed data that tend to manifest themselves over time. To integrate the extracted time-conditioned topological descriptors into DL, we develop a new topological summary, zigzag persistence image, and derive its theoretical stability guarantees. We validate the new GCNs with a time-aware zigzag topological layer (Z-GCNETs), in application to traffic forecasting and Ethereum blockchain price prediction. Our results indicate that Z-GCNET outperforms 13 state-of-the-art methods on 4 time series datasets.

Graph Neural Networks (GNNs) have received considerable attention on graph-structured data learning for a wide variety of tasks. The well-designed propagation mechanism which has been demonstrated effective is the most fundamental part of GNNs. Although most of GNNs basically follow a message passing manner, litter effort has been made to discover and analyze their essential relations. In this paper, we establish a surprising connection between different propagation mechanisms with a unified optimization problem, showing that despite the proliferation of various GNNs, in fact, their proposed propagation mechanisms are the optimal solution optimizing a feature fitting function over a wide class of graph kernels with a graph regularization term. Our proposed unified optimization framework, summarizing the commonalities between several of the most representative GNNs, not only provides a macroscopic view on surveying the relations between different GNNs, but also further opens up new opportunities for flexibly designing new GNNs. With the proposed framework, we discover that existing works usually utilize naive graph convolutional kernels for feature fitting function, and we further develop two novel objective functions considering adjustable graph kernels showing low-pass or high-pass filtering capabilities respectively. Moreover, we provide the convergence proofs and expressive power comparisons for the proposed models. Extensive experiments on benchmark datasets clearly show that the proposed GNNs not only outperform the state-of-the-art methods but also have good ability to alleviate over-smoothing, and further verify the feasibility for designing GNNs with our unified optimization framework.

Existing few-shot learning (FSL) methods assume that there exist sufficient training samples from source classes for knowledge transfer to target classes with few training samples. However, this assumption is often invalid, especially when it comes to fine-grained recognition. In this work, we define a new FSL setting termed few-shot fewshot learning (FSFSL), under which both the source and target classes have limited training samples. To overcome the source class data scarcity problem, a natural option is to crawl images from the web with class names as search keywords. However, the crawled images are inevitably corrupted by large amount of noise (irrelevant images) and thus may harm the performance. To address this problem, we propose a graph convolutional network (GCN)-based label denoising (LDN) method to remove the irrelevant images. Further, with the cleaned web images as well as the original clean training images, we propose a GCN-based FSL method. For both the LDN and FSL tasks, a novel adaptive aggregation GCN (AdarGCN) model is proposed, which differs from existing GCN models in that adaptive aggregation is performed based on a multi-head multi-level aggregation module. With AdarGCN, how much and how far information carried by each graph node is propagated in the graph structure can be determined automatically, therefore alleviating the effects of both noisy and outlying training samples. Extensive experiments show the superior performance of our AdarGCN under both the new FSFSL and the conventional FSL settings.

This paper focuses on two fundamental tasks of graph analysis: community detection and node representation learning, which capture the global and local structures of graphs, respectively. In the current literature, these two tasks are usually independently studied while they are actually highly correlated. We propose a probabilistic generative model called vGraph to learn community membership and node representation collaboratively. Specifically, we assume that each node can be represented as a mixture of communities, and each community is defined as a multinomial distribution over nodes. Both the mixing coefficients and the community distribution are parameterized by the low-dimensional representations of the nodes and communities. We designed an effective variational inference algorithm which regularizes the community membership of neighboring nodes to be similar in the latent space. Experimental results on multiple real-world graphs show that vGraph is very effective in both community detection and node representation learning, outperforming many competitive baselines in both tasks. We show that the framework of vGraph is quite flexible and can be easily extended to detect hierarchical communities.

Sentiment analysis is a widely studied NLP task where the goal is to determine opinions, emotions, and evaluations of users towards a product, an entity or a service that they are reviewing. One of the biggest challenges for sentiment analysis is that it is highly language dependent. Word embeddings, sentiment lexicons, and even annotated data are language specific. Further, optimizing models for each language is very time consuming and labor intensive especially for recurrent neural network models. From a resource perspective, it is very challenging to collect data for different languages. In this paper, we look for an answer to the following research question: can a sentiment analysis model trained on a language be reused for sentiment analysis in other languages, Russian, Spanish, Turkish, and Dutch, where the data is more limited? Our goal is to build a single model in the language with the largest dataset available for the task, and reuse it for languages that have limited resources. For this purpose, we train a sentiment analysis model using recurrent neural networks with reviews in English. We then translate reviews in other languages and reuse this model to evaluate the sentiments. Experimental results show that our robust approach of single model trained on English reviews statistically significantly outperforms the baselines in several different languages.

State-of-the-art Convolutional Neural Network (CNN) benefits a lot from multi-task learning (MTL), which learns multiple related tasks simultaneously to obtain shared or mutually related representations for different tasks. The most widely-used MTL CNN structure is based on an empirical or heuristic split on a specific layer (e.g., the last convolutional layer) to minimize different task-specific losses. However, this heuristic sharing/splitting strategy may be harmful to the final performance of one or multiple tasks. In this paper, we propose a novel CNN structure for MTL, which enables automatic feature fusing at every layer. Specifically, we first concatenate features from different tasks according to their channel dimension, and then formulate the feature fusing problem as discriminative dimensionality reduction. We show that this discriminative dimensionality reduction can be done by 1x1 Convolution, Batch Normalization, and Weight Decay in one CNN, which we refer to as Neural Discriminative Dimensionality Reduction (NDDR). We perform ablation analysis in details for different configurations in training the network. The experiments carried out on different network structures and different task sets demonstrate the promising performance and desirable generalizability of our proposed method.

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