Robust UAV Path Planning with Obstacle Avoidance for Emergency Rescue

The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle avoidance for UAVs is a significant issue for security assurance. In this paper, we construct a comprehensive 3D scenario with obstacles and no-fly zones for dynamic UAV trajectory. Moreover, a novel artificial potential field algorithm coupled with simulated annealing (APF-SA) is proposed to tackle the robust path planning problem. APF-SA modifies the attractive and repulsive potential functions and leverages simulated annealing to escape local minimum and converge to globally optimal solutions. Simulation results demonstrate that the effectiveness of APF-SA, enabling efficient autonomous path planning for UAVs with obstacle avoidance.

Navigating the OverKill in Large Language Models

Large language models are meticulously aligned to be both helpful and harmless. However, recent research points to a potential overkill which means models may refuse to answer benign queries. In this paper, we investigate the factors for overkill by exploring how models handle and determine the safety of queries. Our findings reveal the presence of shortcuts within models, leading to an over-attention of harmful words like 'kill' and prompts emphasizing safety will exacerbate overkill. Based on these insights, we introduce Self-Contrastive Decoding (Self-CD), a training-free and model-agnostic strategy, to alleviate this phenomenon. We first extract such over-attention by amplifying the difference in the model's output distributions when responding to system prompts that either include or omit an emphasis on safety. Then we determine the final next-token predictions by downplaying the over-attention from the model via contrastive decoding. Empirical results indicate that our method has achieved an average reduction of the refusal rate by 20\% while having almost no impact on safety.

Secrets of RLHF in Large Language Models Part II: Reward Modeling

Reinforcement Learning from Human Feedback (RLHF) has become a crucial technology for aligning language models with human values and intentions, enabling models to produce more helpful and harmless responses. Reward models are trained as proxies for human preferences to drive reinforcement learning optimization. While reward models are often considered central to achieving high performance, they face the following challenges in practical applications: (1) Incorrect and ambiguous preference pairs in the dataset may hinder the reward model from accurately capturing human intent. (2) Reward models trained on data from a specific distribution often struggle to generalize to examples outside that distribution and are not suitable for iterative RLHF training. In this report, we attempt to address these two issues. (1) From a data perspective, we propose a method to measure the strength of preferences within the data, based on a voting mechanism of multiple reward models. Experimental results confirm that data with varying preference strengths have different impacts on reward model performance. We introduce a series of novel methods to mitigate the influence of incorrect and ambiguous preferences in the dataset and fully leverage high-quality preference data. (2) From an algorithmic standpoint, we introduce contrastive learning to enhance the ability of reward models to distinguish between chosen and rejected responses, thereby improving model generalization. Furthermore, we employ meta-learning to enable the reward model to maintain the ability to differentiate subtle differences in out-of-distribution samples, and this approach can be utilized for iterative RLHF optimization.

High Noise Immune Time-domain Inversion via Cascade Network for Complex Scatterers

In this paper, a high noise immune time-domain inversion cascade network (TICaN) is proposed to reconstruct scatterers from the measured electromagnetic fields. The TICaN is comprised of a denoising block aiming at improving the signal-to-noise ratio, and an inversion block to reconstruct the electromagnetic properties from the raw time-domain measurements. The scatterers investigated in this study include complicated geometry shapes and high contrast, which cover the stratum layer, lossy medium and hyperfine structure, etc. After being well trained, the performance of the TICaN is evaluated from the perspective of accuracy, noise-immunity, computational acceleration, and generalizability. It can be proven that the proposed framework can realize high-precision inversion under high-intensity noise environments. Compared with traditional reconstruction methods, TICaN avoids the tedious iterative calculation by utilizing the parallel computing ability of GPU and thus significantly reduce the computing time. Besides, the proposed TICaN has certain generalization ability in reconstructing the unknown scatterers such as the famous Austria rings. Herein, it is confident that the proposed TICaN will serve as a new path for real-time quantitative microwave imaging for various practical scenarios.