Low-Complexity MUSIC Algorithm: From Finite-Precision Perspective

The high computational complexity of the multiple signal classification (MUSIC) algorithm is mainly caused by the subspace decomposition and spectrum search, especially for frequent real-time applications or massive sensors. In this paper, we propose a low-complexity MUSIC algorithm from finite-precision arithmetic perspective. First, we analyze the computational bottlenecks of the classic low-complexity randomized unitary-based MUSIC (RU-MUSIC), formulating this computational issue as an inner product problem. Then, a mixed-precision method is introduced to address this problem. Specifically, this method partitions summations in inner products into blocks, where intra-block computations use low-precision arithmetic and inter-block sums use high-precision arithmetic. To further improve computational accuracy, we develop an adaptive-precision method that supports adaptive block sizes and multiple precision levels. Finally, simulation results show that the proposed finite-precision MUSIC design achieves direction-of-arrival (DOA) estimation performance similar to that using full-precision arithmetic while reducing more than 50\% computational cost.

Resource Heterogeneity-Aware and Utilization-Enhanced Scheduling for Deep Learning Clusters

Scheduling deep learning (DL) models to train on powerful clusters with accelerators like GPUs and TPUs, presently falls short, either lacking fine-grained heterogeneity awareness or leaving resources substantially under-utilized. To fill this gap, we propose a novel design of a task-level heterogeneity-aware scheduler, {\em Hadar}, based on an optimization framework that can boost resource utilization. {\em Hadar} leverages the performance traits of DL jobs on a heterogeneous DL cluster, characterizes the task-level performance heterogeneity in the optimization problem, and makes scheduling decisions across both spatial and temporal dimensions. %with the objective to reduce the average job completion time of DL jobs. It involves the primal-dual framework employing a dual subroutine, to solve the optimization problem and guide the scheduling design. Our trace-driven simulation with representative DL model training workloads demonstrates that {\em Hadar} accelerates the total time duration by 1.20$\times$ when compared with its state-of-the-art heterogeneity-aware counterpart, Gavel. Further, our {\em Hadar} scheduler is enhanced to {\em HadarE} by forking each job into multiple copies to let a job train concurrently on heterogeneous GPUs resided on separate available nodes (i.e., machines or servers) for resource utilization enhancement. {\em HadarE} is evaluated extensively on physical DL clusters for comparison with {\em Hadar} and Gavel. With substantial enhancement in cluster resource utilization (by 1.45$\times$), {\em HadarE} exhibits considerable speed-ups in DL model training, reducing the total time duration by 50\% (or 80\%) on an Amazon's AWS (or our lab) cluster, while producing trained DL models with consistently better inference quality than those trained by \textit{Hadar}.

AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems

We explore how scalable robot data can address real-world challenges for generalized robotic manipulation. Introducing AgiBot World, a large-scale platform comprising over 1 million trajectories across 217 tasks in five deployment scenarios, we achieve an order-of-magnitude increase in data scale compared to existing datasets. Accelerated by a standardized collection pipeline with human-in-the-loop verification, AgiBot World guarantees high-quality and diverse data distribution. It is extensible from grippers to dexterous hands and visuo-tactile sensors for fine-grained skill acquisition. Building on top of data, we introduce Genie Operator-1 (GO-1), a novel generalist policy that leverages latent action representations to maximize data utilization, demonstrating predictable performance scaling with increased data volume. Policies pre-trained on our dataset achieve an average performance improvement of 30% over those trained on Open X-Embodiment, both in in-domain and out-of-distribution scenarios. GO-1 exhibits exceptional capability in real-world dexterous and long-horizon tasks, achieving over 60% success rate on complex tasks and outperforming prior RDT approach by 32%. By open-sourcing the dataset, tools, and models, we aim to democratize access to large-scale, high-quality robot data, advancing the pursuit of scalable and general-purpose intelligence.

Ultrasound Image Synthesis Using Generative AI for Lung Ultrasound Detection

Developing reliable healthcare AI models requires training with representative and diverse data. In imbalanced datasets, model performance tends to plateau on the more prevalent classes while remaining low on less common cases. To overcome this limitation, we propose DiffUltra, the first generative AI technique capable of synthesizing realistic Lung Ultrasound (LUS) images with extensive lesion variability. Specifically, we condition the generative AI by the introduced Lesion-anatomy Bank, which captures the lesion's structural and positional properties from real patient data to guide the image synthesis.We demonstrate that DiffUltra improves consolidation detection by 5.6% in AP compared to the models trained solely on real patient data. More importantly, DiffUltra increases data diversity and prevalence of rare cases, leading to a 25% AP improvement in detecting rare instances such as large lung consolidations, which make up only 10% of the dataset.

Incentive-Compatible Federated Learning with Stackelberg Game Modeling

Federated Learning (FL) has gained prominence as a decentralized machine learning paradigm, allowing clients to collaboratively train a global model while preserving data privacy. Despite its potential, FL faces significant challenges in heterogeneous environments, where varying client resources and capabilities can undermine overall system performance. Existing approaches primarily focus on maximizing global model accuracy, often at the expense of unfairness among clients and suboptimal system efficiency, particularly in non-IID (non-Independent and Identically Distributed) settings. In this paper, we introduce FLamma, a novel Federated Learning framework based on adaptive gamma-based Stackelberg game, designed to address the aforementioned limitations and promote fairness. Our approach allows the server to act as the leader, dynamically adjusting a decay factor while clients, acting as followers, optimally select their number of local epochs to maximize their utility. Over time, the server incrementally balances client influence, initially rewarding higher-contributing clients and gradually leveling their impact, driving the system toward a Stackelberg Equilibrium. Extensive simulations on both IID and non-IID datasets show that our method significantly improves fairness in accuracy distribution without compromising overall model performance or convergence speed, outperforming traditional FL baselines.

MLLM-as-a-Judge for Image Safety without Human Labeling

Image content safety has become a significant challenge with the rise of visual media on online platforms. Meanwhile, in the age of AI-generated content (AIGC), many image generation models are capable of producing harmful content, such as images containing sexual or violent material. Thus, it becomes crucial to identify such unsafe images based on established safety rules. Pre-trained Multimodal Large Language Models (MLLMs) offer potential in this regard, given their strong pattern recognition abilities. Existing approaches typically fine-tune MLLMs with human-labeled datasets, which however brings a series of drawbacks. First, relying on human annotators to label data following intricate and detailed guidelines is both expensive and labor-intensive. Furthermore, users of safety judgment systems may need to frequently update safety rules, making fine-tuning on human-based annotation more challenging. This raises the research question: Can we detect unsafe images by querying MLLMs in a zero-shot setting using a predefined safety constitution (a set of safety rules)? Our research showed that simply querying pre-trained MLLMs does not yield satisfactory results. This lack of effectiveness stems from factors such as the subjectivity of safety rules, the complexity of lengthy constitutions, and the inherent biases in the models. To address these challenges, we propose a MLLM-based method includes objectifying safety rules, assessing the relevance between rules and images, making quick judgments based on debiased token probabilities with logically complete yet simplified precondition chains for safety rules, and conducting more in-depth reasoning with cascaded chain-of-thought processes if necessary. Experiment results demonstrate that our method is highly effective for zero-shot image safety judgment tasks.

From Pairwise to Ranking: Climbing the Ladder to Ideal Collaborative Filtering with Pseudo-Ranking

Intuitively, an ideal collaborative filtering (CF) model should learn from users' full rankings over all items to make optimal top-K recommendations. Due to the absence of such full rankings in practice, most CF models rely on pairwise loss functions to approximate full rankings, resulting in an immense performance gap. In this paper, we provide a novel analysis using the multiple ordinal classification concept to reveal the inevitable gap between a pairwise approximation and the ideal case. However, bridging the gap in practice encounters two formidable challenges: (1) none of the real-world datasets contains full ranking information; (2) there does not exist a loss function that is capable of consuming ranking information. To overcome these challenges, we propose a pseudo-ranking paradigm (PRP) that addresses the lack of ranking information by introducing pseudo-rankings supervised by an original noise injection mechanism. Additionally, we put forward a new ranking loss function designed to handle ranking information effectively. To ensure our method's robustness against potential inaccuracies in pseudo-rankings, we equip the ranking loss function with a gradient-based confidence mechanism to detect and mitigate abnormal gradients. Extensive experiments on four real-world datasets demonstrate that PRP significantly outperforms state-of-the-art methods.

Unlocking the Hidden Treasures: Enhancing Recommendations with Unlabeled Data

Collaborative filtering (CF) stands as a cornerstone in recommender systems, yet effectively leveraging the massive unlabeled data presents a significant challenge. Current research focuses on addressing the challenge of unlabeled data by extracting a subset that closely approximates negative samples. Regrettably, the remaining data are overlooked, failing to fully integrate this valuable information into the construction of user preferences. To address this gap, we introduce a novel positive-neutral-negative (PNN) learning paradigm. PNN introduces a neutral class, encompassing intricate items that are challenging to categorize directly as positive or negative samples. By training a model based on this triple-wise partial ranking, PNN offers a promising solution to learning complex user preferences. Through theoretical analysis, we connect PNN to one-way partial AUC (OPAUC) to validate its efficacy. Implementing the PNN paradigm is, however, technically challenging because: (1) it is difficult to classify unlabeled data into neutral or negative in the absence of supervised signals; (2) there does not exist any loss function that can handle set-level triple-wise ranking relationships. To address these challenges, we propose a semi-supervised learning method coupled with a user-aware attention model for knowledge acquisition and classification refinement. Additionally, a novel loss function with a two-step centroid ranking approach enables handling set-level rankings. Extensive experiments on four real-world datasets demonstrate that, when combined with PNN, a wide range of representative CF models can consistently and significantly boost their performance. Even with a simple matrix factorization, PNN can achieve comparable performance to sophisticated graph neutral networks.

Decoding fairness: a reinforcement learning perspective

Behavioral experiments on the ultimatum game (UG) reveal that we humans prefer fair acts, which contradicts the prediction made in orthodox Economics. Existing explanations, however, are mostly attributed to exogenous factors within the imitation learning framework. Here, we adopt the reinforcement learning paradigm, where individuals make their moves aiming to maximize their accumulated rewards. Specifically, we apply Q-learning to UG, where each player is assigned two Q-tables to guide decisions for the roles of proposer and responder. In a two-player scenario, fairness emerges prominently when both experiences and future rewards are appreciated. In particular, the probability of successful deals increases with higher offers, which aligns with observations in behavioral experiments. Our mechanism analysis reveals that the system undergoes two phases, eventually stabilizing into fair or rational strategies. These results are robust when the rotating role assignment is replaced by a random or fixed manner, or the scenario is extended to a latticed population. Our findings thus conclude that the endogenous factor is sufficient to explain the emergence of fairness, exogenous factors are not needed.

DirectorLLM for Human-Centric Video Generation

In this paper, we introduce DirectorLLM, a novel video generation model that employs a large language model (LLM) to orchestrate human poses within videos. As foundational text-to-video models rapidly evolve, the demand for high-quality human motion and interaction grows. To address this need and enhance the authenticity of human motions, we extend the LLM from a text generator to a video director and human motion simulator. Utilizing open-source resources from Llama 3, we train the DirectorLLM to generate detailed instructional signals, such as human poses, to guide video generation. This approach offloads the simulation of human motion from the video generator to the LLM, effectively creating informative outlines for human-centric scenes. These signals are used as conditions by the video renderer, facilitating more realistic and prompt-following video generation. As an independent LLM module, it can be applied to different video renderers, including UNet and DiT, with minimal effort. Experiments on automatic evaluation benchmarks and human evaluations show that our model outperforms existing ones in generating videos with higher human motion fidelity, improved prompt faithfulness, and enhanced rendered subject naturalness.