XRDSLAM: A Flexible and Modular Framework for Deep Learning based SLAM

In this paper, we propose a flexible SLAM framework, XRDSLAM. It adopts a modular code design and a multi-process running mechanism, providing highly reusable foundational modules such as unified dataset management, 3d visualization, algorithm configuration, and metrics evaluation. It can help developers quickly build a complete SLAM system, flexibly combine different algorithm modules, and conduct standardized benchmarking for accuracy and efficiency comparison. Within this framework, we integrate several state-of-the-art SLAM algorithms with different types, including NeRF and 3DGS based SLAM, and even odometry or reconstruction algorithms, which demonstrates the flexibility and extensibility. We also conduct a comprehensive comparison and evaluation of these integrated algorithms, analyzing the characteristics of each. Finally, we contribute all the code, configuration and data to the open-source community, which aims to promote the widespread research and development of SLAM technology within the open-source ecosystem.

jina-embeddings-v3: Multilingual Embeddings With Task LoRA

We introduce jina-embeddings-v3, a novel text embedding model with 570 million parameters, achieves state-of-the-art performance on multilingual data and long-context retrieval tasks, supporting context lengths of up to 8192 tokens. The model includes a set of task-specific Low-Rank Adaptation (LoRA) adapters to generate high-quality embeddings for query-document retrieval, clustering, classification, and text matching. Additionally, Matryoshka Representation Learning is integrated into the training process, allowing flexible truncation of embedding dimensions without compromising performance. Evaluation on the MTEB benchmark shows that jina-embeddings-v3 outperforms the latest proprietary embeddings from OpenAI and Cohere on English tasks, while achieving superior performance compared to multilingual-e5-large-instruct across all multilingual tasks.

Jina-ColBERT-v2: A General-Purpose Multilingual Late Interaction Retriever

Multi-vector dense models, such as ColBERT, have proven highly effective in information retrieval. ColBERT's late interaction scoring approximates the joint query-document attention seen in cross-encoders while maintaining inference efficiency closer to traditional dense retrieval models, thanks to its bi-encoder architecture and recent optimizations in indexing and search. In this paper, we introduce a novel architecture and a training framework to support long context window and multilingual retrieval. Our new model, Jina-ColBERT-v2, demonstrates strong performance across a range of English and multilingual retrieval tasks,

LLM-based MOFs Synthesis Condition Extraction using Few-Shot Demonstrations

The extraction of Metal-Organic Frameworks (MOFs) synthesis conditions from literature text has been challenging but crucial for the logical design of new MOFs with desirable functionality. The recent advent of large language models (LLMs) provides disruptively new solution to this long-standing problem and latest researches have reported over 90% F1 in extracting correct conditions from MOFs literature. We argue in this paper that most existing synthesis extraction practices with LLMs stay with the primitive zero-shot learning, which could lead to downgraded extraction and application performance due to the lack of specialized knowledge. This work pioneers and optimizes the few-shot in-context learning paradigm for LLM extraction of material synthesis conditions. First, we propose a human-AI joint data curation process to secure high-quality ground-truth demonstrations for few-shot learning. Second, we apply a BM25 algorithm based on the retrieval-augmented generation (RAG) technique to adaptively select few-shot demonstrations for each MOF's extraction. Over a dataset randomly sampled from 84,898 well-defined MOFs, the proposed few-shot method achieves much higher average F1 performance (0.93 vs. 0.81, +14.8%) than the native zero-shot LLM using the same GPT-4 model, under fully automatic evaluation that are more objective than the previous human evaluation. The proposed method is further validated through real-world material experiments: compared with the baseline zero-shot LLM, the proposed few-shot approach increases the MOFs structural inference performance (R^2) by 29.4% in average.

Leveraging Passage Embeddings for Efficient Listwise Reranking with Large Language Models

Recent studies have demonstrated the effectiveness of using large language language models (LLMs) in passage ranking. The listwise approaches, such as RankGPT, have become new state-of-the-art in this task. However, the efficiency of RankGPT models is limited by the maximum context length and relatively high latency of LLM inference. To address these issues, in this paper, we propose PE-Rank, leveraging the single passage embedding as a good context compression for efficient listwise passage reranking. By treating each passage as a special token, we can directly input passage embeddings into LLMs, thereby reducing input length. Additionally, we introduce an inference method that dynamically constrains the decoding space to these special tokens, accelerating the decoding process. For adapting the model to reranking, we employ listwise learning to rank loss for training. Evaluation results on multiple benchmarks demonstrate that PE-Rank significantly improves efficiency in both prefilling and decoding, while maintaining competitive ranking effectiveness. {The Code is available at \url{https://github.com/liuqi6777/pe_rank}.}

Faster Convergence on Heterogeneous Federated Edge Learning: An Adaptive Sidelink-Assisted Data Multicasting Approach

Federated Edge Learning (FEEL) emerges as a pioneering distributed machine learning paradigm for the 6G Hyper-Connectivity, harnessing data from the Internet of Things (IoT) devices while upholding data privacy. However, current FEEL algorithms struggle with non-independent and non-identically distributed (non-IID) data, leading to elevated communication costs and compromised model accuracy. To address these statistical imbalances within FEEL, we introduce a clustered data sharing framework, mitigating data heterogeneity by selectively sharing partial data from cluster heads to trusted associates through sidelink-aided multicasting. The collective communication pattern is integral to FEEL training, where both cluster formation and the efficiency of communication and computation impact training latency and accuracy simultaneously. To tackle the strictly coupled data sharing and resource optimization, we decompose the overall optimization problem into the clients clustering and effective data sharing subproblems. Specifically, a distribution-based adaptive clustering algorithm (DACA) is devised basing on three deductive cluster forming conditions, which ensures the maximum sharing yield. Meanwhile, we design a stochastic optimization based joint computed frequency and shared data volume optimization (JFVO) algorithm, determining the optimal resource allocation with an uncertain objective function. The experiments show that the proposed framework facilitates FEEL on non-IID datasets with faster convergence rate and higher model accuracy in a limited communication environment.

PGSR: Planar-based Gaussian Splatting for Efficient and High-Fidelity Surface Reconstruction

Recently, 3D Gaussian Splatting (3DGS) has attracted widespread attention due to its high-quality rendering, and ultra-fast training and rendering speed. However, due to the unstructured and irregular nature of Gaussian point clouds, it is difficult to guarantee geometric reconstruction accuracy and multi-view consistency simply by relying on image reconstruction loss. Although many studies on surface reconstruction based on 3DGS have emerged recently, the quality of their meshes is generally unsatisfactory. To address this problem, we propose a fast planar-based Gaussian splatting reconstruction representation (PGSR) to achieve high-fidelity surface reconstruction while ensuring high-quality rendering. Specifically, we first introduce an unbiased depth rendering method, which directly renders the distance from the camera origin to the Gaussian plane and the corresponding normal map based on the Gaussian distribution of the point cloud, and divides the two to obtain the unbiased depth. We then introduce single-view geometric, multi-view photometric, and geometric regularization to preserve global geometric accuracy. We also propose a camera exposure compensation model to cope with scenes with large illumination variations. Experiments on indoor and outdoor scenes show that our method achieves fast training and rendering while maintaining high-fidelity rendering and geometric reconstruction, outperforming 3DGS-based and NeRF-based methods.

Motion Planning for Hybrid Dynamical Systems: Framework, Algorithm Template, and a Sampling-based Approach

This paper focuses on the motion planning problem for the systems exhibiting both continuous and discrete behaviors, which we refer to as hybrid dynamical systems. Firstly, the motion planning problem for hybrid systems is formulated using the hybrid equation framework, which is general to capture most hybrid systems. Secondly, a propagation algorithm template is proposed that describes a general framework to solve the motion planning problem for hybrid systems. Thirdly, a rapidly-exploring random trees (RRT) implementation of the proposed algorithm template is designed to solve the motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HyRRT, randomly picks a state sample and extends the search tree by flow or jump, which is also chosen randomly when both regimes are possible. Through a definition of concatenation of functions defined on hybrid time domains, we show that HyRRT is probabilistically complete, namely, the probability of failing to find a motion plan approaches zero as the number of iterations of the algorithm increases. This property is guaranteed under mild conditions on the data defining the motion plan, which include a relaxation of the usual positive clearance assumption imposed in the literature of classical systems. The motion plan is computed through the solution of two optimization problems, one associated with the flow and the other with the jumps of the system. The proposed algorithm is applied to an actuated bouncing ball system and a walking robot system so as to highlight its generality and computational features.

GLADformer: A Mixed Perspective for Graph-level Anomaly Detection

Graph-Level Anomaly Detection (GLAD) aims to distinguish anomalous graphs within a graph dataset. However, current methods are constrained by their receptive fields, struggling to learn global features within the graphs. Moreover, most contemporary methods are based on spatial domain and lack exploration of spectral characteristics. In this paper, we propose a multi-perspective hybrid graph-level anomaly detector namely GLADformer, consisting of two key modules. Specifically, we first design a Graph Transformer module with global spectrum enhancement, which ensures balanced and resilient parameter distributions by fusing global features and spectral distribution characteristics. Furthermore, to uncover local anomalous attributes, we customize a band-pass spectral GNN message passing module that further enhances the model's generalization capability. Through comprehensive experiments on ten real-world datasets from multiple domains, we validate the effectiveness and robustness of GLADformer. This demonstrates that GLADformer outperforms current state-of-the-art models in graph-level anomaly detection, particularly in effectively capturing global anomaly representations and spectral characteristics.

Jina CLIP: Your CLIP Model Is Also Your Text Retriever

Contrastive Language-Image Pretraining (CLIP) is widely used to train models to align images and texts in a common embedding space by mapping them to fixed-sized vectors. These models are key to multimodal information retrieval and related tasks. However, CLIP models generally underperform in text-only tasks compared to specialized text models. This creates inefficiencies for information retrieval systems that keep separate embeddings and models for text-only and multimodal tasks. We propose a novel, multi-task contrastive training method to address this issue, which we use to train the jina-clip-v1 model to achieve the state-of-the-art performance on both text-image and text-text retrieval tasks.