Collision Risk Quantification and Conflict Resolution in Trajectory Tracking for Acceleration-Actuated Multi-Robot Systems

One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free for an arbitrarily large number of robots or the results are considerably conservative. Smoothness of the avoidance trajectory also needs to be further optimized. This paper proposes an accelerationactuated simultaneous obstacle avoidance and trajectory tracking method for arbitrarily large teams of robots, that provides a nonconservative collision avoidance strategy and gives approaches for deadlock avoidance. We propose two ways of deadlock resolution, one involves incorporating an auxiliary velocity vector into the error function of the trajectory tracking module, which is proven to have no influence on global convergence of the tracking error. Furthermore, unlike the traditional methods that they address conflicts after a deadlock occurs, our decision-making mechanism avoids the near-zero velocity, which is much more safer and efficient in crowed environments. Extensive comparison show that the proposed method is superior to the existing studies when deployed in a large-scale robot system, with minimal invasiveness.

Scaling Laws for Floating Point Quantization Training

Low-precision training is considered an effective strategy for reducing both training and downstream inference costs. Previous scaling laws for precision mainly focus on integer quantization, which pay less attention to the constituents in floating-point quantization and thus cannot well fit the LLM losses in this scenario. In contrast, while floating-point quantization training is more commonly implemented in production, the research on it has been relatively superficial. In this paper, we thoroughly explore the effects of floating-point quantization targets, exponent bits, mantissa bits, and the calculation granularity of the scaling factor in floating-point quantization training performance of LLM models. While presenting an accurate floating-point quantization unified scaling law, we also provide valuable suggestions for the community: (1) Exponent bits contribute slightly more to the model performance than mantissa bits. We provide the optimal exponent-mantissa bit ratio for different bit numbers, which is available for future reference by hardware manufacturers; (2) We discover the formation of the critical data size in low-precision LLM training. Too much training data exceeding the critical data size will inversely bring in degradation of LLM performance; (3) The optimal floating-point quantization precision is directly proportional to the computational power, but within a wide computational power range, we estimate that the best cost-performance precision lies between 4-8 bits.

Label-free SERS Discrimination of Proline from Hydroxylated Proline at Single-molecule Level Assisted by a Deep Learning Model

Discriminating the low-abundance hydroxylated proline from hydroxylated proline is crucial for monitoring diseases and eval-uating therapeutic outcomes that require single-molecule sensors. While the plasmonic nanopore sensor can detect the hydrox-ylation with single-molecule sensitivity by surface enhanced Raman spectroscopy (SERS), it suffers from intrinsic fluctuations of single-molecule signals as well as strong interference from citrates. Here, we used the occurrence frequency histogram of the single-molecule SERS peaks to extract overall dataset spectral features, overcome the signal fluctuations and investigate the citrate-replaced plasmonic nanopore sensors for clean and distinguishable signals of proline and hydroxylated proline. By ligand exchange of the citrates by analyte molecules, the representative peaks of citrates decreased with incubation time, prov-ing occupation of the plasmonic hot spot by the analytes. As a result, the discrimination of the single-molecule SERS signals of proline and hydroxylated proline was possible with the convolutional neural network model with 96.6% accuracy.

Conditional Diffusion Models Based Conditional Independence Testing

Conditional independence (CI) testing is a fundamental task in modern statistics and machine learning. The conditional randomization test (CRT) was recently introduced to test whether two random variables, $X$ and $Y$, are conditionally independent given a potentially high-dimensional set of random variables, $Z$. The CRT operates exceptionally well under the assumption that the conditional distribution $X|Z$ is known. However, since this distribution is typically unknown in practice, accurately approximating it becomes crucial. In this paper, we propose using conditional diffusion models (CDMs) to learn the distribution of $X|Z$. Theoretically and empirically, it is shown that CDMs closely approximate the true conditional distribution. Furthermore, CDMs offer a more accurate approximation of $X|Z$ compared to GANs, potentially leading to a CRT that performs better than those based on GANs. To accommodate complex dependency structures, we utilize a computationally efficient classifier-based conditional mutual information (CMI) estimator as our test statistic. The proposed testing procedure performs effectively without requiring assumptions about specific distribution forms or feature dependencies, and is capable of handling mixed-type conditioning sets that include both continuous and discrete variables. Theoretical analysis shows that our proposed test achieves a valid control of the type I error. A series of experiments on synthetic data demonstrates that our new test effectively controls both type-I and type-II errors, even in high dimensional scenarios.

Dynamic-VLM: Simple Dynamic Visual Token Compression for VideoLLM

The application of Large Vision-Language Models (LVLMs) for analyzing images and videos is an exciting and rapidly evolving field. In recent years, we've seen significant growth in high-quality image-text datasets for fine-tuning image understanding, but there is still a lack of comparable datasets for videos. Additionally, many VideoLLMs are extensions of single-image VLMs, which may not efficiently handle the complexities of longer videos. In this study, we introduce a large-scale synthetic dataset created from proprietary models, using carefully designed prompts to tackle a wide range of questions. We also explore a dynamic visual token compression architecture that strikes a balance between computational efficiency and performance. Our proposed \model{} achieves state-of-the-art results across various video tasks and shows impressive generalization, setting new baselines in multi-image understanding. Notably, \model{} delivers an absolute improvement of 2.7\% over LLaVA-OneVision on VideoMME and 10.7\% on MuirBench. Codes are available at https://github.com/Hon-Wong/ByteVideoLLM

HunyuanVideo: A Systematic Framework For Large Video Generative Models

Recent advancements in video generation have significantly impacted daily life for both individuals and industries. However, the leading video generation models remain closed-source, resulting in a notable performance gap between industry capabilities and those available to the public. In this report, we introduce HunyuanVideo, an innovative open-source video foundation model that demonstrates performance in video generation comparable to, or even surpassing, that of leading closed-source models. HunyuanVideo encompasses a comprehensive framework that integrates several key elements, including data curation, advanced architectural design, progressive model scaling and training, and an efficient infrastructure tailored for large-scale model training and inference. As a result, we successfully trained a video generative model with over 13 billion parameters, making it the largest among all open-source models. We conducted extensive experiments and implemented a series of targeted designs to ensure high visual quality, motion dynamics, text-video alignment, and advanced filming techniques. According to evaluations by professionals, HunyuanVideo outperforms previous state-of-the-art models, including Runway Gen-3, Luma 1.6, and three top-performing Chinese video generative models. By releasing the code for the foundation model and its applications, we aim to bridge the gap between closed-source and open-source communities. This initiative will empower individuals within the community to experiment with their ideas, fostering a more dynamic and vibrant video generation ecosystem. The code is publicly available at https://github.com/Tencent/HunyuanVideo.

GraphOTTER: Evolving LLM-based Graph Reasoning for Complex Table Question Answering

Complex Table Question Answering involves providing accurate answers to specific questions based on intricate tables that exhibit complex layouts and flexible header locations. Despite considerable progress having been made in the LLM era, the reasoning processes of existing methods are often implicit, feeding the entire table into prompts, making it difficult to effectively filter out irrelevant information in the table. To this end, we propose GraphOTTER that explicitly establishes the reasoning process to pinpoint the correct answers. In particular, GraphOTTER leverages a graph-based representation, transforming the complex table into an undirected graph. It then conducts step-by-step reasoning on the graph, with each step guided by a set of pre-defined intermediate reasoning actions. As such, it constructs a clear reasoning path and effectively identifies the answer to a given question. Comprehensive experiments on two benchmark datasets and two LLM backbones demonstrate the effectiveness of GraphOTTER. Further analysis indicates that its success may be attributed to the ability to efficiently filter out irrelevant information, thereby focusing the reasoning process on the most pertinent data. Our code and experimental datasets are available at \url{https://github.com/JDing0521/GraphOTTER}.

Learning a Neural Association Network for Self-supervised Multi-Object Tracking

This paper introduces a novel framework to learn data association for multi-object tracking in a self-supervised manner. Fully-supervised learning methods are known to achieve excellent tracking performances, but acquiring identity-level annotations is tedious and time-consuming. Motivated by the fact that in real-world scenarios object motion can be usually represented by a Markov process, we present a novel expectation maximization (EM) algorithm that trains a neural network to associate detections for tracking, without requiring prior knowledge of their temporal correspondences. At the core of our method lies a neural Kalman filter, with an observation model conditioned on associations of detections parameterized by a neural network. Given a batch of frames as input, data associations between detections from adjacent frames are predicted by a neural network followed by a Sinkhorn normalization that determines the assignment probabilities of detections to states. Kalman smoothing is then used to obtain the marginal probability of observations given the inferred states, producing a training objective to maximize this marginal probability using gradient descent. The proposed framework is fully differentiable, allowing the underlying neural model to be trained end-to-end. We evaluate our approach on the challenging MOT17 and MOT20 datasets and achieve state-of-the-art results in comparison to self-supervised trackers using public detections. We furthermore demonstrate the capability of the learned model to generalize across datasets.

Learning Versatile Skills with Curriculum Masking

Masked prediction has emerged as a promising pretraining paradigm in offline reinforcement learning (RL) due to its versatile masking schemes, enabling flexible inference across various downstream tasks with a unified model. Despite the versatility of masked prediction, it remains unclear how to balance the learning of skills at different levels of complexity. To address this, we propose CurrMask, a curriculum masking pretraining paradigm for sequential decision making. Motivated by how humans learn by organizing knowledge in a curriculum, CurrMask adjusts its masking scheme during pretraining for learning versatile skills. Through extensive experiments, we show that CurrMask exhibits superior zero-shot performance on skill prompting tasks, goal-conditioned planning tasks, and competitive finetuning performance on offline RL tasks. Additionally, our analysis of training dynamics reveals that CurrMask gradually acquires skills of varying complexity by dynamically adjusting its masking scheme.

Approximately Invertible Neural Network for Learned Image Compression

Learned image compression have attracted considerable interests in recent years. It typically comprises an analysis transform, a synthesis transform, quantization and an entropy coding model. The analysis transform and synthesis transform are used to encode an image to latent feature and decode the quantized feature to reconstruct the image, and can be regarded as coupled transforms. However, the analysis transform and synthesis transform are designed independently in the existing methods, making them unreliable in high-quality image compression. Inspired by the invertible neural networks in generative modeling, invertible modules are used to construct the coupled analysis and synthesis transforms. Considering the noise introduced in the feature quantization invalidates the invertible process, this paper proposes an Approximately Invertible Neural Network (A-INN) framework for learned image compression. It formulates the rate-distortion optimization in lossy image compression when using INN with quantization, which differentiates from using INN for generative modelling. Generally speaking, A-INN can be used as the theoretical foundation for any INN based lossy compression method. Based on this formulation, A-INN with a progressive denoising module (PDM) is developed to effectively reduce the quantization noise in the decoding. Moreover, a Cascaded Feature Recovery Module (CFRM) is designed to learn high-dimensional feature recovery from low-dimensional ones to further reduce the noise in feature channel compression. In addition, a Frequency-enhanced Decomposition and Synthesis Module (FDSM) is developed by explicitly enhancing the high-frequency components in an image to address the loss of high-frequency information inherent in neural network based image compression. Extensive experiments demonstrate that the proposed A-INN outperforms the existing learned image compression methods.