Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopic Sets

Safely navigating around obstacles while respecting the dynamics, control, and geometry of the underlying system is a key challenge in robotics. Control Barrier Functions (CBFs) generate safe control policies by considering system dynamics and geometry when calculating safe forward-invariant sets. Existing CBF-based methods often rely on conservative shape approximations, like spheres or ellipsoids, which have explicit and differentiable distance functions. In this paper, we propose an optimization-defined CBF that directly considers the exact Signed Distance Function (SDF) between a polytopic robot and polytopic obstacles. Inspired by the Gilbert-Johnson-Keerthi (GJK) algorithm, we formulate both (i) minimum distance and (ii) penetration depth between polytopic sets as convex optimization problems in the space of Minkowski difference operations (the MD-space). Convenient geometric properties of the MD-space enable the derivatives of implicit SDF between two polytopes to be computed via differentiable optimization. We demonstrate the proposed framework in three scenarios including pure translation, initialization inside an unsafe set, and multi-obstacle avoidance. These three scenarios highlight the generation of a non-conservative maneuver, a recovery after starting in collision, and the consideration of multiple obstacles via pairwise CBF constraint, respectively.

Effective and Efficient Representation Learning for Flight Trajectories

Flight trajectory data plays a vital role in the traffic management community, especially for downstream tasks such as trajectory prediction, flight recognition, and anomaly detection. Existing works often utilize handcrafted features and design models for different tasks individually, which heavily rely on domain expertise and are hard to extend. We argue that different flight analysis tasks share the same useful features of the trajectory. Jointly learning a unified representation for flight trajectories could be beneficial for improving the performance of various tasks. However, flight trajectory representation learning (TRL) faces two primary challenges, \ie unbalanced behavior density and 3D spatial continuity, which disable recent general TRL methods. In this paper, we propose Flight2Vec , a flight-specific representation learning method to address these challenges. Specifically, a behavior-adaptive patching mechanism is used to inspire the learned representation to pay more attention to behavior-dense segments. Moreover, we introduce a motion trend learning technique that guides the model to memorize not only the precise locations, but also the motion trend to generate better representations. Extensive experimental results demonstrate that Flight2Vec significantly improves performance in downstream tasks such as flight trajectory prediction, flight recognition, and anomaly detection.

GATE OpenING: A Comprehensive Benchmark for Judging Open-ended Interleaved Image-Text Generation

Multimodal Large Language Models (MLLMs) have made significant strides in visual understanding and generation tasks. However, generating interleaved image-text content remains a challenge, which requires integrated multimodal understanding and generation abilities. While the progress in unified models offers new solutions, existing benchmarks are insufficient for evaluating these methods due to data size and diversity limitations. To bridge this gap, we introduce GATE OpenING (OpenING), a comprehensive benchmark comprising 5,400 high-quality human-annotated instances across 56 real-world tasks. OpenING covers diverse daily scenarios such as travel guide, design, and brainstorming, offering a robust platform for challenging interleaved generation methods. In addition, we present IntJudge, a judge model for evaluating open-ended multimodal generation methods. Trained with a novel data pipeline, our IntJudge achieves an agreement rate of 82. 42% with human judgments, outperforming GPT-based evaluators by 11.34%. Extensive experiments on OpenING reveal that current interleaved generation methods still have substantial room for improvement. Key findings on interleaved image-text generation are further presented to guide the development of next-generation models. The OpenING is open-sourced at https://opening-benchmark.github.io.

Co-clustering for Federated Recommender System

As data privacy and security attract increasing attention, Federated Recommender System (FRS) offers a solution that strikes a balance between providing high-quality recommendations and preserving user privacy. However, the presence of statistical heterogeneity in FRS, commonly observed due to personalized decision-making patterns, can pose challenges. To address this issue and maximize the benefit of collaborative filtering (CF) in FRS, it is intuitive to consider clustering clients (users) as well as items into different groups and learning group-specific models. Existing methods either resort to client clustering via user representations-risking privacy leakage, or employ classical clustering strategies on item embeddings or gradients, which we found are plagued by the curse of dimensionality. In this paper, we delve into the inefficiencies of the K-Means method in client grouping, attributing failures due to the high dimensionality as well as data sparsity occurring in FRS, and propose CoFedRec, a novel Co-clustering Federated Recommendation mechanism, to address clients heterogeneity and enhance the collaborative filtering within the federated framework. Specifically, the server initially formulates an item membership from the client-provided item networks. Subsequently, clients are grouped regarding a specific item category picked from the item membership during each communication round, resulting in an intelligently aggregated group model. Meanwhile, to comprehensively capture the global inter-relationships among items, we incorporate an additional supervised contrastive learning term based on the server-side generated item membership into the local training phase for each client. Extensive experiments on four datasets are provided, which verify the effectiveness of the proposed CoFedRec.

A Dual-Fusion Cognitive Diagnosis Framework for Open Student Learning Environments

Cognitive diagnosis model (CDM) is a fundamental and upstream component in intelligent education. It aims to infer students' mastery levels based on historical response logs. However, existing CDMs usually follow the ID-based embedding paradigm, which could often diminish the effectiveness of CDMs in open student learning environments. This is mainly because they can hardly directly infer new students' mastery levels or utilize new exercises or knowledge without retraining. Textual semantic information, due to its unified feature space and easy accessibility, can help alleviate this issue. Unfortunately, directly incorporating semantic information may not benefit CDMs, since it does not capture response-relevant features and thus discards the individual characteristics of each student. To this end, this paper proposes a dual-fusion cognitive diagnosis framework (DFCD) to address the challenge of aligning two different modalities, i.e., textual semantic features and response-relevant features. Specifically, in DFCD, we first propose the exercise-refiner and concept-refiner to make the exercises and knowledge concepts more coherent and reasonable via large language models. Then, DFCD encodes the refined features using text embedding models to obtain the semantic information. For response-related features, we propose a novel response matrix to fully incorporate the information within the response logs. Finally, DFCD designs a dual-fusion module to merge the two modal features. The ultimate representations possess the capability of inference in open student learning environments and can be also plugged in existing CDMs. Extensive experiments across real-world datasets show that DFCD achieves superior performance by integrating different modalities and strong adaptability in open student learning environments.

Preference Diffusion for Recommendation

Recommender systems predict personalized item rankings based on user preference distributions derived from historical behavior data. Recently, diffusion models (DMs) have gained attention in recommendation for their ability to model complex distributions, yet current DM-based recommenders often rely on traditional objectives like mean squared error (MSE) or recommendation objectives, which are not optimized for personalized ranking tasks or fail to fully leverage DM's generative potential. To address this, we propose PreferDiff, a tailored optimization objective for DM-based recommenders. PreferDiff transforms BPR into a log-likelihood ranking objective and integrates multiple negative samples to better capture user preferences. Specifically, we employ variational inference to handle the intractability through minimizing the variational upper bound and replaces MSE with cosine error to improve alignment with recommendation tasks. Finally, we balance learning generation and preference to enhance the training stability of DMs. PreferDiff offers three key benefits: it is the first personalized ranking loss designed specifically for DM-based recommenders and it improves ranking and faster convergence by addressing hard negatives. We also prove that it is theoretically connected to Direct Preference Optimization which indicates that it has the potential to align user preferences in DM-based recommenders via generative modeling. Extensive experiments across three benchmarks validate its superior recommendation performance and commendable general sequential recommendation capabilities. Our codes are available at \url{https://github.com/lswhim/PreferDiff}.

Audio Enhancement for Computer Audition -- An Iterative Training Paradigm Using Sample Importance

Neural network models for audio tasks, such as automatic speech recognition (ASR) and acoustic scene classification (ASC), are susceptible to noise contamination for real-life applications. To improve audio quality, an enhancement module, which can be developed independently, is explicitly used at the front-end of the target audio applications. In this paper, we present an end-to-end learning solution to jointly optimise the models for audio enhancement (AE) and the subsequent applications. To guide the optimisation of the AE module towards a target application, and especially to overcome difficult samples, we make use of the sample-wise performance measure as an indication of sample importance. In experiments, we consider four representative applications to evaluate our training paradigm, i.e., ASR, speech command recognition (SCR), speech emotion recognition (SER), and ASC. These applications are associated with speech and non-speech tasks concerning semantic and non-semantic features, transient and global information, and the experimental results indicate that our proposed approach can considerably boost the noise robustness of the models, especially at low signal-to-noise ratios (SNRs), for a wide range of computer audition tasks in everyday-life noisy environments.

A-OctoMap: An Adaptive OctoMap for Online Motion Planning

Traditional robotic motion planning methods often struggle with fixed resolutions in dynamically changing environments. To address these challenges, we introduce the A-OctoMap, an adaptive Octo-Tree structure that enhances spatial representation and facilitates real-time, efficient motion planning. This novel framework allows for dynamic space partitioning and multi-resolution queries, significantly improving computational efficiency and precision. Key innovations include a tree-based data structure for enhanced geometric processing, real-time map updating for accurate trajectory planning, and efficient collision detection. Our extensive testing shows superior navigation safety and efficiency in complex settings compared to conventional methods. A-OctoMap sets a new standard for adaptive spatial mapping in autonomous systems, promising significant advancements in navigating unpredictable environments.

SGSM: A Foundation-model-like Semi-generalist Sensing Model

The significance of intelligent sensing systems is growing in the realm of smart services. These systems extract relevant signal features and generate informative representations for particular tasks. However, building the feature extraction component for such systems requires extensive domain-specific expertise or data. The exceptionally rapid development of foundation models is likely to usher in newfound abilities in such intelligent sensing. We propose a new scheme for sensing model, which we refer to as semi-generalist sensing model (SGSM). SGSM is able to semiautomatically solve various tasks using relatively less task-specific labeled data compared to traditional systems. Built through the analysis of the common theoretical model, SGSM can depict different modalities, such as the acoustic and Wi-Fi signal. Experimental results on such two heterogeneous sensors illustrate that SGSM functions across a wide range of scenarios, thereby establishing its broad applicability. In some cases, SGSM even achieves better performance than sensor-specific specialized solutions. Wi-Fi evaluations indicate a 20\% accuracy improvement when applying SGSM to an existing sensing model.

Needle In A Multimodal Haystack

With the rapid advancement of multimodal large language models (MLLMs), their evaluation has become increasingly comprehensive. However, understanding long multimodal content, as a foundational ability for real-world applications, remains underexplored. In this work, we present Needle In A Multimodal Haystack (MM-NIAH), the first benchmark specifically designed to systematically evaluate the capability of existing MLLMs to comprehend long multimodal documents. Our benchmark includes three types of evaluation tasks: multimodal retrieval, counting, and reasoning. In each task, the model is required to answer the questions according to different key information scattered throughout the given multimodal document. Evaluating the leading MLLMs on MM-NIAH, we observe that existing models still have significant room for improvement on these tasks, especially on vision-centric evaluation. We hope this work can provide a platform for further research on long multimodal document comprehension and contribute to the advancement of MLLMs. Code and benchmark are released at https://github.com/OpenGVLab/MM-NIAH.