Heuristic Predictive Control for Multi-Robot Flocking in Congested Environments

Multi-robot flocking possesses extraordinary advantages over a single-robot system in diverse domains, but it is challenging to ensure safe and optimal performance in congested environments. Hence, this paper is focused on the investigation of distributed optimal flocking control for multiple robots in crowded environments. A heuristic predictive control solution is proposed based on a Gibbs Random Field (GRF), in which bio-inspired potential functions are used to characterize robot-robot and robot-environment interactions. The optimal solution is obtained by maximizing a posteriori joint distribution of the GRF in a certain future time instant. A gradient-based heuristic solution is developed, which could significantly speed up the computation of the optimal control. Mathematical analysis is also conducted to show the validity of the heuristic solution. Multiple collision risk levels are designed to improve the collision avoidance performance of robots in dynamic environments. The proposed heuristic predictive control is evaluated comprehensively from multiple perspectives based on different metrics in a challenging simulation environment. The competence of the proposed algorithm is validated via the comparison with the non-heuristic predictive control and two existing popular flocking control methods. Real-life experiments are also performed using four quadrotor UAVs to further demonstrate the efficiency of the proposed design.

Skywork-MoE: A Deep Dive into Training Techniques for Mixture-of-Experts Language Models

In this technical report, we introduce the training methodologies implemented in the development of Skywork-MoE, a high-performance mixture-of-experts (MoE) large language model (LLM) with 146 billion parameters and 16 experts. It is initialized from the pre-existing dense checkpoints of our Skywork-13B model. We explore the comparative effectiveness of upcycling versus training from scratch initializations. Our findings suggest that the choice between these two approaches should consider both the performance of the existing dense checkpoints and the MoE training budget. We highlight two innovative techniques: gating logit normalization, which improves expert diversification, and adaptive auxiliary loss coefficients, allowing for layer-specific adjustment of auxiliary loss coefficients. Our experimental results validate the effectiveness of these methods. Leveraging these techniques and insights, we trained our upcycled Skywork-MoE on a condensed subset of our SkyPile corpus. The evaluation results demonstrate that our model delivers strong performance across a wide range of benchmarks.

LongSkywork: A Training Recipe for Efficiently Extending Context Length in Large Language Models

We introduce LongSkywork, a long-context Large Language Model (LLM) capable of processing up to 200,000 tokens. We provide a training recipe for efficiently extending context length of LLMs. We identify that the critical element in enhancing long-context processing capability is to incorporate a long-context SFT stage following the standard SFT stage. A mere 200 iterations can convert the standard SFT model into a long-context model. To reduce the effort in collecting and annotating data for long-context language modeling, we develop two novel methods for creating synthetic data. These methods are applied during the continual pretraining phase as well as the Supervised Fine-Tuning (SFT) phase, greatly enhancing the training efficiency of our long-context LLMs. Our findings suggest that synthetic long-context SFT data can surpass the performance of data curated by humans to some extent. LongSkywork achieves outstanding performance on a variety of long-context benchmarks. In the Needle test, a benchmark for long-context information retrieval, our models achieved perfect accuracy across multiple context spans. Moreover, in realistic application scenarios, LongSkywork-13B demonstrates performance on par with Claude2.1, the leading long-context model, underscoring the effectiveness of our proposed methods.

Neural Fluidic System Design and Control with Differentiable Simulation

We present a novel framework to explore neural control and design of complex fluidic systems with dynamic solid boundaries. Our system features a fast differentiable Navier-Stokes solver with solid-fluid interface handling, a low-dimensional differentiable parametric geometry representation, a control-shape co-design algorithm, and gym-like simulation environments to facilitate various fluidic control design applications. Additionally, we present a benchmark of design, control, and learning tasks on high-fidelity, high-resolution dynamic fluid environments that pose challenges for existing differentiable fluid simulators. These tasks include designing the control of artificial hearts, identifying robotic end-effector shapes, and controlling a fluid gate. By seamlessly incorporating our differentiable fluid simulator into a learning framework, we demonstrate successful design, control, and learning results that surpass gradient-free solutions in these benchmark tasks.

Reliability quality measures for recommender systems

Users want to know the reliability of the recommendations; they do not accept high predictions if there is no reliability evidence. Recommender systems should provide reliability values associated with the predictions. Research into reliability measures requires the existence of simple, plausible and universal reliability quality measures. Research into recommender system quality measures has focused on accuracy. Moreover, novelty, serendipity and diversity have been studied; nevertheless there is an important lack of research into reliability/confidence quality measures. This paper proposes a reliability quality prediction measure (RPI) and a reliability quality recommendation measure (RRI). Both quality measures are based on the hypothesis that the more suitable a reliability measure is, the better accuracy results it will provide when applied. These reliability quality measures show accuracy improvements when appropriated reliability values are associated with their predictions (i.e. high reliability values associated with correct predictions or low reliability values associated with incorrect predictions). The proposed reliability quality metrics will lead to the design of brand new recommender system reliability measures. These measures could be applied to different matrix factorization techniques and to content-based, context-aware and social recommendation approaches. The recommender system reliability measures designed could be tested, compared and improved using the proposed reliability quality metrics.

CF4J: Collaborative Filtering for Java

Recommender Systems (RS) provide a relevant tool to mitigate the information overload problem. A large number of researchers have published hundreds of papers to improve different RS features. It is advisable to use RS frameworks that simplify RS researchers: a) to design and implement recommendations methods and, b) to speed up the execution time of the experiments. In this paper, we present CF4J, a Java library designed to carry out Collaborative Filtering based RS research experiments. CF4J has been designed from researchers to researchers. It allows: a) RS datasets reading, b) full and easy access to data and intermediate or final results, c) to extend their main functionalities, d) to concurrently execute the implemented methods, and e) to provide a thorough evaluation for the implementations by quality measures. In summary, CF4J serves as a library specifically designed for the research trial and error process.

Fluid Simulation on Neural Flow Maps

We introduce Neural Flow Maps, a novel simulation method bridging the emerging paradigm of implicit neural representations with fluid simulation based on the theory of flow maps, to achieve state-of-the-art simulation of inviscid fluid phenomena. We devise a novel hybrid neural field representation, Spatially Sparse Neural Fields (SSNF), which fuses small neural networks with a pyramid of overlapping, multi-resolution, and spatially sparse grids, to compactly represent long-term spatiotemporal velocity fields at high accuracy. With this neural velocity buffer in hand, we compute long-term, bidirectional flow maps and their Jacobians in a mechanistically symmetric manner, to facilitate drastic accuracy improvement over existing solutions. These long-range, bidirectional flow maps enable high advection accuracy with low dissipation, which in turn facilitates high-fidelity incompressible flow simulations that manifest intricate vortical structures. We demonstrate the efficacy of our neural fluid simulation in a variety of challenging simulation scenarios, including leapfrogging vortices, colliding vortices, vortex reconnections, as well as vortex generation from moving obstacles and density differences. Our examples show increased performance over existing methods in terms of energy conservation, visual complexity, adherence to experimental observations, and preservation of detailed vortical structures.

Inferring Hybrid Neural Fluid Fields from Videos

We study recovering fluid density and velocity from sparse multiview videos. Existing neural dynamic reconstruction methods predominantly rely on optical flows; therefore, they cannot accurately estimate the density and uncover the underlying velocity due to the inherent visual ambiguities of fluid velocity, as fluids are often shapeless and lack stable visual features. The challenge is further pronounced by the turbulent nature of fluid flows, which calls for properly designed fluid velocity representations. To address these challenges, we propose hybrid neural fluid fields (HyFluid), a neural approach to jointly infer fluid density and velocity fields. Specifically, to deal with visual ambiguities of fluid velocity, we introduce a set of physics-based losses that enforce inferring a physically plausible velocity field, which is divergence-free and drives the transport of density. To deal with the turbulent nature of fluid velocity, we design a hybrid neural velocity representation that includes a base neural velocity field that captures most irrotational energy and a vortex particle-based velocity that models residual turbulent velocity. We show that our method enables recovering vortical flow details. Our approach opens up possibilities for various learning and reconstruction applications centered around 3D incompressible flow, including fluid re-simulation and editing, future prediction, and neural dynamic scene composition. Project website: https://kovenyu.com/HyFluid/

Skywork: A More Open Bilingual Foundation Model

In this technical report, we present Skywork-13B, a family of large language models (LLMs) trained on a corpus of over 3.2 trillion tokens drawn from both English and Chinese texts. This bilingual foundation model is the most extensively trained and openly published LLMs of comparable size to date. We introduce a two-stage training methodology using a segmented corpus, targeting general purpose training and then domain-specific enhancement training, respectively. We show that our model not only excels on popular benchmarks, but also achieves \emph{state of the art} performance in Chinese language modeling on diverse domains. Furthermore, we propose a novel leakage detection method, demonstrating that test data contamination is a pressing issue warranting further investigation by the LLM community. To spur future research, we release Skywork-13B along with checkpoints obtained during intermediate stages of the training process. We are also releasing part of our SkyPile corpus, a collection of over 150 billion tokens of web text, which is the largest high quality open Chinese pre-training corpus to date. We hope Skywork-13B and our open corpus will serve as a valuable open-source resource to democratize access to high-quality LLMs.

SkyMath: Technical Report

Large language models (LLMs) have shown great potential to solve varieties of natural language processing (NLP) tasks, including mathematical reasoning. In this work, we present SkyMath, a large language model for mathematics with 13 billion parameters. By applying self-compare fine-tuning, we have enhanced mathematical reasoning abilities of Skywork-13B-Base remarkably. On GSM8K, SkyMath outperforms all known open-source models of similar size and has established a new SOTA performance.