Green Robotic Mixed Reality with Gaussian Splatting

Realizing green communication in robotic mixed reality (RoboMR) systems presents a challenge, due to the necessity of uploading high-resolution images at high frequencies through wireless channels. This paper proposes Gaussian splatting (GS) RoboMR (GSRMR), which achieves a lower energy consumption and makes a concrete step towards green RoboMR. The crux to GSRMR is to build a GS model which enables the simulator to opportunistically render a photo-realistic view from the robot's pose, thereby reducing the need for excessive image uploads. Since the GS model may involve discrepancies compared to the actual environments, a GS cross-layer optimization (GSCLO) framework is further proposed, which jointly optimizes content switching (i.e., deciding whether to upload image or not) and power allocation across different frames. The GSCLO problem is solved by an accelerated penalty optimization (APO) algorithm. Experiments demonstrate that the proposed GSRMR reduces the communication energy by over 10x compared with RoboMR. Furthermore, the proposed GSRMR with APO outperforms extensive baseline schemes, in terms of peak signal-to-noise ratio (PSNR) and structural similarity index measure (SSIM).

TextInPlace: Indoor Visual Place Recognition in Repetitive Structures with Scene Text Spotting and Verification

Visual Place Recognition (VPR) is a crucial capability for long-term autonomous robots, enabling them to identify previously visited locations using visual information. However, existing methods remain limited in indoor settings due to the highly repetitive structures inherent in such environments. We observe that scene text typically appears in indoor spaces, serving to distinguish visually similar but different places. This inspires us to propose TextInPlace, a simple yet effective VPR framework that integrates Scene Text Spotting (STS) to mitigate visual perceptual ambiguity in repetitive indoor environments. Specifically, TextInPlace adopts a dual-branch architecture within a local parameter sharing network. The VPR branch employs attention-based aggregation to extract global descriptors for coarse-grained retrieval, while the STS branch utilizes a bridging text spotter to detect and recognize scene text. Finally, the discriminative text is filtered to compute text similarity and re-rank the top-K retrieved images. To bridge the gap between current text-based repetitive indoor scene datasets and the typical scenarios encountered in robot navigation, we establish an indoor VPR benchmark dataset, called Maze-with-Text. Extensive experiments on both custom and public datasets demonstrate that TextInPlace achieves superior performance over existing methods that rely solely on appearance information. The dataset, code, and trained models are publicly available at https://github.com/HqiTao/TextInPlace.

Keeping Yourself is Important in Downstream Tuning Multimodal Large Language Model

Multi-modal Large Language Models (MLLMs) integrate visual and linguistic reasoning to address complex tasks such as image captioning and visual question answering. While MLLMs demonstrate remarkable versatility, MLLMs appears limited performance on special applications. But tuning MLLMs for downstream tasks encounters two key challenges: Task-Expert Specialization, where distribution shifts between pre-training and target datasets constrain target performance, and Open-World Stabilization, where catastrophic forgetting erases the model general knowledge. In this work, we systematically review recent advancements in MLLM tuning methodologies, classifying them into three paradigms: (I) Selective Tuning, (II) Additive Tuning, and (III) Reparameterization Tuning. Furthermore, we benchmark these tuning strategies across popular MLLM architectures and diverse downstream tasks to establish standardized evaluation analysis and systematic tuning principles. Finally, we highlight several open challenges in this domain and propose future research directions. To facilitate ongoing progress in this rapidly evolving field, we provide a public repository that continuously tracks developments: https://github.com/WenkeHuang/Awesome-MLLM-Tuning.

EmoAssist: Emotional Assistant for Visual Impairment Community

The rapid advancement of large multi-modality models (LMMs) has significantly propelled the integration of artificial intelligence into practical applications. Visual Question Answering (VQA) systems, which can process multi-modal data including vision, text, and audio, hold great potential for assisting the Visual Impairment (VI) community in navigating complex and dynamic real-world environments. However, existing VI assistive LMMs overlook the emotional needs of VI individuals, and current benchmarks lack emotional evaluation of these LMMs. To address these gaps, this paper introduces the EmoAssist Benchmark, a comprehensive benchmark designed to evaluate the assistive performance of LMMs for the VI community. To the best of our knowledge, this is the first benchmark that incorporates emotional intelligence as a key consideration. Furthermore, we propose the EmoAssist Model, an Emotion-Assistive LMM specifically designed for the VI community. The EmoAssist Model utilizes Direct Preference Optimization (DPO) to align outputs with human emotional preferences. Experiment results demonstrate that the EmoAssist Model significantly enhances the recognition of implicit emotions and intentions of VI users, delivers empathetic responses, and provides actionable guidance. Specifically, it shows respective improvements of 147.8% and 89.7% in the Empathy and Suggestion metrics on the EmoAssist Benchmark, compared to the pre-tuning LMM, and even outperforms state-of-the-art LLMs such as GPT-4o.

Physics-informed deep learning for infectious disease forecasting

Accurate forecasting of contagious illnesses has become increasingly important to public health policymaking, and better prediction could prevent the loss of millions of lives. To better prepare for future pandemics, it is essential to improve forecasting methods and capabilities. In this work, we propose a new infectious disease forecasting model based on physics-informed neural networks (PINNs), an emerging area of scientific machine learning. The proposed PINN model incorporates dynamical systems representations of disease transmission into the loss function, thereby assimilating epidemiological theory and data using neural networks (NNs). Our approach is designed to prevent model overfitting, which often occurs when training deep learning models with observation data alone. In addition, we employ an additional sub-network to account for mobility, vaccination, and other covariates that influence the transmission rate, a key parameter in the compartment model. To demonstrate the capability of the proposed model, we examine the performance of the model using state-level COVID-19 data in California. Our simulation results show that predictions of PINN model on the number of cases, deaths, and hospitalizations are consistent with existing benchmarks. In particular, the PINN model outperforms the basic NN model and naive baseline forecast. We also show that the performance of the PINN model is comparable to a sophisticated Gaussian infection state space with time dependence (GISST) forecasting model that integrates the compartment model with a data observation model and a regression model for inferring parameters in the compartment model. Nonetheless, the PINN model offers a simpler structure and is easier to implement. Our results show that the proposed forecaster could potentially serve as a new computational tool to enhance the current capacity of infectious disease forecasting.

Learn from Downstream and Be Yourself in Multimodal Large Language Model Fine-Tuning

Multimodal Large Language Model (MLLM) have demonstrated strong generalization capabilities across diverse distributions and tasks, largely due to extensive pre-training datasets. Fine-tuning MLLM has become a common practice to improve performance on specific downstream tasks. However, during fine-tuning, MLLM often faces the risk of forgetting knowledge acquired during pre-training, which can result in a decline in generalization abilities. To balance the trade-off between generalization and specialization, we propose measuring the parameter importance for both pre-trained and fine-tuning distributions, based on frozen pre-trained weight magnitude and accumulated fine-tuning gradient values. We further apply an importance-aware weight allocation strategy, selectively updating relatively important parameters for downstream tasks. We conduct empirical evaluations on both image captioning and visual question-answering tasks using various MLLM architectures. The comprehensive experimental analysis demonstrates the effectiveness of the proposed solution, highlighting the efficiency of the crucial modules in enhancing downstream specialization performance while mitigating generalization degradation in MLLM Fine-Tuning.

Multi-Uncertainty Aware Autonomous Cooperative Planning

Autonomous cooperative planning (ACP) is a promising technique to improve the efficiency and safety of multi-vehicle interactions for future intelligent transportation systems. However, realizing robust ACP is a challenge due to the aggregation of perception, motion, and communication uncertainties. This paper proposes a novel multi-uncertainty aware ACP (MUACP) framework that simultaneously accounts for multiple types of uncertainties via regularized cooperative model predictive control (RC-MPC). The regularizers and constraints for perception, motion, and communication are constructed according to the confidence levels, weather conditions, and outage probabilities, respectively. The effectiveness of the proposed method is evaluated in the Car Learning to Act (CARLA) simulation platform. Results demonstrate that the proposed MUACP efficiently performs cooperative formation in real time and outperforms other benchmark approaches in various scenarios under imperfect knowledge of the environment.

Continuous Approximations for Improving Quantization Aware Training of LLMs

Model compression methods are used to reduce the computation and energy requirements for Large Language Models (LLMs). Quantization Aware Training (QAT), an effective model compression method, is proposed to reduce performance degradation after quantization. To further minimize this degradation, we introduce two continuous approximations to the QAT process on the rounding function, traditionally approximated by the Straight-Through Estimator (STE), and the clamping function. By applying both methods, the perplexity (PPL) on the WikiText-v2 dataset of the quantized model reaches 9.0815, outperforming 9.9621 by the baseline. Also, we achieve a 2.76% improvement on BoolQ, and a 5.47% improvement on MMLU, proving that the step sizes and weights can be learned more accurately with our approach. Our method achieves better performance with the same precision, model size, and training setup, contributing to the development of more energy-efficient LLMs technology that aligns with global sustainability goals.

Evaluation of OpenAI o1: Opportunities and Challenges of AGI

This comprehensive study evaluates the performance of OpenAI's o1-preview large language model across a diverse array of complex reasoning tasks, spanning multiple domains, including computer science, mathematics, natural sciences, medicine, linguistics, and social sciences. Through rigorous testing, o1-preview demonstrated remarkable capabilities, often achieving human-level or superior performance in areas ranging from coding challenges to scientific reasoning and from language processing to creative problem-solving. Key findings include: -83.3% success rate in solving complex competitive programming problems, surpassing many human experts. -Superior ability in generating coherent and accurate radiology reports, outperforming other evaluated models. -100% accuracy in high school-level mathematical reasoning tasks, providing detailed step-by-step solutions. -Advanced natural language inference capabilities across general and specialized domains like medicine. -Impressive performance in chip design tasks, outperforming specialized models in areas such as EDA script generation and bug analysis. -Remarkable proficiency in anthropology and geology, demonstrating deep understanding and reasoning in these specialized fields. -Strong capabilities in quantitative investing. O1 has comprehensive financial knowledge and statistical modeling skills. -Effective performance in social media analysis, including sentiment analysis and emotion recognition. The model excelled particularly in tasks requiring intricate reasoning and knowledge integration across various fields. While some limitations were observed, including occasional errors on simpler problems and challenges with certain highly specialized concepts, the overall results indicate significant progress towards artificial general intelligence.

CipherDM: Secure Three-Party Inference for Diffusion Model Sampling

Diffusion Models (DMs) achieve state-of-the-art synthesis results in image generation and have been applied to various fields. However, DMs sometimes seriously violate user privacy during usage, making the protection of privacy an urgent issue. Using traditional privacy computing schemes like Secure Multi-Party Computation (MPC) directly in DMs faces significant computation and communication challenges. To address these issues, we propose CipherDM, the first novel, versatile and universal framework applying MPC technology to DMs for secure sampling, which can be widely implemented on multiple DM based tasks. We thoroughly analyze sampling latency breakdown, find time-consuming parts and design corresponding secure MPC protocols for computing nonlinear activations including SoftMax, SiLU and Mish. CipherDM is evaluated on popular architectures (DDPM, DDIM) using MNIST dataset and on SD deployed by diffusers. Compared to direct implementation on SPU, our approach improves running time by approximately 1.084\times \sim 2.328\times, and reduces communication costs by approximately 1.212\times \sim 1.791\times.