Enhancing Computer Programming Education with LLMs: A Study on Effective Prompt Engineering for Python Code Generation

Large language models (LLMs) and prompt engineering hold significant potential for advancing computer programming education through personalized instruction. This paper explores this potential by investigating three critical research questions: the systematic categorization of prompt engineering strategies tailored to diverse educational needs, the empowerment of LLMs to solve complex problems beyond their inherent capabilities, and the establishment of a robust framework for evaluating and implementing these strategies. Our methodology involves categorizing programming questions based on educational requirements, applying various prompt engineering strategies, and assessing the effectiveness of LLM-generated responses. Experiments with GPT-4, GPT-4o, Llama3-8b, and Mixtral-8x7b models on datasets such as LeetCode and USACO reveal that GPT-4o consistently outperforms others, particularly with the "multi-step" prompt strategy. The results show that tailored prompt strategies significantly enhance LLM performance, with specific strategies recommended for foundational learning, competition preparation, and advanced problem-solving. This study underscores the crucial role of prompt engineering in maximizing the educational benefits of LLMs. By systematically categorizing and testing these strategies, we provide a comprehensive framework for both educators and students to optimize LLM-based learning experiences. Future research should focus on refining these strategies and addressing current LLM limitations to further enhance educational outcomes in computer programming instruction.

AquaMILR: Mechanical intelligence simplifies control of undulatory robots in cluttered fluid environments

While undulatory swimming of elongate limbless robots has been extensively studied in open hydrodynamic environments, less research has been focused on limbless locomotion in complex, cluttered aquatic environments. Motivated by the concept of mechanical intelligence, where controls for obstacle navigation can be offloaded to passive body mechanics in terrestrial limbless locomotion, we hypothesize that principles of mechanical intelligence can be extended to cluttered hydrodynamic regimes. To test this, we developed an untethered limbless robot capable of undulatory swimming on water surfaces, utilizing a bilateral cable-driven mechanism inspired by organismal muscle actuation morphology to achieve programmable anisotropic body compliance. We demonstrated through robophysical experiments that, similar to terrestrial locomotion, an appropriate level of body compliance can facilitate emergent swim through complex hydrodynamic environments under pure open-loop control. Moreover, we found that swimming performance depends on undulation frequency, with effective locomotion achieved only within a specific frequency range. This contrasts with highly damped terrestrial regimes, where inertial effects can often be neglected. Further, to enhance performance and address the challenges posed by nondeterministic obstacle distributions, we incorporated computational intelligence by developing a real-time body compliance tuning controller based on cable tension feedback. This controller improves the robot's robustness and overall speed in heterogeneous hydrodynamic environments.

Evaluation of Text-to-Video Generation Models: A Dynamics Perspective

Comprehensive and constructive evaluation protocols play an important role in the development of sophisticated text-to-video (T2V) generation models. Existing evaluation protocols primarily focus on temporal consistency and content continuity, yet largely ignore the dynamics of video content. Dynamics are an essential dimension for measuring the visual vividness and the honesty of video content to text prompts. In this study, we propose an effective evaluation protocol, termed DEVIL, which centers on the dynamics dimension to evaluate T2V models. For this purpose, we establish a new benchmark comprising text prompts that fully reflect multiple dynamics grades, and define a set of dynamics scores corresponding to various temporal granularities to comprehensively evaluate the dynamics of each generated video. Based on the new benchmark and the dynamics scores, we assess T2V models with the design of three metrics: dynamics range, dynamics controllability, and dynamics-based quality. Experiments show that DEVIL achieves a Pearson correlation exceeding 90% with human ratings, demonstrating its potential to advance T2V generation models. Code is available at https://github.com/MingXiangL/DEVIL.

Cross-Embodiment Robot Manipulation Skill Transfer using Latent Space Alignment

This paper focuses on transferring control policies between robot manipulators with different morphology. While reinforcement learning (RL) methods have shown successful results in robot manipulation tasks, transferring a trained policy from simulation to a real robot or deploying it on a robot with different states, actions, or kinematics is challenging. To achieve cross-embodiment policy transfer, our key insight is to project the state and action spaces of the source and target robots to a common latent space representation. We first introduce encoders and decoders to associate the states and actions of the source robot with a latent space. The encoders, decoders, and a latent space control policy are trained simultaneously using loss functions measuring task performance, latent dynamics consistency, and encoder-decoder ability to reconstruct the original states and actions. To transfer the learned control policy, we only need to train target encoders and decoders that align a new target domain to the latent space. We use generative adversarial training with cycle consistency and latent dynamics losses without access to the task reward or reward tuning in the target domain. We demonstrate sim-to-sim and sim-to-real manipulation policy transfer with source and target robots of different states, actions, and embodiments. The source code is available at \url{https://github.com/ExistentialRobotics/cross_embodiment_transfer}.

Contextual Optimization under Covariate Shift: A Robust Approach by Intersecting Wasserstein Balls

In contextual optimization, a decision-maker observes historical samples of uncertain variables and associated concurrent covariates, without knowing their joint distribution. Given an additional covariate observation, the goal is to choose a decision that minimizes some operational costs. A prevalent issue here is covariate shift, where the marginal distribution of the new covariate differs from historical samples, leading to decision performance variations with nonparametric or parametric estimators. To address this, we propose a distributionally robust approach that uses an ambiguity set by the intersection of two Wasserstein balls, each centered on typical nonparametric or parametric distribution estimators. Computationally, we establish the tractable reformulation of this distributionally robust optimization problem. Statistically, we provide guarantees for our Wasserstein ball intersection approach under covariate shift by analyzing the measure concentration of the estimators. Furthermore, to reduce computational complexity, we employ a surrogate objective that maintains similar generalization guarantees. Through synthetic and empirical case studies on income prediction and portfolio optimization, we demonstrate the strong empirical performance of our proposed models.

AIGB: Generative Auto-bidding via Diffusion Modeling

Auto-bidding plays a crucial role in facilitating online advertising by automatically providing bids for advertisers. Reinforcement learning (RL) has gained popularity for auto-bidding. However, most current RL auto-bidding methods are modeled through the Markovian Decision Process (MDP), which assumes the Markovian state transition. This assumption restricts the ability to perform in long horizon scenarios and makes the model unstable when dealing with highly random online advertising environments. To tackle this issue, this paper introduces AI-Generated Bidding (AIGB), a novel paradigm for auto-bidding through generative modeling. In this paradigm, we propose DiffBid, a conditional diffusion modeling approach for bid generation. DiffBid directly models the correlation between the return and the entire trajectory, effectively avoiding error propagation across time steps in long horizons. Additionally, DiffBid offers a versatile approach for generating trajectories that maximize given targets while adhering to specific constraints. Extensive experiments conducted on the real-world dataset and online A/B test on Alibaba advertising platform demonstrate the effectiveness of DiffBid, achieving 2.81% increase in GMV and 3.36% increase in ROI.

Batched Stochastic Bandit for Nondegenerate Functions

This paper studies batched bandit learning problems for nondegenerate functions. We introduce an algorithm that solves the batched bandit problem for nondegenerate functions near-optimally. More specifically, we introduce an algorithm, called Geometric Narrowing (GN), whose regret bound is of order $\widetilde{{\mathcal{O}}} ( A_{+}^d \sqrt{T} )$. In addition, GN only needs $\mathcal{O} (\log \log T)$ batches to achieve this regret. We also provide lower bound analysis for this problem. More specifically, we prove that over some (compact) doubling metric space of doubling dimension $d$: 1. For any policy $\pi$, there exists a problem instance on which $\pi$ admits a regret of order ${\Omega} ( A_-^d \sqrt{T})$; 2. No policy can achieve a regret of order $ A_-^d \sqrt{T} $ over all problem instances, using less than $ \Omega ( \log \log T ) $ rounds of communications. Our lower bound analysis shows that the GN algorithm achieves near optimal regret with minimal number of batches.

Mining Supervision for Dynamic Regions in Self-Supervised Monocular Depth Estimation

This paper focuses on self-supervised monocular depth estimation in dynamic scenes trained on monocular videos. Existing methods jointly estimate pixel-wise depth and motion, relying mainly on an image reconstruction loss. Dynamic regions1 remain a critical challenge for these methods due to the inherent ambiguity in depth and motion estimation, resulting in inaccurate depth estimation. This paper proposes a self-supervised training framework exploiting pseudo depth labels for dynamic regions from training data. The key contribution of our framework is to decouple depth estimation for static and dynamic regions of images in the training data. We start with an unsupervised depth estimation approach, which provides reliable depth estimates for static regions and motion cues for dynamic regions and allows us to extract moving object information at the instance level. In the next stage, we use an object network to estimate the depth of those moving objects assuming rigid motions. Then, we propose a new scale alignment module to address the scale ambiguity between estimated depths for static and dynamic regions. We can then use the depth labels generated to train an end-to-end depth estimation network and improve its performance. Extensive experiments on the Cityscapes and KITTI datasets show that our self-training strategy consistently outperforms existing self/unsupervised depth estimation methods.

Scaling on-chip photonic neural processors using arbitrarily programmable wave propagation

On-chip photonic processors for neural networks have potential benefits in both speed and energy efficiency but have not yet reached the scale at which they can outperform electronic processors. The dominant paradigm for designing on-chip photonics is to make networks of relatively bulky discrete components connected by one-dimensional waveguides. A far more compact alternative is to avoid explicitly defining any components and instead sculpt the continuous substrate of the photonic processor to directly perform the computation using waves freely propagating in two dimensions. We propose and demonstrate a device whose refractive index as a function of space, $n(x,z)$, can be rapidly reprogrammed, allowing arbitrary control over the wave propagation in the device. Our device, a 2D-programmable waveguide, combines photoconductive gain with the electro-optic effect to achieve massively parallel modulation of the refractive index of a slab waveguide, with an index modulation depth of $10^{-3}$ and approximately $10^4$ programmable degrees of freedom. We used a prototype device with a functional area of $12\,\text{mm}^2$ to perform neural-network inference with up to 49-dimensional input vectors in a single pass, achieving 96% accuracy on vowel classification and 86% accuracy on $7 \times 7$-pixel MNIST handwritten-digit classification. This is a scale beyond that of previous photonic chips relying on discrete components, illustrating the benefit of the continuous-waves paradigm. In principle, with large enough chip area, the reprogrammability of the device's refractive index distribution enables the reconfigurable realization of any passive, linear photonic circuit or device. This promises the development of more compact and versatile photonic systems for a wide range of applications, including optical processing, smart sensing, spectroscopy, and optical communications.

Geometry-Calibrated DRO: Combating Over-Pessimism with Free Energy Implications

Machine learning algorithms minimizing average risk are susceptible to distributional shifts. Distributionally Robust Optimization (DRO) addresses this issue by optimizing the worst-case risk within an uncertainty set. However, DRO suffers from over-pessimism, leading to low-confidence predictions, poor parameter estimations as well as poor generalization. In this work, we conduct a theoretical analysis of a probable root cause of over-pessimism: excessive focus on noisy samples. To alleviate the impact of noise, we incorporate data geometry into calibration terms in DRO, resulting in our novel Geometry-Calibrated DRO (GCDRO) for regression. We establish the connection between our risk objective and the Helmholtz free energy in statistical physics, and this free-energy-based risk can extend to standard DRO methods. Leveraging gradient flow in Wasserstein space, we develop an approximate minimax optimization algorithm with a bounded error ratio and elucidate how our approach mitigates noisy sample effects. Comprehensive experiments confirm GCDRO's superiority over conventional DRO methods.