Barrier-Enhanced Homotopic Parallel Trajectory Optimization for Safety-Critical Autonomous Driving

Enforcing safety while preventing overly conservative behaviors is essential for autonomous vehicles to achieve high task performance. In this paper, we propose a barrier-enhanced homotopic parallel trajectory optimization (BHPTO) approach with over-relaxed alternating direction method of multipliers (ADMM) for real-time integrated decision-making and planning. To facilitate safety interactions between the ego vehicle (EV) and surrounding vehicles, a spatiotemporal safety module exhibiting bi-convexity is developed on the basis of barrier function. Varying barrier coefficients are adopted for different time steps in a planning horizon to account for the motion uncertainties of surrounding HVs and mitigate conservative behaviors. Additionally, we exploit the discrete characteristics of driving maneuvers to initialize nominal behavior-oriented free-end homotopic trajectories based on reachability analysis, and each trajectory is locally constrained to a specific driving maneuver while sharing the same task objectives. By leveraging the bi-convexity of the safety module and the kinematics of the EV, we formulate the BHPTO as a bi-convex optimization problem. Then constraint transcription and over-relaxed ADMM are employed to streamline the optimization process, such that multiple trajectories are generated in real time with feasibility guarantees. Through a series of experiments, the proposed development demonstrates improved task accuracy, stability, and consistency in various traffic scenarios using synthetic and real-world traffic datasets.

Joint Beamforming Design and Stream Allocation for Non-Coherent Joint Transmission in Cell-Free MIMO Networks

We consider joint beamforming and stream allocation to maximize the weighted sum rate (WSR) for non-coherent joint transmission (NCJT) in user-centric cell-free MIMO networks, where distributed access points (APs) are organized in clusters to transmit different signals to serve each user equipment (UE). We for the first time consider the common limits of maximum number of receive streams at UEs in practical networks, and formulate a joint beamforming and transmit stream allocation problem for WSR maximization under per-AP transmit power constraints. Since the integer number of transmit streams determines the dimension of the beamformer, the joint optimization problem is mixed-integer and nonconvex with coupled decision variables that is inherently NP-hard. In this paper, we first propose a distributed low-interaction reduced weighted minimum mean square error (RWMMSE) beamforming algorithm for WSR maximization with fixed streams. Our proposed RWMMSE algorithm requires significantly less interaction across the network and has the current lowest computational complexity that scales linearly with the number of transmit antennas, without any compromise on WSR. We draw insights on the joint beamforming and stream allocation problem to decouple the decision variables and relax the mixed-integer constraints. We then propose a joint beamforming and linear stream allocation algorithm, termed as RWMMSE-LSA, which yields closed-form updates with linear stream allocation complexity and is guaranteed to converge to the stationary points of the original joint optimization problem. Simulation results demonstrate substantial performance gain of our proposed algorithms over the current best alternatives in both WSR performance and convergence time.

Rapid hyperspectral photothermal mid-infrared spectroscopic imaging from sparse data for gynecologic cancer tissue subtyping

Ovarian cancer detection has traditionally relied on a multi-step process that includes biopsy, tissue staining, and morphological analysis by experienced pathologists. While widely practiced, this conventional approach suffers from several drawbacks: it is qualitative, time-intensive, and heavily dependent on the quality of staining. Mid-infrared (MIR) hyperspectral photothermal imaging is a label-free, biochemically quantitative technology that, when combined with machine learning algorithms, can eliminate the need for staining and provide quantitative results comparable to traditional histology. However, this technology is slow. This work presents a novel approach to MIR photothermal imaging that enhances its speed by an order of magnitude. Our method significantly accelerates data collection by capturing a combination of high-resolution and interleaved, lower-resolution infrared band images and applying computational techniques for data interpolation. We effectively minimize data collection requirements by leveraging sparse data acquisition and employing curvelet-based reconstruction algorithms. This method enables the reconstruction of high-quality, high-resolution images from undersampled datasets and achieving a 10X improvement in data acquisition time. We assessed the performance of our sparse imaging methodology using a variety of quantitative metrics, including mean squared error (MSE), structural similarity index (SSIM), and tissue subtype classification accuracies, employing both random forest and convolutional neural network (CNN) models, accompanied by ROC curves. Our statistically robust analysis, based on data from 100 ovarian cancer patient samples and over 65 million data points, demonstrates the method's capability to produce superior image quality and accurately distinguish between different gynecological tissue types with segmentation accuracy exceeding 95%.

Unlocking the Potential of Transformers in Time Series Forecasting with Sharpness-Aware Minimization and Channel-Wise Attention

Transformer-based architectures achieved breakthrough performance in natural language processing and computer vision, yet they remain inferior to simpler linear baselines in multivariate long-term forecasting. To better understand this phenomenon, we start by studying a toy linear forecasting problem for which we show that transformers are incapable of converging to their true solution despite their high expressive power. We further identify the attention of transformers as being responsible for this low generalization capacity. Building upon this insight, we propose a shallow lightweight transformer model that successfully escapes bad local minima when optimized with sharpness-aware optimization. We empirically demonstrate that this result extends to all commonly used real-world multivariate time series datasets. In particular, SAMformer surpasses the current state-of-the-art model TSMixer by 14.33% on average, while having ~4 times fewer parameters. The code is available at https://github.com/romilbert/samformer.

MTSA-SNN: A Multi-modal Time Series Analysis Model Based on Spiking Neural Network

Time series analysis and modelling constitute a crucial research area. Traditional artificial neural networks struggle with complex, non-stationary time series data due to high computational complexity, limited ability to capture temporal information, and difficulty in handling event-driven data. To address these challenges, we propose a Multi-modal Time Series Analysis Model Based on Spiking Neural Network (MTSA-SNN). The Pulse Encoder unifies the encoding of temporal images and sequential information in a common pulse-based representation. The Joint Learning Module employs a joint learning function and weight allocation mechanism to fuse information from multi-modal pulse signals complementary. Additionally, we incorporate wavelet transform operations to enhance the model's ability to analyze and evaluate temporal information. Experimental results demonstrate that our method achieved superior performance on three complex time-series tasks. This work provides an effective event-driven approach to overcome the challenges associated with analyzing intricate temporal information. Access to the source code is available at https://github.com/Chenngzz/MTSA-SNN}{https://github.com/Chenngzz/MTSA-SNN

A network-constrain Weibull AFT model for biomarkers discovery

We propose AFTNet, a novel network-constraint survival analysis method based on the Weibull accelerated failure time (AFT) model solved by a penalized likelihood approach for variable selection and estimation. When using the log-linear representation, the inference problem becomes a structured sparse regression problem for which we explicitly incorporate the correlation patterns among predictors using a double penalty that promotes both sparsity and grouping effect. Moreover, we establish the theoretical consistency for the AFTNet estimator and present an efficient iterative computational algorithm based on the proximal gradient descent method. Finally, we evaluate AFTNet performance both on synthetic and real data examples.

An Error-Matching Exclusion Method for Accelerating Visual SLAM

In Visual SLAM, achieving accurate feature matching consumes a significant amount of time, severely impacting the real-time performance of the system. This paper proposes an accelerated method for Visual SLAM by integrating GMS (Grid-based Motion Statistics) with RANSAC (Random Sample Consensus) for the removal of mismatched features. The approach first utilizes the GMS algorithm to estimate the quantity of matched pairs within the neighborhood and ranks the matches based on their confidence. Subsequently, the Random Sample Consensus (RANSAC) algorithm is employed to further eliminate mismatched features. To address the time-consuming issue of randomly selecting all matched pairs, this method transforms it into the problem of prioritizing sample selection from high-confidence matches. This enables the iterative solution of the optimal model. Experimental results demonstrate that the proposed method achieves a comparable accuracy to the original GMS-RANSAC while reducing the average runtime by 24.13% on the KITTI, TUM desk, and TUM doll datasets.

Consistency Matters: Explore LLMs Consistency From a Black-Box Perspective

Nowadays both commercial and open-source academic LLM have become the mainstream models of NLP. However, there is still a lack of research on LLM consistency, meaning that throughout the various stages of LLM research and deployment, its internal parameters and capabilities should remain unchanged. This issue exists in both the industrial and academic sectors. The solution to this problem is often time-consuming and labor-intensive, and there is also an additional cost of secondary deployment, resulting in economic and time losses. To fill this gap, we build an LLM consistency task dataset and design several baselines. Additionally, we choose models of diverse scales for the main experiments. Specifically, in the LightGBM experiment, we used traditional NLG metrics (i.e., ROUGE, BLEU, METEOR) as the features needed for model training. The final result exceeds the manual evaluation and GPT3.5 as well as other models in the main experiment, achieving the best performance. In the end, we use the best performing LightGBM model as the base model to build the evaluation tool, which can effectively assist in the deployment of business models. Our code and tool demo are available at https://github.com/heavenhellchen/Consistency.git

Label-Noise Robust Diffusion Models

Conditional diffusion models have shown remarkable performance in various generative tasks, but training them requires large-scale datasets that often contain noise in conditional inputs, a.k.a. noisy labels. This noise leads to condition mismatch and quality degradation of generated data. This paper proposes Transition-aware weighted Denoising Score Matching (TDSM) for training conditional diffusion models with noisy labels, which is the first study in the line of diffusion models. The TDSM objective contains a weighted sum of score networks, incorporating instance-wise and time-dependent label transition probabilities. We introduce a transition-aware weight estimator, which leverages a time-dependent noisy-label classifier distinctively customized to the diffusion process. Through experiments across various datasets and noisy label settings, TDSM improves the quality of generated samples aligned with given conditions. Furthermore, our method improves generation performance even on prevalent benchmark datasets, which implies the potential noisy labels and their risk of generative model learning. Finally, we show the improved performance of TDSM on top of conventional noisy label corrections, which empirically proving its contribution as a part of label-noise robust generative models. Our code is available at: https://github.com/byeonghu-na/tdsm.

Re-Ex: Revising after Explanation Reduces the Factual Errors in LLM Responses

Mitigating hallucination issues is one of the main challenges of LLMs we need to overcome, in order to reliably use them in real-world scenarios. Recently, various methods are proposed to check the factual errors in the LLM-generated texts and revise them accordingly, to reduce the hallucination issue. In this paper, we propose Re-Ex, a method of revising LLM-generated texts, which introduces a novel step dubbed as the factual error explanation step. Re-Ex revises the initial response of LLMs using 3-steps: first, external tools are used to get the evidences on the factual errors in the response; second, LLMs are instructed to explain the problematic parts of the response based on the evidences gathered in the first step; finally, LLMs revise the response using the explanation obtained in the second step. In addition to the explanation step, we propose new prompting techniques to reduce the amount of tokens and wall-clock time required for the response revision process. Compared with existing methods including Factool, CoVE, and RARR, Re-Ex provides better revision performance with less time and fewer tokens in multiple benchmarks.