A genuine signer's signature is naturally unstable even at short time-intervals whereas, expert forgers always try to perfectly mimic a genuine signer's signature. This presents a challenge which puts a genuine signer at risk of being denied access, while a forge signer is granted access. The implication is a high false acceptance rate (FAR) which is the percentage of forge signature classified as belonging to a genuine class. Existing work have only scratched the surface of signature verification because the misclassification error remains high. In this paper, a consensus-threshold distance-based classifier criterion is proposed for offline writer-dependent signature verification. Using features extracted from SigNet and SigNet-F deep convolutional neural network models, the proposed classifier minimizes FAR. This is demonstrated via experiments on four datasets: GPDS-300, MCYT, CEDAR and Brazilian PUC-PR datasets. On GPDS-300, the consensus threshold classifier improves the state-of-the-art performance by achieving a 1.27% FAR compared to 8.73% and 17.31% recorded in literature. This performance is consistent across other datasets and guarantees that the risk of imposters gaining access to sensitive documents or transactions is minimal.

The rapid development of open-source large language models (LLMs) has been truly remarkable. However, the scaling law described in previous literature presents varying conclusions, which casts a dark cloud over scaling LLMs. We delve into the study of scaling laws and present our distinctive findings that facilitate scaling of large scale models in two commonly used open-source configurations, 7B and 67B. Guided by the scaling laws, we introduce DeepSeek LLM, a project dedicated to advancing open-source language models with a long-term perspective. To support the pre-training phase, we have developed a dataset that currently consists of 2 trillion tokens and is continuously expanding. We further conduct supervised fine-tuning (SFT) and Direct Preference Optimization (DPO) on DeepSeek LLM Base models, resulting in the creation of DeepSeek Chat models. Our evaluation results demonstrate that DeepSeek LLM 67B surpasses LLaMA-2 70B on various benchmarks, particularly in the domains of code, mathematics, and reasoning. Furthermore, open-ended evaluations reveal that DeepSeek LLM 67B Chat exhibits superior performance compared to GPT-3.5.

Quantum machine learning with quantum kernels for classification problems is a growing area of research. Recently, quantum kernel alignment techniques that parameterise the kernel have been developed, allowing the kernel to be trained and therefore aligned with a specific dataset. While quantum kernel alignment is a promising technique, it has been hampered by considerable training costs because the full kernel matrix must be constructed at every training iteration. Addressing this challenge, we introduce a novel method that seeks to balance efficiency and performance. We present a sub-sampling training approach that uses a subset of the kernel matrix at each training step, thereby reducing the overall computational cost of the training. In this work, we apply the sub-sampling method to synthetic datasets and a real-world breast cancer dataset and demonstrate considerable reductions in the number of circuits required to train the quantum kernel while maintaining classification accuracy.

The integration of Multi-Rotor Aerial Vehicles (MRAVs) into 5G and 6G networks enhances coverage, connectivity, and congestion management. This fosters communication-aware robotics, exploring the interplay between robotics and communications, but also makes the MRAVs susceptible to malicious attacks, such as jamming. One traditional approach to counter these attacks is the use of beamforming on the MRAVs to apply physical layer security techniques. In this paper, we explore pose optimization as an alternative approach to countering jamming attacks on MRAVs. This technique is intended for omnidirectional MRAVs, which are drones capable of independently controlling both their position and orientation, as opposed to the more common underactuated MRAVs whose orientation cannot be controlled independently of their position. In this paper, we consider an omnidirectional MRAV serving as a Base Station (BS) for legitimate ground nodes, under attack by a malicious jammer. We optimize the MRAV pose (i.e., position and orientation) to maximize the minimum Signal-to-Interference-plus-Noise Ratio (SINR) over all legitimate nodes.

In recent years, speech generation has seen remarkable progress, now achieving one-shot generation capability that is often virtually indistinguishable from real human voice. Integrating such advancements in speech generation with large language models might revolutionize a wide range of applications. However, certain applications, such as assistive conversational systems, require natural and conversational speech generation tools that also operate efficiently in real time. Current state-of-the-art models like VALL-E and SoundStorm, powered by hierarchical neural audio codecs, require large neural components and extensive training data to work well. In contrast, MQTTS aims to build more compact conversational TTS models while capitalizing on smaller-scale real-life conversational speech data. However, its autoregressive nature yields high inference latency and thus limits its real-time usage. In order to mitigate the current limitations of the state-of-the-art TTS models while capitalizing on their strengths, in this work we introduce the Pheme model series that 1) offers compact yet high-performing models, 2) allows for parallel speech generation of 3) natural conversational speech, and 4) it can be trained efficiently on smaller-scale conversational data, cutting data demands by more than 10x but still matching the quality of the autoregressive TTS models. We also show that through simple teacher-student distillation we can meet significant improvements in voice quality for single-speaker setups on top of pretrained Pheme checkpoints, relying solely on synthetic speech generated by much larger teacher models. Audio samples and pretrained models are available online.

In times of emergency, crisis response agencies need to quickly and accurately assess the situation on the ground in order to deploy relevant services and resources. However, authorities often have to make decisions based on limited information, as data on affected regions can be scarce until local response services can provide first-hand reports. Fortunately, the widespread availability of smartphones with high-quality cameras has made citizen journalism through social media a valuable source of information for crisis responders. However, analyzing the large volume of images posted by citizens requires more time and effort than is typically available. To address this issue, this paper proposes the use of state-of-the-art deep neural models for automatic image classification/tagging, specifically by adapting transformer-based architectures for crisis image classification (CrisisViT). We leverage the new Incidents1M crisis image dataset to develop a range of new transformer-based image classification models. Through experimentation over the standard Crisis image benchmark dataset, we demonstrate that the CrisisViT models significantly outperform previous approaches in emergency type, image relevance, humanitarian category, and damage severity classification. Additionally, we show that the new Incidents1M dataset can further augment the CrisisViT models resulting in an additional 1.25% absolute accuracy gain.

In this paper, we conducted a comparative evaluation of three RGB-D SLAM (Simultaneous Localization and Mapping) algorithms: RTAB-Map, ORB-SLAM3, and OpenVSLAM for SURENA-V humanoid robot localization and mapping. Our test involves the robot to follow a full circular pattern, with an Intel RealSense D435 RGB-D camera installed on its head. In assessing localization accuracy, ORB-SLAM3 outperformed the others with an ATE of 0.1073, followed by RTAB-Map at 0.1641 and OpenVSLAM at 0.1847. However, it should be noted that both ORB-SLAM3 and OpenVSLAM faced challenges in maintaining accurate odometry when the robot encountered a wall with limited feature points. Nevertheless, OpenVSLAM demonstrated the ability to detect loop closures and successfully relocalize itself within the map when the robot approached its initial location. The investigation also extended to mapping capabilities, where RTAB-Map excelled by offering diverse mapping outputs, including dense, OctoMap, and occupancy grid maps. In contrast, both ORB-SLAM3 and OpenVSLAM provided only sparse maps.

Reliable and efficient trajectory optimization methods are a fundamental need for autonomous dynamical systems, effectively enabling applications including rocket landing, hypersonic reentry, spacecraft rendezvous, and docking. Within such safety-critical application areas, the complexity of the emerging trajectory optimization problems has motivated the application of AI-based techniques to enhance the performance of traditional approaches. However, current AI-based methods either attempt to fully replace traditional control algorithms, thus lacking constraint satisfaction guarantees and incurring in expensive simulation, or aim to solely imitate the behavior of traditional methods via supervised learning. To address these limitations, this paper proposes the Autonomous Rendezvous Transformer (ART) and assesses the capability of modern generative models to solve complex trajectory optimization problems, both from a forecasting and control standpoint. Specifically, this work assesses the capabilities of Transformers to (i) learn near-optimal policies from previously collected data, and (ii) warm-start a sequential optimizer for the solution of non-convex optimal control problems, thus guaranteeing hard constraint satisfaction. From a forecasting perspective, results highlight how ART outperforms other learning-based architectures at predicting known fuel-optimal trajectories. From a control perspective, empirical analyses show how policies learned through Transformers are able to generate near-optimal warm-starts, achieving trajectories that are (i) more fuel-efficient, (ii) obtained in fewer sequential optimizer iterations, and (iii) computed with an overall runtime comparable to benchmarks based on convex optimization.

Fine-tuning pre-trained neural network models has become a widely adopted approach across various domains. However, it can lead to the distortion of pre-trained feature extractors that already possess strong generalization capabilities. Mitigating feature distortion during adaptation to new target domains is crucial. Recent studies have shown promising results in handling feature distortion by aligning the head layer on in-distribution datasets before performing fine-tuning. Nonetheless, a significant limitation arises from the treatment of batch normalization layers during fine-tuning, leading to suboptimal performance. In this paper, we propose Domain-Aware Fine-Tuning (DAFT), a novel approach that incorporates batch normalization conversion and the integration of linear probing and fine-tuning. Our batch normalization conversion method effectively mitigates feature distortion by reducing modifications to the neural network during fine-tuning. Additionally, we introduce the integration of linear probing and fine-tuning to optimize the head layer with gradual adaptation of the feature extractor. By leveraging batch normalization layers and integrating linear probing and fine-tuning, our DAFT significantly mitigates feature distortion and achieves improved model performance on both in-distribution and out-of-distribution datasets. Extensive experiments demonstrate that our method outperforms other baseline methods, demonstrating its effectiveness in not only improving performance but also mitigating feature distortion.

Image segmentation aims to partition an image according to the objects in the scene and is a fundamental step in analysing very high spatial-resolution (VHR) remote sensing imagery. Current methods struggle to effectively consider land objects with diverse shapes and sizes. Additionally, the determination of segmentation scale parameters frequently adheres to a static and empirical doctrine, posing limitations on the segmentation of large-scale remote sensing images and yielding algorithms with limited interpretability. To address the above challenges, we propose a deep-learning-based region merging method dubbed DeepMerge to handle the segmentation of complete objects in large VHR images by integrating deep learning and region adjacency graph (RAG). This is the first method to use deep learning to learn the similarity and merge similar adjacent super-pixels in RAG. We propose a modified binary tree sampling method to generate shift-scale data, serving as inputs for transformer-based deep learning networks, a shift-scale attention with 3-Dimension relative position embedding to learn features across scales, and an embedding to fuse learned features with hand-crafted features. DeepMerge can achieve high segmentation accuracy in a supervised manner from large-scale remotely sensed images and provides an interpretable optimal scale parameter, which is validated using a remote sensing image of 0.55 m resolution covering an area of 5,660 km^2. The experimental results show that DeepMerge achieves the highest F value (0.9550) and the lowest total error TE (0.0895), correctly segmenting objects of different sizes and outperforming all competing segmentation methods.