A comparative analysis of deep learning models and traditional statistical methods for stock price prediction uses data from the Nigerian stock exchange. Historical data, including daily prices and trading volumes, are employed to implement models such as Long Short Term Memory (LSTM) networks, Gated Recurrent Units (GRUs), Autoregressive Integrated Moving Average (ARIMA), and Autoregressive Moving Average (ARMA). These models are assessed over three-time horizons: short-term (1 year), medium-term (2.5 years), and long-term (5 years), with performance measured by Mean Squared Error (MSE) and Mean Absolute Error (MAE). The stability of the time series is tested using the Augmented Dickey-Fuller (ADF) test. Results reveal that deep learning models, particularly LSTM, outperform traditional methods by capturing complex, nonlinear patterns in the data, resulting in more accurate predictions. However, these models require greater computational resources and offer less interpretability than traditional approaches. The findings highlight the potential of deep learning for improving financial forecasting and investment strategies. Future research could incorporate external factors such as social media sentiment and economic indicators, refine model architectures, and explore real-time applications to enhance prediction accuracy and scalability.

Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and accessibility across research and hobbyist communities. Building upon the GelSlim 3.0 sensor, our design features two key improvements: a simplified, modifiable finger structure and easily manufacturable lenses. To complement the hardware, we provide an open-source perception library that includes depth and shear field estimation algorithms to enable in-hand pose estimation, slip detection, and other manipulation tasks. Our sensor is accompanied by comprehensive manufacturing documentation, ensuring the design can be readily produced by users with varying levels of expertise. We validate the sensor's reproducibility through extensive human usability testing. For documentation, code, and data, please visit the project website: https://www.mmintlab.com/research/gelslim-4-0/

The task of automated code review has recently gained a lot of attention from the machine learning community. However, current review comment evaluation metrics rely on comparisons with a human-written reference for a given code change (also called a diff), even though code review is a one-to-many problem like generation and summarization with many "valid reviews" for a diff. To tackle these issues we develop a CRScore - a reference-free metric to measure dimensions of review quality like conciseness, comprehensiveness, and relevance. We design CRScore to evaluate reviews in a way that is grounded in claims and potential issues detected in the code by LLMs and static analyzers. We demonstrate that CRScore can produce valid, fine-grained scores of review quality that have the greatest alignment with human judgment (0.54 Spearman correlation) and are more sensitive than reference-based metrics. We also release a corpus of 2.6k human-annotated review quality scores for machine-generated and GitHub review comments to support the development of automated metrics.

A prevalent belief among optimization specialists is that linear convergence of gradient descent is contingent on the function growing quadratically away from its minimizers. In this work, we argue that this belief is inaccurate. We show that gradient descent with an adaptive stepsize converges at a local (nearly) linear rate on any smooth function that merely exhibits fourth-order growth away from its minimizer. The adaptive stepsize we propose arises from an intriguing decomposition theorem: any such function admits a smooth manifold around the optimal solution -- which we call the ravine -- so that the function grows at least quadratically away from the ravine and has constant order growth along it. The ravine allows one to interlace many short gradient steps with a single long Polyak gradient step, which together ensure rapid convergence to the minimizer. We illustrate the theory and algorithm on the problems of matrix sensing and factorization and learning a single neuron in the overparameterized regime.

The close link between cognitive decline and language has fostered long-standing collaboration between the NLP and medical communities in dementia research. To examine this, we reviewed over 200 papers applying NLP to dementia related efforts, drawing from medical, technological, and NLP-focused literature. We identify key research areas, including dementia detection, linguistic biomarker extraction, caregiver support, and patient assistance, showing that half of all papers focus solely on dementia detection using clinical data. However, many directions remain unexplored: artificially degraded language models, synthetic data, digital twins, and more. We highlight gaps and opportunities around trust, scientific rigor, applicability, and cross-community collaboration, and showcase the diverse datasets encountered throughout our review: recorded, written, structured, spontaneous, synthetic, clinical, social media based, and more. This review aims to inspire more creative approaches to dementia research within the medical and NLP communities.

Instruction data is crucial for improving the capability of Large Language Models (LLMs) to align with human-level performance. Recent research LIMA demonstrates that alignment is essentially a process where the model adapts instructions' interaction style or format to solve various tasks, leveraging pre-trained knowledge and skills. Therefore, for instructional data, the most important aspect is the task it represents, rather than the specific semantics and knowledge information. The latent representations of instructions play roles for some instruction-related tasks like data selection and demonstrations retrieval. However, they are always derived from text embeddings, encompass overall semantic information that influences the representation of task categories. In this work, we introduce a new concept, instruction embedding, and construct Instruction Embedding Benchmark (IEB) for its training and evaluation. Then, we propose a baseline Prompt-based Instruction Embedding (PIE) method to make the representations more attention on tasks. The evaluation of PIE, alongside other embedding methods on IEB with two designed tasks, demonstrates its superior performance in accurately identifying task categories.

Detecting multimodal misinformation, especially in the form of image-text pairs, is crucial. Obtaining large-scale, high-quality real-world fact-checking datasets for training detectors is costly, leading researchers to use synthetic datasets generated by AI technologies. However, the generalizability of detectors trained on synthetic data to real-world scenarios remains unclear due to the distribution gap. To address this, we propose learning from synthetic data for detecting real-world multimodal misinformation through two model-agnostic data selection methods that match synthetic and real-world data distributions. Experiments show that our method enhances the performance of a small MLLM (13B) on real-world fact-checking datasets, enabling it to even surpass GPT-4V~\cite{GPT-4V}.

Accurate dynamic modeling is critical for autonomous racing vehicles, especially during high-speed and agile maneuvers where precise motion prediction is essential for safety. Traditional parameter estimation methods face limitations such as reliance on initial guesses, labor-intensive fitting procedures, and complex testing setups. On the other hand, purely data-driven machine learning methods struggle to capture inherent physical constraints and typically require large datasets for optimal performance. To address these challenges, this paper introduces the Fine-Tuning Hybrid Dynamics (FTHD) method, which integrates supervised and unsupervised Physics-Informed Neural Networks (PINNs), combining physics-based modeling with data-driven techniques. FTHD fine-tunes a pre-trained Deep Dynamics Model (DDM) using a smaller training dataset, delivering superior performance compared to state-of-the-art methods such as the Deep Pacejka Model (DPM) and outperforming the original DDM. Furthermore, an Extended Kalman Filter (EKF) is embedded within FTHD (EKF-FTHD) to effectively manage noisy real-world data, ensuring accurate denoising while preserving the vehicle's essential physical characteristics. The proposed FTHD framework is validated through scaled simulations using the BayesRace Physics-based Simulator and full-scale real-world experiments from the Indy Autonomous Challenge. Results demonstrate that the hybrid approach significantly improves parameter estimation accuracy, even with reduced data, and outperforms existing models. EKF-FTHD enhances robustness by denoising real-world data while maintaining physical insights, representing a notable advancement in vehicle dynamics modeling for high-speed autonomous racing.

The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning, can be cast and solved as an SPP in GCS, yielding lower-cost solutions and faster runtimes than state-of-the-art algorithms. In this paper, we are motivated by motion planning of robot arms that must operate swiftly in static environments. We consider a multi-query extension of the SPP in GCS, where the goal is to efficiently precompute optimal paths between given sets of initial and target conditions. Our solution consists of two stages. Offline, we use semidefinite programming to compute a coarse lower bound on the problem's cost-to-go function. Then, online, this lower bound is used to incrementally generate feasible paths by solving short-horizon convex programs.

Time-Sensitive Question Answering (TSQA) demands the effective utilization of specific temporal contexts, encompassing multiple time-evolving facts, to address time-sensitive questions. This necessitates not only the parsing of temporal information within questions but also the identification and understanding of time-evolving facts to generate accurate answers. However, current large language models still have limited sensitivity to temporal information and their inadequate temporal reasoning capabilities. In this paper, we propose a novel framework that enhances temporal awareness and reasoning through Temporal Information-Aware Embedding and Granular Contrastive Reinforcement Learning. Experimental results on four TSQA datasets demonstrate that our framework significantly outperforms existing LLMs in TSQA tasks, marking a step forward in bridging the performance gap between machine and human temporal understanding and reasoning.