Multiple robot systems are favored for object manipulation and transportation, especially for large objects. However, in more complex manipulation such as flipping, these systems encounter a new challenge, configuration disconnectivity of manipulators. Grasping objects by manipulators will impose closed-chain constraints on the system, which in turn limits the feasible motions of manipulators and further compromises the configuration connectivity. Multiple mobile manipulator systems show much more flexibility in object manipulation with the mobility of the mobile platform and have the potential to address the above problem. In this paper, a novel planning framework is proposed for complex flipping manipulation by incorporating platform motions and regrasping. Firstly, two types of trajectories, mobile manipulator planning and regrasping planning, are classified and can be assigned different priorities for different tasks. Secondly, corresponding planning methods are designed for each type of trajectory. Specifically, in mobile manipulator planning, the configuration of the platform is determined through optimization to ensure connectivity when the manipulator approaches configuration boundaries. In regrasping planning, closed-chain constraints are temporarily disregarded and the manipulation capabilities are prioritized to facilitate subsequent planning. Finally, the structure of the overall planning framework is provided. Experimental results demonstrate that the proposed planner efficiently plans the motions of the system to accomplish flipping manipulation. Additionally, a comprehensive experiment emphasizes the significance of our planner in extending the capabilities of multiple mobile manipulator systems in complex tasks.

Neural network approaches in recommender systems have shown remarkable success by representing a large set of items as a learnable vector embedding table. However, infrequent items may suffer from inadequate training opportunities, making it difficult to learn meaningful representations. We examine that in attribute and context-aware settings, the poorly learned embeddings of infrequent items impair the recommendation accuracy. To address such an issue, we propose a proxy-based item representation that allows each item to be expressed as a weighted sum of learnable proxy embeddings. Here, the proxy weight is determined by the attributes and context of each item and may incorporate bias terms in case of frequent items to further reflect collaborative signals. The proxy-based method calculates the item representations compositionally, ensuring each representation resides inside a well-trained simplex and, thus, acquires guaranteed quality. Additionally, that the proxy embeddings are shared across all items allows the infrequent items to borrow training signals of frequent items in a unified model structure and end-to-end manner. Our proposed method is a plug-and-play model that can replace the item encoding layer of any neural network-based recommendation model, while consistently improving the recommendation performance with much smaller parameter usage. Experiments conducted on real-world recommendation benchmark datasets demonstrate that our proposed model outperforms state-of-the-art models in terms of recommendation accuracy by up to 17% while using only 10% of the parameters.

In software engineering, the meticulous configuration of software tools is crucial in ensuring optimal performance within intricate systems. However, the complexity inherent in selecting optimal configurations is exacerbated by the high-dimensional search spaces presented in modern applications. Conventional trial-and-error or intuition-driven methods are both inefficient and error-prone, impeding scalability and reproducibility. In this study, we embark on an exploration of leveraging Large-Language Models (LLMs) to streamline the software configuration process. We identify that the task of hyperparameter configuration for machine learning components within intelligent applications is particularly challenging due to the extensive search space and performance-critical nature. Existing methods, including Bayesian optimization, have limitations regarding initial setup, computational cost, and convergence efficiency. Our work presents a novel approach that employs LLMs, such as Chat-GPT, to identify starting conditions and narrow down the search space, improving configuration efficiency. We conducted a series of experiments to investigate the variability of LLM-generated responses, uncovering intriguing findings such as potential response caching and consistent behavior based on domain-specific keywords. Furthermore, our results from hyperparameter optimization experiments reveal the potential of LLMs in expediting initialization processes and optimizing configurations. While our initial insights are promising, they also indicate the need for further in-depth investigations and experiments in this domain.

Large language models (LLMs) show amazing proficiency and fluency in the use of language. Does this mean that they have also acquired insightful linguistic knowledge about the language, to an extent that they can serve as an "expert linguistic annotator"? In this paper, we examine the successes and limitations of the GPT-3, ChatGPT, and GPT-4 models in analysis of sentence meaning structure, focusing on the Abstract Meaning Representation (AMR; Banarescu et al. 2013) parsing formalism, which provides rich graphical representations of sentence meaning structure while abstracting away from surface forms. We compare models' analysis of this semantic structure across two settings: 1) direct production of AMR parses based on zero- and few-shot prompts, and 2) indirect partial reconstruction of AMR via metalinguistic natural language queries (e.g., "Identify the primary event of this sentence, and the predicate corresponding to that event."). Across these settings, we find that models can reliably reproduce the basic format of AMR, and can often capture core event, argument, and modifier structure -- however, model outputs are prone to frequent and major errors, and holistic analysis of parse acceptability shows that even with few-shot demonstrations, models have virtually 0% success in producing fully accurate parses. Eliciting natural language responses produces similar patterns of errors. Overall, our findings indicate that these models out-of-the-box can capture aspects of semantic structure, but there remain key limitations in their ability to support fully accurate semantic analyses or parses.

We propose a time series forecasting method named Quantum Gramian Angular Field (QGAF). This approach merges the advantages of quantum computing technology with deep learning, aiming to enhance the precision of time series classification and forecasting. We successfully transformed stock return time series data into two-dimensional images suitable for Convolutional Neural Network (CNN) training by designing specific quantum circuits. Distinct from the classical Gramian Angular Field (GAF) approach, QGAF's uniqueness lies in eliminating the need for data normalization and inverse cosine calculations, simplifying the transformation process from time series data to two-dimensional images. To validate the effectiveness of this method, we conducted experiments on datasets from three major stock markets: the China A-share market, the Hong Kong stock market, and the US stock market. Experimental results revealed that compared to the classical GAF method, the QGAF approach significantly improved time series prediction accuracy, reducing prediction errors by an average of 25% for Mean Absolute Error (MAE) and 48% for Mean Squared Error (MSE). This research confirms the potential and promising prospects of integrating quantum computing with deep learning techniques in financial time series forecasting.

Over the past few years, Large Language Models of Code (Code LLMs) have started to have a significant impact on programming practice. Code LLMs are also emerging as building blocks for research in programming languages and software engineering. However, Code LLMs produce impressive results on programming languages that are well represented in their training data (e.g., Java, Python, or JavaScript), but struggle with low-resource languages that have limited training data available. Low resource languages include OCaml, Racket, and several others. This paper presents an effective approach for boosting the performance of Code LLMs on low-resource languages using semi-synthetic data. Our approach, MultiPL-T, translates training data from high-resource languages into training data for low-resource languages in the following way. 1) We use a Code LLM to synthesize tests for commented code from a high-resource language, filtering out faulty tests and code with low test coverage. 2) We use a Code LLM to translate Python code to a target low-resource language, and use tests to validate the translation. We apply this approach to generate tens of thousands of validated training items for Julia, Lua, OCaml, R, and Racket. Furthermore, we use an open model (StarCoderBase) with open training data (The Stack), which allows us to decontaminate benchmarks, train models without violating licenses, and run experiments that could not otherwise be done. With MultiPL-T generated data, we present fine-tuned versions of StarCoderBase and Code Llama for Julia, Lua, OCaml, R, and Racket. On established benchmarks (MultiPL-E), these models outperform other open Code LLMs. The MultiPL-T approach is easy to apply to new languages, and is significantly more efficient and effective than alternatives such as training longer.

Recently, the development and progress of Large Language Models (LLMs) have amazed the entire Artificial Intelligence community. Benefiting from their emergent abilities, LLMs have attracted more and more researchers to study their capabilities and performance on various downstream Natural Language Processing (NLP) tasks. While marveling at LLMs' incredible performance on all kinds of tasks, we notice that they also have excellent multilingual processing capabilities, such as Chinese. To explore the Chinese processing ability of LLMs, we focus on Chinese Text Correction, a fundamental and challenging Chinese NLP task. Specifically, we evaluate various representative LLMs on the Chinese Grammatical Error Correction (CGEC) and Chinese Spelling Check (CSC) tasks, which are two main Chinese Text Correction scenarios. Additionally, we also fine-tune LLMs for Chinese Text Correction to better observe the potential capabilities of LLMs. From extensive analyses and comparisons with previous state-of-the-art small models, we empirically find that the LLMs currently have both amazing performance and unsatisfactory behavior for Chinese Text Correction. We believe our findings will promote the landing and application of LLMs in the Chinese NLP community.

Transformers have gained popularity in time series forecasting for their ability to capture long-sequence interactions. However, their high memory and computing requirements pose a critical bottleneck for long-term forecasting. To address this, we propose TSMixer, a lightweight neural architecture exclusively composed of multi-layer perceptron (MLP) modules for multivariate forecasting and representation learning on patched time series. Inspired by MLP-Mixer's success in computer vision, we adapt it for time series, addressing challenges and introducing validated components for enhanced accuracy. This includes a novel design paradigm of attaching online reconciliation heads to the MLP-Mixer backbone, for explicitly modeling the time-series properties such as hierarchy and channel-correlations. We also propose a novel Hybrid channel modeling and infusion of a simple gating approach to effectively handle noisy channel interactions and generalization across diverse datasets. By incorporating these lightweight components, we significantly enhance the learning capability of simple MLP structures, outperforming complex Transformer models with minimal computing usage. Moreover, TSMixer's modular design enables compatibility with both supervised and masked self-supervised learning methods, making it a promising building block for time-series Foundation Models. TSMixer outperforms state-of-the-art MLP and Transformer models in forecasting by a considerable margin of 8-60%. It also outperforms the latest strong benchmarks of Patch-Transformer models (by 1-2%) with a significant reduction in memory and runtime (2-3X). The source code of our model is officially released as PatchTSMixer in the HuggingFace. Model: https://huggingface.co/docs/transformers/main/en/model_doc/patchtsmixer Examples: https://github.com/ibm/tsfm/#notebooks-links

Self-supervised speech representations are known to encode both In this work, we explicitly investigate how speaker and speaker and phonetic information, but how they are distributed phonetic information are distributed in the representation space in the high-dimensional space remains largely unexplored. We learned by SSL models. We hypothesize that a good representation hypothesize that they are encoded in orthogonal subspaces, a (one that is efficient and works well for predicting speech) property that lends itself to simple disentanglement. Applying should implicitly disentangle these two sources of information, principal component analysis to representations of two predictive since they vary independently in the processes that generate the coding models, we identify two subspaces that capture speaker speech signal. If so, then the two types of information would be and phonetic variances, and confirm that they are nearly orthogonal.

Rehearsal-based video incremental learning often employs knowledge distillation to mitigate catastrophic forgetting of previously learned data. However, this method faces two major challenges for video task: substantial computing resources from loading teacher model and limited replay capability from performance-limited teacher model. To address these problems, we first propose a knowledge distillation-free framework for rehearsal-based video incremental learning called \textit{Teacher Agent}. Instead of loading parameter-heavy teacher networks, we introduce an agent generator that is either parameter-free or uses only a few parameters to obtain accurate and reliable soft labels. This method not only greatly reduces the computing requirement but also circumvents the problem of knowledge misleading caused by inaccurate predictions of the teacher model. Moreover, we put forward a self-correction loss which provides an effective regularization signal for the review of old knowledge, which in turn alleviates the problem of catastrophic forgetting. Further, to ensure that the samples in the memory buffer are memory-efficient and representative, we introduce a unified sampler for rehearsal-based video incremental learning to mine fixed-length key video frames. Interestingly, based on the proposed strategies, the network exhibits a high level of robustness against spatial resolution reduction when compared to the baseline. Extensive experiments demonstrate the advantages of our method, yielding significant performance improvements while utilizing only half the spatial resolution of video clips as network inputs in the incremental phases.