-- One of the main challenges in simultaneous localization and mapping (SLAM) is real -time processing. High - computational loads linked to data acquisition and processing complicate this task. This article presents an efficient feature extraction approach for mapping structured environments. The proposed methodology, weighted conformal LiDAR-mapping (WCLM), is based on the extraction of polygonal profiles and propagation of uncertainties from raw measurement data. This is achieved using conformal M bius transformation. The algorithm has been validated experimentally using 2 -D data obtained from a low -cost Light Detection and Ranging (LiDAR) range finder. The results obtained suggest that computational efficiency is significantly improved with reference to other state-of -the -art SLAM approaches.

In this paper, we find that ubiquitous time series (TS) forecasting models are prone to severe overfitting. To cope with this problem, we embrace a de-redundancy approach to progressively reinstate the intrinsic values of TS for future intervals. Specifically, we renovate the vanilla Transformer by reorienting the information aggregation mechanism from addition to subtraction. Then, we incorporate an auxiliary output branch into each block of the original model to construct a highway leading to the ultimate prediction. The output of subsequent modules in this branch will subtract the previously learned results, enabling the model to learn the residuals of the supervision signal, layer by layer. This designing facilitates the learning-driven implicit progressive decomposition of the input and output streams, empowering the model with heightened versatility, interpretability, and resilience against overfitting. Since all aggregations in the model are minus signs, which is called Minusformer. Extensive experiments demonstrate the proposed method outperform existing state-of-the-art methods, yielding an average performance improvement of 11.9% across various datasets.

Accuracy and efficiency remain challenges for multi-party computation (MPC) frameworks. Spin is a GPU-accelerated MPC framework that supports multiple computation parties and a dishonest majority adversarial setup. We propose optimized protocols for non-linear functions that are critical for machine learning, as well as several novel optimizations specific to attention that is the fundamental unit of Transformer models, allowing Spin to perform non-trivial CNNs training and Transformer inference without sacrificing security. At the backend level, Spin leverages GPU, CPU, and RDMA-enabled smart network cards for acceleration. Comprehensive evaluations demonstrate that Spin can be up to $2\times$ faster than the state-of-the-art for deep neural network training. For inference on a Transformer model with 18.9 million parameters, our attention-specific optimizations enable Spin to achieve better efficiency, less communication, and better accuracy.

We aim to select data subsets for the fine-tuning of large language models to more effectively follow instructions. Prior work has emphasized the importance of diversity in dataset curation but relied on heuristics such as the number of tasks. In this paper, we use determinantal point processes to capture the diversity and quality of instruction tuning datasets for subset selection. We propose to measure dataset diversity with log determinant distance that is the distance between the dataset of interest and a maximally diverse reference dataset. Our experiments demonstrate that the proposed diversity measure in the normalized weight gradient space is correlated with downstream instruction-following performance. Consequently, it can be used to inform when data selection is the most helpful and to analyze dataset curation strategies. We demonstrate the utility of our approach on various instruction tuning datasets.

Vision-Language Models (VLMs) have emerged as the state-of-the-art representation learning solution, with myriads of downstream applications such as image classification, retrieval and generation. A natural question is whether these models memorize their training data, which also has implications for generalization. We propose a new method for measuring memorization in VLMs, which we call d\'ej\`a vu memorization. For VLMs trained on image-caption pairs, we show that the model indeed retains information about individual objects in the training images beyond what can be inferred from correlations or the image caption. We evaluate d\'ej\`a vu memorization at both sample and population level, and show that it is significant for OpenCLIP trained on as many as 50M image-caption pairs. Finally, we show that text randomization considerably mitigates memorization while only moderately impacting the model's downstream task performance.

LLM-based Automatic Prompt Optimization, which typically utilizes LLMs as Prompt Optimizers to self-reflect and refine prompts, has shown promising performance in recent studies. Despite the success, the underlying mechanism of this approach remains unexplored, and the true effectiveness of LLMs as Prompt Optimizers requires further validation. In this work, we conducted a comprehensive study to uncover the actual mechanism of LLM-based Prompt Optimization. Our findings reveal that the LLM optimizers struggle to identify the true causes of errors during reflection, tending to be biased by their own prior knowledge rather than genuinely reflecting on the errors. Furthermore, even when the reflection is semantically valid, the LLM optimizers often fail to generate appropriate prompts for the target models with a single prompt refinement step, partly due to the unpredictable behaviors of the target models. Based on the observations, we introduce a new "Automatic Behavior Optimization" paradigm, which directly optimizes the target model's behavior in a more controllable manner. We hope our study can inspire new directions for automatic prompt optimization development.

While achieving remarkable performances, we show that diffusion models are fragile to the presence of noisy samples, limiting their potential in the vast amount of settings where, unlike image synthesis, we are not blessed with clean data. Motivated by our finding that such fragility originates from the distribution gaps between noisy and clean samples along the diffusion process, we introduce risk-sensitive SDE, a stochastic differential equation that is parameterized by the risk (i.e., data "dirtiness") to adjust the distributions of noisy samples, reducing misguidance while benefiting from their contained information. The optimal expression for risk-sensitive SDE depends on the specific noise distribution, and we derive its parameterizations that minimize the misguidance of noisy samples for both Gaussian and general non-Gaussian perturbations. We conduct extensive experiments on both synthetic and real-world datasets (e.g., medical time series), showing that our model effectively recovers the clean data distribution from noisy samples, significantly outperforming conditional generation baselines.

Graph Collaborative Filtering (GCF), one of the most widely adopted recommendation system methods, effectively captures intricate relationships between user and item interactions. Graph Contrastive Learning (GCL) based GCF has gained significant attention as it leverages self-supervised techniques to extract valuable signals from real-world scenarios. However, many methods usually learn the instances of discrimination tasks that involve the construction of contrastive pairs through random sampling. GCL approaches suffer from sampling bias issues, where the negatives might have a semantic structure similar to that of the positives, thus leading to a loss of effective feature representation. To address these problems, we present the \underline{Proto}typical contrastive learning through \underline{A}lignment and \underline{U}niformity for recommendation, which is called \textbf{ProtoAU}. Specifically, we first propose prototypes (cluster centroids) as a latent space to ensure consistency across different augmentations from the origin graph, aiming to eliminate the need for random sampling of contrastive pairs. Furthermore, the absence of explicit negatives means that directly optimizing the consistency loss between instance and prototype could easily result in dimensional collapse issues. Therefore, we propose aligning and maintaining uniformity in the prototypes of users and items as optimization objectives to prevent falling into trivial solutions. Finally, we conduct extensive experiments on four datasets and evaluate their performance on the task of link prediction. Experimental results demonstrate that the proposed ProtoAU outperforms other representative methods. The source codes of our proposed ProtoAU are available at \url{https://github.com/oceanlvr/ProtoAU}.

EPFL scientists have developed METEOR – an application that can train algorithms to recognize new objects after being shown just a handful of images. Images taken by drones and satellites give scientists a wealth of information. These snapshots provide crucial insight into the changes taking place on the Earth's surface, such as in animal populations, vegetation, debris floating on the ocean surface and glacier coverage. In addition, experts can train neural networks to sort through the images at dizzying speed and spot and classify individual objects. "However, none of the AI programs currently available can immediately switch from recognizing one type of object to another – like from debris to a tree or building," says Professor Devis Tuia, the head of EPFL's Environmental Computational Science and Earth Observation Laboratory.

Relation extraction aims at inferring structured human knowledge from textual documents. State-of-the-art methods based on language models commonly have two limitations: (1) they require named entities to be either given as input or infer them, which introduces additional noise, and (2) they require human annotations of documents. As a remedy, we present a novel framework for document-level in-context few-shot relation extraction via pre-trained language models. We achieve crucial benefits in that we eliminate the need for both named entity recognition and human annotation of documents. Unlike existing methods based on fine-tuning, our framework is flexible in that it can be easily updated for a new set of relations without re-training. We evaluate our framework using DocRED, the largest publicly available dataset for document-level relation extraction, and demonstrate that our framework achieves state-of-the-art performance. Finally, we show that our framework actually performs much better than the original labels from the development set of DocRED. To the best of our knowledge, we are the first to reformulate the document-level relation extraction task as a tailored in-context few-shot learning paradigm.