This paper reports on a novel method for LiDAR odometry estimation, which completely parameterizes the system with dual quaternions. To accomplish this, the features derived from the point cloud, including edges, surfaces, and Stable Triangle Descriptor (STD), along with the optimization problem, are expressed in the dual quaternion set. This approach enables the direct combination of translation and orientation errors via dual quaternion operations, greatly enhancing pose estimation, as demonstrated in comparative experiments against other state-of-the-art methods. Our approach reduced drift error compared to other LiDAR-only-odometry methods, especially in scenarios with sharp curves and aggressive movements with large angular displacement. DualQuat-LOAM is benchmarked against several public datasets. In the KITTI dataset it has a translation and rotation error of 0.79% and 0.0039{\deg}/m, with an average run time of 53 ms.

We present Movie Gen, a cast of foundation models that generates high-quality, 1080p HD videos with different aspect ratios and synchronized audio. We also show additional capabilities such as precise instruction-based video editing and generation of personalized videos based on a user's image. Our models set a new state-of-the-art on multiple tasks: text-to-video synthesis, video personalization, video editing, video-to-audio generation, and text-to-audio generation. Our largest video generation model is a 30B parameter transformer trained with a maximum context length of 73K video tokens, corresponding to a generated video of 16 seconds at 16 frames-per-second. We show multiple technical innovations and simplifications on the architecture, latent spaces, training objectives and recipes, data curation, evaluation protocols, parallelization techniques, and inference optimizations that allow us to reap the benefits of scaling pre-training data, model size, and training compute for training large scale media generation models. We hope this paper helps the research community to accelerate progress and innovation in media generation models. All videos from this paper are available at https://go.fb.me/MovieGenResearchVideos.

This study introduces a prescriptive annotation benchmark grounded in humanities research to ensure consistent, unbiased labeling of offensive language, particularly for casual and non-mainstream language uses. We contribute two newly annotated datasets that achieve higher inter-annotator agreement between human and language model (LLM) annotations compared to original datasets based on descriptive instructions. Our experiments show that LLMs can serve as effective alternatives when professional annotators are unavailable. Moreover, smaller models fine-tuned on multi-source LLM-annotated data outperform models trained on larger, single-source human-annotated datasets. These findings highlight the value of structured guidelines in reducing subjective variability, maintaining performance with limited data, and embracing language diversity. Content Warning: This article only analyzes offensive language for academic purposes. Discretion is advised.

Legal research is a time-consuming task that most lawyers face on a daily basis. A large part of legal research entails looking up relevant caselaw and bringing it in relation to the case at hand. Lawyers heavily rely on summaries (also called headnotes) to find the right cases quickly. However, not all decisions are annotated with headnotes and writing them is time-consuming. Automated headnote creation has the potential to make hundreds of thousands of decisions more accessible for legal research in Switzerland alone. To kickstart this, we introduce the Swiss Leading Decision Summarization ( SLDS) dataset, a novel cross-lingual resource featuring 18K court rulings from the Swiss Federal Supreme Court (SFSC), in German, French, and Italian, along with German headnotes. We fine-tune and evaluate three mT5 variants, along with proprietary models. Our analysis highlights that while proprietary models perform well in zero-shot and one-shot settings, fine-tuned smaller models still provide a strong competitive edge. We publicly release the dataset to facilitate further research in multilingual legal summarization and the development of assistive technologies for legal professionals

Symbolic regression (SR) is a powerful technique for discovering symbolic expressions that characterize nonlinear relationships in data, gaining increasing attention for its interpretability, compactness, and robustness. However, existing SR methods do not scale to datasets with a large number of input variables (referred to as extreme-scale SR), which are common in modern scientific applications. This ``large $p$'' setting, often accompanied by measurement error, leads to slow performance of SR methods and overly complex expressions that are difficult to interpret. To address this scalability challenge, we propose a method called PAN+SR, which combines a key idea of ab initio nonparametric variable selection with SR to efficiently pre-screen large input spaces and reduce search complexity while maintaining accuracy. The use of nonparametric methods eliminates model misspecification, supporting a strategy called parametric-assisted nonparametric (PAN). We also extend SRBench, an open-source benchmarking platform, by incorporating high-dimensional regression problems with various signal-to-noise ratios. Our results demonstrate that PAN+SR consistently enhances the performance of 17 contemporary SR methods, enabling several to achieve state-of-the-art performance on these challenging datasets.

The well-groomed young man dressed in a crisp, blue shirt speaking with a soft American accent seems an unlikely supporter of the junta leader of the west African state of Burkina Faso. "We must support … President Ibrahim Traoré … Homeland or death we shall overcome!" he says in a video that began circulating in early 2023 on Telegram. It was just a few months after the dictator had come to power via a military coup. Other videos fronted by different people, with a similar professional-looking appearance and repeating the exact same script in front of the Burkina Faso flag, cropped up around the same time. On a verified account on X a few days later the same young man, in the same blue shirt, claimed to be Archie, the chief executive of a new cryptocurrency platform. They were generated with artificial intelligence (AI) developed by a startup based in east London.

Chatbots like ChatGPT are used for diverse purposes, ranging from resume writing to entertainment. These real-world applications are different from the institutional uses, such as resume screening or credit scoring, which have been the focus of much of AI research on fairness. Ensuring equitable treatment for all users in these first-person contexts is critical. In this work, we study "first-person fairness," which means fairness toward the chatbot user. This includes providing high-quality responses to all users regardless of their identity or background and avoiding harmful stereotypes. We propose a scalable, privacy-preserving method for evaluating one aspect of first-person fairness across a large, heterogeneous corpus of real-world chatbot interactions. Specifically, we assess potential bias linked to users' names, which can serve as proxies for demographic attributes like gender or race, in chatbot systems such as ChatGPT, which provide mechanisms for storing and using user names. Our method leverages a second language model to privately analyze name-sensitivity in the chatbot's responses. We verify the validity of these annotations through independent human evaluation. Further, we show that post-training interventions, including RL, significantly mitigate harmful stereotypes. Our approach also yields succinct descriptions of response differences across tasks. For instance, in the "writing a story" task, chatbot responses show a tendency to create protagonists whose gender matches the likely gender inferred from the user's name. Moreover, a pattern emerges where users with female-associated names receive responses with friendlier and simpler language slightly more often than users with male-associated names. Finally, we provide the system messages required for external researchers to further investigate ChatGPT's behavior with hypothetical user profiles.

Reasoning, the ability to logically draw conclusions from existing knowledge, is a hallmark of human. Together with perception, they constitute the two major themes of artificial intelligence. While deep learning has pushed the limit of perception beyond human-level performance, the progress in reasoning domains is way behind. One fundamental reason is that reasoning problems usually have flexible structures for both knowledge and queries, and many existing models only perform well on structures seen during training. Here we aim to push the boundary of reasoning models by devising algorithms that generalize across knowledge and query structures, as well as systems that accelerate development on structured data. This thesis consists of three parts. In Part I, we study models that can inductively generalize to unseen knowledge graphs with new entity and relation vocabularies. For new entities, we propose a framework that learns neural operators in a dynamic programming algorithm computing path representations. For relations, we construct a relation graph to capture the interactions between relations, thereby converting new relations into new entities. In Part II, we propose two solutions for generalizing across multi-step queries on knowledge graphs and text respectively. For knowledge graphs, we show that multi-step queries can be solved by multiple calls of graph neural networks and fuzzy logic operations. For text, we devise an algorithm to learn explicit knowledge as textual rules to improve large language models on multi-step queries. In Part III, we propose two systems to facilitate machine learning development on structured data. Our library treats structured data as first-class citizens and removes the barrier for developing algorithms on structured data. Our node embedding system solves the GPU memory bottleneck of embedding matrices and scales to graphs with billion nodes.

Data summarization tasks are often modeled as $k$-clustering problems, where the goal is to choose $k$ data points, called cluster centers, that best represent the dataset by minimizing a clustering objective. A popular objective is to minimize the maximum distance between any data point and its nearest center, which is formalized as the $k$-center problem. While in some applications all data points can be chosen as centers, in the general setting, centers must be chosen from a predefined subset of points, referred as facilities or suppliers; this is known as the $k$-supplier problem. In this work, we focus on fair data summarization modeled as the fair $k$-supplier problem, where data consists of several groups, and a minimum number of centers must be selected from each group while minimizing the $k$-supplier objective. The groups can be disjoint or overlapping, leading to two distinct problem variants each with different computational complexity. We present $3$-approximation algorithms for both variants, improving the previously known factor of $5$. For disjoint groups, our algorithm runs in polynomial time, while for overlapping groups, we present a fixed-parameter tractable algorithm, where the exponential runtime depends only on the number of groups and centers. We show that these approximation factors match the theoretical lower bounds, assuming standard complexity theory conjectures. Finally, using an open-source implementation, we demonstrate the scalability of our algorithms on large synthetic datasets and assess the price of fairness on real-world data, comparing solution quality with and without fairness constraints.

Visual Simultaneous Localization and Mapping (VSLAM) is a fundamental technology for robotics applications. While VSLAM research has achieved significant advancements, its robustness under challenging situations, such as poor lighting, dynamic environments, motion blur, and sensor failures, remains a challenging issue. To address these challenges, we introduce a novel RGB-D dataset designed for evaluating the robustness of VSLAM systems. The dataset comprises real-world indoor scenes with dynamic objects, motion blur, and varying illumination, as well as emulated camera failures, including lens dirt, condensation, underexposure, and overexposure. Additionally, we offer open-source scripts for injecting camera failures into any images, enabling further customization by the research community. Our experiments demonstrate that ORB-SLAM2, a traditional VSLAM algorithm, and TartanVO, a Deep Learning-based VO algorithm, can experience performance degradation under these challenging conditions. Therefore, this dataset and the camera failure open-source tools provide a valuable resource for developing more robust VSLAM systems capable of handling real-world challenges.