Abstract-- We present a novel pneumatic augmentation to traditional electric motor-actuated legged robot to increase intermittent power density to perform infrequent explosive hopping behaviors. The pneumatic system is composed of a pneumatic pump, a tank, and a pneumatic actuator. The tank is charged up by the pump during regular hopping motion that is created by the electric motors. At any time after reaching a desired air pressure in the tank, a solenoid valve is utilized to rapidly release the air pressure to the pneumatic actuator (piston) which is used in conjunction with the electric motors to perform explosive hopping, increasing maximum hopping height for one or subsequent cycles. We show that, on a customdesigned one-legged hopping robot, without any additional power source and with this novel pneumatic augmentation system, their associated system identification and optimal control, the robot is able to realize highly explosive hopping with power amplification per cycle by a factor of approximately 5.4 times the power of electric motor actuation alone.

We propose a new framework that formulates point cloud registration as a denoising diffusion process from noisy transformation to object transformation. During training stage, object transformation diffuses from ground-truth transformation to random distribution, and the model learns to reverse this noising process. In sampling stage, the model refines randomly generated transformation to the output result in a progressive way. We derive the variational bound in closed form for training and provide implementations of the model. Our work provides the following crucial findings: (i) In contrast to most existing methods, our framework, Diffusion Probabilistic Models for Point Cloud Registration (PCRDiffusion) does not require repeatedly update source point cloud to refine the predicted transformation. (ii) Point cloud registration, one of the representative discriminative tasks, can be solved by a generative way and the unified probabilistic formulation. Finally, we discuss and provide an outlook on the application of diffusion model in different scenarios for point cloud registration. Experimental results demonstrate that our model achieves competitive performance in point cloud registration. In correspondence-free and correspondence-based scenarios, PCRDifussion can both achieve exceeding 50\% performance improvements.

The deployment of Large Multimodal Models (LMMs) within AntGroup has significantly advanced multimodal tasks in payment, security, and advertising, notably enhancing advertisement audition tasks in Alipay. However, the deployment of such sizable models introduces challenges, particularly in increased latency and carbon emissions, which are antithetical to the ideals of Green AI. This paper introduces a novel multi-stage compression strategy for our proprietary LLM, AntGMM. Our methodology pivots on three main aspects: employing small training sample sizes, addressing multi-level redundancy through multi-stage pruning, and introducing an advanced distillation loss design. In our research, we constructed a dataset, the Multimodal Advertisement Audition Dataset (MAAD), from real-world scenarios within Alipay, and conducted experiments to validate the reliability of our proposed strategy. Furthermore, the effectiveness of our strategy is evident in its operational success in Alipay's real-world multimodal advertisement audition for three months from September 2023. Notably, our approach achieved a substantial reduction in latency, decreasing it from 700ms to 90ms, while maintaining online performance with only a slight performance decrease. Moreover, our compressed model is estimated to reduce electricity consumption by approximately 75 million kWh annually compared to the direct deployment of AntGMM, demonstrating our commitment to green AI initiatives. We will publicly release our code and the MAAD dataset after some reviews\footnote{https://github.com/MorinW/AntGMM$\_$Pruning}.

Accurately predicting lithium-ion batteries (LIBs) lifespan is pivotal for optimizing usage and preventing accidents. Previous approaches often relied on inputs challenging to measure in real-time, and failed to capture intra- and inter-cycle data patterns simultaneously. Our study employ attention mechanisms (AM) to develop data-driven models predicting LIB lifespan using easily measurable inputs. Developed model integrates recurrent neural network and convolutional neural network, featuring two types of AMs: temporal attention (TA) and cyclic attention (CA). TA identifies important time steps within each cycle, CA strives to capture key features of inter-cycle correlations through self-attention (SA). We apply the developed model to publicly available data consisting of three batches of cycling modes. TA scores highlight the rest phase as a key characteristic to distinguish different batches. By leveraging CA scores, we decreased the input dimension from 100 cycles to 50 and 30 cycles with single- and multi-head attention.

Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated mapping between the robot configuration and the end-effector pose. Alternatively, the kinematic model and task constraints can be represented using invariant distances between points attached to the robot. In this paper, we formalize the equivalence of distance-based inverse kinematics and the distance geometry problem for a large class of articulated robots and task constraints. Unlike previous approaches, we use the connection between distance geometry and low-rank matrix completion to find inverse kinematics solutions by completing a partial Euclidean distance matrix through local optimization. Furthermore, we parametrize the space of Euclidean distance matrices with the Riemannian manifold of fixed-rank Gram matrices, allowing us to leverage a variety of mature Riemannian optimization methods. Finally, we show that bound smoothing can be used to generate informed initializations without significant computational overhead, improving convergence. We demonstrate that our inverse kinematics solver achieves higher success rates than traditional techniques, and substantially outperforms them on problems that involve many workspace constraints.

Controlling marine vehicles in challenging environments is a complex task due to the presence of nonlinear hydrodynamics and uncertain external disturbances. Despite nonlinear model predictive control (MPC) showing potential in addressing these issues, its practical implementation is often constrained by computational limitations. In this paper, we propose an efficient controller for trajectory tracking of marine vehicles by employing a convex error-state MPC on the Lie group. By leveraging the inherent geometric properties of the Lie group, we can construct globally valid error dynamics and formulate a quadratic programming-based optimization problem. Our proposed MPC demonstrates effectiveness in trajectory tracking through extensive-numerical simulations, including scenarios involving ocean currents. Notably, our method substantially reduces computation time compared to nonlinear MPC, making it well-suited for real-time control applications with long prediction horizons or involving small marine vehicles.

Interpolation of aliased seismic data constitutes a key step in a seismic processing workflow to obtain high quality velocity models and seismic images. Building on the idea of describing seismic wavefields as a superposition of local plane waves, we propose to interpolate seismic data by utilizing a physics informed neural network (PINN). In the proposed framework, two feed-forward neural networks are jointly trained using the local plane wave differential equation as well as the available data as two terms in the objective function: a primary network assisted by positional encoding is tasked with reconstructing the seismic data, whilst an auxiliary, smaller network estimates the associated local slopes. Results on synthetic and field data validate the effectiveness of the proposed method in handling aliased (coarsely sampled) data and data with large gaps. Our method compares favorably against a classic least-squares inversion approach regularized by the local plane-wave equation as well as a PINN-based approach with a single network and pre-computed local slopes. We find that introducing a second network to estimate the local slopes whilst at the same time interpolating the aliased data enhances the overall reconstruction capabilities and convergence behavior of the primary network. Moreover, an additional positional encoding layer embedded as the first layer of the wavefield network confers to the network the ability to converge faster improving the accuracy of the data term.

Conventional dialogue summarization methods directly generate summaries and do not consider user's specific interests. This poses challenges in cases where the users are more focused on particular topics or aspects. With the advancement of instruction-finetuned language models, we introduce instruction-tuning to dialogues to expand the capability set of dialogue summarization models. To overcome the scarcity of instructive dialogue summarization data, we propose a three-step approach to synthesize high-quality query-based summarization triples. This process involves summary-anchored query generation, query filtering, and query-based summary generation. By training a unified model called InstructDS (Instructive Dialogue Summarization) on three summarization datasets with multi-purpose instructive triples, we expand the capability of dialogue summarization models. We evaluate our method on four datasets, including dialogue summarization and dialogue reading comprehension. Experimental results show that our approach outperforms the state-of-the-art models and even models with larger sizes. Additionally, our model exhibits higher generalizability and faithfulness, as confirmed by human subjective evaluations.

Mis- and disinformation online have become a major societal problem as major sources of online harms of different kinds. One common form of mis- and disinformation is out-of-context (OOC) information, where different pieces of information are falsely associated, e.g., a real image combined with a false textual caption or a misleading textual description. Although some past studies have attempted to defend against OOC mis- and disinformation through external evidence, they tend to disregard the role of different pieces of evidence with different stances. Motivated by the intuition that the stance of evidence represents a bias towards different detection results, we propose a stance extraction network (SEN) that can extract the stances of different pieces of multi-modal evidence in a unified framework. Moreover, we introduce a support-refutation score calculated based on the co-occurrence relations of named entities into the textual SEN. Extensive experiments on a public large-scale dataset demonstrated that our proposed method outperformed the state-of-the-art baselines, with the best model achieving a performance gain of 3.2% in accuracy.

The integration of artificial intelligence into scientific research has reached a new pinnacle with GPT-4V, a large language model featuring enhanced vision capabilities, accessible through ChatGPT or an API. This study demonstrates the remarkable ability of GPT-4V to navigate and obtain complex data for metal-organic frameworks, especially from graphical sources. Our approach involved an automated process of converting 346 scholarly articles into 6240 images, which represents a benchmark dataset in this task, followed by deploying GPT-4V to categorize and analyze these images using natural language prompts. This methodology enabled GPT-4V to accurately identify and interpret key plots integral to MOF characterization, such as nitrogen isotherms, PXRD patterns, and TGA curves, among others, with accuracy and recall above 93%. The model's proficiency in extracting critical information from these plots not only underscores its capability in data mining but also highlights its potential in aiding the creation of comprehensive digital databases for reticular chemistry. In addition, the extracted nitrogen isotherm data from the selected literature allowed for a comparison between theoretical and experimental porosity values for over 200 compounds, highlighting certain discrepancies and underscoring the importance of integrating computational and experimental data. This work highlights the potential of AI in accelerating scientific discovery and innovation, bridging the gap between computational tools and experimental research, and paving the way for more efficient, inclusive, and comprehensive scientific inquiry.