Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain the pose of each instance. However, due to the cluttered and occluded objects in the scene, it is difficult to obtain an accurate correspondence between the model point cloud and all instances in the scene. To this end, we propose a simple yet powerful 3D focusing-and-matching network for multi-instance point cloud registration by learning the multiple pair-wise point cloud registration. Specifically, we first present a 3D multi-object focusing module to locate the center of each object and generate object proposals. By using self-attention and cross-attention to associate the model point cloud with structurally similar objects, we can locate potential matching instances by regressing object centers. Then, we propose a 3D dual-masking instance matching module to estimate the pose between the model point cloud and each object proposal. It performs instance mask and overlap mask masks to accurately predict the pair-wise correspondence. Extensive experiments on two public benchmarks, Scan2CAD and ROBI, show that our method achieves a new state-of-the-art performance on the multi-instance point cloud registration task.

An important goal of modern scheduling systems is to efficiently manage power usage. In energy-efficient scheduling, the operating system controls the speed at which a machine is processing jobs with the dual objective of minimizing energy consumption and optimizing the quality of service cost of the resulting schedule. Since machine-learned predictions about future requests can often be learned from historical data, a recent line of work on learning-augmented algorithms aims to achieve improved performance guarantees by leveraging predictions.

The predominant paradigm of testing ML models relies on either using only held-out data to compute aggregate evaluation metrics or by assessing the performance on different subgroups. However, such methods operate under the restrictive assumption that the available empirical data is the sole input for testing ML models, disregarding valuable contextual information that could guide model testing. In this paper, we challenge the go-to approach of and introduce (CAT) which uses context as an inductive bias to guide the search for meaningful model failures. We instantiate the first CAT system,, which employs large language models to hypothesize relevant and likely failures, which are evaluated on data using a . Through empirical evaluations in diverse settings, we show that SMART automatically identifies more relevant and impactful failures than alternatives, demonstrating the potential of CAT as a testing paradigm.

Stochastic optimal control, which has the goal of driving the behavior of noisy systems, is broadly applicable in science, engineering and artificial intelligence. Our work introduces Stochastic Optimal Control Matching (SOCM), a novel Iterative Diffusion Optimization (IDO) technique for stochastic optimal control that stems from the same philosophy as the conditional score matching loss for diffusion models. That is, the control is learned via a least squares problem by trying to fit a matching vector field. The training loss, which is closely connected to the cross-entropy loss, is optimized with respect to both the control function and a family of reparameterization matrices which appear in the matching vector field. The optimization with respect to the reparameterization matrices aims at minimizing the variance of the matching vector field. Experimentally, our algorithm achieves lower error than all the existing IDO techniques for stochastic optimal control for three out of four control problems, in some cases by an order of magnitude. The key idea underlying SOCM is the path-wise reparameterization trick, a novel technique that may be of independent interest.

Recently, Large Language Models (LLMs) make remarkable evolutions in language understanding and generation. Following this, various benchmarks for measuring all kinds of capabilities of LLMs have sprung up. In this paper, we challenge the reasoning and understanding abilities of LLMs by proposing a FaLlacy Understanding Benchmark (FLUB) containing cunning texts that are easy for humans to understand but difficult for models to grasp. Specifically, the cunning texts that FLUB focuses on mainly consist of the tricky, humorous, and misleading texts collected from the real internet environment. And we design three tasks with increasing difficulty in the FLUB benchmark to evaluate the fallacy understanding ability of LLMs. Based on FLUB, we investigate the performance of multiple representative and advanced LLMs, reflecting our FLUB is challenging and worthy of more future study. Interesting discoveries and valuable insights are achieved in our extensive experiments and detailed analyses. We hope that our benchmark can encourage the community to improve LLMs' ability to understand fallacies. Our data and codes are available at https://github.com/THUKElab/FLUB.

Accurately identifying and organizing textual content is crucial for the automation of document processing in the field of form understanding. Existing datasets, such as FUNSD and XFUND, support entity classification and relationship prediction tasks but are typically limited to local and entity-level annotations. This limitation overlooks the hierarchically structured representation of documents, constraining comprehensive understanding of complex forms. To address this issue, we present the SRFUND, a hierarchically structured multi-task form understanding benchmark. SRFUND provides refined annotations on top of the original FUNSD and XFUND datasets, encompassing five tasks: (1) word to text-line merging, (2) text-line to entity merging, (3) entity category classification, (4) item table localization, and (5) entity-based full-document hierarchical structure recovery. We meticulously supplemented the original dataset with missing annotations at various levels of granularity and added detailed annotations for multi-item table regions within the forms. Additionally, we introduce global hierarchical structure dependencies for entity relation prediction tasks, surpassing traditional local key-value associations. The SRFUND dataset includes eight languages including English, Chinese, Japanese, German, French, Spanish, Italian, and Portuguese, making it a powerful tool for cross-lingual form understanding. Extensive experimental results demonstrate that the SRFUND dataset presents new challenges and significant opportunities in handling diverse layouts and global hierarchical structures of forms, thus providing deep insights into the field of form understanding.

Diffusion models have demonstrated remarkable capabilities in image generation tasks, including image editing and video creation, representing a good understanding of the physical world. On the other line, diffusion models have also shown promise in robotic control tasks by denoising actions, known as diffusion policy. Although the diffusion generative model and diffusion policy exhibit distinct capabilities--image prediction and robotic action, respectively--they technically follow similar denoising process. In robotic tasks, the ability to predict future images and generate actions is highly correlated since they share the same underlying dynamics of the physical world. Building on this insight, we introduce \textbf{PAD}, a novel visual policy learning framework that unifies image \textbf{P}rediction and robot \textbf{A}ction within a joint \textbf{D}enoising process. Specifically, PAD utilizes Diffusion Transformers (DiT) to seamlessly integrate images and robot states, enabling the simultaneous prediction of future images and robot actions.

Recently, through a unified gradient flow perspective of Markov chain Monte Carlo (MCMC) and variational inference (VI), particle-based variational inference methods (ParVIs) have been proposed that tend to combine the best of both worlds. While typical ParVIs such as Stein Variational Gradient Descent (SVGD) approximate the gradient flow within a reproducing kernel Hilbert space (RKHS), many attempts have been made recently to replace RKHS with more expressive function spaces, such as neural networks. While successful, these methods are mainly designed for sampling from unconstrained domains. In this paper, we offer a general solution to constrained sampling by introducing a boundary condition for the gradient flow which would confine the particles within the specific domain. This allows us to propose a new functional gradient ParVI method for constrained sampling, called (CFG), with provable continuous-time convergence in total variation (TV). We also present novel numerical strategies to handle the boundary integral term arising from the domain constraints. Our theory and experiments demonstrate the effectiveness of the proposed framework.

Today's best language models still struggle with hallucinations, factually incorrect generations, which impede their ability to reliably retrieve information seen during training. The, where models cannot recall information when probed in a different order than was encountered during training, exemplifies limitations in information retrieval. To better understand these limitations, we reframe the reversal curse as a --- a failure of models to learn the same joint distribution under different factorizations.We more closely simulate finetuning workflows which train pretrained models on specialized knowledge by introducing, a realistic testbed based on Wikipedia knowledge graphs. Through a series of controlled experiments with increasing levels of realism, including non-reciprocal relations, we find that reliable information retrieval is an inherent failure of the next-token prediction objective used in popular large language models. Moreover, we demonstrate reliable information retrieval cannot be solved with scale, reversed tokens, or even naive bidirectional-attention training. Consequently, various approaches to finetuning on specialized data would necessarily provide mixed results on downstream tasks, unless the model has already seen the right sequence of tokens. Across five tasks of varying levels of complexity, our results uncover a promising path forward: factorization-agnostic objectives can significantly mitigate the reversal curse and hint at improved knowledge storage and planning capabilities.

Compiler backends are tasked with generating executable machine code for processors. With the proliferation of diverse processors, it is imperative for programmers to tailor specific compiler backends to accommodate each one. Meanwhile, compiler backend development is a laborious and time-consuming task, lacking effective automation methods. Although language models have demonstrated strong abilities in code related tasks, the lack of appropriate datasets for compiler backend development limits the application of language models in this field.In this paper, we introduce ComBack, the first public dataset designed for improving compiler backend development capabilities of language models. ComBack includes 178 backends for mainstream compilers and three tasks including statement-level completion, next-statement suggestion and code generation, representing common development scenarios. We conducted experiments by fine-tuning six pre-trained language models with ComBack, demonstrating its effectiveness in enhancing model accuracy across the three tasks. We further evaluated the top-performing model(CodeT5+) across the three tasks for new targets, comparing its accuracy with conventional methods (Fork-Flow), ChatGPT-3.5-Turbo,