This study introduces a unified control framework that addresses the challenge of precise quadruped locomotion with unknown payloads, named as online payload identification-based physics-informed neural network predictive control (OPI-PINNPC). By integrating online payload identification with physics-informed neural networks (PINNs), our approach embeds identified mass parameters directly into the neural network's loss function, ensuring physical consistency while adapting to changing load conditions. The physics-constrained neural representation serves as an efficient surrogate model within our nonlinear model predictive controller, enabling real-time optimization despite the complex dynamics of legged locomotion. Experimental validation on our quadruped robot platform demonstrates 35% improvement in position and orientation tracking accuracy across diverse payload conditions (25-100 kg), with substantially faster convergence compared to previous adaptive control methods. Our framework provides a adaptive solution for maintaining locomotion performance under variable payload conditions without sacrificing computational efficiency.

Preference learning enhances Code LLMs beyond supervised fine-tuning by leveraging relative quality comparisons. Existing methods construct preference pairs from candidates based on test case success, treating the higher pass rate sample as positive and the lower as negative. However, this approach does not pinpoint specific errors in the code, which prevents the model from learning more informative error correction patterns, as aligning failing code as a whole lacks the granularity needed to capture meaningful error-resolution relationships. To address these issues, we propose IterPref, a new preference alignment framework that mimics human iterative debugging to refine Code LLMs. IterPref explicitly locates error regions and aligns the corresponding tokens via a tailored DPO algorithm. To generate informative pairs, we introduce the CodeFlow dataset, where samples are iteratively refined until passing tests, with modifications capturing error corrections. Extensive experiments show that a diverse suite of Code LLMs equipped with IterPref achieves significant performance gains in code generation and improves on challenging tasks like BigCodeBench. In-depth analysis reveals that IterPref yields fewer errors. Our code and data will be made publicaly available.

Large Language Models (LLMs) have shown great promise in tool-making, yet existing frameworks often struggle to efficiently construct reliable toolsets and are limited to single-task settings. To address these challenges, we propose GATE (Graph-based Adaptive Tool Evolution), an adaptive framework that dynamically constructs and evolves a hierarchical graph of reusable tools across multiple scenarios. We evaluate GATE on open-ended tasks (Minecraft), agent-based tasks (TextCraft, DABench), and code generation tasks (MATH, Date, TabMWP). Our results show that GATE achieves up to 4.3x faster milestone completion in Minecraft compared to the previous SOTA, and provides an average improvement of 9.23% over existing tool-making methods in code generation tasks and 10.03% in agent tasks. GATE demonstrates the power of adaptive evolution, balancing tool quantity, complexity, and functionality while maintaining high efficiency. Code and data are available at \url{https://github.com/ayanami2003/GATE}.

We introduce DA-Code, a code generation benchmark specifically designed to assess LLMs on agent-based data science tasks. This benchmark features three core elements: First, the tasks within DA-Code are inherently challenging, setting them apart from traditional code generation tasks and demanding advanced coding skills in grounding and planning. Second, examples in DA-Code are all based on real and diverse data, covering a wide range of complex data wrangling and analytics tasks. Third, to solve the tasks, the models must utilize complex data science programming languages, to perform intricate data processing and derive the answers. We set up the benchmark in a controllable and executable environment that aligns with real-world data analysis scenarios and is scalable. The annotators meticulously design the evaluation suite to ensure the accuracy and robustness of the evaluation. We develop the DA-Agent baseline. Experiments show that although the baseline performs better than other existing frameworks, using the current best LLMs achieves only 30.5% accuracy, leaving ample room for improvement. We release our benchmark at https://da-code-bench.github.io.

Large Language Models (LLMs) are undergoing a period of rapid updates and changes, with state-of-the-art (SOTA) model frequently being replaced. When applying LLMs to a specific scientific field, it's challenging to acquire unique domain knowledge while keeping the model itself advanced. To address this challenge, a sophisticated large language model system named as Xiwu has been developed, allowing you switch between the most advanced foundation models and quickly teach the model domain knowledge. In this work, we will report on the best practices for applying LLMs in the field of high-energy physics (HEP), including: a seed fission technology is proposed and some data collection and cleaning tools are developed to quickly obtain domain AI-Ready dataset; a just-in-time learning system is implemented based on the vector store technology; an on-the-fly fine-tuning system has been developed to facilitate rapid training under a specified foundation model. The results show that Xiwu can smoothly switch between foundation models such as LLaMA, Vicuna, ChatGLM and Grok-1. The trained Xiwu model is significantly outperformed the benchmark model on the HEP knowledge question-and-answering and code generation. This strategy significantly enhances the potential for growth of our model's performance, with the hope of surpassing GPT-4 as it evolves with the development of open-source models. This work provides a customized LLM for the field of HEP, while also offering references for applying LLM to other fields, the corresponding codes are available on Github.

Image reconstruction from radio-frequency data is pivotal in ultrafast plane wave ultrasound imaging. Unlike the conventional delay-and-sum (DAS) technique, which relies on somewhat imprecise assumptions, deep learning-based methods perform image reconstruction by training on paired data, leading to a notable enhancement in image quality. Nevertheless, these strategies often exhibit limited generalization capabilities. Recently, denoising diffusion models have become the preferred paradigm for image reconstruction tasks. However, their reliance on an iterative sampling procedure results in prolonged generation time. In this paper, we propose a novel sampling framework that concurrently enforces data consistency of ultrasound signals and data-driven priors. By leveraging the advanced diffusion model, the generation of high-quality images is substantially expedited. Experimental evaluations on an in-vivo dataset indicate that our approach with a single plane wave surpasses DAS with spatial coherent compounding of 75 plane waves.

Contrast enhanced ultrasound is a radiation-free imaging modality which uses encapsulated gas microbubbles for improved visualization of the vascular bed deep within the tissue. It has recently been used to enable imaging with unprecedented subwavelength spatial resolution by relying on super-resolution techniques. A typical preprocessing step in super-resolution ultrasound is to separate the microbubble signal from the cluttering tissue signal. This step has a crucial impact on the final image quality. Here, we propose a new approach to clutter removal based on robust principle component analysis (PCA) and deep learning. We begin by modeling the acquired contrast enhanced ultrasound signal as a combination of a low rank and sparse components. This model is used in robust PCA and was previously suggested in the context of ultrasound Doppler processing and dynamic magnetic resonance imaging. We then illustrate that an iterative algorithm based on this model exhibits improved separation of microbubble signal from the tissue signal over commonly practiced methods. Next, we apply the concept of deep unfolding to suggest a deep network architecture tailored to our clutter filtering problem which exhibits improved convergence speed and accuracy with respect to its iterative counterpart. We compare the performance of the suggested deep network on both simulations and in-vivo rat brain scans, with a commonly practiced deep-network architecture and the fast iterative shrinkage algorithm, and show that our architecture exhibits better image quality and contrast.