Adaptive tracking control for rigid body dynamics is of critical importance in control and robotics, particularly for addressing uncertainties or variations in system model parameters. However, most existing adaptive control methods are designed for systems with states in vector spaces, often neglecting the manifold constraints inherent to robotic systems. In this work, we propose a novel Lie-algebra-based adaptive control method that leverages the intrinsic relationship between the special Euclidean group and its associated Lie algebra. By transforming the state space from the group manifold to a vector space, we derive a linear error dynamics model that decouples model parameters from the system state. This formulation enables the development of an adaptive optimal control method that is both geometrically consistent and computationally efficient. Extensive simulations demonstrate the effectiveness and efficiency of the proposed method. We have made our source code publicly available to the community to support further research and collaboration.

Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the speed of generating efficient trajectories. In this paper, we present a novel hierarchical trajectory planning framework to reduce computational time and memory usage called MINER-RRT*, which consists of two main components. First, we propose a sampling-based path planning method boosted by neural networks, where the predicted heuristic region accelerates the convergence of rapidly-exploring random trees. Second, we utilize the optimal conditions derived from the quadrotor's differential flatness properties to construct polynomial trajectories that minimize control effort in multiple stages. Extensive simulation and real-world experimental results demonstrate that, compared to several state-of-the-art (SOTA) approaches, our method can generate high-quality trajectories with better performance in 3D cluttered environments.

This paper presents a methodology for enhancing relation extraction from biomedical texts, focusing specifically on chemical-gene interactions. Leveraging the BioBERT model and a multi-layer fully connected network architecture, our approach integrates the ChemProt and DrugProt datasets using a novel merging strategy. Through extensive experimentation, we demonstrate significant performance improvements, particularly in CPR groups shared between the datasets. The findings underscore the importance of dataset merging in augmenting sample counts and improving model accuracy. Moreover, the study highlights the potential of automated information extraction in biomedical research and clinical practice.

Large language model (LLM) has achieved outstanding performance on various downstream tasks with its powerful natural language understanding and zero-shot capability, but LLM still suffers from knowledge limitation. Especially in scenarios that require long logical chains or complex reasoning, the hallucination and knowledge limitation of LLM limit its performance in question answering (QA). In this paper, we propose a novel framework KnowledgeNavigator to address these challenges by efficiently and accurately retrieving external knowledge from knowledge graph and using it as a key factor to enhance LLM reasoning. Specifically, KnowledgeNavigator first mines and enhances the potential constraints of the given question to guide the reasoning. Then it retrieves and filters external knowledge that supports answering through iterative reasoning on knowledge graph with the guidance of LLM and the question. Finally, KnowledgeNavigator constructs the structured knowledge into effective prompts that are friendly to LLM to help its reasoning. We evaluate KnowledgeNavigator on multiple public KGQA benchmarks, the experiments show the framework has great effectiveness and generalization, outperforming previous knowledge graph enhanced LLM methods and is comparable to the fully supervised models.

Label distribution learning (LDL) is an effective method to predict the label description degree (a.k.a. label distribution) of a sample. However, annotating label distribution (LD) for training samples is extremely costly. So recent studies often first use label enhancement (LE) to generate the estimated label distribution from the logical label and then apply external LDL algorithms on the recovered label distribution to predict the label distribution for unseen samples. But this step-wise manner overlooks the possible connections between LE and LDL. Moreover, the existing LE approaches may assign some description degrees to invalid labels. To solve the above problems, we propose a novel method to learn an LDL model directly from the logical label, which unifies LE and LDL into a joint model, and avoids the drawbacks of the previous LE methods. Extensive experiments on various datasets prove that the proposed approach can construct a reliable LDL model directly from the logical label, and produce more accurate label distribution than the state-of-the-art LE methods.

After the release of nvBench in 2021, some deep learning-based models are developed to support translating natural language queries into visualizations. NL2VIS - which translates natural language (NL) queries to corresponding The key factor to making this a success is to acquire enough highquality visualizations (VIS) - has attracted more and more attention (NL, VIS) pairs because deep learning models require the both in commercial visualization vendors and academic availability of large-scale and high-quality training data. In the last few years, the advanced deep learningbased In this paper, we present such a benchmark, namely nvBench [18], models have achieved human-like abilities in many natural that contains 25,750 (NL, VIS) pairs over 750 tables from 105 domains language processing (NLP) tasks, which clearly tells us that the to support the cross-domain NL2VIS task. Different from deep learning-based technique is a good choice to push the field the common practice that builds such a benchmark by manually of NL2VIS. However, a big balk is the lack of benchmarks with designing and collecting enough data and queries, we synthesize lots of (NL, VIS) pairs.