This approach can also be integrated into various change-of-variable-based models, such as V AEs or normalizing flows.

We chose the Google Search corpus [Luo et al., 2021] for our question-answering system as it provides good coverage of the knowledge needed and is publicly available. Therefore, it is advised to conduct an ethical review prior to deploying the system in live service. Table 1 shows the data statistics of the OK-VQA dataset. We build a DPR retriever as a baseline for FLMR. Equally contributed as the first author 37th Conference on Neural Information Processing Systems (NeurIPS 2023). The inner product search (supported by FAISS [Johnson et al., 2019]) is used to train and In answer generation, we use t5-large and Salesforce/blip2-flan-t5-xl.

Retrieval (DPR) and then uses them to answer questions.

We chose the Google Search corpus [Luo et al., 2021] for our question-answering system as it provides good coverage of the knowledge needed and is publicly available. Therefore, it is advised to conduct an ethical review prior to deploying the system in live service. Table 1 shows the data statistics of the OK-VQA dataset. We build a DPR retriever as a baseline for FLMR. Equally contributed as the first author 37th Conference on Neural Information Processing Systems (NeurIPS 2023). The inner product search (supported by FAISS [Johnson et al., 2019]) is used to train and In answer generation, we use t5-large and Salesforce/blip2-flan-t5-xl.

We analyze the relation between spectral initializers and theoretical limits of \emph{descending} phase retrieval algorithms (dPR). In companion paper [104], for any sample complexity ratio, $α$, \emph{parametric manifold}, ${\mathcal {PM}}(α)$, is recognized as a critically important structure that generically determines dPRs abilities to solve phase retrieval (PR). Moreover, overlap between the algorithmic solution and the true signal is positioned as a key ${\mathcal {PM}}$'s component. We here consider the so-called \emph{overlap optimal} spectral initializers (OptSpins) as dPR's starting points and develop a generic \emph{Random duality theory} (RDT) based program to statistically characterize them. In particular, we determine the functional structure of OptSpins and evaluate the starting overlaps that they provide for the dPRs. Since ${\mathcal {PM}}$'s so-called \emph{flat regions} are highly susceptible to \emph{local jitteriness} and as such are key obstacles on dPR's path towards PR's global optimum, a precise characterization of the starting overlap allows to determine if such regions can be successfully circumvented. Through the presented theoretical analysis we observe two key points in that regard: \textbf{\emph{(i)}} dPR's theoretical phase transition (critical $α$ above which they solve PR) might be difficult to practically achieve as the ${\mathcal {PM}}$'s flat regions are large causing the associated OptSpins to fall exactly within them; and \textbf{\emph{(ii)}} Opting for so-called ``\emph{safer compression}'' and slightly increasing $α$ (by say $15\%$) shrinks flat regions and allows OptSpins to fall outside them and dPRs to ultimately solve PR. Numerical simulations are conducted as well and shown to be in an excellent agreement with theoretical predictions.

This paper introduces a pioneering experimental study on the automated packing of a catering package using a two-fingered gripper affixed to a 3-degree-of-freedom Delta parallel robot. A distinctive contribution lies in the application of a deep learning approach to tackle this challenge. A custom dataset, comprising 1,500 images, is meticulously curated for this endeavor, representing a noteworthy initiative as the first dataset focusing on Persian-manufactured products. The study employs the YOLOV5 model for object detection, followed by segmentation using the FastSAM model. Subsequently, rotation angle calculation is facilitated with segmentation masks, and a rotated rectangle encapsulating the object is generated. This rectangle forms the basis for calculating two grasp points using a novel geometrical approach involving eigenvectors. An extensive experimental study validates the proposed model, where all pertinent information is seamlessly transmitted to the 3-DOF Delta parallel robot. The proposed algorithm ensures real-time detection, calibration, and the fully autonomous packing process of a catering package, boasting an impressive over 80\% success rate in automatic grasping. This study marks a significant stride in advancing the capabilities of robotic systems for practical applications in packaging automation.

Offline preference-based reinforcement learning (PbRL) mitigates the need for reward definition, aligning with human preferences via preference-driven reward feedback without interacting with the environment. However, the effectiveness of preference-driven reward functions depends on the modeling ability of the learning model, which current MLP-based and Transformer-based methods may fail to adequately provide. To alleviate the failure of the reward function caused by insufficient modeling, we propose a novel preference-based reward acquisition method: Diffusion Preference-based Reward (DPR). Unlike previous methods using Bradley-Terry models for trajectory preferences, we use diffusion models to directly model preference distributions for state-action pairs, allowing rewards to be discriminatively obtained from these distributions. In addition, considering the particularity of preference data that only know the internal relationships of paired trajectories, we further propose Conditional Diffusion Preference-based Reward (C-DPR), which leverages relative preference information to enhance the construction of the diffusion model. We apply the above methods to existing offline reinforcement learning algorithms and a series of experiment results demonstrate that the diffusion-based reward acquisition approach outperforms previous MLP-based and Transformer-based methods.

Knowledge-intensive tasks, particularly open-domain question answering (ODQA), document reranking, and retrieval-augmented language modeling, require a balance between retrieval accuracy and generative flexibility. Traditional retrieval models such as BM25 and Dense Passage Retrieval (DPR), efficiently retrieve from large corpora but often lack semantic depth. Generative models like GPT-4-o provide richer contextual understanding but face challenges in maintaining factual consistency. In this work, we conduct a systematic evaluation of retrieval-based, generation-based, and hybrid models, with a primary focus on their performance in ODQA and related retrieval-augmented tasks. Our results show that dense retrievers, particularly DPR, achieve strong performance in ODQA with a top-1 accuracy of 50.17\% on NQ, while hybrid models improve nDCG@10 scores on BEIR from 43.42 (BM25) to 52.59, demonstrating their strength in document reranking. Additionally, we analyze language modeling tasks using WikiText-103, showing that retrieval-based approaches like BM25 achieve lower perplexity compared to generative and hybrid methods, highlighting their utility in retrieval-augmented generation. By providing detailed comparisons and practical insights into the conditions where each approach excels, we aim to facilitate future optimizations in retrieval, reranking, and generative models for ODQA and related knowledge-intensive applications.