Task-Oriented Grasping (TOG) requires robots to select grasps that are functionally appropriate for a specified task - a challenge that demands an understanding of task semantics, object affordances, and functional constraints. We present GRIM (Grasp Re-alignment via Iterative Matching), a training-free framework that addresses these challenges by leveraging Video Generation Models (VGMs) together with a retrieve-align-transfer pipeline. Beyond leveraging VGMs, GRIM can construct a memory of object-task exemplars sourced from web images, human demonstrations, or generative models. The retrieved task-oriented grasp is then transferred and refined by evaluating it against a set of geometrically stable candidate grasps to ensure both functional suitability and physical feasibility. GRIM demonstrates strong generalization and achieves state-of-the-art performance on standard TOG benchmarks. Project website: https://grim-tog.github.io

Consider the scenario where an infinite number of players (i.e., the \textit{thermodynamic} limit) find themselves in a Prisoner's dilemma type situation, in a \textit{repeated} setting. Is it reasonable to anticipate that, in these circumstances, cooperation will emerge? This paper addresses this question by examining the emergence of cooperative behaviour, in the presence of \textit{noise} (or, under \textit{selection pressure}), in repeated Prisoner's Dilemma games, involving strategies such as \textit{Tit-for-Tat}, \textit{Always Defect}, \textit{GRIM}, \textit{Win-Stay, Lose-Shift}, and others. To analyze these games, we employ a numerical Agent-Based Model (ABM) and compare it with the analytical Nash Equilibrium Mapping (NEM) technique, both based on the \textit{1D}-Ising chain. We use \textit{game magnetization} as an indicator of cooperative behaviour. A significant finding is that for some repeated games, a discontinuity in the game magnetization indicates a \textit{first}-order \textit{selection pressure/noise}-driven phase transition. The phase transition is particular to strategies where players do not severely punish a single defection. We also observe that in these particular cases, the phase transition critically depends on the number of \textit{rounds} the game is played in the thermodynamic limit. For all five games, we find that both ABM and NEM, in conjunction with game magnetization, provide crucial inputs on how cooperative behaviour can emerge in an infinite-player repeated Prisoner's dilemma game.

Dialogue-based Role Playing Games (RPGs) require powerful storytelling. The narratives of these may take years to write and typically involve a large creative team. In this work, we demonstrate the potential of large generative text models to assist this process. \textbf{GRIM}, a prototype \textbf{GR}aph-based \textbf{I}nteractive narrative visualization system for ga\textbf{M}es, generates a rich narrative graph with branching storylines that match a high-level narrative description and constraints provided by the designer. Game designers can interactively edit the graph by automatically generating new sub-graphs that fit the edits within the original narrative and constraints. We illustrate the use of \textbf{GRIM} in conjunction with GPT-4, generating branching narratives for four well-known stories with different contextual constraints.

Performance in natural language processing, and specifically for the question-answer task, is typically measured by comparing a model\'s most confident (primary) prediction to golden answers (the ground truth). We are making the case that it is also useful to quantify how close a model came to predicting a correct answer even for examples that failed. We define the Golden Rank (GR) of an example as the rank of its most confident prediction that exactly matches a ground truth, and show why such a match always exists. For the 16 transformer models we analyzed, the majority of exactly matched golden answers in secondary prediction space hover very close to the top rank. We refer to secondary predictions as those ranking above 0 in descending confidence probability order. We demonstrate how the GR can be used to classify questions and visualize their spectrum of difficulty, from persistent near successes to persistent extreme failures. We derive a new aggregate statistic over entire test sets, named the Golden Rank Interpolated Median (GRIM) that quantifies the proximity of failed predictions to the top choice made by the model. To develop some intuition and explore the applicability of these metrics we use the Stanford Question Answering Dataset (SQuAD-2) and a few popular transformer models from the Hugging Face hub. We first demonstrate that the GRIM is not directly correlated with the F1 and exact match (EM) scores. We then calculate and visualize these scores for various transformer architectures, probe their applicability in error analysis by clustering failed predictions, and compare how they relate to other training diagnostics such as the EM and F1 scores. We finally suggest various research goals, such as broadening data collection for these metrics and their possible use in adversarial training.

It is appealing but challenging to achieve real-time deep neural network (DNN) inference on mobile devices because even the powerful modern mobile devices are considered as ``resource-constrained'' when executing large-scale DNNs. It necessitates the sparse model inference via weight pruning, i.e., DNN weight sparsity, and it is desirable to design a new DNN weight sparsity scheme that can facilitate real-time inference on mobile devices while preserving a high sparse model accuracy. This paper designs a novel mobile inference acceleration framework GRIM that is General to both convolutional neural networks (CNNs) and recurrent neural networks (RNNs) and that achieves Real-time execution and high accuracy, leveraging fine-grained structured sparse model Inference and compiler optimizations for Mobiles. We start by proposing a new fine-grained structured sparsity scheme through the Block-based Column-Row (BCR) pruning. Based on this new fine-grained structured sparsity, our GRIM framework consists of two parts: (a) the compiler optimization and code generation for real-time mobile inference; and (b) the BCR pruning optimizations for determining pruning hyperparameters and performing weight pruning. We compare GRIM with Alibaba MNN, TVM, TensorFlow-Lite, a sparse implementation based on CSR, PatDNN, and ESE (a representative FPGA inference acceleration framework for RNNs), and achieve up to 14.08x speedup.

Quantum neural networks (QNNs) have generated excitement around the possibility of efficiently analyzing quantum data. But this excitement has been tempered by the existence of exponentially vanishing gradients, known as barren plateau landscapes, for many QNN architectures. Recently, Quantum Convolutional Neural Networks (QCNNs) have been proposed, involving a sequence of convolutional and pooling layers that reduce the number of qubits while preserving information about relevant data features. In this work we rigorously analyze the gradient scaling for the parameters in the QCNN architecture. We find that the variance of the gradient vanishes no faster than polynomially, implying that QCNNs do not exhibit barren plateaus. This provides an analytical guarantee for the trainability of randomly initialized QCNNs, which singles out QCNNs as being trainable unlike many other QNN architectures. To derive our results we introduce a novel graph-based method to analyze expectation values over Haar-distributed unitaries, which will likely be useful in other contexts. Finally, we perform numerical simulations to verify our analytical results.

Looking back over the past decade, it's fair to say that Jan. 9, 2007, marked the dawn of a new marketing era. It was on that day that a very proud Steve Jobs introduced his paradigm-shifting brainchild, the iPhone, to a world that couldn't possibly have imagined how drastically this handheld computer would alter communication. Today, statistics show that 25 percent of smartphone owners ages 18–44 "can't remember not having their phone with them." These devices are, after all, a primary source of information, providing real-time content that drives decision making. Brands now think in "mobile-first" terms when building websites and related apps. And social media is eclipsing traditional news outlets in the dissemination of current affairs.