We consider learning a sparse model from linear measurements taken by a network of agents.

Comparative reasoning plays a crucial role in text preference prediction; however, large language models (LLMs) often demonstrate inconsistencies in their reasoning. While approaches like Chain-of-Thought improve accuracy in many other settings, they struggle to consistently distinguish the similarities and differences of complex texts. We introduce SC, a prompting approach that predicts text preferences by generating structured intermediate comparisons. SC begins by proposing aspects of comparison, followed by generating textual comparisons under each aspect. We select consistent comparisons with a pairwise consistency comparator that ensures each aspect's comparisons clearly distinguish differences between texts, significantly reducing hallucination and improving consistency. Our comprehensive evaluations across various NLP tasks, including summarization, retrieval, and automatic rating, demonstrate that SC equips LLMs to achieve state-of-the-art performance in text preference prediction.

Decompilation transforms compiled code back into a high-level programming language for analysis when source code is unavailable. Previous work has primarily focused on enhancing decompilation performance by increasing the scale of model parameters or training data for pre-training. Based on the characteristics of the decompilation task, we propose two methods: (1) Without fine-tuning, the Self-Constructed Context Decompilation (sc$^2$dec) method recompiles the LLM's decompilation results to construct pairs for in-context learning, helping the model improve decompilation performance. (2) Fine-grained Alignment Enhancement (FAE), which meticulously aligns assembly code with source code at the statement level by leveraging debugging information, is employed during the fine-tuning phase to achieve further improvements in decompilation. By integrating these two methods, we achieved a Re-Executability performance improvement of approximately 7.35\% on the Decompile-Eval benchmark, establishing a new state-of-the-art performance of 55.03\%.

Cooperative robots can significantly assist people in their productive activities, improving the quality of their works. Collision detection is vital to ensure the safe and stable operation of cooperative robots in productive activities. As an advanced geometric language, conformal geometric algebra can simplify the construction of the robot collision model and the calculation of collision distance. Compared with the formal method based on conformal geometric algebra, the traditional method may have some defects which are difficult to find in the modelling and calculation. We use the formal method based on conformal geometric algebra to study the collision detection problem of cooperative robots. This paper builds formal models of geometric primitives and the robot body based on the conformal geometric algebra library in HOL Light. We analyse the shortest distance between geometric primitives and prove their collision determination conditions. Based on the above contents, we construct a formal verification framework for the robot collision detection method. By the end of this paper, we apply the proposed framework to collision detection between two single-arm industrial cooperative robots. The flexibility and reliability of the proposed framework are verified by constructing a general collision model and a special collision model for two single-arm industrial cooperative robots.

Hallucination detection is a critical step toward understanding the trustworthiness of modern language models (LMs). To achieve this goal, we re-examine existing detection approaches based on the self-consistency of LMs and uncover two types of hallucinations resulting from 1) question-level and 2) model-level, which cannot be effectively identified through self-consistency check alone. Building upon this discovery, we propose a novel sampling-based method, i.e., semantic-aware cross-check consistency (SAC$^3$) that expands on the principle of self-consistency checking. Our SAC$^3$ approach incorporates additional mechanisms to detect both question-level and model-level hallucinations by leveraging advances including semantically equivalent question perturbation and cross-model response consistency checking. Through extensive and systematic empirical analysis, we demonstrate that SAC$^3$ outperforms the state of the art in detecting both non-factual and factual statements across multiple question-answering and open-domain generation benchmarks.

An open research question has been whether a single human can supervise a true heterogeneous swarm of robots completing tasks in real world environments. A general concern is whether or not the human's workload will be taxed to the breaking point. The Defense Advanced Research Projects Agency's OFFsensive Swarm-Enabled Tactics program's field exercises that occurred at U.S. Army urban training sites provided the opportunity to understand the impact of achieving such swarm deployments. The Command and Control of Aggregate Swarm Tactics integrator team's swarm commander users the heterogeneous robot swarm to conduct relevant missions. During the final OFFSET program field exercise, the team collected objective and subjective metrics related to teh swarm commander's human performance. A multi-dimensional workload algorithm that estimates overall workload based on five components of workload was used to analyze the results. While the swarm commander's workload estimate did cross the overload threshold frequently, the swarm commander was able to successfully complete the missions, often under challenging operational conditions. The presented results demonstrate that a single human can deploy a swarm of 100 heterogeneous robots to conduct real-world missions.

In recent years, Generative Adversarial Networks (GANs) have produced significantly improved results in speech enhancement (SE) tasks. They are difficult to train, however. In this work, we introduce several improvements to the GAN training schemes, which can be applied to most GAN-based SE models. We propose using consistency loss functions, which target the inconsistency in time and time-frequency domains caused by Fourier and Inverse Fourier Transforms. We also present self-correcting optimization for training a GAN discriminator on SE tasks, which helps avoid "harmful" training directions for parts of the discriminator loss function. We have tested our proposed methods on several state-of-the-art GAN-based SE models and obtained consistent improvements, including new state-of-the-art results for the Voice Bank+DEMAND dataset.

The manifold Helmholtzian (1-Laplacian) operator $\Delta_1$ elegantly generalizes the Laplace-Beltrami operator to vector fields on a manifold $\mathcal M$. In this work, we propose the estimation of the manifold Helmholtzian from point cloud data by a weighted 1-Laplacian $\mathbf{\mathcal L}_1$. While higher order Laplacians ave been introduced and studied, this work is the first to present a graph Helmholtzian constructed from a simplicial complex as an estimator for the continuous operator in a non-parametric setting. Equipped with the geometric and topological information about $\mathcal M$, the Helmholtzian is a useful tool for the analysis of flows and vector fields on $\mathcal M$ via the Helmholtz-Hodge theorem. In addition, the $\mathbf{\mathcal L}_1$ allows the smoothing, prediction, and feature extraction of the flows. We demonstrate these possibilities on substantial sets of synthetic and real point cloud datasets with non-trivial topological structures; and provide theoretical results on the limit of $\mathbf{\mathcal L}_1$ to $\Delta_1$.

Massive MIMO communication systems have a huge potential both in terms of data rate and energy efficiency, although channel estimation becomes challenging for a large number of antennas. Using a physical model allows to ease the problem by injecting a priori information based on the physics of propagation. However, such a model rests on simplifying assumptions and requires to know precisely the configuration of the system, which is unrealistic in practice. In this paper we present mpNet, an unfolded neural network specifically designed for massive MIMO channel estimation. It is trained online in an unsupervised way. Moreover, mpNet is computationally efficient and automatically adapts its depth to the SNR. The method we propose adds flexibility to physical channel models by allowing a base station to automatically correct its channel estimation algorithm based on incoming data, without the need for a separate offline training phase. It is applied to realistic millimeter wave channels and shows great performance, achieving a channel estimation error almost as low as one would get with a perfectly calibrated system. It also allows incident detection and automatic correction, making the base station resilient and able to automatically adapt to changes in its environment.