In theorem proving, the task of selecting useful premises from alarge library to unlock the proof of a given conjecture is crucially important. This presents a challenge foralltheorem provers,especially theonesbasedonlanguage models, due to their relative inability to reason over huge volumes of premises in text form.

In theorem proving, the task of selecting useful premises from a large library to unlock the proof of a given conjecture is crucially important. This presents a challenge for all theorem provers, especially the ones based on language models, due to their relative inability to reason over huge volumes of premises in text form. This paper introduces Thor, a framework integrating language models and automated theorem provers to overcome this difficulty. In Thor, a class of methods called hammers that leverage the power of automated theorem provers are used for premise selection, while all other tasks are designated to language models. Thor increases a language model's success rate on the PISA dataset from $39\%$ to $57\%$, while solving $8.2\%$ of problems neither language models nor automated theorem provers are able to solve on their own. Furthermore, with a significantly smaller computational budget, Thor can achieve a success rate on the MiniF2F dataset that is on par with the best existing methods. Thor can be instantiated for the majority of popular interactive theorem provers via a straightforward protocol we provide.

Humanoids hold great potential for service, industrial, and rescue applications, in which robots must sustain whole-body stability while performing intense, contact-rich interactions with the environment. However, enabling humanoids to generate human-like, adaptive responses under such conditions remains a major challenge. To address this, we propose Thor, a humanoid framework for human-level whole-body reactions in contact-rich environments. Based on the robot's force analysis, we design a force-adaptive torso-tilt (FAT2) reward function to encourage humanoids to exhibit human-like responses during force-interaction tasks. To mitigate the high-dimensional challenges of humanoid control, Thor introduces a reinforcement learning architecture that decouples the upper body, waist, and lower body. Each component shares global observations of the whole body and jointly updates its parameters. Finally, we deploy Thor on the Unitree G1, and it substantially outperforms baselines in force-interaction tasks. Specifically, the robot achieves a peak pulling force of 167.7 N (approximately 48% of the G1's body weight) when moving backward and 145.5 N when moving forward, representing improvements of 68.9% and 74.7%, respectively, compared with the best-performing baseline. Moreover, Thor is capable of pulling a loaded rack (130 N) and opening a fire door with one hand (60 N). These results highlight Thor's effectiveness in enhancing humanoid force-interaction capabilities.

Battery-powered mobile devices (e.g., smartphones, AR/VR glasses, and various IoT devices) are increasingly being used for AI training due to their growing computational power and easy access to valuable, diverse, and real-time data. On-device training is highly energy-intensive, making accurate energy consumption estimation crucial for effective job scheduling and sustainable AI. However, the heterogeneity of devices and the complexity of models challenge the accuracy and generalizability of existing estimation methods. This paper proposes THOR, a generic approach for energy consumption estimation in deep neural network (DNN) training. First, we examine the layer-wise energy additivity property of DNNs and strategically partition the entire model into layers for fine-grained energy consumption profiling. Then, we fit Gaussian Process (GP) models to learn from layer-wise energy consumption measurements and estimate a DNN's overall energy consumption based on its layer-wise energy additivity property. We conduct extensive experiments with various types of models across different real-world platforms. The results demonstrate that THOR has effectively reduced the Mean Absolute Percentage Error (MAPE) by up to 30%. Moreover, THOR is applied in guiding energy-aware pruning, successfully reducing energy consumption by 50%, thereby further demonstrating its generality and potential.

In theorem proving, the task of selecting useful premises from a large library to unlock the proof of a given conjecture is crucially important. This presents a challenge for all theorem provers, especially the ones based on language models, due to their relative inability to reason over huge volumes of premises in text form. This paper introduces Thor, a framework integrating language models and automated theorem provers to overcome this difficulty. In Thor, a class of methods called hammers that leverage the power of automated theorem provers are used for premise selection, while all other tasks are designated to language models. Thor increases a language model's success rate on the PISA dataset from 39\% to 57\%, while solving 8.2\% of problems neither language models nor automated theorem provers are able to solve on their own.

Astronomers and data scientists working with a boost in computer power on loan from Google have discovered 27,500 new asteroids, some perilously close to Earth. Their collaboration hopes to speed up the development of'a comprehensive map of the solar system' needed for'planetary defense,' according to one Harvard astrophysicist, Matthew Holman, who helped develop the asteroid-hunting software. Nearly 1.7 billion points of light, documented in 412,000 infrared images from the US National Optical-Infrared Astronomy Research Laboratory (NOIRLab) archives, were scanned by the project's novel'killer asteroid'-hunting algorithm. 'This is super important,' as one former NASA astronaut leading the project put it. 'This is the key to protecting the Earth from being hit by asteroids: knowing where all these are.'

Diffusion models have advanced unsupervised anomaly detection by improving the transformation of pathological images into pseudo-healthy equivalents. Nonetheless, standard approaches may compromise critical information during pathology removal, leading to restorations that do not align with unaffected regions in the original scans. Such discrepancies can inadvertently increase false positive rates and reduce specificity, complicating radiological evaluations. This paper introduces Temporal Harmonization for Optimal Restoration (THOR), which refines the de-noising process by integrating implicit guidance through temporal anomaly maps. THOR aims to preserve the integrity of healthy tissue in areas unaffected by pathology. Comparative evaluations show that THOR surpasses existing diffusion-based methods in detecting and segmenting anomalies in brain MRIs and wrist X-rays.

Complex ocean systems such as the Antarctic Circumpolar Current play key roles in the climate, and current models predict shifts in their strength and area under climate change. However, the physical processes underlying these changes are not well understood, in part due to the difficulty of characterizing and tracking changes in ocean physics in complex models. Using the Antarctic Circumpolar Current as a case study, we extend the method Tracking global Heating with Ocean Regimes (THOR) to a mesoscale eddy permitting climate model and identify regions of the ocean characterized by similar physics, called dynamical regimes, using readily accessible fields from climate models. To this end, we cluster grid cells into dynamical regimes and train an ensemble of neural networks, allowing uncertainty quantification, to predict these regimes and track them under climate change. Finally, we leverage this new knowledge to elucidate the dynamical drivers of the identified regime shifts as noted by the neural network using the 'explainability' methods SHAP and Layer-wise Relevance Propagation. A region undergoing a profound shift is where the Antarctic Circumpolar Current intersects the Pacific-Antarctic Ridge, an area important for carbon draw-down and fisheries. In this region, THOR specifically reveals a shift in dynamical regime under climate change driven by changes in wind stress and interactions with bathymetry. Using this knowledge to guide further exploration, we find that as the Antarctic Circumpolar Current shifts north under intensifying wind stress, the dominant dynamical role of bathymetry weakens and the flow intensifies.

3D simulated environments play a critical role in Embodied AI, but their creation requires expertise and extensive manual effort, restricting their diversity and scope. To mitigate this limitation, we present Holodeck, a system that generates 3D environments to match a user-supplied prompt fully automatedly. Holodeck can generate diverse scenes, e.g., arcades, spas, and museums, adjust the designs for styles, and can capture the semantics of complex queries such as "apartment for a researcher with a cat" and "office of a professor who is a fan of Star Wars". Holodeck leverages a large language model (GPT-4) for common sense knowledge about what the scene might look like and uses a large collection of 3D assets from Objaverse to populate the scene with diverse objects. To address the challenge of positioning objects correctly, we prompt GPT-4 to generate spatial relational constraints between objects and then optimize the layout to satisfy those constraints. Our large-scale human evaluation shows that annotators prefer Holodeck over manually designed procedural baselines in residential scenes and that Holodeck can produce high-quality outputs for diverse scene types. We also demonstrate an exciting application of Holodeck in Embodied AI, training agents to navigate in novel scenes like music rooms and daycares without human-constructed data, which is a significant step forward in developing general-purpose embodied agents.