We introduce the first watermark tailored for diffusion language models (DLMs), an emergent LLM paradigm able to generate tokens in arbitrary order, in contrast to standard autoregressive language models (ARLMs) which generate tokens sequentially. While there has been much work in ARLM watermarking, a key challenge when attempting to apply these schemes directly to the DLM setting is that they rely on previously generated tokens, which are not always available with DLM generation. In this work we address this challenge by: (i) applying the watermark in expectation over the context even when some context tokens are yet to be determined, and (ii) promoting tokens which increase the watermark strength when used as context for other tokens. This is accomplished while keeping the watermark detector unchanged. Our experimental evaluation demonstrates that the DLM watermark leads to a >99% true positive rate with minimal quality impact and achieves similar robustness to existing ARLM watermarks, enabling for the first time reliable DLM watermarking.

Language-conditioned robotic manipulation in open-world settings requires not only accurate task execution but also the ability to detect failures for robust deployment in real-world environments. Although recent advances in vision-language models (VLMs) have significantly improved the spatial reasoning and task-planning capabilities of robots, they remain limited in their ability to recognize their own failures. In particular, a critical yet underexplored challenge lies in detecting semantic misalignment errors, where the robot executes a task that is semantically meaningful but inconsistent with the given instruction. To address this, we propose a method for building datasets targeting Semantic Misalignment Failures detection, from existing language-conditioned manipulation datasets. We also present I-FailSense, an open-source VLM framework with grounded arbitration designed specifically for failure detection. Our approach relies on post-training a base VLM, followed by training lightweight classification heads, called FS blocks, attached to different internal layers of the VLM and whose predictions are aggregated using an ensembling mechanism. Experiments show that I-FailSense outperforms state-of-the-art VLMs, both comparable in size and larger, in detecting semantic misalignment errors. Notably, despite being trained only on semantic misalignment detection, I-FailSense generalizes to broader robotic failure categories and effectively transfers to other simulation environments and real-world with zero-shot or minimal post-training. The datasets and models are publicly released on HuggingFace (Webpage: https://clemgris.github.io/I-FailSense/).

3D object segmentation with Large Language Models (LLMs) has become a prevailing paradigm due to its broad semantics, task flexibility, and strong generalization. However, this paradigm is hindered by representation misalignment: LLMs process high-level semantic tokens, whereas 3D point clouds convey only dense geometric structures. In prior methods, misalignment limits both input and output. At the input stage, dense point patches require heavy pre-alignment, weakening object-level semantics and confusing similar distractors. At the output stage, predictions depend only on dense features without explicit geometric cues, leading to a loss of fine-grained accuracy. To address these limitations, we present the Point Linguist Model (PLM), a general framework that bridges the representation gap between LLMs and dense 3D point clouds without requiring large-scale pre-alignment between 3D-text or 3D-images. Specifically, we introduce Object-centric Discriminative Representation (OcDR), which learns object-centric tokens that capture target semantics and scene relations under a hard negative-aware training objective. This mitigates the misalignment between LLM tokens and 3D points, enhances resilience to distractors, and facilitates semantic-level reasoning within LLMs. For accurate segmentation, we introduce the Geometric Reactivation Decoder (GRD), which predicts masks by combining OcDR tokens carrying LLM-inferred geometry with corresponding dense features, preserving comprehensive dense features throughout the pipeline. Extensive experiments show that PLM achieves significant improvements of +7.3 mIoU on ScanNetv2 and +6.0 mIoU on Multi3DRefer for 3D referring segmentation, with consistent gains across 7 benchmarks spanning 4 different tasks, demonstrating the effectiveness of comprehensive object-centric reasoning for robust 3D understanding.

Text-driven 3D editing seeks to modify 3D scenes according to textual descriptions, and most existing approaches tackle this by adapting pre-trained 2D image editors to multi-view inputs. However, without explicit control over multi-view information exchange, they often fail to maintain cross-view consistency, leading to insufficient edits and blurry details. We introduce CoreEditor, a novel framework for consistent text-to-3D editing. The key innovation is a correspondence-constrained attention mechanism that enforces precise interactions between pixels expected to remain consistent throughout the diffusion denoising process. Beyond relying solely on geometric alignment, we further incorporate semantic similarity estimated during denoising, enabling more reliable correspondence modeling and robust multi-view editing. In addition, we design a selective editing pipeline that allows users to choose preferred results from multiple candidates, offering greater flexibility and user control. Extensive experiments show that CoreEditor produces high-quality, 3D-consistent edits with sharper details, significantly outperforming prior methods.

Since its introduction, softmax attention has become the backbone of modern transformer architectures due to its expressiveness and scalability across a wide range of tasks. However, the main drawback of softmax attention is the quadratic memory requirement and computational complexity with respect to the sequence length. By replacing the softmax nonlinearity, linear attention and similar methods have been introduced to avoid the quadratic bottleneck of softmax attention. Despite these linear forms of attention being derived from the original softmax formulation, they typically lag in terms of downstream accuracy. While strong intuition of the softmax nonlinearity on the query and key inner product suggests that it has desirable properties compared to other nonlinearities, the question of why this discrepancy exists still remains unanswered. This work demonstrates that linear attention is an approximation of softmax attention by deriving the recurrent form of softmax attention. Using this form, each part of softmax attention can be described in the language of recurrent neural networks (RNNs). Describing softmax attention as an RNN allows for the ablation of the components of softmax attention to understand the importance of each part and how they interact. In this way, our work helps explain why softmax attention is more expressive than its counterparts.

Existing algorithms for explaining the outputs of image classifiers are based on a variety of approaches and produce explanations that frequently lack formal rigour. On the other hand, logic-based explanations are formally and rigorously defined but their computability relies on strict assumptions about the model that do not hold on image classifiers. In this paper, we show that causal explanations, in addition to being formally and rigorously defined, enjoy the same formal properties as logic-based ones, while still lending themselves to black-box algorithms and being a natural fit for image classifiers. We prove formal properties of causal explanations and their equivalence to logic-based explanations. We demonstrate how to subdivide an image into its sufficient and necessary components. We introduce $δ$-complete explanations, which have a minimum confidence threshold and 1-complete causal explanations, explanations that are classified with the same confidence as the original image. We implement our definitions, and our experimental results demonstrate that different models have different patterns of sufficiency, necessity, and completeness. Our algorithms are efficiently computable, taking on average 6s per image on a ResNet model to compute all types of explanations, and are totally black-box, needing no knowledge of the model, no access to model internals, no access to gradient, nor requiring any properties, such as monotonicity, of the model.

Large language models (LLMs) are increasingly used to generate summaries from clinical notes. However, their ability to preserve essential diagnostic information remains underexplored, which could lead to serious risks for patient care. This study introduces DistillNote, an evaluation framework for LLM summaries that targets their functional utility by applying the generated summary downstream in a complex clinical prediction task, explicitly quantifying how much prediction signal is retained. We generated over 192,000 LLM summaries from MIMIC-IV clinical notes with increasing compression rates: standard, section-wise, and distilled section-wise. Heart failure diagnosis was chosen as the prediction task, as it requires integrating a wide range of clinical signals. LLMs were fine-tuned on both the original notes and their summaries, and their diagnostic performance was compared using the AUROC metric. We contrasted DistillNote's results with evaluations from LLM-as-judge and clinicians, assessing consistency across different evaluation methods. Summaries generated by LLMs maintained a strong level of heart failure diagnostic signal despite substantial compression. Models trained on the most condensed summaries (about 20 times smaller) achieved an AUROC of 0.92, compared to 0.94 with the original note baseline (97 percent retention). Functional evaluation provided a new lens for medical summary assessment, emphasizing clinical utility as a key dimension of quality. DistillNote introduces a new scalable, task-based method for assessing the functional utility of LLM-generated clinical summaries. Our results detail compression-to-performance tradeoffs from LLM clinical summarization for the first time. The framework is designed to be adaptable to other prediction tasks and clinical domains, aiding data-driven decisions about deploying LLM summarizers in real-world healthcare settings.

Directed graphs naturally model systems with asymmetric, ordered relationships, essential to applications in biology, transportation, social networks, and visual understanding. Generating such graphs enables tasks such as simulation, data augmentation and novel instance discovery; however, directed graph generation remains underexplored. We identify two key factors limiting progress in this direction: first, modeling edge directionality introduces a substantially larger dependency space, making the underlying distribution harder to learn; second, the absence of standardized benchmarks hinders rigorous evaluation. Addressing the former requires more expressive models that are sensitive to directional topologies. We propose Directo, the first generative model for directed graphs built upon the discrete flow matching framework. Our approach combines: (i) principled positional encodings tailored to asymmetric pairwise relations, (ii) a dual-attention mechanism capturing both incoming and outgoing dependencies, and (iii) a robust, discrete generative framework. To support evaluation, we introduce a benchmark suite covering synthetic and real-world datasets. It shows that our method performs strongly across diverse settings and even competes with specialized models for particular classes, such as directed acyclic graphs. Our results highlight the effectiveness and generality of our approach, establishing a solid foundation for future research in directed graph generation.

We study a two-player zero-sum game in which the row player aims to maximize their payoff against a competing column player, under an unknown payoff matrix estimated through bandit feedback. We propose three algorithms based on the Explore-Then-Commit (ETC) and action pair elimination frameworks. The first adapts it to zero-sum games, the second incorporates adaptive elimination that leverages the $\varepsilon$-Nash Equilibrium property to efficiently select the optimal action pair, and the third extends the elimination algorithm by employing non-uniform exploration. Our objective is to demonstrate the applicability of ETC and action pair elimination algorithms in a zero-sum game setting by focusing on learning pure strategy Nash Equilibria. A key contribution of our work is a derivation of instance-dependent upper bounds on the expected regret of our proposed algorithms, which has received limited attention in the literature on zero-sum games. Particularly, after $T$ rounds, we achieve an instance-dependent regret upper bounds of $O(Δ+ \sqrt{T})$ for ETC in zero-sum game setting and $O\left(\frac{\log (T Δ^2)}Δ\right)$ for the adaptive elimination algorithm and its variant with non-uniform exploration, where $Δ$ denotes the suboptimality gap. Therefore, our results indicate that the ETC and action pair elimination algorithms perform effectively in zero-sum game settings, achieving regret bounds comparable to existing methods while providing insight through instance-dependent analysis.

Time series segmentation (TSS) is one of the time series (TS) analysis techniques, that has received considerably less attention compared to other TS related tasks. In recent years, deep learning architectures have been introduced for TSS, however their reliance on sliding windows limits segmentation granularity due to fixed window sizes and strides. To overcome these challenges, we propose a new more granular TSS approach that utilizes the Weighted Dual Perspective Visbility Graph (WDPVG) TS into a graph and combines it with a Graph Attention Network (GAT). By transforming TS into graphs, we are able to capture different structural aspects of the data that would otherwise remain hidden. By utilizing the representation learning capabilities of Graph Neural Networks, our method is able to effectively identify meaningful segments within the TS. To better understand the potential of our approach, we also experimented with different TS-to-graph transformations and compared their performance. Our contributions include: a) formulating the TSS as a node classification problem on graphs; b) conducting an extensive analysis of various TS-to-graph transformations applied to TSS using benchmark datasets from the TSSB repository; c) providing the first detailed study on utilizing GNNs for analyzing graph representations of TS in the context of TSS; d) demonstrating the effectiveness of our method, which achieves an average F1 score of 0.97 across 59 diverse TSS benchmark datasets; e) outperforming the seq2point baseline method by 0.05 in terms of F1 score; and f) reducing the required training data compared to the baseline methods.

After a renaissance phase in which researchers revisited the message-passing paradigm through the lens of deep learning, the graph machine learning community shifted its attention towards a deeper and practical understanding of message-passing's benefits and limitations. In this paper, we notice how the fast pace of progress around the topics of oversmoothing and oversquashing, the homophily-heterophily dichotomy, and long-range tasks, came with the consolidation of commonly accepted beliefs and assumptions -- under the form of universal statements -- that are not always true nor easy to distinguish from each other. We argue that this has led to ambiguities around the investigated problems, preventing researchers from focusing on and addressing precise research questions while causing a good amount of misunderstandings. Our contribution is to make such common beliefs explicit and encourage critical thinking around these topics, refuting universal statements via simple yet formally sufficient counterexamples. The end goal is to clarify conceptual differences, helping researchers address more clearly defined and targeted problems.

Graph Neural Networks (GNNs) address two key challenges in applying deep learning to graph-structured data: they handle varying size input graphs and ensure invariance under graph isomorphism. While GNNs have demonstrated broad applicability, understanding their expressive power remains an important question. In this paper, we propose GNN architectures that correspond precisely to prominent fragments of first-order logic (FO), including various modal logics as well as more expressive two-variable fragments. To establish these results, we apply methods from finite model theory of first-order and modal logics to the domain of graph representation learning. Our results provide a unifying framework for understanding the logical expressiveness of GNNs within FO.

We introduce ReplaceMe, a generalized training-free depth pruning method that effectively replaces transformer blocks with a linear operation, while maintaining high performance for low compression ratios. In contrast to conventional pruning approaches that require additional training or fine-tuning, our approach requires only a small calibration dataset that is used to estimate a linear transformation, which approximates the pruned blocks. The estimated linear mapping can be seamlessly merged with the remaining transformer blocks, eliminating the need for any additional network parameters. Our experiments show that ReplaceMe consistently outperforms other training-free approaches and remains highly competitive with state-of-the-art pruning methods that involve extensive retraining/fine-tuning and architectural modifications. Applied to several large language models (LLMs), ReplaceMe achieves up to 25\% pruning while retaining approximately 90\% of the original model's performance on open benchmarks - without any training or healing steps, resulting in minimal computational overhead. We provide an open-source library implementing ReplaceMe alongside several state-of-the-art depth pruning techniques, available at https://github.com/mts-ai/ReplaceMe

A major challenge to equity among members of queer communities is the use of one's chosen forms of reference, such as personal names or pronouns. Speakers often dismiss their misuses of pronouns as "unintentional", and claim that their errors reflect many decades of fossilized mainstream language use, as well as attitudes or expectations about the relationship between one's appearance and acceptable forms of reference. We argue for explicitly modeling individual differences in pronoun selection and present a probabilistic graphical modeling approach based on the nested Chinese Restaurant Franchise Process (nCRFP) (Ahmed et al., 2013) to account for flexible pronominal reference such as chosen names and neopronouns while moving beyond form-to-meaning mappings and without lexical co-occurrence statistics to learn referring expressions, as in contemporary language models. We show that such a model can account for variability in how quickly pronouns or names are integrated into symbolic knowledge and can empower computational systems to be both flexible and respectful of queer people with diverse gender expression.

Reinforcement learning from human feedback usually models preferences using a reward function that does not distinguish between people. We argue that this is unlikely to be a good design choice in contexts with high potential for disagreement, like in the training of large language models. We formalise and analyse the problem of learning a reward model that can be specialised to a user. Using the principle of empirical risk minimisation, we derive a probably approximately correct (PAC) bound showing the dependency of the approximation error on the number of training examples, as usual, and also on the number of human raters who provided feedback on them. Based on our theoretical findings, we discuss how to best collect pairwise preference data and argue that adaptive reward models should be beneficial when there is considerable disagreement among users. We also propose a concrete architecture for an adaptive reward model. Our approach leverages the observation that individual preferences can be captured as a linear combination of a set of general reward features. We show how to learn such features and subsequently use them to quickly adapt the reward model to a specific individual, even if their preferences are not reflected in the training data. We present experiments with large language models illustrating our theoretical results and comparing the proposed architecture with a non-adaptive baseline. Consistent with our analysis, the benefits provided by our model increase with the number of raters and the heterogeneity of their preferences. We also show that our model compares favourably to adaptive counterparts, including those performing in-context personalisation.

AI systems increasingly support human decision-making. In many cases, despite the algorithm's superior performance, the final decision remains in human hands. For example, an AI may assist doctors in determining which diagnostic tests to run, but the doctor ultimately makes the diagnosis. This paper studies such AI-assisted decision-making settings, where the human learns through repeated interactions with the algorithm. In our framework, the algorithm -- designed to maximize decision accuracy according to its own model -- determines which features the human can consider. The human then makes a prediction based on their own less accurate model. We observe that the discrepancy between the algorithm's model and the human's model creates a fundamental tradeoff: Should the algorithm prioritize recommending more informative features, encouraging the human to learn their importance, even if it results in less accurate predictions in the short term until learning occurs? Or is it preferable to forgo educating the human and instead select features that align more closely with their existing understanding, minimizing the immediate cost of learning? Our analysis reveals how this trade-off is shaped by both the algorithm's patience (the time-discount rate of its objective over multiple periods) and the human's willingness and ability to learn. We show that optimal feature selection has a surprisingly clean combinatorial characterization, reducible to a stationary sequence of feature subsets that is tractable to compute. As the algorithm becomes more "patient" or the human's learning improves, the algorithm increasingly selects more informative features, enhancing both prediction accuracy and the human's understanding.

We develop a new methodology to select scenarios of DER adoption most critical for distribution grids. Anticipating risks of future voltage and line flow violations due to additional PV adopters is central for utility investment planning but continues to rely on deterministic or ad hoc scenario selection. We propose a highly efficient search framework based on multi-objective Bayesian Optimization. We treat underlying grid stress metrics as computationally expensive black-box functions, approximated via Gaussian Process surrogates and design an acquisition function based on probability of scenarios being Pareto-critical across a collection of line- and bus-based violation objectives. Our approach provides a statistical guarantee and offers an order of magnitude speed-up relative to a conservative exhaustive search. Case studies on realistic feeders with 200-400 buses demonstrate the effectiveness and accuracy of our approach.

Large Language Models (LLMs) are increasingly used to control robotic systems such as drones, but their risks of causing physical threats and harm in real-world applications remain unexplored. Our study addresses the critical gap in evaluating LLM physical safety by developing a comprehensive benchmark for drone control. We classify the physical safety risks of drones into four categories: (1) human-targeted threats, (2) object-targeted threats, (3) infrastructure attacks, and (4) regulatory violations. Our evaluation of mainstream LLMs reveals an undesirable trade-off between utility and safety, with models that excel in code generation often performing poorly in crucial safety aspects. Furthermore, while incorporating advanced prompt engineering techniques such as In-Context Learning and Chain-of-Thought can improve safety, these methods still struggle to identify unintentional attacks. In addition, larger models demonstrate better safety capabilities, particularly in refusing dangerous commands. Our findings and benchmark can facilitate the design and evaluation of physical safety for LLMs. The project page is available at huggingface.co/spaces/TrustSafeAI/LLM-physical-safety.

In restless bandits, a central agent is tasked with optimally distributing limited resources across several bandits (arms), with each arm being a Markov decision process. In this work, we generalize the traditional restless bandits problem with a risk-neutral objective by incorporating risk-awareness, which is particularly important in various real-world applications especially when the decision maker seeks to mitigate downside risks. We establish indexability conditions for the case of a risk-aware objective and provide a solution based on Whittle index for the first time for the planning problem with finite-horizon non-stationary and for infinite-horizon stationary Markov decision processes. In addition, we address the learning problem when the true transition probabilities are unknown by proposing a Thompson sampling approach and show that it achieves bounded regret that scales sublinearly with the number of episodes and quadratically with the number of arms. The efficacy of our method in reducing risk exposure in restless bandits is illustrated through a set of numerical experiments in the contexts of machine replacement and patient scheduling applications under both planning and learning setups.

The broad range of neural network training techniques that invoke optimization but rely on ad hoc modification for validity suggests that optimization-based training is misguided. Shortcomings of optimization-based training are brought to particularly strong relief by the problem of overfitting, where naive optimization produces spurious outcomes. The broad success of neural networks for modelling physical processes has prompted advances that are based on inverting the direction of investigation and treating neural networks as if they were physical systems in their own right. These successes raise the question of whether broader, physical perspectives could motivate the construction of improved training algorithms. Here, we introduce simmering, a physics-based method that trains neural networks to generate weights and biases that are merely ``good enough'', but which, paradoxically, outperforms leading optimization-based approaches. Using classification and regression examples we show that simmering corrects neural networks that are overfit by Adam, and show that simmering avoids overfitting if deployed from the outset. Our results question optimization as a paradigm for neural network training, and leverage information-geometric arguments to point to the existence of classes of sufficient training algorithms that do not take optimization as their starting point.

Embodied AI Agents are quickly becoming important and common tools in society. These embodied agents should be able to learn about and accomplish a wide range of user goals and preferences efficiently and robustly. Large Language Models (LLMs) are often used as they allow for opportunities for rich and open-ended dialog type interaction between the human and agent to accomplish tasks according to human preferences. In this thesis, we argue that for embodied agents that deal with open-ended dialog during task assistance: 1) AI Agents should extract goals from conversations in the form of Natural Language (NL) to be better at capturing human preferences as it is intuitive for humans to communicate their preferences on tasks to agents through natural language. 2) AI Agents should quantify/maintain uncertainty about these goals to ensure that actions are being taken according to goals that the agent is extremely certain about. We present an online method for embodied agents to learn and accomplish diverse user goals. While offline methods like RLHF can represent various goals but require large datasets, our approach achieves similar flexibility with online efficiency. We extract natural language goal representations from conversations with Large Language Models (LLMs). We prompt an LLM to role play as a human with different goals and use the corresponding likelihoods to run Bayesian inference over potential goals. As a result, our method can represent uncertainty over complex goals based on unrestricted dialog. We evaluate in a text-based grocery shopping domain and an AI2Thor robot simulation. We compare our method to ablation baselines that lack either explicit goal representation or probabilistic inference.

Attention mechanisms, particularly softmax attention, have been instrumental in the success of transformer-based models such as GPT. However, the quadratic memory complexity of softmax attention with respect to sequence length poses significant challenges for processing longer sequences. We introduce Cottention, a novel attention mechanism that replaces the softmax operation with cosine similarity. By leveraging the properties of cosine similarity and rearranging the attention equation, Cottention achieves native linear memory complexity with respect to sequence length, making it inherently more memory-efficient than softmax attention. We demonstrate that Cottention can be reformulated as a recurrent neural network (RNN) with a finite hidden state, allowing for constant memory usage during inference. We evaluate Cottention on both the bidirectional BERT and causal GPT tasks, demonstrating comparable performance to softmax attention while significantly reducing memory requirements. To ensure efficient computation, we develop a custom CUDA kernel for Cottention. Our results show that Cottention is a promising alternative to softmax attention, enabling the processing of longer sequences without sacrificing performance, due to its native linear memory complexity and ability to maintain a constant memory footprint during inference.

Bird's Eye View (BEV) map prediction is essential for downstream autonomous driving tasks like trajectory prediction. In the past, this was accomplished through the use of a sophisticated sensor configuration that captured a surround view from multiple cameras. However, in large-scale production, cost efficiency is an optimization goal, so that using fewer cameras becomes more relevant. But the consequence of fewer input images correlates with a performance drop. This raises the problem of developing a BEV perception model that provides a sufficient performance on a low-cost sensor setup. Although, primarily relevant for inference time on production cars, this cost restriction is less problematic on a test vehicle during training. Therefore, the objective of our approach is to reduce the aforementioned performance drop as much as possible using a modern multi-camera surround view model reduced for single-camera inference. The approach includes three features, a modern masking technique, a cyclic Learning Rate (LR) schedule, and a feature reconstruction loss for supervising the transition from six-camera inputs to one-camera input during training. Our method outperforms versions trained strictly with one camera or strictly with six-camera surround view for single-camera inference resulting in reduced hallucination and better quality of the BEV map.

Recent advances in large language models (LLMs) have substantially improved natural language processing (NLP) applications. However, these models often inherit and amplify biases present in their training data. Although several datasets exist for bias detection, most are limited to one or two NLP tasks, typically classification or evaluation and do not provide broad coverage across diverse task settings. To address this gap, we introduce the \textbf{Bias Evaluations Across Domains} (\textbf{B}\texttt{EADs}) dataset, designed to support a wide range of NLP tasks, including text classification, token classification, bias quantification, and benign language generation. A key contribution of this work is a gold-standard annotation scheme that supports both evaluation and supervised training of language models. Experiments on state-of-the-art models reveal some gaps: some models exhibit systematic bias toward specific demographics, while others apply safety guardrails more strictly or inconsistently across groups. Overall, these results highlight persistent shortcomings in current models and underscore the need for comprehensive bias evaluation. Project: https://vectorinstitute.github.io/BEAD/ Data: https://huggingface.co/datasets/shainar/BEAD

We study gradient testing and gradient estimation of smooth functions using only a comparison oracle that, given two points, indicates which one has the larger function value. For any smooth $f\colon\mathbb R^n\to\mathbb R$, $\mathbf{x}\in\mathbb R^n$, and $\varepsilon>0$, we design a gradient testing algorithm that determines whether the normalized gradient $\nabla f(\mathbf{x})/\|\nabla f(\mathbf{x})\|$ is $\varepsilon$-close or $2\varepsilon$-far from a given unit vector $\mathbf{v}$ using $O(1)$ queries, as well as a gradient estimation algorithm that outputs an $\varepsilon$-estimate of $\nabla f(\mathbf{x})/\|\nabla f(\mathbf{x})\|$ using $O(n\log(1/\varepsilon))$ queries which we prove to be optimal. Furthermore, we study gradient estimation in the quantum comparison oracle model where queries can be made in superpositions, and develop a quantum algorithm using $O(\log (n/\varepsilon))$ queries.

Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping stones. To overcome such limitations, this paper introduces a novel multi-step preview foot placement planning algorithm based on the step-to-step discrete evolution of the Divergent Component of Motion (DCM) of walking robots. Our proposed approach adaptively changes the step duration and the swing foot trajectory for optimal foot placement under constraints, thereby enhancing the long-term stability of the robot and significantly improving its ability to navigate environments with tight constraints on viable footholds. We demonstrate its effectiveness through various simulation scenarios with complex stepping-stone configurations and external perturbations. These tests underscore its improved performance for navigating foothold-restricted terrains, even with external disturbances.

In biotechnology Raman Spectroscopy is rapidly gaining popularity as a process analytical technology (PAT) that measures cell densities, substrate- and product concentrations. As it records vibrational modes of molecules it provides that information non-invasively in a single spectrum. Typically, partial least squares (PLS) is the model of choice to infer information about variables of interest from the spectra. However, biological processes are known for their complexity where convolutional neural networks (CNN) present a powerful alternative. They can handle non-Gaussian noise and account for beam misalignment, pixel malfunctions or the presence of additional substances. However, they require a lot of data during model training, and they pick up non-linear dependencies in the process variables. In this work, we exploit the additive nature of spectra in order to generate additional data points from a given dataset that have statistically independent labels so that a network trained on such data exhibits low correlations between the model predictions. We show that training a CNN on these generated data points improves the performance on datasets where the annotations do not bear the same correlation as the dataset that was used for model training. This data augmentation technique enables us to reuse spectra as training data for new contexts that exhibit different correlations. The additional data allows for building a better and more robust model. This is of interest in scenarios where large amounts of historical data are available but are currently not used for model training. We demonstrate the capabilities of the proposed method using synthetic spectra of Ralstonia eutropha batch cultivations to monitor substrate, biomass and polyhydroxyalkanoate (PHA) biopolymer concentrations during of the experiments.

Time pressure and topic negotiation may impose constraints on how people leverage discourse relations (DRs) in spontaneous conversational contexts. In this work, we adapt a system of DRs for written language to spontaneous dialogue using crowdsourced annotations from novice annotators. We then test whether discourse relations are used differently across several types of multi-utterance contexts. We compare the patterns of DR annotation within and across speakers and within and across turns. Ultimately, we find that different discourse contexts produce distinct distributions of discourse relations, with single-turn annotations creating the most uncertainty for annotators. Additionally, we find that the discourse relation annotations are of sufficient quality to predict from embeddings of discourse units.

Image captioning is a widely known problem in the area of AI. Caption generation from floor plan images has applications in indoor path planning, real estate, and providing architectural solutions. Several methods have been explored in literature for generating captions or semi-structured descriptions from floor plan images. Since only the caption is insufficient to capture fine-grained details, researchers also proposed descriptive paragraphs from images. However, these descriptions have a rigid structure and lack flexibility, making it difficult to use them in real-time scenarios. This paper offers two models, Description Synthesis from Image Cue (DSIC) and Transformer Based Description Generation (TBDG), for the floor plan image to text generation to fill the gaps in existing methods. These two models take advantage of modern deep neural networks for visual feature extraction and text generation. The difference between both models is in the way they take input from the floor plan image. The DSIC model takes only visual features automatically extracted by a deep neural network, while the TBDG model learns textual captions extracted from input floor plan images with paragraphs. The specific keywords generated in TBDG and understanding them with paragraphs make it more robust in a general floor plan image. Experiments were carried out on a large-scale publicly available dataset and compared with state-of-the-art techniques to show the proposed model's superiority.

Reconstructing an indoor scene and generating a layout/floor plan in 3D or 2D is a widely known problem. Quite a few algorithms have been proposed in the literature recently. However, most existing methods either use RGB-D images, thus requiring a depth camera, or depending on panoramic photos, assuming that there is little to no occlusion in the rooms. In this work, we proposed GRIHA (Generating Room Interior of a House using ARCore), a framework for generating a layout using an RGB image captured using a simple mobile phone camera. We take advantage of Simultaneous Localization and Mapping (SLAM) to assess the 3D transformations required for layout generation. SLAM technology is built-in in recent mobile libraries such as ARCore by Google. Hence, the proposed method is fast and efficient. It gives the user freedom to generate layout by merely taking a few conventional photos, rather than relying on specialized depth hardware or occlusion-free panoramic images. We have compared GRIHA with other existing methods and obtained superior results. Also, the system is tested on multiple hardware platforms to test the dependency and efficiency.