Abstract

We present a diffusion-based generative model for coordinated trajectory planning in multi-UAV swarms. The proposed method represents each UAV’s trajectory in a Bernstein polynomial coefficient space and employs a de- noising diffusion process with self-attention layers to generate diverse, feasible motion plans. A safety filter is integrated into the generation pipeline to refine candidate trajectories, enforcing inter-drone collision avoidance and other feasibility constraints. The model is trained offline on a large set of expert demonstration trajectories, eliminating the need for reinforcement learning and manual reward function design. In experiments with a 16-UAV swarm using a dataset of collision-free trajectories, the approach achieved a high success rate in producing safe and smooth flight paths. These results demonstrate that the learned planner can rapidly generate a diverse set of smooth, collision-free trajectories for the swarm. Keywords- Swarm, Diffusion, UAV path planning, Joint Opti- mization

Abstract

Current computational approaches for analysing or generating code-mixed sentences do not explicitly model ``naturalness'' or ``acceptability'' of code-mixed sentences, but rely on training corpora to reflect distribution of acceptable code-mixed sentences. Modelling human judgement for the acceptability of code-mixed text can help in distinguishing natural code-mixed text and enable quality-controlled generation of code-mixed text. To this end, we construct Cline - a dataset containing human acceptability judgements for English-Hindi~(en-hi) code-mixed text. Cline is the largest of its kind with 16,642 sentences, consisting of samples sourced from two sources: synthetically generated code-mixed text and samples collected from online social media. Our analysis establishes that popular code-mixing metrics such as CMI, Number of Switch Points, Burstines, which are used to filter/curate/compare code-mixed corpora have low correlation with human acceptability judgements, underlining the necessity of our dataset. Experiments using Cline demonstrate that simple Multilayer Perceptron (MLP) models when trained solely using code-mixing metrics as features are outperformed by fine-tuned pre-trained Multilingual Large Language Models (MLLMs). Specifically, among Encoder models XLM-Roberta and Bernice outperform IndicBERT across different configurations. Among Encoder-Decoder models, mBART performs better than mT5, however Encoder-Decoder models are not able to outperform Encoder-only models. Decoder-only models perform the best when compared to all other MLLMS, with Llama 3.2 - 3B models outperforming similarly sized Qwen, Phi models. Comparison with zero and fewshot capabilitites of ChatGPT show that MLLMs fine-tuned on larger data outperform ChatGPT, providing scope for improvement in code-mixed tasks. Zero-shot transfer from En-Hi to En-Te acceptability judgments are better than random baselines.

Abstract

Large Language Models (LLMs) have made significant contributions to cognitive science research. One area of application is narrative understanding. Sap et al. (2022) introduced sequentiality, an LLM-derived measure that assesses the coherence of a story based on word probability distributions. They reported that recalled stories flowed less sequentially than imagined stories. However, the robustness and generalizability of this narrative flow measure remain unverified. To assess generalizability, we apply sequentiality derived from three different LLMs to a new dataset of matched autobiographical and biographical paragraphs. Contrary to previous results, we fail to find a significant difference in narrative flow between autobiographies and biographies. Further investigation reveals biases in the original data collection process, where topic selection systematically influences sequentiality scores. Adjusting for these biases substantially reduces the originally reported effect size. A validation exercise using LLM-generated stories with "good'' and "poor'' flow further highlights the flaws in the original formulation of sequentiality. Our findings suggest that LLM-based narrative flow quantification is susceptible to methodological artifacts. Finally, we provide some suggestions for modifying the sequentiality formula to accurately capture narrative flow.

Abstract

Creating photorealistic, animatable, and relightable 3D head avatars traditionally requires expensive Lightstage with multiple calibrated cameras, making it inaccessible for widespread adoption. To bridge this gap, we present a novel, cost-effective approach for creating high-quality relightable head avatars using only a smartphone equipped with polaroid filters. Our approach involves simultaneously capturing cross-polarized and parallel-polarized video streams in a dark room with a single point-light source, separating the skin's diffuse and specular components during dynamic facial performances. We introduce a hybrid representation that embeds 2D Gaussians in the UV space of a parametric head model, facilitating efficient real-time rendering while preserving high-fidelity geometric details. Our learning-based neural analysis-by-synthesis pipeline decouples pose and expression-dependent geometrical offsets from appearance, decomposing the surface into albedo, normal, and specular UV texture maps, along with the environment maps. We collect a unique dataset of various subjects performing diverse facial expressions and head movements.

Abstract

We consider the problem of single-source domain generalization. Existing methods typically rely on extensive augmentations to synthetically cover diverse domains during training. However, they struggle with semantic shifts (e.g., background and viewpoint changes), as they often learn global features instead of local concepts that tend to be domain invariant. To address this gap, we propose an approach that compels models to leverage such local concepts during prediction. Given no suitable dataset with per-class concepts and localization maps exists, we first develop a novel pipeline to generate annotations by exploiting the rich features of diffusion and large-language models. Our next innovation is TIDE, a novel training scheme with a concept saliency alignment loss that ensures model focus on the right per-concept regions and a local concept contrastive loss that promotes learning domain-invariant concept representations. This not only gives a robust model but also can be visually interpreted using the predicted concept saliency maps. Given these maps at test time, our final contribution is a new correction algorithm that uses the corresponding local concept representations to iteratively refine the prediction until it aligns with prototypical concept representations that we store at the end of model training. We evaluate our approach extensively on four standard DG benchmark datasets and substantially outperform the current state-of-the-art (12% improvement on average) while also demonstrating that our predictions can be visually interpreted.

Abstract

For people with hearing impairments, lipreading is a crucial skill, as it bridges the gap between spoken language and understanding, improving the ability to communicate effectively. However, the creation of lipreading resources is pervasive and labor-intensive, leading to a scarcity of high-quality, structured, and widely accessible educational materials. To address this, we developed LipMOOC, a Massive Open Online Course (MOOC) tailored for lipreading education. Our approach leverages synthetically generated content, reducing the dependence on human-recorded videos and building an accessible and effective learning option. Using the state-of-the-art models, we created a comprehensive lipreading course and conducted a study to evaluate its effectiveness. We statistically proved that (1) Synthetic videos can replace human-recorded videos without affecting the learning outcomes, and (2) Learner performance on a structured course, i.e., LipMOOC, is much better than a standard course. A total of 120 participants with hearing impairment and no prior lipreading experience volunteered. These results highlight the potential of AI-driven content generation and scientific instructional design.

Abstract

Submodular functions are known to satisfy various forms of fractional subadditivity. This work investigates the conditions for equality to hold exactly or approximately in the fractional subadditivity of submodular functions. We establish that a small gap in the inequality implies that the function is close to being modular, and that the gap is zero if and only if the function is modular. We then present natural implications of these results for special cases of submodular functions, such as entropy, relative entropy, and matroid rank. As a consequence, we characterize the necessary and sufficient conditions for equality to hold in Shearer's lemma, recovering a result of Ellis et al. (2016) as a special case. We leverage our results to propose a new multivariate mutual information, which generalizes Watanabe's total correlation (1960), Han's dual total correlation (1975), and Csiszar and Narayan's shared information (2004), and analyze its properties. Among these properties, we extend Watanabe's characterization of total correlation as the maximum correlation over partitions to fractional partitions. When applied to matrix determinantal inequalities for positive definite matrices, our results recover the equality conditions of the classical determinantal inequalities of Hadamard, Szasz, and Fischer as special cases.

Abstract

Verifying scientific claims presents a significantly greater challenge than verifying political or news-related claims. Unlike the relatively broad audience for political claims, the users of scientific claim verification systems can vary widely, ranging from researchers testing specific hypotheses to everyday users seeking information on a medication. Additionally, the evidence for scientific claims is often highly complex, involving technical terminology and intricate domain-specific concepts that require specialized models for accurate verification. Despite considerable interest from the research community, there is a noticeable lack of large-scale scientific claim verification datasets to benchmark and train effective models. To bridge this gap, we introduce two large-scale datasets, SciClaimHunt and SciClaimHunt_Num, derived from scientific research papers. We propose several baseline models tailored for scientific claim verification to assess the effectiveness of these datasets. Additionally, we evaluate models trained on SciClaimHunt and SciClaimHunt_Num against existing scientific claim verification datasets to gauge their quality and reliability. Furthermore, we conduct human evaluations of the claims in proposed datasets and perform error analysis to assess the effectiveness of the proposed baseline models. Our findings indicate that SciClaimHunt and SciClaimHunt_Num serve as highly reliable resources for training models in scientific claim verification

Abstract

We introduce RoadSocial, a large-scale, diverse VideoQA dataset tailored for generic road event understanding from social media narratives. Unlike existing datasets limited by regional bias, viewpoint bias and expert-driven annotations, RoadSocial captures the global complexity of road events with varied geographies, camera viewpoints (CCTV, handheld, drones) and rich social discourse. Our scalable semi-automatic annotation framework leverages Text LLMs and Video LLMs to generate comprehensive question-answer pairs across 12 challenging QA tasks, pushing the boundaries of road event understanding. RoadSocial is derived from social media videos spanning 14M frames and 414K social comments, resulting in a dataset with 13.2K videos, 674 tags and 260K high-quality QA pairs. We evaluate 18 Video LLMs (open-source and proprietary, driving-specific and general-purpose) on our road event understanding benchmark. We also demonstrate RoadSocial's utility in improving road event understanding capabilities of general-purpose Video LLMs.

Abstract

The robustness of precast concrete structures is primarily governed by connections between the precast structural components. Joint connections deliver a vital role in load transfer, restraining movement, and providing stability at local and global level. This calls for appropriate connection mechanism for precast elements providing integrity under different loading conditions and ease of construction. The connection details in literature or available in practice have been rarely evaluated. This paper discusses the numerical modelling of precast reinforced concrete structural wall-column with different joint connection systems and evaluates various seismic design parameters, simulated through in-plane lateral loading in a finite element software. The connection systems evaluated are reinforcement bar connection, headed bar connections, U-bar connection and steel wire loop connection, which are subsequently compared with a cast-in-situ reinforced concrete wall-column model having similar material and geometrical properties. The seismic behaviour of connections have been studied with regards to the damage pattern, stresses, lateral load capacity, base shear coefficient, stiffness, deformation characteristics, strength factors, and damage index. Among all the connection systems, U-bar connection and loop connection using steel wire ropes showed stresses within the yield limit, while other connection systems reached their yield capacity, indicating damage. Apparently, steel wire loop connection is found to be effective in transfer of lateral load between the precast reinforced concrete elements, as observed from the numerical analysis; whereas other connection systems yielded prior to the design load. However, all connections except the reinforcement bar connection surpassed design load prior to the peak limit.