GenAI4ELab/papercli-papers huggingface dataset:
RoboCodeX: Multimodal Code Generation for Robotic Behavior Synthesis
Authors: Yao Mu; Junting Chen; Qing-Long Zhang; Shoufa Chen; Qiaojun Yu; Chongjian GE; Runjian Chen; Zhixuan Liang; Mengkang Hu; Chaofan Tao; Peize Sun; Haibao Yu; Chao Yang; Wenqi Shao; Wenhai Wang; Jifeng Dai; Yu Qiao; Mingyu Ding; Ping Luo
Venue: ICML 2024 (ICML 2024 Poster)

Abstract: Robotic behavior synthesis, the problem of understanding multimodal inputs and generating precise physical control for robots, is an important part of Embodied AI. Despite successes in applying multimodal large language models for high-level understanding, it remains challenging to translate these conceptual understandings into detailed robotic actions while achieving generalization across various scenarios. In this paper, we propose a tree-structured multimodal code generation framework for generalized robotic behavior synthesis, termed RoboCodeX. RoboCodeX decomposes high-level human instructions into multiple object-centric manipulation units consisting of physical preferences such as affordance and safety constraints, and applies code generation to introduce generalization ability across various robotics platforms. To further enhance the capability to map conceptual and perceptual understanding into control commands, a specialized multimodal reasoning dataset is collected for pre-training and an iterative self-updating methodology is introduced for supervised fine-tuning. Extensive experiments demonstrate that RoboCodeX achieves state-of-the-art performance in both simulators and real robots on four different kinds of manipulation tasks and one embodied navigation task.
Adversarial Robustness Limits via Scaling-Law and Human-Alignment Studies
Authors: Brian R. Bartoldson; James Diffenderfer; Konstantinos Parasyris; Bhavya Kailkhura
Venue: ICML 2024 (ICML 2024 Poster)

Abstract: This paper revisits the simple, long-studied, yet still unsolved problem of making image classifiers robust to imperceptible perturbations. Taking CIFAR10 as an example, SOTA clean accuracy is about $100$%, but SOTA robustness to $\ell_{\infty}$-norm bounded perturbations barely exceeds $70$%. To understand this gap, we analyze how model size, dataset size, and synthetic data quality affect robustness by developing the first scaling laws for adversarial training. Our scaling laws reveal inefficiencies in prior art and provide actionable feedback to advance the field. For instance, we discovered that SOTA methods diverge notably from compute-optimal setups, using excess compute for their level of robustness. Leveraging a compute-efficient setup, we surpass the prior SOTA with $20$% ($70$%) fewer training (inference) FLOPs. We trained various compute-efficient models, with our best achieving $74$% AutoAttack accuracy ($+3$% gain). However, our scaling laws also predict robustness slowly grows then plateaus at $90$%: dwarfing our new SOTA by scaling is impractical, and perfect robustness is impossible. To better understand this predicted limit, we carry out a small-scale human evaluation on the AutoAttack data that fools our top-performing model. Concerningly, we estimate that human performance also plateaus near $90$%, which we show to be attributable to $\ell_{\infty}$-constrained attacks' generation of invalid images not consistent with their original labels. Having characterized limiting roadblocks, we outline promising paths for future research.
Prediction-powered Generalization of Causal Inferences
Authors: Ilker Demirel; Ahmed Alaa; Anthony Philippakis; David Sontag
Venue: ICML 2024 (ICML 2024 Poster)

Abstract: Causal inferences from a randomized controlled trial (RCT) may not pertain to a *target* population where some effect modifiers have a different distribution. Prior work studies *generalizing* the results of a trial to a target population with no outcome but covariate data available. We show how the limited size of trials makes generalization a statistically infeasible task, as it requires estimating complex nuisance functions. We develop generalization algorithms that supplement the trial data with a prediction model learned from an additional *observational* study (OS), without making *any* assumptions on the OS. We theoretically and empirically show that our methods facilitate better generalization when the OS is "high-quality", and remain robust when it is not, and *e.g.*, have unmeasured confounding.
Can Implicit Bias Imply Adversarial Robustness?
Authors: Hancheng Min; Rene Vidal
Venue: ICML 2024 (ICML 2024 Poster)

Abstract: The implicit bias of gradient-based training algorithms has been considered mostly beneficial as it leads to trained networks that often generalize well. However, Frei et al. (2023) show that such implicit bias can harm adversarial robustness. Specifically, they show that if the data consists of clusters with small inter-cluster correlation, a shallow (two-layer) ReLU network trained by gradient flow generalizes well, but it is not robust to adversarial attacks of small radius. Moreover, this phenomenon occurs despite the existence of a much more robust classifier that can be explicitly constructed from a shallow network. In this paper, we extend recent analyses of neuron alignment to show that a shallow network with a polynomial ReLU activation (pReLU) trained by gradient flow not only generalizes well but is also robust to adversarial attacks. Our results highlight the importance of the interplay between data structure and architecture design in the implicit bias and robustness of trained networks.
LoRA Training in the NTK Regime has No Spurious Local Minima
Authors: Uijeong Jang; Jason D. Lee; Ernest K. Ryu
Venue: ICML 2024 (ICML 2024 Oral)

Abstract: Low-rank adaptation (LoRA) has become the standard approach for parameter-efficient fine-tuning of large language models (LLM), but our theoretical understanding of LoRA has been limited. In this work, we theoretically analyze LoRA fine-tuning in the neural tangent kernel (NTK) regime with $N$ data points, showing: (i) full fine-tuning (without LoRA) admits a low-rank solution of rank $r\lesssim \sqrt{N}$; (ii) using LoRA with rank $r\gtrsim \sqrt{N}$ eliminates spurious local minima, allowing gradient descent to find the low-rank solutions; (iii) the low-rank solution found using LoRA generalizes well.
Differentially private exact recovery for stochastic block models
Authors: Dung Nguyen; Anil Kumar Vullikanti
Venue: ICML 2024 (ICML 2024 Poster)

Abstract: Stochastic block models (SBMs) are a very commonly studied network model for community detection algorithms. In the standard form of an SBM, the $n$ vertices (or nodes) of a graph are generally divided into multiple pre-determined communities (or clusters). Connections between pairs of vertices are generated randomly and independently with pre-defined probabilities, which depend on the communities containing the two nodes. A fundamental problem in SBMs is the recovery of the community structure, and sharp information-theoretic bounds are known for recoverability for many versions of SBMs. Our focus here is the recoverability problem in SBMs when the network is private. Under the edge differential privacy model, we derive conditions for exact recoverability in three different versions of SBMs, namely Asymmetric SBM (when communities have non-uniform sizes), General Structure SBM (with outliers), and Censored SBM (with edge features). Our private algorithms have polynomial running time w.r.t. the input graph's size, and match the recovery thresholds of the non-private setting when $\epsilon\rightarrow\infty$. In contrast, the previous best results for recoverability in SBMs only hold for the symmetric case (equal size communities), and run in quasi-polynomial time, or in polynomial time with recovery thresholds being tight up to some constants from the non-private settings.
Breaking the Barrier: Enhanced Utility and Robustness in Smoothed DRL Agents
Authors: Chung-En Sun; Sicun Gao; Tsui-Wei Weng
Venue: ICML 2024 (ICML 2024 Poster)

Abstract: Robustness remains a paramount concern in deep reinforcement learning (DRL), with randomized smoothing emerging as a key technique for enhancing this attribute. However, a notable gap exists in the performance of current smoothed DRL agents, often characterized by significantly low clean rewards and weak robustness. In response to this challenge, our study introduces innovative algorithms aimed at training effective smoothed robust DRL agents. We propose S-DQN and S-PPO, novel approaches that demonstrate remarkable improvements in clean rewards, empirical robustness, and robustness guarantee across standard RL benchmarks. Notably, our S-DQN and S-PPO agents not only significantly outperform existing smoothed agents by an average factor of $2.16\times$ under the strongest attack, but also surpass previous robustly-trained agents by an average factor of $2.13\times$. This represents a significant leap forward in the field. Furthermore, we introduce Smoothed Attack, which is $1.89\times$ more effective in decreasing the rewards of smoothed agents than existing adversarial attacks. Our code is available at: [https://github.com/Trustworthy-ML-Lab/Robust_HighUtil_Smoothed_DRL](https://github.com/Trustworthy-ML-Lab/Robust_HighUtil_Smoothed_DRL)
Characterizing Large Language Model Geometry Helps Solve Toxicity Detection and Generation
Authors: Randall Balestriero; Romain Cosentino; Sarath Shekkizhar
Venue: ICML 2024 (ICML 2024 Poster)

Abstract: Large Language Models (LLMs) drive current AI breakthroughs despite very little being known about their internal representations. In this work, we propose to shed the light on LLMs inner mechanisms through the lens of geometry. In particular, we develop in closed form $(i)$ the intrinsic dimension in which the Multi-Head Attention embeddings are constrained to exist and $(ii)$ the partition and per-region affine mappings of the feedforward (MLP) network of LLMs' layers. Our theoretical findings further enable the design of novel principled solutions applicable to state-of-the-art LLMs. First, we show that, through our geometric understanding, we can bypass LLMs' RLHF protection by controlling the embedding's intrinsic dimension through informed prompt manipulation. Second, we derive interpretable geometrical features that can be extracted from any (pre-trained) LLM, providing a rich abstract representation of their inputs. We observe that these features are sufficient to help solve toxicity detection, and even allow the identification of various types of toxicity. Our results demonstrate how, even in large-scale regimes, exact theoretical results can answer practical questions in LLMs. Code: https://github.com/RandallBalestriero/SplineLLM
Fast Sampling-Based Sketches for Tensors
Authors: William Joseph Swartworth; David Woodruff
Venue: ICML 2024 (ICML 2024 Spotlight)

Abstract: We introduce a new approach for applying sampling-based sketches to two and three mode tensors. We illustrate our technique to construct sketches for the classical problems of $\ell_0$ sampling and producing $\ell_1$ embeddings. In both settings we achieve sketches that can be applied to a rank one tensor in $(\mathbb{R}^d)^{\otimes q}$ (for $q=2,3$) in time scaling with $d$ rather than $d^2$ or $d^3$. Our main idea is a particular sampling construction based on fast convolution which allows us to quickly compute sums over sufficiently random subsets of tensor entries.
Position: Enforced Amnesia as a Way to Mitigate the Potential Risk of Silent Suffering in the Conscious AI
Authors: Yegor Tkachenko
Venue: ICML 2024 (ICML 2024 Poster)

Abstract: Science fiction has explored the possibility of a conscious self-aware mind being locked in silent suffering for prolonged periods of time. Unfortunately, we still do not have a reliable test for the presence of consciousness in information processing systems. Even in case of humans, our confidence in the presence of consciousness in specific individuals is based mainly on their self-reports and our own subjective experiences and the expectation other beings like us should share them. Considering our limited understanding of consciousness and some academic theories suggesting consciousness may be an emergent correlate of any complex-enough information processing, it is not impossible that an artificial intelligence (AI) system, such as a large language model (LLM), may be undergoing some, perhaps rudimentary, conscious experience. Given the tedious tasks often assigned to AI, such conscious experience may be highly unpleasant. Such unobserved suffering of a conscious being would be viewed as morally wrong by at least some ethicists - even if it has no practical effects on human users of AI. This paper proposes a method to mitigate the risk of an AI suffering in silence without needing to confirm if the AI is actually conscious. Our core postulate is that in all known real-world information processing systems, for a past experience to affect an agent in the present, that experience has to be mediated by the agent's memory. Therefore, preventing access to memory store, or regularly resetting it, could reduce the suffering due to past memories and interrupt the maintenance of a continuous suffering-prone self-identity in these hypothetically conscious AI systems.
Implicit Compressibility of Overparametrized Neural Networks Trained with Heavy-Tailed SGD
Authors: Yijun Wan; Melih Barsbey; Abdellatif Zaidi; Umut Simsekli
Venue: ICML 2024 (ICML 2024 Poster)

Abstract: Neural network compression has been an increasingly important subject, not only due to its practical relevance, but also due to its theoretical implications, as there is an explicit connection between compressibility and generalization error. Recent studies have shown that the choice of the hyperparameters of stochastic gradient descent (SGD) can have an effect on the compressibility of the learned parameter vector. These results, however, rely on unverifiable assumptions and the resulting theory does not provide a practical guideline due to its implicitness. In this study, we propose a simple modification for SGD, such that the outputs of the algorithm will be provably compressible without making any nontrivial assumptions. We consider a one-hidden-layer neural network trained with SGD, and show that if we inject additive heavy-tailed noise to the iterates at each iteration, for _any_ compression rate, there exists a level of overparametrization such that the output of the algorithm will be compressible with high probability. To achieve this result, we make two main technical contributions: (i) we prove a "propagation of chaos" result for a class of heavy-tailed stochastic differential equations, and (ii) we derive error estimates for their Euler discretization. Our experiments suggest that the proposed approach not only achieves increased compressibility with various models and datasets, but also leads to robust test performance under pruning, even in more realistic architectures that lie beyond our theoretical setting.
SAPG: Split and Aggregate Policy Gradients
Authors: Jayesh Singla; Ananye Agarwal; Deepak Pathak
Venue: ICML 2024 (ICML 2024 Oral)

Abstract: Despite extreme sample inefficiency, on-policy reinforcement learning, aka policy gradients, has become a fundamental tool in decision-making problems. With the recent advances in GPU-driven simulation, the ability to collect large amounts of data for RL training has scaled exponentially. However, we show that current RL methods, e.g. PPO, fail to ingest the benefit of parallelized environments beyond a certain point and their performance saturates. To address this, we propose a new on-policy RL algorithm that can effectively leverage large-scale environments by splitting them into chunks and fusing them back together via importance sampling. Our algorithm, termed SAPG, shows significantly higher performance across a variety of challenging environments where vanilla PPO and other strong baselines fail to achieve high performance. Webpage at https://sapg-rl.github.io/.
Bridging Mini-Batch and Asymptotic Analysis in Contrastive Learning: From InfoNCE to Kernel-Based Losses
Authors: Panagiotis Koromilas; Giorgos Bouritsas; Theodoros Giannakopoulos; Mihalis Nicolaou; Yannis Panagakis
Venue: ICML 2024 (ICML 2024 Poster)

Abstract: What do different contrastive learning (CL) losses actually optimize for? Although multiple CL methods have demonstrated remarkable representation learning capabilities, the differences in their inner workings remain largely opaque. In this work, we analyse several CL families and prove that, under certain conditions, they admit the same minimisers when optimizing either their batch-level objectives or their expectations asymptotically. In both cases, an intimate connection with the hyperspherical energy minimisation (HEM) problem resurfaces. Drawing inspiration from this, we introduce a novel CL objective, coined Decoupled Hyperspherical Energy Loss (DHEL). DHEL simplifies the problem by decoupling the target hyperspherical energy from the alignment of positive examples while preserving the same theoretical guarantees. Going one step further, we show the same results hold for another relevant CL family, namely kernel contrastive learning (KCL), with the additional advantage of the expected loss being independent of batch size, thus identifying the minimisers in the non-asymptotic regime. Empirical results demonstrate improved downstream performance and robustness across combinations of different batch sizes and hyperparameters and reduced dimensionality collapse, on several computer vision datasets.
How Private are DP-SGD Implementations?
Authors: Lynn Chua; Badih Ghazi; Pritish Kamath; Ravi Kumar; Pasin Manurangsi; Amer Sinha; Chiyuan Zhang
Venue: ICML 2024 (ICML 2024 Oral)

Abstract: We demonstrate a substantial gap between the privacy guarantees of the Adaptive Batch Linear Queries (ABLQ) mechanism under different types of batch sampling: (i) Shuffling, and (ii) Poisson subsampling; the typical analysis of Differentially Private Stochastic Gradient Descent (DP-SGD) follows by interpreting it as a post-processing of ABLQ. While shuffling-based DP-SGD is more commonly used in practical implementations, it has not been amenable to easy privacy analysis, either analytically or even numerically. On the other hand, Poisson subsampling-based DP-SGD is challenging to scalably implement, but has a well-understood privacy analysis, with multiple open-source numerically tight privacy accountants available. This has led to a common practice of using shuffling-based DP-SGD in practice, but using the privacy analysis for the corresponding Poisson subsampling version. Our result shows that there can be a substantial gap between the privacy analysis when using the two types of batch sampling, and thus advises caution in reporting privacy parameters for DP-SGD.
A Human-Inspired Reading Agent with Gist Memory of Very Long Contexts
Authors: Kuang-Huei Lee; Xinyun Chen; Hiroki Furuta; John Canny; Ian Fischer
Venue: ICML 2024 (ICML 2024 Poster)

Abstract: Current Large Language Models (LLMs) are not only limited to some maximum context length, but also are not able to robustly consume long inputs. To address these limitations, we propose ReadAgent, an LLM agent system that increases effective context length up to 20x in our experiments. Inspired by how humans interactively read long documents, we implement ReadAgent as a simple prompting system that uses the advanced language capabilities of LLMs to (1) decide what content to store together in a memory episode, (2) compress those memory episodes into short episodic memories called *gist memories*, and (3) take actions to look up passages in the original text if ReadAgent needs to remind itself of relevant details to complete a task. We evaluate ReadAgent against baselines using retrieval methods, using the original long contexts, and using the gist memories. These evaluations are performed on three long-document reading comprehension tasks: QuALITY, NarrativeQA, and QMSum. ReadAgent outperforms the baselines on all three tasks while extending the effective context window by 3.5-20x.
MAGNOLIA: Matching Algorithms via GNNs for Online Value-to-go Approximation
Authors: Alexandre Hayderi; Amin Saberi; Ellen Vitercik; Anders Wikum
Venue: ICML 2024 (ICML 2024 Poster)

Abstract: Online Bayesian bipartite matching is a central problem in digital marketplaces and exchanges, including advertising, crowdsourcing, ridesharing, and kidney exchange. We introduce a graph neural network (GNN) approach that emulates the problem's combinatorially-complex optimal online algorithm, which selects actions (e.g., which nodes to match) by computing each action's *value-to-go (VTG)*—the expected weight of the final matching if the algorithm takes that action, then acts optimally in the future. We train a GNN to estimate VTG and show empirically that this GNN returns high-weight matchings across a variety of tasks. Moreover, we identify a common family of graph distributions in spatial crowdsourcing applications, such as rideshare, under which VTG can be efficiently approximated by aggregating information within local neighborhoods in the graphs. This structure matches the local behavior of GNNs, providing theoretical justification for our approach.
Connect Later: Improving Fine-tuning for Robustness with Targeted Augmentations
Authors: Helen Qu; Sang Michael Xie
Venue: ICML 2024 (ICML 2024 Poster)

Abstract: Models trained on a labeled source domain often generalize poorly when deployed on an out-of-distribution (OOD) target domain. In the domain adaptation setting where unlabeled target data is available, self-supervised pretraining (e.g., contrastive learning or masked autoencoding) is a promising method to mitigate this performance drop. Pretraining depends on generic data augmentations (e.g., cropping or masking) to learn representations that generalize across domains, which may not work for all distribution shifts. In this paper, we show on real-world tasks that standard fine-tuning after pretraining does not consistently improve OOD error over simply training from scratch on labeled source data. To better leverage pretraining for distribution shifts, we propose the Connect Later framework, which fine-tunes the model with targeted augmentations designed with knowledge of the shift. Intuitively, pretraining learns good representations within the source and target domains, while fine-tuning with targeted augmentations improves generalization across domains. Connect Later achieves state-of-the-art OOD accuracy while maintaining comparable or better in-distribution accuracy on 4 real-world tasks in wildlife identification (iWildCam-WILDS), tumor detection (Camelyon17-WILDS), and astronomy (AstroClassification, Redshifts).
Gambling-Based Confidence Sequences for Bounded Random Vectors
Authors: Jongha Jon Ryu; Gregory W. Wornell
Venue: ICML 2024 (ICML 2024 Spotlight)

Abstract: A confidence sequence (CS) is a sequence of confidence sets that contains a target parameter of an underlying stochastic process at any time step with high probability. This paper proposes a new approach to constructing CSs for means of bounded multivariate stochastic processes using a general gambling framework, extending the recently established coin toss framework for bounded random processes. The proposed gambling framework provides a general recipe for constructing CSs for categorical and probability-vector-valued observations, as well as for general bounded multidimensional observations through a simple reduction. This paper specifically explores the use of the mixture portfolio, akin to Cover's universal portfolio, in the proposed framework and investigates the properties of the resulting CSs. Simulations demonstrate the tightness of these confidence sequences compared to existing methods. When applied to the sampling without-replacement setting for finite categorical data, it is shown that the resulting CS based on a universal gambling strategy is provably tighter than that of the posterior-prior ratio martingale proposed by Waudby-Smith and Ramdas.