Miracle-dz/UniFAR-FTUs huggingface dataset:
KB-Plugin: A Plug-and-play Framework for Large Language Models to Induce Programs over Low-resourced Knowledge Bases

Program induction (PI) has become a promising paradigm for using knowledge bases (KBs) to help large language models (LLMs) answer complex knowledge-intensive questions. Nonetheless, PI typically relies on a large number of parallel question-program pairs to make the LLM aware of the schema of the given KB, and is thus challenging for many low-resourced KBs that lack annotated data. To this end, we propose KB-Plugin, a plug-and-play framework that enables LLMs to induce programs over any low-resourced KB. Firstly, KB-Plugin adopts self-supervised learning to encode the detailed schema information of a given KB into a pluggable module, namely schema plugin. Secondly, KB-Plugin utilizes abundant annotated data from a rich-resourced KB to train another pluggable module, namely PI plugin, which can help the LLM extract question-relevant schema information from the schema plugin of any KB and utilize this information to induce programs over this KB. Experiments on five heterogeneous KBQA datasets show that KB-Plugin achieves better or comparable performance with 25$\times$ smaller backbone LLM compared to SoTA PI methods for low-resourced KBs, and even approaches the performance of supervised methods. Our code and data are available at https://github.com/THU-KEG/KB-Plugin.
RimiRec: Modeling Refined Multi-interest in Hierarchical Structure for Recommendation

Industrial recommender systems usually consist of the retrieval stage and the ranking stage, to handle the billion-scale of users and items. The retrieval stage retrieves candidate items relevant to user interests for recommendations and has attracted much attention. Frequently, a user shows refined multi-interests in a hierarchical structure. For example, a user likes Conan and Kuroba Kaito, which are the roles in hierarchical structure"Animation, Japanese Animation, Detective Conan". However, most existing methods ignore this hierarchical nature, and simply average the fine-grained interest information. Therefore, we propose a novel two-stage approach to explicitly modeling refined multi-interest in a hierarchical structure for recommendation. In the first hierarchical multi-interest mining stage, the hierarchical clustering and transformer-based model adaptively generate circles or sub-circles that users are interested in. In the second stage, the partition of retrieval space allows the EBR models to deal only with items within each circle and accurately capture users' refined interests. Experimental results show that the proposed approach achieves state-of-the-art performance. Our framework has also been deployed at Lofter.
Overcoming Blind Spots: Occlusion Considerations for Improved Autonomous Driving Safety

Our work introduces a module for assessing the trajectory safety of autonomous vehicles in dynamic environments marked by high uncertainty. We focus on occluded areas and occluded traffic participants with limited information about surrounding obstacles. To address this problem, we propose a software module that handles blind spots (BS) created by static and dynamic obstacles in urban environments. We identify potential occluded traffic participants, predict their movement, and assess the ego vehicle's trajectory using various criticality metrics. The method offers a straightforward and modular integration into motion planner algorithms. We present critical real-world scenarios to evaluate our module and apply our approach to a publicly available trajectory planning algorithm. Our results demonstrate that safe yet efficient driving with occluded road users can be achieved by incorporating safety assessments into the planning process. The code used in this research is publicly available as open-source software and can be accessed at the following link: https://github.com/TUM-AVS/Frenetix-Occlusion.
Distractor Generation for Multiple-Choice Questions: A Survey of Methods, Datasets, and Evaluation

Distractors are important in learning evaluation. This paper surveys distractor generation tasks using English multiple-choice question datasets for textual and multimodal contexts. In particular, this paper presents a thorough literature review of the recent studies on distractor generation tasks, discusses multiple choice components and their characteristics, analyzes the related datasets, and summarizes the evaluation metrics of distractor generation. Our investigation reveals that more than half of datasets are human-generated from educational sources in specific domains such as Science and English, which are largely text-based, with a lack of open domain and multimodal datasets.
Bribe & Fork: Cheap Bribing Attacks via Forking Threat

In this work, we reexamine the vulnerability of Payment Channel Networks (PCNs) to bribing attacks, where an adversary incentivizes blockchain miners to deliberately ignore a specific transaction to undermine the punishment mechanism of PCNs. While previous studies have posited a prohibitive cost for such attacks, we show that this cost may be dramatically reduced (to approximately \$125), thereby increasing the likelihood of these attacks. To this end, we introduce Bribe&Fork, a modified bribing attack that leverages the threat of a so-called feather fork which we analyze with a novel formal model for the mining game with forking. We empirically analyze historical data of some real-world blockchain implementations to evaluate the scale of this cost reduction. Our findings shed more light on the potential vulnerability of PCNs and highlight the need for robust solutions.
Self-Attention through Kernel-Eigen Pair Sparse Variational Gaussian Processes

While the great capability of Transformers significantly boosts prediction accuracy, it could also yield overconfident predictions and require calibrated uncertainty estimation, which can be commonly tackled by Gaussian processes (GPs). Existing works apply GPs with symmetric kernels under variational inference to the attention kernel; however, omitting the fact that attention kernels are in essence asymmetric. Moreover, the complexity of deriving the GP posteriors remains high for large-scale data. In this work, we propose Kernel-Eigen Pair Sparse Variational Gaussian Processes (KEP-SVGP) for building uncertainty-aware self-attention where the asymmetry of attention kernels is tackled by Kernel SVD (KSVD) and a reduced complexity is acquired. Through KEP-SVGP, i) the SVGP pair induced by the two sets of singular vectors from KSVD w.r. t. the attention kernel fully characterizes the asymmetry; ii) using only a small set of adjoint eigenfunctions from KSVD, the derivation of SVGP posteriors can be based on the inversion of a diagonal matrix containing singular values, contributing to a reduction in time complexity; iii) an evidence lower bound is derived so that variational parameters can be optimized towards this objective. Experiments verify our excellent performances and efficiency on in-distribution, distribution-shift and out-of-distribution benchmarks.
Simulation-based optimization of a production system topology - a neural network-assisted genetic algorithm

There is an abundance of prior research on the optimization of production systems, but there is a research gap when it comes to optimizing which components should be included in a design, and how they should be connected. To overcome this gap, a novel approach is presented for topology optimization of production systems using a genetic algorithm (GA). This GA employs similarity-based mutation and recombination for the creation of offspring, and discrete-event simulation for fitness evaluation. To reduce computational cost, an extension to the GA is presented in which a neural network functions as a surrogate model for simulation. Three types of neural networks are compared, and the type most effective as a surrogate model is chosen based on its optimization performance and computational cost. Both the unassisted GA and neural network-assisted GA are applied to an industrial case study and a scalability case study. These show that both approaches are effective at finding the optimal solution in industrial settings, and both scale well as the number of potential solutions increases, with the neural network-assisted GA having the better scalability of the two.
LINGO-Space: Language-Conditioned Incremental Grounding for Space

We aim to solve the problem of spatially localizing composite instructions referring to space: space grounding. Compared to current instance grounding, space grounding is challenging due to the ill-posedness of identifying locations referred to by discrete expressions and the compositional ambiguity of referring expressions. Therefore, we propose a novel probabilistic space-grounding methodology (LINGO-Space) that accurately identifies a probabilistic distribution of space being referred to and incrementally updates it, given subsequent referring expressions leveraging configurable polar distributions. Our evaluations show that the estimation using polar distributions enables a robot to ground locations successfully through 20 table-top manipulation benchmark tests. We also show that updating the distribution helps the grounding method accurately narrow the referring space. We finally demonstrate the robustness of the space grounding with simulated manipulation and real quadruped robot navigation tasks. Code and videos are available at https://lingo-space.github. io.
Assessing the Lagrangian Framework and State Estimation for Forward and Inverse Atmospheric Transport and Dispersion Modeling

In atmospheric transport and dispersion modeling, there are two frameworks used to predict the evolution of an airborne contaminant: Eulerian and Lagrangian. Each framework has its advantages and disadvantages. An advantage of the Eulerian or field framework is that the governing variables are space filling, and describe the entire concentration and velocity field. Thus, the evolution of these variables are governed by a coupled system of partial differential equations and an equation of state. Although these equations in their full form can be solved only by numerical approximation, describing flow field evolution by a set of equations allows one to grasp how forces change flow field properties at specific points. The Lagrangian framework, in contrast, concentrates on entity state evolution where the superposition of such entities describes the concentration field. An advantage of the Lagrangian framework is that under certain circumstances, both the evolution of the flow and the concentration field can be described by a system of ordinary or partial differential equations that determine entity state evolution. These equations can be simpler than the Eulerian counterpart. This is illustrated in the thesis for both forward and inverse atmospheric transport and dispersion modeling. Specifically, a Lagrangian source term estimation algorithm is developed to determine the source location of a contaminant. It is shown that this method performs well when tested on the FFT 07 dataset for single and multiple contaminant releases. iv TABLE OF CONTENTS LIST OF FIGURES . vi LIST OF TABLES . viii ACKNOWLEDGEMENTS . ix Chapter
A Modular Aerial System Based on Homogeneous Quadrotors with Fault-Tolerant Control

The standard quadrotor is one of the most popular and widely used aerial vehicle of recent decades, offering great maneuverability with mechanical simplicity. However, the under-actuation characteristic limits its applications, especially when it comes to generating desired wrench with six degrees of freedom (DOF). Therefore, existing work often compromises between mechanical complexity and the controllable DOF of the aerial system. To take advantage of the mechanical simplicity of a standard quadrotor, we propose a modular aerial system, IdentiQuad, that combines only homogeneous quadrotor-based modules. Each IdentiQuad can be operated alone like a standard quadrotor, but at the same time allows task-specific assembly, increasing the controllable DOF of the system. Each module is interchangeable within its assembly. We also propose a general controller for different configurations of assemblies, capable of tolerating rotor failures and balancing the energy consumption of each module. The functionality and robustness of the system and its controller are validated using physics-based simulations for different assembly configurations.
Generalized Multi-Speed Dubins Motion Model

The paper develops a novel motion model, called Generalized Multi-Speed Dubins Motion Model (GMDM), which extends the Dubins model by considering multiple speeds. While the Dubins model produces time-optimal paths under a constant-speed constraint, these paths could be suboptimal if this constraint is relaxed to include multiple speeds. This is because a constant speed results in a large minimum turning radius, thus producing paths with longer maneuvers and larger travel times. In contrast, multi-speed relaxation allows for slower speed sharp turns, thus producing more direct paths with shorter maneuvers and smaller travel times. Furthermore, the inability of the Dubins model to reduce speed could result in fast maneuvers near obstacles, thus producing paths with high collision risks. In this regard, GMDM provides the motion planners the ability to jointly optimize time and risk by allowing the change of speed along the path. GMDM is built upon the six Dubins path types considering the change of speed on path segments. It is theoretically established that GMDM provides full reachability of the configuration space for any speed selections. Furthermore, it is shown that the Dubins model is a specific case of GMDM for constant speeds. The solutions of GMDM are analytical and suitable for real-time applications. The performance of GMDM in terms of solution quality (i.e., time/time-risk cost) and computation time is comparatively evaluated against the existing motion models in obstacle-free as well as obstacle-rich environments via extensive Monte Carlo simulations. The results show that in obstacle-free environments, GMDM produces near time-optimal paths with significantly lower travel times than the Dubins model while having similar computation times. In obstacle-rich environments, GMDM produces time-risk optimized paths with substantially lower collision risks.
Neural Models and Algorithms for Sensorimotor Control of an Octopus Arm

In this article, a biophysically realistic model of a soft octopus arm with internal musculature is presented. The modeling is motivated by experimental observations of sensorimotor control where an arm localizes and reaches a target. Major contributions of this article are: (i) development of models to capture the mechanical properties of arm musculature, the electrical properties of the arm peripheral nervous system (PNS), and the coupling of PNS with muscular contractions; (ii) modeling the arm sensory system, including chemosensing and proprioception; and (iii) algorithms for sensorimotor control, which include a novel feedback neural motor control law for mimicking target-oriented arm reaching motions, and a novel consensus algorithm for solving sensing problems such as locating a food source from local chemical sensory information (exogenous) and arm deformation information (endogenous). Several analytical results, including rest-state characterization and stability properties of the proposed sensing and motor control algorithms, are provided. Numerical simulations demonstrate the efficacy of our approach. Qualitative comparisons against observed arm rest shapes and target-oriented reaching motions are also reported.
Assessing Patient Eligibility for Inspire Therapy through Machine Learning and Deep Learning Models

Inspire therapy is an FDA-approved internal neurostimulation treatment for obstructive sleep apnea. However, not all patients respond to this therapy, posing a challenge even for experienced otolaryngologists to determine candidacy. This paper makes the first attempt to leverage both machine learning and deep learning techniques in discerning patient responsiveness to Inspire therapy using medical data and videos captured through Drug-Induced Sleep Endoscopy (DISE), an essential procedure for Inspire therapy. To achieve this, we gathered and annotated three datasets from 127 patients. Two of these datasets comprise endoscopic videos focused on the Base of the Tongue and Velopharynx. The third dataset composes the patient's clinical information. By utilizing these datasets, we benchmarked and compared the performance of six deep learning models and five classical machine learning algorithms. The results demonstrate the potential of employing machine learning and deep learning techniques to determine a patient's eligibility for Inspire therapy, paving the way for future advancements in this field.
Expert Proximity as Surrogate Rewards for Single Demonstration Imitation Learning

In this paper, we focus on single-demonstration imitation learning (IL), a practical approach for real-world applications where obtaining numerous expert demonstrations is costly or infeasible. In contrast to typical IL settings with multiple demonstrations, single-demonstration IL involves an agent having access to only one expert trajectory. We highlight the issue of sparse reward signals in this setting and propose to mitigate this issue through our proposed Transition Discriminator-based IL (TDIL) method. TDIL is an IRL method designed to address reward sparsity by introducing a denser surrogate reward function that considers environmental dynamics. This surrogate reward function encourages the agent to navigate towards states that are proximal to expert states. In practice, TDIL trains a transition discriminator to differentiate between valid and non-valid transitions in a given environment to compute the surrogate rewards. The experiments demonstrate that TDIL outperforms existing IL approaches and achieves expert-level performance in the single-demonstration IL setting across five widely adopted MuJoCo benchmarks as well as the"Adroit Door"environment.
AutoGCN-Toward Generic Human Activity Recognition With Neural Architecture Search

This paper introduces AutoGCN, a generic Neural Architecture Search (NAS) algorithm for Human Activity Recognition (HAR) using Graph Convolution Networks (GCNs). HAR has enjoyed increased attention due to advances in deep learning, increased data availability, and enhanced computational capabilities. Concurrently, GCNs have shown promising abilities in modeling relationships between body key points in a skeletal graph. Typically, domain experts develop dataset-specific GCN-based methods, which limits their applicability beyond the specific context. AutoGCN seeks to address this limitation by simultaneously searching for the ideal hyperparameters and architecture combination within a versatile search space using a reinforcement controller while balancing optimal exploration and exploitation behavior with a knowledge reservoir during the search process. We conduct extensive experiments on two large datasets focused on skeleton-based action recognition to assess the proposed algorithm’s performance. Our experimental results demonstrate the effectiveness of AutoGCN in constructing optimal GCN architectures for HAR, outperforming conventional NAS and GCN methods, as well as random search. These findings highlight the significance of a diverse search space and an expressive input representation to achieve good model performance and generalizability.
The Parallel Semantics Program Dependence Graph

A compiler's intermediate representation (IR) defines a program's execution plan by encoding its instructions and their relative order. Compiler optimizations aim to replace a given execution plan with a semantically-equivalent one that increases the program's performance for the target architecture. Alternative representations of an IR, like the Program Dependence Graph (PDG), aid this process by capturing the minimum set of constraints that semantically-equivalent execution plans must satisfy. Parallel programming like OpenMP extends a sequential execution plan by adding the possibility of running instructions in parallel, creating a parallel execution plan. Recently introduced parallel IRs, like TAPIR, explicitly encode a parallel execution plan. These new IRs finally make it possible for compilers to change the parallel execution plan expressed by programmers to better fit the target parallel architecture. Unfortunately, parallel IRs do not help compilers in identifying the set of parallel execution plans that preserve the original semantics. In other words, we are still lacking an alternative representation of parallel IRs to capture the minimum set of constraints that parallel execution plans must satisfy to be semantically-equivalent. Unfortunately, the PDG is not an ideal candidate for this task as it was designed for sequential code. We propose the Parallel Semantics Program Dependence Graph (PS-PDG) to precisely capture the salient program constraints that all semantically-equivalent parallel execution plans must satisfy. This paper defines the PS-PDG, justifies the necessity of each extension to the PDG, and demonstrates the increased optimization power of the PS-PDG over an existing PDG-based automatic-parallelizing compiler. Compilers can now rely on the PS-PDG to select different parallel execution plans while maintaining the same original semantics.
Emergence of heavy tails in homogenized stochastic gradient descent

It has repeatedly been observed that loss minimization by stochastic gradient descent (SGD) leads to heavy-tailed distributions of neural network parameters. Here, we analyze a continuous diffusion approximation of SGD, called homogenized stochastic gradient descent, show that it behaves asymptotically heavy-tailed, and give explicit upper and lower bounds on its tail-index. We validate these bounds in numerical experiments and show that they are typically close approximations to the empirical tail-index of SGD iterates. In addition, their explicit form enables us to quantify the interplay between optimization parameters and the tail-index. Doing so, we contribute to the ongoing discussion on links between heavy tails and the generalization performance of neural networks as well as the ability of SGD to avoid suboptimal local minima.
FedShift: Tackling Dual Heterogeneity Problem of Federated Learning via Weight Shift Aggregation

Federated Learning (FL) offers a compelling method for training machine learning models with a focus on preserving data privacy. The presence of system heterogeneity and statistical heterogeneity, recognized challenges in FL, arises from the diversity of client hardware, network, and dataset distribution. This diversity can critically affect the training pace and the performance of models. While many studies address either system or statistical heterogeneity by introducing communication-efficient or stable convergence algorithms, addressing these challenges in isolation often leads to compromises due to unaddressed heterogeneity. In response, this paper introduces FedShift, a novel algorithm designed to enhance both the training speed and the models' accuracy in a dual heterogeneity scenario. Our solution can improve client engagement through quantization and mitigate the adverse effects on performance typically associated with quantization by employing a shifting technique. This technique has proven to enhance accuracy by an average of 3.9% in diverse heterogeneity environments.