Miracle-dz/UniFAR-FTUs huggingface dataset:
Control-Theoretic Techniques for Online Adaptation of Deep Neural Networks in Dynamical Systems

Deep neural networks (DNNs), trained with gradient-based optimization and backpropagation, are currently the primary tool in modern artificial intelligence, machine learning, and data science. In many applications, DNNs are trained offline, through supervised learning or reinforcement learning, and deployed online for inference. However, training DNNs with standard backpropagation and gradient-based optimization gives no intrinsic performance guarantees or bounds on the DNN, which is essential for applications such as controls. Additionally, many offline-training and online-inference problems, such as sim2real transfer of reinforcement learning policies, experience domain shift from the training distribution to the real-world distribution. To address these stability and transfer learning issues, we propose using techniques from control theory to update DNN parameters online. We formulate the fully-connected feedforward DNN as a continuous-time dynamical system, and we propose novel last-layer update laws that guarantee desirable error convergence under various conditions on the time derivative of the DNN input vector. We further show that training the DNN under spectral normalization controls the upper bound of the error trajectories of the online DNN predictions, which is desirable when numerically differentiated quantities or noisy state measurements are input to the DNN. The proposed online DNN adaptation laws are validated in simulation to learn the dynamics of the Van der Pol system under domain shift, where parameters are varied in inference from the training dataset. The simulations demonstrate the effectiveness of using control-theoretic techniques to derive performance improvements and guarantees in DNN-based learning systems.
SmartCooper: Vehicular Collaborative Perception with Adaptive Fusion and Judger Mechanism

In recent years, autonomous driving has garnered significant attention due to its potential for improving road safety through collaborative perception among connected and autonomous vehicles (CAVs). However, time-varying channel variations in vehicular transmission environments demand dynamic allocation of communication resources. Moreover, in the context of collaborative perception, it is important to recognize that not all CAVs contribute valuable data, and some CAV data even have detrimental effects on collaborative perception. In this paper, we introduce SmartCooper, an adaptive collaborative perception framework that incorporates communication optimization and a judger mechanism to facilitate CAV data fusion. Our approach begins with optimizing the connectivity of vehicles while considering communication constraints. We then train a learnable encoder to dynamically adjust the compression ratio based on the channel state information (CSI). Subsequently, we devise a judger mechanism to filter the detrimental image data reconstructed by adaptive decoders. We evaluate the effectiveness of our proposed algorithm on the OpenCOOD platform. Our results demonstrate a substantial reduction in communication costs by 23.10\% compared to the non-judger scheme. Additionally, we achieve a significant improvement on the average precision of Intersection over Union (AP@IoU) by 7.15\% compared with state-of-the-art schemes.
Towards scalable robotic intervention of children with Autism Spectrum Disorder using LLMs

In this paper, we propose a social robot capable of verbally interacting with children with Autism Spectrum Disorder (ASD). This communication is meant to teach perspective-taking using text generated using a Large Language Model (LLM) pipeline. The social robot NAO acts as a stimulator (verbally describes a social situation and asks a question), prompter (presents three options to choose from), and reinforcer (praises when the answer is correct). For the role of the stimulator, the social situation, questions, and options are generated using our LLM pipeline. We compare two approaches: GPT-2 + BART and GPT-2 + GPT-2, where the first GPT-2 common between the pipelines is used for unsupervised social situation generation. We use the SOCIALIQA dataset to fine-tune all of our LLM pipelines. We found that the GPT-2 + BART pipeline had a better BERTscore for generating the questions and the options by combining their individual loss functions. This observation was also consistent with the human evaluations. Lastly, the unsupervised generation of social situations was visualized using T-SNE plots, and the entire pipeline was evaluated for appropriateness for children with ASD by human experts.
USDnet: Unsupervised Speech Dereverberation via Neural Forward Filtering

In reverberant conditions with a single speaker, each far-field microphone records a reverberant version of the same speaker signal at a different location. In over-determined conditions, where there are more microphones than speakers, each recorded mixture signal can be leveraged as a constraint to narrow down the solutions to target anechoic speech and thereby reduce reverberation. Equipped with this insight, we propose USDnet, a novel deep neural network (DNN) approach for unsupervised speech dereverberation (USD). At each training step, we first feed an input mixture to USDnet to produce an estimate for target speech, and then linearly filter the DNN estimate to approximate the multi-microphone mixture so that the constraint can be satisfied at each microphone, thereby regularizing the DNN estimate to approximate target anechoic speech. The linear filter can be estimated based on the mixture and DNN estimate via neural forward filtering algorithms such as forward convolutive prediction. We show that this novel methodology can promote unsupervised dereverberation of single-source reverberant speech.
Improving Weak-to-Strong Generalization with Scalable Oversight and Ensemble Learning

This paper presents a follow-up study to OpenAI's recent superalignment work on Weak-to-Strong Generalization (W2SG). Superalignment focuses on ensuring that high-level AI systems remain consistent with human values and intentions when dealing with complex, high-risk tasks. The W2SG framework has opened new possibilities for empirical research in this evolving field. Our study simulates two phases of superalignment under the W2SG framework: the development of general superhuman models and the progression towards superintelligence. In the first phase, based on human supervision, the quality of weak supervision is enhanced through a combination of scalable oversight and ensemble learning, reducing the capability gap between weak teachers and strong students. In the second phase, an automatic alignment evaluator is employed as the weak supervisor. By recursively updating this auto aligner, the capabilities of the weak teacher models are synchronously enhanced, achieving weak-to-strong supervision over stronger student models.We also provide an initial validation of the proposed approach for the first phase. Using the SciQ task as example, we explore ensemble learning for weak teacher models through bagging and boosting. Scalable oversight is explored through two auxiliary settings: human-AI interaction and AI-AI debate. Additionally, the paper discusses the impact of improved weak supervision on enhancing weak-to-strong generalization based on in-context learning. Experiment code and dataset will be released at https://github.com/ADaM-BJTU/W2SG.
ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor

Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which seamlessly integrates both tactile and visual perception capabilities into a single, integrated sensor unit. ViTacTip features a transparent skin to capture fine features of objects during contact, which can be known as the see-through-skin mechanism. In the meantime, the biomimetic tips embedded in ViTacTip can amplify touch motions during tactile perception. For comparative analysis, we also fabricated a ViTac sensor devoid of biomimetic tips, as well as a TacTip sensor with opaque skin. Furthermore, we develop a Generative Adversarial Network (GAN)-based approach for modality switching between different perception modes, effectively alternating the emphasis between vision and tactile perception modes. We conducted a performance evaluation of the proposed sensor across three distinct tasks: i) grating identification, ii) pose regression, and iii) contact localization and force estimation. In the grating identification task, ViTacTip demonstrated an accuracy of 99.72%, surpassing TacTip, which achieved 94.60%. It also exhibited superior performance in both pose and force estimation tasks with the minimum error of 0.08mm and 0.03N, respectively, in contrast to ViTac's 0.12mm and 0.15N. Results indicate that ViTacTip outperforms single-modality sensors.
Cumulative Distribution Function based General Temporal Point Processes

Temporal Point Processes (TPPs) hold a pivotal role in modeling event sequences across diverse domains, including social networking and e-commerce, and have significantly contributed to the advancement of recommendation systems and information retrieval strategies. Through the analysis of events such as user interactions and transactions, TPPs offer valuable insights into behavioral patterns, facilitating the prediction of future trends. However, accurately forecasting future events remains a formidable challenge due to the intricate nature of these patterns. The integration of Neural Networks with TPPs has ushered in the development of advanced deep TPP models. While these models excel at processing complex and nonlinear temporal data, they encounter limitations in modeling intensity functions, grapple with computational complexities in integral computations, and struggle to capture long-range temporal dependencies effectively. In this study, we introduce the CuFun model, representing a novel approach to TPPs that revolves around the Cumulative Distribution Function (CDF). CuFun stands out by uniquely employing a monotonic neural network for CDF representation, utilizing past events as a scaling factor. This innovation significantly bolsters the model's adaptability and precision across a wide range of data scenarios. Our approach addresses several critical issues inherent in traditional TPP modeling: it simplifies log-likelihood calculations, extends applicability beyond predefined density function forms, and adeptly captures long-range temporal patterns. Our contributions encompass the introduction of a pioneering CDF-based TPP model, the development of a methodology for incorporating past event information into future event prediction, and empirical validation of CuFun's effectiveness through extensive experimentation on synthetic and real-world datasets.
Ralph Kenna’s Scaling Relations in Critical Phenomena

In this note, we revisit the scaling relations among “hatted critical exponents”, which were first derived by Ralph Kenna, Des Johnston, and Wolfhard Janke, and we propose an alternative derivation for some of them. For the scaling relation involving the behavior of the correlation function, we will propose an alternative form since we believe that the expression is erroneous in the work of Ralph and his collaborators.
Cocco: Hardware-Mapping Co-Exploration towards Memory Capacity-Communication Optimization

Memory is a critical design consideration in current data-intensive DNN accelerators, as it profoundly determines energy consumption, bandwidth requirements, and area costs. As DNN structures become more complex, a larger on-chip memory capacity is required to reduce data movement overhead, but at the expense of silicon costs. Some previous works have proposed memory-oriented optimizations, such as different data reuse and layer fusion schemes. However, these methods are not general and potent enough to cope with various graph structures. In this paper, we explore the intrinsic connection between network structures and memory features to optimize both hardware and mapping. First, we introduce a graph-level execution scheme with a corresponding dataflow and memory management method. This scheme enables the execution of arbitrary graph patterns with high data reuse and low hardware overhead. Subsequently, we propose Cocco, a hardware-mapping co-exploration framework leveraging graph-level features of networks. It aims to minimize communication overhead, such as energy consumption and bandwidth requirements, with a smaller memory capacity. We formulate the graph-partition scheduling and memory configuration search as an optimization problem and employ a genetic-based method to achieve efficient co-exploration for large and irregular networks. Experiments demonstrate that Cocco obtains lower external memory access, lower bandwidth requirements, and more stable optimization for graph partition compared to the greedy algorithm and dynamic programming introduced in prior works. Cocco also reduces the costs by 1.89% to 50.33% using co-exploration compared to other typical methods.
Metric Multiview Geometry -- a Catalogue in Low Dimensions

We systematically compile an exhaustive catalogue of multiview varieties and anchored multiview varieties arising from projections of points and lines in 1, 2, and 3-dimensional projective space. We say that two such varieties are ED-equivalent if there is a linear isomorphism between that that preserve ED-critical points. This gives rise to fourteen equivalence classes, and we determine various properties - dimension, set-theoretic equations, and multidegrees - for all varieties featured in our catalogue. In the case of points, we also present a complementary study of resectioning varieties and their singular loci. Finally, we propose conjectures for the Euclidean distance degrees of all varieties appearing in our comprehensive compilation.
Neural Rendering and Its Hardware Acceleration: A Review

Neural rendering is a new image and video generation method based on deep learning. It combines the deep learning model with the physical knowledge of computer graphics, to obtain a controllable and realistic scene model, and realize the control of scene attributes such as lighting, camera parameters, posture and so on. On the one hand, neural rendering can not only make full use of the advantages of deep learning to accelerate the traditional forward rendering process, but also provide new solutions for specific tasks such as inverse rendering and 3D reconstruction. On the other hand, the design of innovative hardware structures that adapt to the neural rendering pipeline breaks through the parallel computing and power consumption bottleneck of existing graphics processors, which is expected to provide important support for future key areas such as virtual and augmented reality, film and television creation and digital entertainment, artificial intelligence and the metaverse. In this paper, we review the technical connotation, main challenges, and research progress of neural rendering. On this basis, we analyze the common requirements of neural rendering pipeline for hardware acceleration and the characteristics of the current hardware acceleration architecture, and then discuss the design challenges of neural rendering processor architecture. Finally, the future development trend of neural rendering processor architecture is prospected.
Geometry Transfer for Stylizing Radiance Fields

Shape and geometric patterns are essential in defining stylistic identity. However, current 3D style transfer methods predominantly focus on transferring colors and textures, often overlooking geometric aspects. In this paper, we introduce Geometry Transfer, a novel method that leverages geometric deformation for 3D style transfer. This technique employs depth maps to extract a style guide, subsequently applied to stylize the geometry of radiance fields. Moreover, we propose new techniques that utilize geometric cues from the 3D scene, thereby enhancing aesthetic expressiveness and more accurately reflecting intended styles. Our extensive experiments show that Geometry Transfer enables a broader and more expressive range of stylizations, thereby significantly expanding the scope of 3D style transfer.
Spectral Norm of Convolutional Layers with Circular and Zero Paddings

This paper leverages the use of \emph{Gram iteration} an efficient, deterministic, and differentiable method for computing spectral norm with an upper bound guarantee. Designed for circular convolutional layers, we generalize the use of the Gram iteration to zero padding convolutional layers and prove its quadratic convergence. We also provide theorems for bridging the gap between circular and zero padding convolution's spectral norm. We design a \emph{spectral rescaling} that can be used as a competitive $1$-Lipschitz layer that enhances network robustness. Demonstrated through experiments, our method outperforms state-of-the-art techniques in precision, computational cost, and scalability. The code of experiments is available at https://github.com/blaisedelattre/lip4conv.
Bayesian Causal Inference with Gaussian Process Networks

Causal discovery and inference from observational data is an essential problem in statistics posing both modeling and computational challenges. These are typically addressed by imposing strict assumptions on the joint distribution such as linearity. We consider the problem of the Bayesian estimation of the effects of hypothetical interventions in the Gaussian Process Network (GPN) model, a flexible causal framework which allows describing the causal relationships nonparametrically. We detail how to perform causal inference on GPNs by simulating the effect of an intervention across the whole network and propagating the effect of the intervention on downstream variables. We further derive a simpler computational approximation by estimating the intervention distribution as a function of local variables only, modeling the conditional distributions via additive Gaussian processes. We extend both frameworks beyond the case of a known causal graph, incorporating uncertainty about the causal structure via Markov chain Monte Carlo methods. Simulation studies show that our approach is able to identify the effects of hypothetical interventions with non-Gaussian, non-linear observational data and accurately reflect the posterior uncertainty of the causal estimates. Finally we compare the results of our GPN-based causal inference approach to existing methods on a dataset of $A. ~thaliana$ gene expressions.
Catalyzing Equity in STEM Teams: Harnessing Generative AI for Inclusion and Diversity

Collaboration is key to STEM, where multidisciplinary team research can solve complex problems. However, inequality in STEM fields hinders their full potential, due to persistent psychological barriers in underrepresented students’ experience. This paper documents teamwork in STEM and explores the transformative potential of computational modeling and generative AI in promoting STEM-team diversity and inclusion. Leveraging generative AI, this paper outlines two primary areas for advancing diversity, equity, and inclusion. First, formalizing collaboration assessment with inclusive analytics can capture fine-grained learner behavior. Second, adaptive, personalized AI systems can support diversity and inclusion in STEM teams. Four policy recommendations highlight AI's capacity: formalized collaborative skill assessment, inclusive analytics, funding for socio-cognitive research, human-AI teaming for inclusion training. Researchers, educators, and policymakers can build an equitable STEM ecosystem. This roadmap advances AI-enhanced collaboration, offering a vision for the future of STEM where diverse voices are actively encouraged and heard within collaborative scientific endeavors.
A Crucial Parameter for Rank-Frequency Relation in Natural Languages

$f \propto r^{-\alpha} \cdot (r+\gamma)^{-\beta}$ has been empirically shown more precise than a na\"ive power law $f\propto r^{-\alpha}$ to model the rank-frequency ($r$-$f$) relation of words in natural languages. This work shows that the only crucial parameter in the formulation is $\gamma$, which depicts the resistance to vocabulary growth on a corpus. A method of parameter estimation by searching an optimal $\gamma$ is proposed, where a ``zeroth word'' is introduced technically for the calculation. The formulation and parameters are further discussed with several case studies.
Stimulating the medial prefrontal cortex disrupts inhibitory control over memory by modulating frontal and parietal brain regions

The act of recalling memories can paradoxically lead to the forgetting of other associated memories, a phenomenon known as retrieval-induced forgetting (RIF). This effect is thought to be mediated by inhibitory control mechanisms in the prefrontal cortex of the brain. Here we investigated whether stimulation of the medial prefrontal cortex (mPFC) with transcranial direct current stimulation modulates inhibitory control during memory retrieval in a RIF paradigm. In a randomized study, fifty participants received either real or sham stimulation, before performing retrieval practice on target memories. After retrieval practice, a final test was administered to measure the impact of stimulation on RIF. We found that stimulation selectively increased the retrieval accuracy of non-target memories and thus decreased RIF, suggesting a disruption of inhibitory control. Meanwhile, no change arose for the retrieval accuracy of target memories. The reduction in RIF was caused by a more pronounced beta desynchronization within the left dorsolateral prefrontal cortex (left-DLPFC), in an early time window (<500 msec) after the onset of the cue during retrieval practice. This, in turn, led to a stronger beta desynchronization within the parietal cortex in a later time window, an established marker for successful memory retrieval. Together, our results establish the causal involvement of the mPFC in actively suppressing competing memories and we demonstrate that while forgetting arises as a consequence of retrieving specific memories, these two processes are functionally independent. Finally, we demonstrate that beta desynchronization in the fronto-parietal brain regions indicates the disruption of inhibitory control.