OpenRaiser/Intern-Atlas huggingface dataset:
Quatro++: Robust Global Registration Exploiting Ground Segmentation for Loop Closing in LiDAR SLAM
Venue: arXiv cs.RO 2024
Year: 2024

Global registration is a fundamental task that estimates the relative pose between two viewpoints of 3D point clouds. However, there are two issues that degrade the performance of global registration in LiDAR SLAM: one is the sparsity issue and the other is degeneracy. The sparsity issue is caused by the sparse characteristics of the 3D point cloud measurements in a mechanically spinning LiDAR sensor. The degeneracy issue sometimes occurs because the outlier-rejection methods reject too many correspondences, leaving less than three inliers. These two issues have become more severe as the pose discrepancy between the two viewpoints of 3D point clouds becomes greater. To tackle these problems, we propose a robust global registration framework, called \textit{Quatro++}. Extending our previous work that solely focused on the global registration itself, we address the robust global registration in terms of the loop closing in LiDAR SLAM. To this end, ground segmentation is exploited to achieve robust global registration. Through the experiments, we demonstrate that our proposed method shows a higher success rate than the state-of-the-art global registration methods, overcoming the sparsity and degeneracy issues. In addition, we show that ground segmentation significantly helps to increase the success rate for the ground vehicles. Finally, we apply our proposed method to the loop closing module in LiDAR SLAM and confirm that the quality of the loop constraints is improved, showing more precise mapping results. Therefore, the experimental evidence corroborated the suitability of our method as an initial alignment in the loop closing. Our code is available at https://quatro-plusplus.github.io.
LLM4Drive: A Survey of Large Language Models for Autonomous Driving
Venue: arXiv cs.AI 2024
Year: 2024

Autonomous driving technology, a catalyst for revolutionizing transportation and urban mobility, has the tend to transition from rule-based systems to data-driven strategies. Traditional module-based systems are constrained by cumulative errors among cascaded modules and inflexible pre-set rules. In contrast, end-to-end autonomous driving systems have the potential to avoid error accumulation due to their fully data-driven training process, although they often lack transparency due to their "black box" nature, complicating the validation and traceability of decisions. Recently, large language models (LLMs) have demonstrated abilities including understanding context, logical reasoning, and generating answers. A natural thought is to utilize these abilities to empower autonomous driving. By combining LLM with foundation vision models, it could open the door to open-world understanding, reasoning, and few-shot learning, which current autonomous driving systems are lacking. In this paper, we systematically review a research line about \textit{Large Language Models for Autonomous Driving (LLM4AD)}. This study evaluates the current state of technological advancements, distinctly outlining the principal challenges and prospective directions for the field. For the convenience of researchers in academia and industry, we provide real-time updates on the latest advances in the field as well as relevant open-source resources via the designated link: https://github.com/Thinklab-SJTU/Awesome-LLM4AD.
Improving Robustness via Tilted Exponential Layer: A Communication-Theoretic Perspective
Venue: arXiv cs.LG 2024
Year: 2024

State-of-the-art techniques for enhancing robustness of deep networks mostly rely on empirical risk minimization with suitable data augmentation. In this paper, we propose a complementary approach motivated by communication theory, aimed at enhancing the signal-to-noise ratio at the output of a neural network layer via neural competition during learning and inference. In addition to standard empirical risk minimization, neurons compete to sparsely represent layer inputs by maximization of a tilted exponential (TEXP) objective function for the layer. TEXP learning can be interpreted as maximum likelihood estimation of matched filters under a Gaussian model for data noise. Inference in a TEXP layer is accomplished by replacing batch norm by a tilted softmax, which can be interpreted as computation of posterior probabilities for the competing signaling hypotheses represented by each neuron. After providing insights via simplified models, we show, by experimentation on standard image datasets, that TEXP learning and inference enhances robustness against noise and other common corruptions, without requiring data augmentation. Further cumulative gains in robustness against this array of distortions can be obtained by appropriately combining TEXP with data augmentation techniques. The code for all our experiments is available at https://github.com/bhagyapuranik/texp_for_robustness.
Dynamically Maintaining the Persistent Homology of Time Series
Venue: arXiv cs.DS 2024
Year: 2024

We present a dynamic data structure for maintaining the persistent homology of a time series of real numbers. The data structure supports local operations, including the insertion and deletion of an item and the cutting and concatenating of lists, each in time $O(\log n + k)$, in which $n$ counts the critical items and $k$ the changes in the augmented persistence diagram. To achieve this, we design a tailor-made tree structure with an unconventional representation, referred to as banana tree, which may be useful in its own right.
An energy-based comparative analysis of common approaches to text classification in the Legal domain
Venue: arXiv cs.CL 2024
Year: 2024

Most Machine Learning research evaluates the best solutions in terms of performance. However, in the race for the best performing model, many important aspects are often overlooked when, on the contrary, they should be carefully considered. In fact, sometimes the gaps in performance between different approaches are neglectable, whereas factors such as production costs, energy consumption, and carbon footprint must take into consideration. Large Language Models (LLMs) are extensively adopted to address NLP problems in academia and industry. In this work, we present a detailed quantitative comparison of LLM and traditional approaches (e.g. SVM) on the LexGLUE benchmark, which takes into account both performance (standard indices) and alternative metrics such as timing, power consumption and cost, in a word: the carbon-footprint. In our analysis, we considered the prototyping phase (model selection by training-validation-test iterations) and in-production phases separately, since they follow different implementation procedures and also require different resources. The results indicate that very often, the simplest algorithms achieve performance very close to that of large LLMs but with very low power consumption and lower resource demands. The results obtained could suggest companies to include additional evaluations in the choice of Machine Learning (ML) solutions.
Automatic Robot Hand-Eye Calibration Enabled by Learning-Based 3D Vision
Venue: arXiv cs.RO 2024
Year: 2024

Hand-eye calibration, as a fundamental task in vision-based robotic systems, aims to estimate the transformation matrix between the coordinate frame of the camera and the robot flange. Most approaches to hand-eye calibration rely on external markers or human assistance. We proposed Look at Robot Base Once (LRBO), a novel methodology that addresses the hand-eye calibration problem without external calibration objects or human support, but with the robot base. Using point clouds of the robot base, a transformation matrix from the coordinate frame of the camera to the robot base is established as I=AXB. To this end, we exploit learning-based 3D detection and registration algorithms to estimate the location and orientation of the robot base. The robustness and accuracy of the method are quantified by ground-truth-based evaluation, and the accuracy result is compared with other 3D vision-based calibration methods. To assess the feasibility of our methodology, we carried out experiments utilizing a low-cost structured light scanner across varying joint configurations and groups of experiments. The proposed hand-eye calibration method achieved a translation deviation of 0.930 mm and a rotation deviation of 0.265 degrees according to the experimental results. Additionally, the 3D reconstruction experiments demonstrated a rotation error of 0.994 degrees and a position error of 1.697 mm. Moreover, our method offers the potential to be completed in 1 second, which is the fastest compared to other 3D hand-eye calibration methods. Code is released at github.com/leihui6/LRBO.
Monotone Generative Modeling via a Gromov-Monge Embedding
Venue: arXiv cs.LG 2024
Year: 2024

Generative adversarial networks (GANs) are popular for generative tasks; however, they often require careful architecture selection, extensive empirical tuning, and are prone to mode collapse. To overcome these challenges, we propose a novel model that identifies the low-dimensional structure of the underlying data distribution, maps it into a low-dimensional latent space while preserving the underlying geometry, and then optimally transports a reference measure to the embedded distribution. We prove three key properties of our method: 1) The encoder preserves the geometry of the underlying data; 2) The generator is $c$-cyclically monotone, where $c$ is an intrinsic embedding cost employed by the encoder; and 3) The discriminator's modulus of continuity improves with the geometric preservation of the data. Numerical experiments demonstrate the effectiveness of our approach in generating high-quality images and exhibiting robustness to both mode collapse and training instability.
Can Language Models Be Tricked by Language Illusions? Easier with Syntax, Harder with Semantics
Venue: arXiv cs.CL 2024
Year: 2024

Language models (LMs) have been argued to overlap substantially with human beings in grammaticality judgment tasks. But when humans systematically make errors in language processing, should we expect LMs to behave like cognitive models of language and mimic human behavior? We answer this question by investigating LMs' more subtle judgments associated with "language illusions" -- sentences that are vague in meaning, implausible, or ungrammatical but receive unexpectedly high acceptability judgments by humans. We looked at three illusions: the comparative illusion (e.g. "More people have been to Russia than I have"), the depth-charge illusion (e.g. "No head injury is too trivial to be ignored"), and the negative polarity item (NPI) illusion (e.g. "The hunter who no villager believed to be trustworthy will ever shoot a bear"). We found that probabilities represented by LMs were more likely to align with human judgments of being "tricked" by the NPI illusion which examines a structural dependency, compared to the comparative and the depth-charge illusions which require sophisticated semantic understanding. No single LM or metric yielded results that are entirely consistent with human behavior. Ultimately, we show that LMs are limited both in their construal as cognitive models of human language processing and in their capacity to recognize nuanced but critical information in complicated language materials.
Empirical Lossless Compression Bound of a Data Sequence
Venue: arXiv cs.IT 2024
Year: 2024

We consider the lossless compression bound of any individual data sequence. If we fit the data by a parametric model, the entropy quantity $nH({\hat θ}_n)$ obtained by plugging in the maximum likelihood estimate is an underestimate of the bound, where $n$ is the number of words. Shtarkov showed that the normalized maximum likelihood (NML) distribution or code length is optimal in a minimax sense for any parametric family. We show by the local asymptotic normality that the NML code length for the exponential families is $nH(\hat θ_n) +\frac{d}{2}\log \, \frac{n}{2π} +\log \int_Θ |I(θ)|^{1/2}\, dθ+o(1)$, where $d$ is the model dimension or dictionary size, and $|I(θ)|$ is the determinant of the Fisher information matrix. We also demonstrate that sequentially predicting the optimal code length for the next word via a Bayesian mechanism leads to the mixture code, whose pathwise length is given by $nH({\hat θ}_n) +\frac{d}{2}\log \, \frac{n}{2π} +\log \frac{|\, I({\hat θ}_n)|^{1/2}}{w({\hat θ}_n)}+o(1) $, where $w(θ)$ is a prior. The asymptotics apply to not only discrete symbols but also continuous data if the code length for the former is replaced by the description length for the latter. The analytical result is exemplified by calculating compression bounds of protein-encoding DNA sequences under different parsing models. Typically, the highest compression is achieved when the parsing is in phase of the amino acid codons. On the other hand, the compression rates of pseudo-random sequences are larger than 1 regardless parsing models. These model-based results are in consistency with that random sequences are incompressible as asserted by the Kolmogorov complexity theory. The empirical lossless compression bound is particularly more accurate when dictionary size is relatively large.
Leveraging Language Models to Detect Greenwashing
Venue: arXiv cs.CL 2024
Year: 2024

In recent years, climate change repercussions have increasingly captured public interest. Consequently, corporations are emphasizing their environmental efforts in sustainability reports to bolster their public image. Yet, the absence of stringent regulations in review of such reports allows potential greenwashing. In this study, we introduce a novel preliminary methodology to train a language model on generated labels for greenwashing risk. Our primary contributions encompass: developing a preliminary mathematical formulation to quantify greenwashing risk, a fine-tuned ClimateBERT model for this problem, and a comparative analysis of results. On a test set comprising of sustainability reports, our best model achieved an average accuracy score of 86.34% and F1 score of 0.67, demonstrating that our proof-of-concept methodology shows a promising direction of exploration for this task.
Simplifying Transformer Blocks
Venue: arXiv cs.LG 2024
Year: 2024

A simple design recipe for deep Transformers is to compose identical building blocks. But standard transformer blocks are far from simple, interweaving attention and MLP sub-blocks with skip connections & normalisation layers in precise arrangements. This complexity leads to brittle architectures, where seemingly minor changes can significantly reduce training speed, or render models untrainable. In this work, we ask to what extent the standard transformer block can be simplified? Combining signal propagation theory and empirical observations, we motivate modifications that allow many block components to be removed with no loss of training speed, including skip connections, projection or value parameters, sequential sub-blocks and normalisation layers. In experiments on both autoregressive decoder-only and BERT encoder-only models, our simplified transformers emulate the per-update training speed and performance of standard transformers, while enjoying 15% faster training throughput, and using 15% fewer parameters.
On the dimension of the solution space of linear difference equations over the ring of infinite sequences
Venue: arXiv cs.SC 2024
Year: 2024

For a linear difference equation with the coefficients being computable sequences, we establish algorithmic undecidability of the problem of determining the dimension of the solution space including the case when some additional prior information on the dimension is available.
Multimodal Machine Learning in Image-Based and Clinical Biomedicine: Survey and Prospects
Venue: arXiv cs.LG 2024
Year: 2024

Machine learning (ML) applications in medical artificial intelligence (AI) systems have shifted from traditional and statistical methods to increasing application of deep learning models. This survey navigates the current landscape of multimodal ML, focusing on its profound impact on medical image analysis and clinical decision support systems. Emphasizing challenges and innovations in addressing multimodal representation, fusion, translation, alignment, and co-learning, the paper explores the transformative potential of multimodal models for clinical predictions. It also highlights the need for principled assessments and practical implementation of such models, bringing attention to the dynamics between decision support systems and healthcare providers and personnel. Despite advancements, challenges such as data biases and the scarcity of "big data" in many biomedical domains persist. We conclude with a discussion on principled innovation and collaborative efforts to further the mission of seamless integration of multimodal ML models into biomedical practice.
Safe-VLN: Collision Avoidance for Vision-and-Language Navigation of Autonomous Robots Operating in Continuous Environments
Venue: arXiv cs.RO 2024
Year: 2024

The task of vision-and-language navigation in continuous environments (VLN-CE) aims at training an autonomous agent to perform low-level actions to navigate through 3D continuous surroundings using visual observations and language instructions. The significant potential of VLN-CE for mobile robots has been demonstrated across a large number of studies. However, most existing works in VLN-CE focus primarily on transferring the standard discrete vision-and-language navigation (VLN) methods to continuous environments, overlooking the problem of collisions. Such oversight often results in the agent deviating from the planned path or, in severe instances, the agent being trapped in obstacle areas and failing the navigational task. To address the above-mentioned issues, this paper investigates various collision scenarios within VLN-CE and proposes a classification method to predicate the underlying causes of collisions. Furthermore, a new VLN-CE algorithm, named Safe-VLN, is proposed to bolster collision avoidance capabilities including two key components, i.e., a waypoint predictor and a navigator. In particular, the waypoint predictor leverages a simulated 2D LiDAR occupancy mask to prevent the predicted waypoints from being situated in obstacle-ridden areas. The navigator, on the other hand, employs the strategy of `re-selection after collision' to prevent the robot agent from becoming ensnared in a cycle of perpetual collisions. The proposed Safe-VLN is evaluated on the R2R-CE, the results of which demonstrate an enhanced navigational performance and a statistically significant reduction in collision incidences.
Improving Machine Translation with Large Language Models: A Preliminary Study with Cooperative Decoding
Venue: arXiv cs.CL 2024
Year: 2024

Contemporary translation engines based on the encoder-decoder framework have made significant strides in development. However, the emergence of Large Language Models (LLMs) has disrupted their position by presenting the potential for achieving superior translation quality. To uncover the circumstances in which LLMs excel and explore how their strengths can be harnessed to enhance translation quality, we first conduct a comprehensive analysis to assess the strengths and limitations of various commercial NMT systems and MT-oriented LLMs. Our findings indicate that neither NMT nor MT-oriented LLMs alone can effectively address all the translation issues, but MT-oriented LLMs show promise as a complementary solution to NMT systems. Building upon these insights, we propose Cooperative Decoding (CoDec), which treats NMT systems as a pretranslation model and MT-oriented LLMs as a supplemental solution to handle complex scenarios beyond the capability of NMT alone. Experimental results on the WMT22 test sets and a newly collected test set WebCrawl demonstrate the effectiveness and efficiency of CoDec, highlighting its potential as a robust solution for combining NMT systems with MT-oriented LLMs in the field of machine translation.
Improved Hotplug Caching Schemes Using PDAs and t-Designs
Venue: arXiv cs.IT 2024
Year: 2024

We consider a coded caching system in which some users are offline at the time of delivery. Such systems are called hotplug coded caching systems. A placement delivery array (PDA) is a well-known tool for constructing a coded caching scheme for dedicated caches. In this paper, we introduce the concept of PDAs for hotplug coded caching schemes and refer to it as a hotplug placement delivery array (HpPDA). We give an algorithm to describe the placement and the delivery phase of a hotplug coded caching scheme using HpPDA. We show that an existing hotplug coded caching scheme given by Y. Ma and D. Tuninetti in 2022 corresponds to a class of HpPDAs and then propose a method to further improve the rate of that scheme. Additionally, we construct a class of HpPDAs using $t$-designs, which corresponds to a scheme for hotplug coded caching systems. We further improve the rate of this scheme and prove that the cut-set bound is achieved in some higher memory range for a hotplug coded caching system with three active users.
ALYMPICS: LLM Agents Meet Game Theory -- Exploring Strategic Decision-Making with AI Agents
Venue: arXiv cs.CL 2024
Year: 2024

This paper introduces Alympics (Olympics for Agents), a systematic simulation framework utilizing Large Language Model (LLM) agents for game theory research. Alympics creates a versatile platform for studying complex game theory problems, bridging the gap between theoretical game theory and empirical investigations by providing a controlled environment for simulating human-like strategic interactions with LLM agents. In our pilot case study, the "Water Allocation Challenge," we explore Alympics through a challenging strategic game focused on the multi-round auction on scarce survival resources. This study demonstrates the framework's ability to qualitatively and quantitatively analyze game determinants, strategies, and outcomes. Additionally, we conduct a comprehensive human assessment and an in-depth evaluation of LLM agents in strategic decision-making scenarios. Our findings not only expand the understanding of LLM agents' proficiency in emulating human strategic behavior but also highlight their potential in advancing game theory knowledge, thereby enriching our understanding of both game theory and empowering further research into strategic decision-making domains with LLM agents. Codes, prompts, and all related resources are available at https://github.com/microsoft/Alympics.