OpenRaiser/Intern-Atlas huggingface dataset:
Topological mapping for traversability-aware long-range navigation in off-road terrain
Venue: arXiv cs.RO 2024
Year: 2024

Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for long-range planning, exploration and low-level control in unknown off-trail forest terrain, using vision and GPS only. We represent outdoor terrain with a topological map, which is a set of panoramic snapshots connected with edges containing traversability information. A novel traversability analysis method is demonstrated, predicting the existence of a safe path towards a target in an image. Navigating between nodes is done using goal-conditioned behavior cloning, leveraging the power of a pretrained vision transformer. An exploration planner is presented, efficiently covering an unknown off-road area with unknown traversability using a frontiers-based approach. The approach is successfully deployed to autonomously explore two 400 meters squared forest sites unseen during training, in difficult conditions for navigation.
Risk Alignment in Agentic AI Systems
Venue: arXiv cs.CY 2024
Year: 2024

Agentic AIs $-$ AIs that are capable and permitted to undertake complex actions with little supervision $-$ mark a new frontier in AI capabilities and raise new questions about how to safely create and align such systems with users, developers, and society. Because agents' actions are influenced by their attitudes toward risk, one key aspect of alignment concerns the risk profiles of agentic AIs. Risk alignment will matter for user satisfaction and trust, but it will also have important ramifications for society more broadly, especially as agentic AIs become more autonomous and are allowed to control key aspects of our lives. AIs with reckless attitudes toward risk (either because they are calibrated to reckless human users or are poorly designed) may pose significant threats. They might also open 'responsibility gaps' in which there is no agent who can be held accountable for harmful actions. What risk attitudes should guide an agentic AI's decision-making? How might we design AI systems that are calibrated to the risk attitudes of their users? What guardrails, if any, should be placed on the range of permissible risk attitudes? What are the ethical considerations involved when designing systems that make risky decisions on behalf of others? We present three papers that bear on key normative and technical aspects of these questions.
Which Algorithms Have Tight Generalization Bounds?
Venue: arXiv cs.LG 2024
Year: 2024

We study which machine learning algorithms have tight generalization bounds. First, we present conditions that preclude the existence of tight generalization bounds. Specifically, we show that algorithms that have certain inductive biases that cause them to be unstable do not admit tight generalization bounds. Next, we show that algorithms that are sufficiently stable do have tight generalization bounds. We conclude with a simple characterization that relates the existence of tight generalization bounds to the conditional variance of the algorithm's loss.
UlcerGPT: A Multimodal Approach Leveraging Large Language and Vision Models for Diabetic Foot Ulcer Image Transcription
Venue: arXiv cs.CV 2024
Year: 2024

Diabetic foot ulcers (DFUs) are a leading cause of hospitalizations and lower limb amputations, placing a substantial burden on patients and healthcare systems. Early detection and accurate classification of DFUs are critical for preventing serious complications, yet many patients experience delays in receiving care due to limited access to specialized services. Telehealth has emerged as a promising solution, improving access to care and reducing the need for in-person visits. The integration of artificial intelligence and pattern recognition into telemedicine has further enhanced DFU management by enabling automatic detection, classification, and monitoring from images. Despite advancements in artificial intelligence-driven approaches for DFU image analysis, the application of large language models for DFU image transcription has not yet been explored. To address this gap, we introduce UlcerGPT, a novel multimodal approach leveraging large language and vision models for DFU image transcription. This framework combines advanced vision and language models, such as Large Language and Vision Assistant and Chat Generative Pre-trained Transformer, to transcribe DFU images by jointly detecting, classifying, and localizing regions of interest. Through detailed experiments on a public dataset, evaluated by expert clinicians, UlcerGPT demonstrates promising results in the accuracy and efficiency of DFU transcription, offering potential support for clinicians in delivering timely care via telemedicine.
Adaptively Private Next-Token Prediction of Large Language Models
Venue: arXiv cs.LG 2024
Year: 2024

As Large Language Models (LLMs) proliferate, developing privacy safeguards for these models is crucial. One popular safeguard involves training LLMs in a differentially private manner. However, such solutions are shown to be computationally expensive and detrimental to the utility of these models. Since LLMs are deployed on the cloud and thus only accessible via an API, a Machine Learning as a Service (MLaaS) provider can protect its downstream data by privatizing the predictions during the decoding process. However, the practicality of such solutions still largely lags behind DP training methods. One recent promising approach, Private Mixing of Ensemble Distributions (PMixED), avoids additive noise by sampling from the output distributions of private LLMs mixed with the output distribution of a public model. Yet, PMixED must satisfy a fixed privacy level for a given number of queries, which is difficult for an analyst to estimate before inference and, hence, does not scale. To this end, we relax the requirements to a more practical setting by introducing Adaptive PMixED (AdaPMixED), a private decoding framework based on PMixED that is adaptive to the private and public output distributions evaluated on a given input query. In this setting, we introduce a noisy screening mechanism that filters out queries with potentially expensive privacy loss, and a data-dependent analysis that exploits the divergence of the private and public output distributions in its privacy loss calculation. Our experimental evaluations demonstrate that our mechanism and analysis can reduce the privacy loss by 16x while preserving the utility over the original PMixED. Furthermore, performing 100K predictions with AdaPMixED still achieves strong utility and a reasonable data-dependent privacy loss of 5.25.
On the Resilience of Fast Failover Routing Against Dynamic Link Failures
Venue: arXiv cs.NI 2024
Year: 2024

Modern communication networks feature local fast failover mechanisms in the data plane, to swiftly respond to link failures with pre-installed rerouting rules. This paper explores resilient routing meant to tolerate $\leq k$ simultaneous link failures, ensuring packet delivery, provided that the source and destination remain connected. While past theoretical works studied failover routing under static link failures, i.e., links which permanently and simultaneously fail, real-world networks often face link flapping--dynamic down states caused by, e.g., numerous short-lived software-related faults. Thus, in this initial work, we re-investigate the resilience of failover routing against link flapping, by categorizing link failures into static, semi-dynamic (removing the assumption that links fail simultaneously), and dynamic (removing the assumption that links fail permanently) types, shedding light on the capabilities and limitations of failover routing under these scenarios. We show that $k$-edge-connected graphs exhibit $(k-1)$-resilient routing against dynamic failures for $k \leq 5$. We further show that this result extends to arbitrary $k$ if it is possible to rewrite $\log k$ bits in the packet header. Rewriting $3$ bits suffices to cope with $k$ semi-dynamic failures. However, on general graphs, tolerating $2$ dynamic failures becomes impossible without bit-rewriting. Even by rewriting $\log k$ bits, resilient routing cannot resolve $k$ dynamic failures, demonstrating the limitation of local fast rerouting.
Nonuniform random feature models using derivative information
Venue: arXiv cs.LG 2024
Year: 2024

We propose nonuniform data-driven parameter distributions for neural network initialization based on derivative data of the function to be approximated. These parameter distributions are developed in the context of non-parametric regression models based on shallow neural networks, and compare favorably to well-established uniform random feature models based on conventional weight initialization. We address the cases of Heaviside and ReLU activation functions, and their smooth approximations (sigmoid and softplus), and use recent results on the harmonic analysis and sparse representation of neural networks resulting from fully trained optimal networks. Extending analytic results that give exact representation, we obtain densities that concentrate in regions of the parameter space corresponding to neurons that are well suited to model the local derivatives of the unknown function. Based on these results, we suggest simplifications of these exact densities based on approximate derivative data in the input points that allow for very efficient sampling and lead to performance of random feature models close to optimal networks in several scenarios.
Plug-and-Play Controllable Generation for Discrete Masked Models
Venue: arXiv cs.LG 2024
Year: 2024

This article makes discrete masked models for the generative modeling of discrete data controllable. The goal is to generate samples of a discrete random variable that adheres to a posterior distribution, satisfies specific constraints, or optimizes a reward function. This methodological development enables broad applications across downstream tasks such as class-specific image generation and protein design. Existing approaches for controllable generation of masked models typically rely on task-specific fine-tuning or additional modifications, which can be inefficient and resource-intensive. To overcome these limitations, we propose a novel plug-and-play framework based on importance sampling that bypasses the need for training a conditional score. Our framework is agnostic to the choice of control criteria, requires no gradient information, and is well-suited for tasks such as posterior sampling, Bayesian inverse problems, and constrained generation. We demonstrate the effectiveness of our approach through extensive experiments, showcasing its versatility across multiple domains, including protein design.
An Evaluation of Large Pre-Trained Models for Gesture Recognition using Synthetic Videos
Venue: arXiv cs.CV 2024
Year: 2024

In this work, we explore the possibility of using synthetically generated data for video-based gesture recognition with large pre-trained models. We consider whether these models have sufficiently robust and expressive representation spaces to enable "training-free" classification. Specifically, we utilize various state-of-the-art video encoders to extract features for use in k-nearest neighbors classification, where the training data points are derived from synthetic videos only. We compare these results with another training-free approach -- zero-shot classification using text descriptions of each gesture. In our experiments with the RoCoG-v2 dataset, we find that using synthetic training videos yields significantly lower classification accuracy on real test videos compared to using a relatively small number of real training videos. We also observe that video backbones that were fine-tuned on classification tasks serve as superior feature extractors, and that the choice of fine-tuning data has a substantial impact on k-nearest neighbors performance. Lastly, we find that zero-shot text-based classification performs poorly on the gesture recognition task, as gestures are not easily described through natural language.
Extracting the Potential of Emerging Hardware Accelerators for Symmetric Eigenvalue Decomposition
Venue: arXiv cs.DC 2024
Year: 2024

Benefiting from the advancement of hardware accelerators such as GPUs, deep neural networks and scientific computing applications can achieve superior performance. Recently, the computing capacity of emerging hardware accelerators has increased rapidly, while memory bandwidth has not kept pace with this growth. This disparity exacerbates the gap between computing and memory, leading to inefficiencies on conventional algorithms, as they're likely to be converted from compute-bound to memory-bound. Symmetric eigenvalue decomposition (EVD), a critical operation in various research domains including scientific computing, deep learning training, and inference algorithms, exhibits suboptimal performance due to achieving less than 3\% hardware computing utilization on the H100 GPU. In this paper, we analyze the features of emerging hardware accelerators to identify the bottlenecks inherent in conventional EVD algorithms. To improve EVD performance, we propose several algorithmic optimizations aimed at solving the memory-bound problem and providing a better utilization of the rich computing capacity and parallelism on the emerging hardware accelerators. Experimentally, our proposed method demonstrates significant speedups on tridiagonalization, which is the main workload that takes over 90\% elapsed time of EVD, compared to the SOTA cuSOLVER tridiagonalization, achieving up to 10.1x, 7.5x, and 2.3x improvements on H100, A100, and RTX 4090 GPUs, respectively. And the end-to-end the performance of EVD solver is also up to 4.1x faster than cuSOVLER.
POSIX: A Prompt Sensitivity Index For Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Despite their remarkable capabilities, Large Language Models (LLMs) are found to be surprisingly sensitive to minor variations in prompts, often generating significantly divergent outputs in response to minor variations in the prompts, such as spelling errors, alteration of wording or the prompt template. However, while assessing the quality of an LLM, the focus often tends to be solely on its performance on downstream tasks, while very little to no attention is paid to prompt sensitivity. To fill this gap, we propose POSIX - a novel PrOmpt Sensitivity IndeX as a reliable measure of prompt sensitivity, thereby offering a more comprehensive evaluation of LLM performance. The key idea behind POSIX is to capture the relative change in loglikelihood of a given response upon replacing the corresponding prompt with a different intent-preserving prompt. We provide thorough empirical evidence demonstrating the efficacy of POSIX in capturing prompt sensitivity and subsequently use it to measure and thereby compare prompt sensitivity of various open-source LLMs. We find that merely increasing the parameter count or instruction tuning does not necessarily reduce prompt sensitivity whereas adding some few-shot exemplars, even just one, almost always leads to significant decrease in prompt sensitivity. We also find that alterations to prompt template lead to the highest sensitivity in the case of MCQ type tasks, whereas paraphrasing results in the highest sensitivity in open-ended generation tasks. The code for reproducing our results is open-sourced at https://github.com/kowndinya-renduchintala/POSIX.
G2T-LLM: Graph-to-Tree Text Encoding for Molecule Generation with Fine-Tuned Large Language Models
Venue: arXiv cs.LG 2024
Year: 2024

We introduce G2T-LLM, a novel approach for molecule generation that uses graph-to-tree text encoding to transform graph-based molecular structures into a hierarchical text format optimized for large language models (LLMs). This encoding converts complex molecular graphs into tree-structured formats, such as JSON and XML, which LLMs are particularly adept at processing due to their extensive pre-training on these types of data. By leveraging the flexibility of LLMs, our approach allows for intuitive interaction using natural language prompts, providing a more accessible interface for molecular design. Through supervised fine-tuning, G2T-LLM generates valid and coherent chemical structures, addressing common challenges like invalid outputs seen in traditional graph-based methods. While LLMs are computationally intensive, they offer superior generalization and adaptability, enabling the generation of diverse molecular structures with minimal task-specific customization. The proposed approach achieved comparable performances with state-of-the-art methods on various benchmark molecular generation datasets, demonstrating its potential as a flexible and innovative tool for AI-driven molecular design.
Some three-weight linear codes and their complete weight enumerators and weight hierarchies
Venue: arXiv cs.IT 2024
Year: 2024

Linear codes with a few weights can be applied to secrete sharing, authentication codes, association schemes and strongly regular graphs. For an odd prime power $q$, we construct a class of three-weight $\F_q$-linear codes from quadratic functions via a bivariate construction and then determine the complete weight enumerators and weight hierarchies of these linear codes completely. This paper generalizes some results in Li et al. (2022) and Hu et al. (2024).
EmbedLLM: Learning Compact Representations of Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

With hundreds of thousands of language models available on Huggingface today, efficiently evaluating and utilizing these models across various downstream, tasks has become increasingly critical. Many existing methods repeatedly learn task-specific representations of Large Language Models (LLMs), which leads to inefficiencies in both time and computational resources. To address this, we propose EmbedLLM, a framework designed to learn compact vector representations, of LLMs that facilitate downstream applications involving many models, such as model routing. We introduce an encoder-decoder approach for learning such embeddings, along with a systematic framework to evaluate their effectiveness. Empirical results show that EmbedLLM outperforms prior methods in model routing both in accuracy and latency. Additionally, we demonstrate that our method can forecast a model's performance on multiple benchmarks, without incurring additional inference cost. Extensive probing experiments validate that the learned embeddings capture key model characteristics, e.g. whether the model is specialized for coding tasks, even without being explicitly trained on them. We open source our dataset, code and embedder to facilitate further research and application.
Visual Prompting in LLMs for Enhancing Emotion Recognition
Venue: arXiv cs.CV 2024
Year: 2024

Vision Large Language Models (VLLMs) are transforming the intersection of computer vision and natural language processing. Nonetheless, the potential of using visual prompts for emotion recognition in these models remains largely unexplored and untapped. Traditional methods in VLLMs struggle with spatial localization and often discard valuable global context. To address this problem, we propose a Set-of-Vision prompting (SoV) approach that enhances zero-shot emotion recognition by using spatial information, such as bounding boxes and facial landmarks, to mark targets precisely. SoV improves accuracy in face count and emotion categorization while preserving the enriched image context. Through a battery of experimentation and analysis of recent commercial or open-source VLLMs, we evaluate the SoV model's ability to comprehend facial expressions in natural environments. Our findings demonstrate the effectiveness of integrating spatial visual prompts into VLLMs for improving emotion recognition performance.
Can Capacitive Touch Images Enhance Mobile Keyboard Decoding?
Venue: arXiv cs.HC 2024
Year: 2024

Capacitive touch sensors capture the two-dimensional spatial profile (referred to as a touch heatmap) of a finger's contact with a mobile touchscreen. However, the research and design of touchscreen mobile keyboards -- one of the most speed and accuracy demanding touch interfaces -- has focused on the location of the touch centroid derived from the touch image heatmap as the input, discarding the rest of the raw spatial signals. In this paper, we investigate whether touch heatmaps can be leveraged to further improve the tap decoding accuracy for mobile touchscreen keyboards. Specifically, we developed and evaluated machine-learning models that interpret user taps by using the centroids and/or the heatmaps as their input and studied the contribution of the heatmaps to model performance. The results show that adding the heatmap into the input feature set led to 21.4% relative reduction of character error rates on average, compared to using the centroid alone. Furthermore, we conducted a live user study with the centroid-based and heatmap-based decoders built into Pixel 6 Pro devices and observed lower error rate, faster typing speed, and higher self-reported satisfaction score based on the heatmap-based decoder than the centroid-based decoder. These findings underline the promise of utilizing touch heatmaps for improving typing experience in mobile keyboards.
Annotation Guidelines for Corpus Novelties: Part 1 -- Named Entity Recognition
Venue: arXiv cs.CL 2024
Year: 2024

The Novelties corpus is a collection of novels (and parts of novels) annotated for Named Entity Recognition (NER) among other tasks. This document describes the guidelines applied during its annotation. It contains the instructions used by the annotators, as well as a number of examples retrieved from the annotated novels, and illustrating expressions that should be marked as entities as well as expressions that should not.
Correlation and Navigation in the Vocabulary Key Representation Space of Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Language model (LM) decoding is based on the next-token prediction (NTP) probability distribution. For neural LMs (e.g., Transformer-based), NTP distribution is essentially a softmax-regularized dot product between an encoded input context (query) and fixed vocabulary representations (keys). In this paper, we study the effect of the key distribution on the NTP distribution, with a focus on whether the similarity between keys will trigger spurious correlations in NTP. Through knowledge-probing tasks, we show that in the NTP distribution, the few top-ranked tokens are typically accurate. However, the middle-ranked prediction is highly biased towards the tokens that are distributionally (not necessarily semantically) similar to these top ones. For instance, if "P" is predicted as the top-1 token, "A"-"Z" will all be ranked high in NTP, no matter whether they can lead to correct decoding results. This hurts the sampling diversity and makes the sampling of correct, long-tail results hopeless and noisy. We attempt to alleviate this issue via a novel in-context method that iteratively pushes the query representation away from explored regions. Specifically, we include the explored decoding results in the context and prompt the LM to generate something else, which encourages the LM to produce a query representation that has small dot products with explored keys. Experiments on knowledge-probing tasks show that our method leads to efficient navigation away from explored keys to correct new keys. We further extend our method to open-ended and chain-of-thought (for reasoning) generation. Experiment results show that ICN contributes to better generation diversity and improved self-consistency voting performance. Finally, we discuss potential training issues caused by the fixed key space together with the challenges and possible ways to address them in future research.