OpenRaiser/Intern-Atlas huggingface dataset:
Auto-Multilift: Distributed Learning and Control for Cooperative Load Transportation With Quadrotors
Venue: arXiv cs.RO 2024
Year: 2024

Designing motion control and planning algorithms for multilift systems remains challenging due to the complexities of dynamics, collision avoidance, actuator limits, and scalability. Existing methods that use optimization and distributed techniques effectively address these constraints and scalability issues. However, they often require substantial manual tuning, leading to suboptimal performance. This paper proposes Auto-Multilift, a novel framework that automates the tuning of model predictive controllers (MPCs) for multilift systems. We model the MPC cost functions with deep neural networks (DNNs), enabling fast online adaptation to various scenarios. We develop a distributed policy gradient algorithm to train these DNNs efficiently in a closed-loop manner. Central to our algorithm is distributed sensitivity propagation, which is built on fully exploiting the unique dynamic couplings within the multilift system. It parallelizes gradient computation across quadrotors and focuses on actual system state sensitivities relative to key MPC parameters. Extensive simulations demonstrate favorable scalability to a large number of quadrotors. Our method outperforms a state-of-the-art open-loop MPC tuning approach by effectively learning adaptive MPCs from trajectory tracking errors. It also excels in learning an adaptive reference for reconfiguring the system when traversing multiple narrow slots.
InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environment
Venue: arXiv cs.RO 2024
Year: 2024

Enabling robots to navigate following diverse language instructions in unexplored environments is an attractive goal for human-robot interaction. However, this goal is challenging because different navigation tasks require different strategies. The scarcity of instruction navigation data hinders training an instruction navigation model with varied strategies. Therefore, previous methods are all constrained to one specific type of navigation instruction. In this work, we propose InstructNav, a generic instruction navigation system. InstructNav makes the first endeavor to handle various instruction navigation tasks without any navigation training or pre-built maps. To reach this goal, we introduce Dynamic Chain-of-Navigation (DCoN) to unify the planning process for different types of navigation instructions. Furthermore, we propose Multi-sourced Value Maps to model key elements in instruction navigation so that linguistic DCoN planning can be converted into robot actionable trajectories. With InstructNav, we complete the R2R-CE task in a zero-shot way for the first time and outperform many task-training methods. Besides, InstructNav also surpasses the previous SOTA method by 10.48% on the zero-shot Habitat ObjNav and by 86.34% on demand-driven navigation DDN. Real robot experiments on diverse indoor scenes further demonstrate our method's robustness in coping with the environment and instruction variations.
Concept Drift Detection using Ensemble of Integrally Private Models
Venue: arXiv cs.LG 2024
Year: 2024

Deep neural networks (DNNs) are one of the most widely used machine learning algorithm. DNNs requires the training data to be available beforehand with true labels. This is not feasible for many real-world problems where data arrives in the streaming form and acquisition of true labels are scarce and expensive. In the literature, not much focus has been given to the privacy prospect of the streaming data, where data may change its distribution frequently. These concept drifts must be detected privately in order to avoid any disclosure risk from DNNs. Existing privacy models use concept drift detection schemes such ADWIN, KSWIN to detect the drifts. In this paper, we focus on the notion of integrally private DNNs to detect concept drifts. Integrally private DNNs are the models which recur frequently from different datasets. Based on this, we introduce an ensemble methodology which we call 'Integrally Private Drift Detection' (IPDD) method to detect concept drift from private models. Our IPDD method does not require labels to detect drift but assumes true labels are available once the drift has been detected. We have experimented with binary and multi-class synthetic and real-world data. Our experimental results show that our methodology can privately detect concept drift, has comparable utility (even better in some cases) with ADWIN and outperforms utility from different levels of differentially private models. The source code for the paper is available \hyperlink{https://github.com/Ayush-Umu/Concept-drift-detection-Using-Integrally-private-models}{here}.
Through the Thicket: A Study of Number-Oriented LLMs derived from Random Forest Models
Venue: arXiv cs.CL 2024
Year: 2024

Large Language Models (LLMs) have shown exceptional performance in text processing. Notably, LLMs can synthesize information from large datasets and explain their decisions similarly to human reasoning through a chain of thought (CoT). An emerging application of LLMs is the handling and interpreting of numerical data, where fine-tuning enhances their performance over basic inference methods. This paper proposes a novel approach to training LLMs using knowledge transfer from a random forest (RF) ensemble, leveraging its efficiency and accuracy. By converting RF decision paths into natural language statements, we generate outputs for LLM fine-tuning, enhancing the model's ability to classify and explain its decisions. Our method includes verifying these rules through established classification metrics, ensuring their correctness. We also examine the impact of preprocessing techniques on the representation of numerical data and their influence on classification accuracy and rule correctness
Joint Spatial-Temporal Modeling and Contrastive Learning for Self-supervised Heart Rate Measurement
Venue: arXiv cs.CV 2024
Year: 2024

This paper briefly introduces the solutions developed by our team, HFUT-VUT, for Track 1 of self-supervised heart rate measurement in the 3rd Vision-based Remote Physiological Signal Sensing (RePSS) Challenge hosted at IJCAI 2024. The goal is to develop a self-supervised learning algorithm for heart rate (HR) estimation using unlabeled facial videos. To tackle this task, we present two self-supervised HR estimation solutions that integrate spatial-temporal modeling and contrastive learning, respectively. Specifically, we first propose a non-end-to-end self-supervised HR measurement framework based on spatial-temporal modeling, which can effectively capture subtle rPPG clues and leverage the inherent bandwidth and periodicity characteristics of rPPG to constrain the model. Meanwhile, we employ an excellent end-to-end solution based on contrastive learning, aiming to generalize across different scenarios from complementary perspectives. Finally, we combine the strengths of the above solutions through an ensemble strategy to generate the final predictions, leading to a more accurate HR estimation. As a result, our solutions achieved a remarkable RMSE score of 8.85277 on the test dataset, securing \textbf{2nd place} in Track 1 of the challenge.
Neural Laplace for learning Stochastic Differential Equations
Venue: arXiv cs.LG 2024
Year: 2024

Neural Laplace is a unified framework for learning diverse classes of differential equations (DE). For different classes of DE, this framework outperforms other approaches relying on neural networks that aim to learn classes of ordinary differential equations (ODE). However, many systems can't be modelled using ODEs. Stochastic differential equations (SDE) are the mathematical tool of choice when modelling spatiotemporal DE dynamics under the influence of randomness. In this work, we review the potential applications of Neural Laplace to learn diverse classes of SDE, both from a theoretical and a practical point of view.
UniTST: Effectively Modeling Inter-Series and Intra-Series Dependencies for Multivariate Time Series Forecasting
Venue: arXiv cs.LG 2024
Year: 2024

Transformer-based models have emerged as powerful tools for multivariate time series forecasting (MTSF). However, existing Transformer models often fall short of capturing both intricate dependencies across variate and temporal dimensions in MTS data. Some recent models are proposed to separately capture variate and temporal dependencies through either two sequential or parallel attention mechanisms. However, these methods cannot directly and explicitly learn the intricate inter-series and intra-series dependencies. In this work, we first demonstrate that these dependencies are very important as they usually exist in real-world data. To directly model these dependencies, we propose a transformer-based model UniTST containing a unified attention mechanism on the flattened patch tokens. Additionally, we add a dispatcher module which reduces the complexity and makes the model feasible for a potentially large number of variates. Although our proposed model employs a simple architecture, it offers compelling performance as shown in our extensive experiments on several datasets for time series forecasting.
Classification Metrics for Image Explanations: Towards Building Reliable XAI-Evaluations
Venue: arXiv cs.CV 2024
Year: 2024

Decision processes of computer vision models - especially deep neural networks - are opaque in nature, meaning that these decisions cannot be understood by humans. Thus, over the last years, many methods to provide human-understandable explanations have been proposed. For image classification, the most common group are saliency methods, which provide (super-)pixelwise feature attribution scores for input images. But their evaluation still poses a problem, as their results cannot be simply compared to the unknown ground truth. To overcome this, a slew of different proxy metrics have been defined, which are - as the explainability methods themselves - often built on intuition and thus, are possibly unreliable. In this paper, new evaluation metrics for saliency methods are developed and common saliency methods are benchmarked on ImageNet. In addition, a scheme for reliability evaluation of such metrics is proposed that is based on concepts from psychometric testing. The used code can be found at https://github.com/lelo204/ClassificationMetricsForImageExplanations .
Massively Multiagent Minigames for Training Generalist Agents
Venue: arXiv cs.AI 2024
Year: 2024

We present Meta MMO, a collection of many-agent minigames for use as a reinforcement learning benchmark. Meta MMO is built on top of Neural MMO, a massively multiagent environment that has been the subject of two previous NeurIPS competitions. Our work expands Neural MMO with several computationally efficient minigames. We explore generalization across Meta MMO by learning to play several minigames with a single set of weights. We release the environment, baselines, and training code under the MIT license. We hope that Meta MMO will spur additional progress on Neural MMO and, more generally, will serve as a useful benchmark for many-agent generalization.
I2EDL: Interactive Instruction Error Detection and Localization
Venue: arXiv cs.RO 2024
Year: 2024

In the Vision-and-Language Navigation in Continuous Environments (VLN-CE) task, the human user guides an autonomous agent to reach a target goal via a series of low-level actions following a textual instruction in natural language. However, most existing methods do not address the likely case where users may make mistakes when providing such instruction (e.g. "turn left" instead of "turn right"). In this work, we address a novel task of Interactive VLN in Continuous Environments (IVLN-CE), which allows the agent to interact with the user during the VLN-CE navigation to verify any doubts regarding the instruction errors. We propose an Interactive Instruction Error Detector and Localizer (I2EDL) that triggers the user-agent interaction upon the detection of instruction errors during the navigation. We leverage a pre-trained module to detect instruction errors and pinpoint them in the instruction by cross-referencing the textual input and past observations. In such way, the agent is able to query the user for a timely correction, without demanding the user's cognitive load, as we locate the probable errors to a precise part of the instruction. We evaluate the proposed I2EDL on a dataset of instructions containing errors, and further devise a novel metric, the Success weighted by Interaction Number (SIN), to reflect both the navigation performance and the interaction effectiveness. We show how the proposed method can ask focused requests for corrections to the user, which in turn increases the navigation success, while minimizing the interactions.
LINX: A Language Driven Generative System for Goal-Oriented Automated Data Exploration
Venue: arXiv cs.DB 2024
Year: 2024

Data exploration is a challenging process in which users examine a dataset by iteratively employing a series of queries. While in some cases the user explores a new dataset to become familiar with it, more often, the exploration process is conducted with a specific analysis goal or question in mind. To assist users in exploring a new dataset, Automated Data Exploration (ADE) systems have been devised in previous work. These systems aim to auto-generate a full exploration session, containing a sequence of queries that showcase interesting elements of the data. However, existing ADE systems are often constrained by a predefined objective function, thus always generating the same session for a given dataset. Therefore, their effectiveness in goal-oriented exploration, in which users need to answer specific questions about the data, are extremely limited. To this end, this paper presents LINX, a generative system augmented with a natural language interface for goal-oriented ADE. Given an input dataset and an analytical goal described in natural language, LINX generates a personalized exploratory session that is relevant to the user's goal. LINX utilizes a Large Language Model (LLM) to interpret the input analysis goal, and then derive a set of specifications for the desired output exploration session. These specifications are then transferred to a novel, modular ADE engine based on Constrained Deep Reinforcement Learning (CDRL), which can adapt its output according to the specified instructions. To validate LINX's effectiveness, we introduce a new benchmark dataset for goal-oriented exploration and conduct an extensive user study. Our analysis underscores LINX's superior capability in producing exploratory notebooks that are significantly more relevant and beneficial than those generated by existing solutions, including ChatGPT, goal-agnostic ADE, and commercial systems.
The Expanding Scope of the Stability Gap: Unveiling its Presence in Joint Incremental Learning of Homogeneous Tasks
Venue: arXiv cs.LG 2024
Year: 2024

Recent research identified a temporary performance drop on previously learned tasks when transitioning to a new one. This drop is called the stability gap and has great consequences for continual learning: it complicates the direct employment of continually learning since the worse-case performance at task-boundaries is dramatic, it limits its potential as an energy-efficient training paradigm, and finally, the stability drop could result in a reduced final performance of the algorithm. In this paper, we show that the stability gap also occurs when applying joint incremental training of homogeneous tasks. In this scenario, the learner continues training on the same data distribution and has access to all data from previous tasks. In addition, we show that in this scenario, there exists a low-loss linear path to the next minima, but that SGD optimization does not choose this path. We perform further analysis including a finer batch-wise analysis which could provide insights towards potential solution directions.
Smart Navigation System for Parking Assignment at Large Events: Incorporating Heterogeneous Driver Characteristics
Venue: arXiv cs.RO 2024
Year: 2024

Parking challenges escalate significantly during large events such as concerts or sports games, yet few studies address dynamic parking lot assignments for such occasions. This paper introduces a smart navigation system designed to optimize parking assignments swiftly during large events, utilizing a mixed search algorithm that accounts for the heterogeneous characteristics of drivers. We conducted simulations in the Berkeley city area during the "Big Game" to validate our system and demonstrate the benefits of our innovative parking assignment approach.
Maximal Line Digraphs
Venue: arXiv cs.DM 2024
Year: 2024

A line digraph $L(G) = (A, E)$ is the digraph constructed from the digraph $G = (V, A)$ such that there is an arc $(a,b)$ in $L(G)$ if the terminal node of $a$ in $G$ is the initial node of $b$. The maximum number of arcs in a line digraph with $m$ nodes is $(m/2)^2 + (m/2)$ if $m$ is even, and $((m - 1)/2)^2 + m - 1$ otherwise. For $m \geq 7$, there is only one line digraph with as many arcs if $m$ is even, and if $m$ is odd, there are two line digraphs, each being the transpose of the other.
A Language Model-Guided Framework for Mining Time Series with Distributional Shifts
Venue: arXiv cs.CE 2024
Year: 2024

Effective utilization of time series data is often constrained by the scarcity of data quantity that reflects complex dynamics, especially under the condition of distributional shifts. Existing datasets may not encompass the full range of statistical properties required for robust and comprehensive analysis. And privacy concerns can further limit their accessibility in domains such as finance and healthcare. This paper presents an approach that utilizes large language models and data source interfaces to explore and collect time series datasets. While obtained from external sources, the collected data share critical statistical properties with primary time series datasets, making it possible to model and adapt to various scenarios. This method enlarges the data quantity when the original data is limited or lacks essential properties. It suggests that collected datasets can effectively supplement existing datasets, especially involving changes in data distribution. We demonstrate the effectiveness of the collected datasets through practical examples and show how time series forecasting foundation models fine-tuned on these datasets achieve comparable performance to those models without fine-tuning.
VISTA3D: A Unified Segmentation Foundation Model For 3D Medical Imaging
Venue: arXiv cs.CV 2024
Year: 2024

Foundation models for interactive segmentation in 2D natural images and videos have sparked significant interest in building 3D foundation models for medical imaging. However, the domain gaps and clinical use cases for 3D medical imaging require a dedicated model that diverges from existing 2D solutions. Specifically, such foundation models should support a full workflow that can actually reduce human effort. Treating 3D medical images as sequences of 2D slices and reusing interactive 2D foundation models seems straightforward, but 2D annotation is too time-consuming for 3D tasks. Moreover, for large cohort analysis, it's the highly accurate automatic segmentation models that reduce the most human effort. However, these models lack support for interactive corrections and lack zero-shot ability for novel structures, which is a key feature of "foundation". While reusing pre-trained 2D backbones in 3D enhances zero-shot potential, their performance on complex 3D structures still lags behind leading 3D models. To address these issues, we present VISTA3D, Versatile Imaging SegmenTation and Annotation model, that targets to solve all these challenges and requirements with one unified foundation model. VISTA3D is built on top of the well-established 3D segmentation pipeline, and it is the first model to achieve state-of-the-art performance in both 3D automatic (supporting 127 classes) and 3D interactive segmentation, even when compared with top 3D expert models on large and diverse benchmarks. Additionally, VISTA3D's 3D interactive design allows efficient human correction, and a novel 3D supervoxel method that distills 2D pretrained backbones grants VISTA3D top 3D zero-shot performance. We believe the model, recipe, and insights represent a promising step towards a clinically useful 3D foundation model. Code and weights are publicly available at https://github.com/Project-MONAI/VISTA.
YouTube SFV+HDR Quality Dataset
Venue: arXiv cs.CV 2024
Year: 2024

The popularity of Short form videos (SFV) has grown dramatically in the past few years, and has become a phenomenal video category with billions of viewers. Meanwhile, High Dynamic Range (HDR) as an advanced feature also becomes more and more popular on video sharing platforms. As a hot topic with huge impact, SFV and HDR bring new questions to video quality research: 1) is SFV+HDR quality assessment significantly different from traditional User Generated Content (UGC) quality assessment? 2) do objective quality metrics designed for traditional UGC still work well for SFV+HDR? To answer the above questions, we created the first large scale SFV+HDR dataset with reliable subjective quality scores, covering 10 popular content categories. Further, we also introduce a general sampling framework to maximize the representativeness of the dataset. We provided a comprehensive analysis of subjective quality scores for Short form SDR and HDR videos, and discuss the reliability of state-of-the-art UGC quality metrics and potential improvements.
Weakly Supervised Set-Consistency Learning Improves Morphological Profiling of Single-Cell Images
Venue: arXiv cs.CV 2024
Year: 2024

Optical Pooled Screening (OPS) is a powerful tool combining high-content microscopy with genetic engineering to investigate gene function in disease. The characterization of high-content images remains an active area of research and is currently undergoing rapid innovation through the application of self-supervised learning and vision transformers. In this study, we propose a set-level consistency learning algorithm, Set-DINO, that combines self-supervised learning with weak supervision to improve learned representations of perturbation effects in single-cell images. Our method leverages the replicate structure of OPS experiments (i.e., cells undergoing the same genetic perturbation, both within and across batches) as a form of weak supervision. We conduct extensive experiments on a large-scale OPS dataset with more than 5000 genetic perturbations, and demonstrate that Set-DINO helps mitigate the impact of confounders and encodes more biologically meaningful information. In particular, Set-DINO recalls known biological relationships with higher accuracy compared to commonly used methods for morphological profiling, suggesting that it can generate more reliable insights from drug target discovery campaigns leveraging OPS.
Integrating Text and Image Pre-training for Multi-modal Algorithmic Reasoning
Venue: arXiv cs.CV 2024
Year: 2024

In this paper, we present our solution for SMART-101 Challenge of CVPR Multi-modal Algorithmic Reasoning Task 2024. Unlike traditional visual questions and answer tasks, this challenge evaluates abstraction, deduction and generalization ability of neural network in solving visuo-linguistic puzzles designed for specially children in the 6-8 age group. Our model is based on two pre-trained models, dedicated to extract features from text and image respectively. To integrate the features from different modalities, we employed a fusion layer with attention mechanism. We explored different text and image pre-trained models, and fine-tune the integrated classifier on the SMART-101 dataset. Experiment results show that under the data splitting style of puzzle split, our proposed integrated classifier achieves superior performance, verifying the effectiveness of multi-modal pre-trained representations.