OpenRaiser/Intern-Atlas huggingface dataset:
Automatic Calibration for an Open-source Magnetic Tactile Sensor
Venue: arXiv cs.RO 2024
Year: 2024

Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or automated procedures with precise mounting of the sensor relative to an actuator. We present an open-source magnetic tactile sensor with an automatic, in situ, gripper-agnostic calibration method, after which the sensor is immediately ready for use. Our goal is to lower the barrier to entry for tactile sensing, fostering collaboration in robotics. Design files and readout code can be found at https://github.com/LowiekVDS/Open-source-Magnetic-Tactile-Sensor}{https://github.com/LowiekVDS/Open-source-Magnetic-Tactile-Sensor.
Wavelet-Based Image Tokenizer for Vision Transformers
Venue: arXiv cs.CV 2024
Year: 2024

Non-overlapping patch-wise convolution is the default image tokenizer for all state-of-the-art vision Transformer (ViT) models. Even though many ViT variants have been proposed to improve its efficiency and accuracy, little research on improving the image tokenizer itself has been reported in the literature. In this paper, we propose a new image tokenizer based on wavelet transformation. We show that ViT models with the new tokenizer achieve both higher training throughput and better top-1 precision for the ImageNet validation set. We present a theoretical analysis on why the proposed tokenizer improves the training throughput without any change to ViT model architecture. Our analysis suggests that the new tokenizer can effectively handle high-resolution images and is naturally resistant to adversarial attack. Furthermore, the proposed image tokenizer offers a fresh perspective on important new research directions for ViT-based model design, such as image tokens on a non-uniform grid for image understanding.
Recent Advances of Foundation Language Models-based Continual Learning: A Survey
Venue: arXiv cs.CL 2024
Year: 2024

Recently, foundation language models (LMs) have marked significant achievements in the domains of natural language processing (NLP) and computer vision (CV). Unlike traditional neural network models, foundation LMs obtain a great ability for transfer learning by acquiring rich commonsense knowledge through pre-training on extensive unsupervised datasets with a vast number of parameters. However, they still can not emulate human-like continuous learning due to catastrophic forgetting. Consequently, various continual learning (CL)-based methodologies have been developed to refine LMs, enabling them to adapt to new tasks without forgetting previous knowledge. However, a systematic taxonomy of existing approaches and a comparison of their performance are still lacking, which is the gap that our survey aims to fill. We delve into a comprehensive review, summarization, and classification of the existing literature on CL-based approaches applied to foundation language models, such as pre-trained language models (PLMs), large language models (LLMs) and vision-language models (VLMs). We divide these studies into offline CL and online CL, which consist of traditional methods, parameter-efficient-based methods, instruction tuning-based methods and continual pre-training methods. Offline CL encompasses domain-incremental learning, task-incremental learning, and class-incremental learning, while online CL is subdivided into hard task boundary and blurry task boundary settings. Additionally, we outline the typical datasets and metrics employed in CL research and provide a detailed analysis of the challenges and future work for LMs-based continual learning.
CAVACHON: a hierarchical variational autoencoder to integrate multi-modal single-cell data
Venue: arXiv cs.LG 2024
Year: 2024

Paired single-cell sequencing technologies enable the simultaneous measurement of complementary modalities of molecular data at single-cell resolution. Along with the advances in these technologies, many methods based on variational autoencoders have been developed to integrate these data. However, these methods do not explicitly incorporate prior biological relationships between the data modalities, which could significantly enhance modeling and interpretation. We propose a novel probabilistic learning framework that explicitly incorporates conditional independence relationships between multi-modal data as a directed acyclic graph using a generalized hierarchical variational autoencoder. We demonstrate the versatility of our framework across various applications pertinent to single-cell multi-omics data integration. These include the isolation of common and distinct information from different modalities, modality-specific differential analysis, and integrated cell clustering. We anticipate that the proposed framework can facilitate the construction of highly flexible graphical models that can capture the complexities of biological hypotheses and unravel the connections between different biological data types, such as different modalities of paired single-cell multi-omics data. The implementation of the proposed framework can be found in the repository https://github.com/kuijjerlab/CAVACHON.
Understanding Intrinsic Socioeconomic Biases in Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Large Language Models (LLMs) are increasingly integrated into critical decision-making processes, such as loan approvals and visa applications, where inherent biases can lead to discriminatory outcomes. In this paper, we examine the nuanced relationship between demographic attributes and socioeconomic biases in LLMs, a crucial yet understudied area of fairness in LLMs. We introduce a novel dataset of one million English sentences to systematically quantify socioeconomic biases across various demographic groups. Our findings reveal pervasive socioeconomic biases in both established models such as GPT-2 and state-of-the-art models like Llama 2 and Falcon. We demonstrate that these biases are significantly amplified when considering intersectionality, with LLMs exhibiting a remarkable capacity to extract multiple demographic attributes from names and then correlate them with specific socioeconomic biases. This research highlights the urgent necessity for proactive and robust bias mitigation techniques to safeguard against discriminatory outcomes when deploying these powerful models in critical real-world applications.
A random-key GRASP for combinatorial optimization
Venue: arXiv cs.NE 2024
Year: 2024

This paper proposes a problem-independent GRASP metaheuristic using the random-key optimizer (RKO) paradigm. GRASP (greedy randomized adaptive search procedure) is a metaheuristic for combinatorial optimization that repeatedly applies a semi-greedy construction procedure followed by a local search procedure. The best solution found over all iterations is returned as the solution of the GRASP. Continuous GRASP (C-GRASP) is an extension of GRASP for continuous optimization in the unit hypercube. A random-key optimizer (RKO) uses a vector of random keys to encode a solution to a combinatorial optimization problem. It uses a decoder to evaluate a solution encoded by the vector of random keys. A random-key GRASP is a C-GRASP where points in the unit hypercube are evaluated employing a decoder. We describe random key GRASP consisting of a problem-independent component and a problem-dependent decoder. As a proof of concept, the random-key GRASP is tested on five NP-hard combinatorial optimization problems: traveling salesman problem, tree of hubs location problem, Steiner triple covering problem, node capacitated graph partitioning problem, and job sequencing and tool switching problem.
Advancing Household Robotics: Deep Interactive Reinforcement Learning for Efficient Training and Enhanced Performance
Venue: arXiv cs.RO 2024
Year: 2024

The market for domestic robots made to perform household chores is growing as these robots relieve people of everyday responsibilities. Domestic robots are generally welcomed for their role in easing human labor, in contrast to industrial robots, which are frequently criticized for displacing human workers. But before these robots can carry out domestic chores, they need to become proficient in several minor activities, such as recognizing their surroundings, making decisions, and picking up on human behaviors. Reinforcement learning, or RL, has emerged as a key robotics technology that enables robots to interact with their environment and learn how to optimize their actions to maximize rewards. However, the goal of Deep Reinforcement Learning is to address more complicated, continuous action-state spaces in real-world settings by combining RL with Neural Networks. The efficacy of DeepRL can be further augmented through interactive feedback, in which a trainer offers real-time guidance to expedite the robot's learning process. Nevertheless, the current methods have drawbacks, namely the transient application of guidance that results in repeated learning under identical conditions. Therefore, we present a novel method to preserve and reuse information and advice via Deep Interactive Reinforcement Learning, which utilizes a persistent rule-based system. This method not only expedites the training process but also lessens the number of repetitions that instructors will have to carry out. This study has the potential to advance the development of household robots and improve their effectiveness and efficiency as learners.
DeepHGNN: Study of Graph Neural Network based Forecasting Methods for Hierarchically Related Multivariate Time Series
Venue: arXiv cs.LG 2024
Year: 2024

Graph Neural Networks (GNN) have gained significant traction in the forecasting domain, especially for their capacity to simultaneously account for intra-series temporal correlations and inter-series relationships. This paper introduces a novel Hierarchical GNN (DeepHGNN) framework, explicitly designed for forecasting in complex hierarchical structures. The uniqueness of DeepHGNN lies in its innovative graph-based hierarchical interpolation and an end-to-end reconciliation mechanism. This approach ensures forecast accuracy and coherence across various hierarchical levels while sharing signals across them, addressing a key challenge in hierarchical forecasting. A critical insight in hierarchical time series is the variance in forecastability across levels, with upper levels typically presenting more predictable components. DeepHGNN capitalizes on this insight by pooling and leveraging knowledge from all hierarchy levels, thereby enhancing the overall forecast accuracy. Our comprehensive evaluation set against several state-of-the-art models confirm the superior performance of DeepHGNN. This research not only demonstrates DeepHGNN's effectiveness in achieving significantly improved forecast accuracy but also contributes to the understanding of graph-based methods in hierarchical time series forecasting.
Efficient Model-agnostic Alignment via Bayesian Persuasion
Venue: arXiv cs.CL 2024
Year: 2024

With recent advancements in large language models (LLMs), alignment has emerged as an effective technique for keeping LLMs consensus with human intent. Current methods primarily involve direct training through Supervised Fine-tuning (SFT) or Reinforcement Learning from Human Feedback (RLHF), both of which require substantial computational resources and extensive ground truth data. This paper explores an efficient method for aligning black-box large models using smaller models, introducing a model-agnostic and lightweight Bayesian Persuasion Alignment framework. We formalize this problem as an optimization of the signaling strategy from the small model's perspective. In the persuasion process, the small model (Advisor) observes the information item (i.e., state) and persuades large models (Receiver) to elicit improved responses. The Receiver then generates a response based on the input, the signal from the Advisor, and its updated belief about the information item. Through training using our framework, we demonstrate that the Advisor can significantly enhance the performance of various Receivers across a range of tasks. We theoretically analyze our persuasion framework and provide an upper bound on the Advisor's regret, confirming its effectiveness in learning the optimal signaling strategy. Our Empirical results demonstrates that GPT-2 can significantly improve the performance of various models, achieving an average enhancement of 16.1% in mathematical reasoning ability and 13.7% in code generation. We hope our work can provide an initial step toward rethinking the alignment framework from the Bayesian Persuasion perspective.
Conformal Depression Prediction
Venue: arXiv cs.LG 2024
Year: 2024

While existing depression prediction methods based on deep learning show promise, their practical application is hindered by the lack of trustworthiness, as these deep models are often deployed as black box models, leaving us uncertain on the confidence of their predictions. For high-risk clinical applications like depression prediction, uncertainty quantification is essential in decision-making. In this paper, we introduce conformal depression prediction (CDP), a depression prediction method with uncertainty quantification based on conformal prediction (CP), giving valid confidence intervals with theoretical coverage guarantees for the model predictions. CDP is a plug-and-play module that requires neither model retraining nor an assumption about the depression data distribution. As CDP provides only an average coverage guarantee across all inputs rather than per-input performance guarantee, we further propose CDP-ACC, an improved conformal prediction with approximate conditional coverage. CDP-ACC firstly estimates the prediction distribution through neighborhood relaxation, and then introduces a conformal score function by constructing nested sequences, so as to provide a tighter prediction interval adaptive to specific input. We empirically demonstrate the application of CDP in uncertainty-aware facial depression prediction, as well as the effectiveness and superiority of CDP-ACC on the AVEC 2013 and AVEC 2014 datasets. Our code is publicly available at https://github.com/PushineLee/CDP.
Preferred-Action-Optimized Diffusion Policies for Offline Reinforcement Learning
Venue: arXiv cs.LG 2024
Year: 2024

Offline reinforcement learning (RL) aims to learn optimal policies from previously collected datasets. Recently, due to their powerful representational capabilities, diffusion models have shown significant potential as policy models for offline RL issues. However, previous offline RL algorithms based on diffusion policies generally adopt weighted regression to improve the policy. This approach optimizes the policy only using the collected actions and is sensitive to Q-values, which limits the potential for further performance enhancement. To this end, we propose a novel preferred-action-optimized diffusion policy for offline RL. In particular, an expressive conditional diffusion model is utilized to represent the diverse distribution of a behavior policy. Meanwhile, based on the diffusion model, preferred actions within the same behavior distribution are automatically generated through the critic function. Moreover, an anti-noise preference optimization is designed to achieve policy improvement by using the preferred actions, which can adapt to noise-preferred actions for stable training. Extensive experiments demonstrate that the proposed method provides competitive or superior performance compared to previous state-of-the-art offline RL methods, particularly in sparse reward tasks such as Kitchen and AntMaze. Additionally, we empirically prove the effectiveness of anti-noise preference optimization.
PermLLM: Private Inference of Large Language Models within 3 Seconds under WAN
Venue: arXiv cs.CR 2024
Year: 2024

The emergence of ChatGPT marks the arrival of the large language model (LLM) era. While LLMs demonstrate their power in a variety of fields, they also raise serious privacy concerns as the users' queries are sent to the model provider. On the other side, deploying the LLM on the user's device will also leak all the model data. Existing methods based on secure multiparty computation (MPC) managed to protect both the privacy of the model parameters and user queries. However, they require gigabytes of data transfer and several minutes to generate just one token, making them impractical for most real-world applications. To improve the efficiency of private LLM inference, we propose PermLLM, which accelerates the evaluation of non-linear functions using secure random permutation. Along with the optimized secret sharing protocols and homomorphic encryption, PermLLM achieves two-party private inference of the ChatGLM-6B model at the speed of around 3s/token, under a realistic network setting (10ms RTT and 1Gbps bandwidth), which is magnitudes faster than existing MPC solutions.
SketchTriplet: Self-Supervised Scenarized Sketch-Text-Image Triplet Generation
Venue: arXiv cs.CV 2024
Year: 2024

The scarcity of free-hand sketch presents a challenging problem. Despite the emergence of some large-scale sketch datasets, these datasets primarily consist of sketches at the single-object level. There continues to be a lack of large-scale paired datasets for scene sketches. In this paper, we propose a self-supervised method for scene sketch generation that does not rely on any existing scene sketch, enabling the transformation of single-object sketches into scene sketches. To accomplish this, we introduce a method for vector sketch captioning and sketch semantic expansion. Additionally, we design a sketch generation network that incorporates a fusion of multi-modal perceptual constraints, suitable for application in zero-shot image-to-sketch downstream task, demonstrating state-of-the-art performance through experimental validation. Finally, leveraging our proposed sketch-to-sketch generation method, we contribute a large-scale dataset centered around scene sketches, comprising highly semantically consistent "text-sketch-image" triplets. Our research confirms that this dataset can significantly enhance the capabilities of existing models in sketch-based image retrieval and sketch-controlled image synthesis tasks. We will make our dataset and code publicly available.
MindSemantix: Deciphering Brain Visual Experiences with a Brain-Language Model
Venue: arXiv cs.CV 2024
Year: 2024

Deciphering the human visual experience through brain activities captured by fMRI represents a compelling and cutting-edge challenge in the field of neuroscience research. Compared to merely predicting the viewed image itself, decoding brain activity into meaningful captions provides a higher-level interpretation and summarization of visual information, which naturally enhances the application flexibility in real-world situations. In this work, we introduce MindSemantix, a novel multi-modal framework that enables LLMs to comprehend visually-evoked semantic content in brain activity. Our MindSemantix explores a more ideal brain captioning paradigm by weaving LLMs into brain activity analysis, crafting a seamless, end-to-end Brain-Language Model. To effectively capture semantic information from brain responses, we propose Brain-Text Transformer, utilizing a Brain Q-Former as its core architecture. It integrates a pre-trained brain encoder with a frozen LLM to achieve multi-modal alignment of brain-vision-language and establish a robust brain-language correspondence. To enhance the generalizability of neural representations, we pre-train our brain encoder on a large-scale, cross-subject fMRI dataset using self-supervised learning techniques. MindSemantix provides more feasibility to downstream brain decoding tasks such as stimulus reconstruction. Conditioned by MindSemantix captioning, our framework facilitates this process by integrating with advanced generative models like Stable Diffusion and excels in understanding brain visual perception. MindSemantix generates high-quality captions that are deeply rooted in the visual and semantic information derived from brain activity. This approach has demonstrated substantial quantitative improvements over prior art. Our code will be released.
Supervised Contrastive Learning for Snapshot Spectral Imaging Face Anti-Spoofing
Venue: arXiv cs.CV 2024
Year: 2024

This study reveals a cutting-edge re-balanced contrastive learning strategy aimed at strengthening face anti-spoofing capabilities within facial recognition systems, with a focus on countering the challenges posed by printed photos, and highly realistic silicone or latex masks. Leveraging the HySpeFAS dataset, which benefits from Snapshot Spectral Imaging technology to provide hyperspectral images, our approach harmonizes class-level contrastive learning with data resampling and an innovative real-face oriented reweighting technique. This method effectively mitigates dataset imbalances and reduces identity-related biases. Notably, our strategy achieved an unprecedented 0.0000\% Average Classification Error Rate (ACER) on the HySpeFAS dataset, ranking first at the Chalearn Snapshot Spectral Imaging Face Anti-spoofing Challenge on CVPR 2024.
Neural Radiance Fields for Novel View Synthesis in Monocular Gastroscopy
Venue: arXiv cs.CV 2024
Year: 2024

Enabling the synthesis of arbitrarily novel viewpoint images within a patient's stomach from pre-captured monocular gastroscopic images is a promising topic in stomach diagnosis. Typical methods to achieve this objective integrate traditional 3D reconstruction techniques, including structure-from-motion (SfM) and Poisson surface reconstruction. These methods produce explicit 3D representations, such as point clouds and meshes, thereby enabling the rendering of the images from novel viewpoints. However, the existence of low-texture and non-Lambertian regions within the stomach often results in noisy and incomplete reconstructions of point clouds and meshes, hindering the attainment of high-quality image rendering. In this paper, we apply the emerging technique of neural radiance fields (NeRF) to monocular gastroscopic data for synthesizing photo-realistic images for novel viewpoints. To address the performance degradation due to view sparsity in local regions of monocular gastroscopy, we incorporate geometry priors from a pre-reconstructed point cloud into the training of NeRF, which introduces a novel geometry-based loss to both pre-captured observed views and generated unobserved views. Compared to other recent NeRF methods, our approach showcases high-fidelity image renderings from novel viewpoints within the stomach both qualitatively and quantitatively.
DFAMiner: Mining minimal separating DFAs from labelled samples
Venue: arXiv cs.FL 2024
Year: 2024

We propose DFAMiner, a passive learning tool for learning minimal separating deterministic finite automata (DFA) from a set of labelled samples. Separating automata are an interesting class of automata that occurs generally in regular model checking and has raised interest in foundational questions of parity game solving. We first propose a simple and linear-time algorithm that incrementally constructs a three-valued DFA (3DFA) from a set of labelled samples given in the usual lexicographical order. This 3DFA has accepting and rejecting states as well as don't-care states, so that it can exactly recognise the labelled examples. We then apply our tool to mining a minimal separating DFA for the labelled samples by minimising the constructed automata via a reduction to solving SAT problems. Empirical evaluation shows that our tool outperforms current state-of-the-art tools significantly on standard benchmarks for learning minimal separating DFAs from samples. Progress in the efficient construction of separating DFAs can also lead to finding the lower bound of parity game solving, where we show that DFAMiner can create optimal separating automata for simple languages with up to 7 colours. Future improvements might offer inroads to better data structures.