OpenRaiser/Intern-Atlas huggingface dataset:
Stream of Search (SoS): Learning to Search in Language
Venue: arXiv cs.LG 2024
Year: 2024

Language models are rarely shown fruitful mistakes while training. They then struggle to look beyond the next token, suffering from a snowballing of errors and struggling to predict the consequence of their actions several steps ahead. In this paper, we show how language models can be taught to search by representing the process of search in language, as a flattened string -- a stream of search (SoS). We propose a unified language for search that captures an array of different symbolic search strategies. We demonstrate our approach using the simple yet difficult game of Countdown, where the goal is to combine input numbers with arithmetic operations to reach a target number. We pretrain a transformer-based language model from scratch on a dataset of streams of search generated by heuristic solvers. We find that SoS pretraining increases search accuracy by 25% over models trained to predict only the optimal search trajectory. We further finetune this model with two policy improvement methods: Advantage-Induced Policy Alignment (APA) and Self-Taught Reasoner (STaR). The finetuned SoS models solve 36% of previously unsolved problems, including problems that cannot be solved by any of the heuristic solvers. Our results indicate that language models can learn to solve problems via search, self-improve to flexibly use different search strategies, and potentially discover new ones.
Improve Knowledge Distillation via Label Revision and Data Selection
Venue: arXiv cs.LG 2024
Year: 2024

Knowledge distillation (KD) has become a widely used technique in the field of model compression, which aims to transfer knowledge from a large teacher model to a lightweight student model for efficient network development. In addition to the supervision of ground truth, the vanilla KD method regards the predictions of the teacher as soft labels to supervise the training of the student model. Based on vanilla KD, various approaches have been developed to further improve the performance of the student model. However, few of these previous methods have considered the reliability of the supervision from teacher models. Supervision from erroneous predictions may mislead the training of the student model. This paper therefore proposes to tackle this problem from two aspects: Label Revision to rectify the incorrect supervision and Data Selection to select appropriate samples for distillation to reduce the impact of erroneous supervision. In the former, we propose to rectify the teacher's inaccurate predictions using the ground truth. In the latter, we introduce a data selection technique to choose suitable training samples to be supervised by the teacher, thereby reducing the impact of incorrect predictions to some extent. Experiment results demonstrate the effectiveness of our proposed method, and show that our method can be combined with other distillation approaches, improving their performance.
Direct Nash Optimization: Teaching Language Models to Self-Improve with General Preferences
Venue: arXiv cs.LG 2024
Year: 2024

This paper studies post-training large language models (LLMs) using preference feedback from a powerful oracle to help a model iteratively improve over itself. The typical approach for post-training LLMs involves Reinforcement Learning from Human Feedback (RLHF), which traditionally separates reward learning and subsequent policy optimization. However, such a reward maximization approach is limited by the nature of "point-wise" rewards (such as Bradley-Terry model), which fails to express complex intransitive or cyclic preference relations. While advances on RLHF show reward learning and policy optimization can be merged into a single contrastive objective for stability, they yet still remain tethered to the reward maximization framework. Recently, a new wave of research sidesteps the reward maximization presumptions in favor of directly optimizing over "pair-wise" or general preferences. In this paper, we introduce Direct Nash Optimization (DNO), a provable and scalable algorithm that marries the simplicity and stability of contrastive learning with theoretical generality from optimizing general preferences. Because DNO is a batched on-policy algorithm using a regression-based objective, its implementation is straightforward and efficient. Moreover, DNO enjoys monotonic improvement across iterations that help it improve even over a strong teacher (such as GPT-4). In our experiments, a resulting 7B parameter Orca-2.5 model aligned by DNO achieves the state-of-the-art win-rate against GPT-4-Turbo of 33% on AlpacaEval 2.0 (even after controlling for response length), an absolute gain of 26% (7% to 33%) over the initializing model. It outperforms models with far more parameters, including Mistral Large, Self-Rewarding LM (70B parameters), and older versions of GPT-4.
A High-Fidelity Simulation Framework for Grasping Stability Analysis in Human Casualty Manipulation
Venue: arXiv cs.RO 2024
Year: 2024

Recently, there has been a growing interest in rescue robots due to their vital role in addressing emergency scenarios and providing crucial support in challenging or hazardous situations where human intervention is difficult. However, very few of these robots are capable of actively engaging with humans and undertaking physical manipulation tasks. This limitation is largely attributed to the absence of tools that can realistically simulate physical interactions, especially the contact mechanisms between a robotic gripper and a human body. In this letter, we aim to address key limitations in current developments towards robotic casualty manipulation. Firstly, we present an integrative simulation framework for casualty manipulation. We adapt a finite element method (FEM) tool into the grasping and manipulation scenario, and the developed framework can provide accurate biomechanical reactions resulting from manipulation. Secondly, we conduct a detailed assessment of grasping stability during casualty grasping and manipulation simulations. To validate the necessity and superior performance of the proposed high-fidelity simulation framework, we conducted a qualitative and quantitative comparison of grasping stability analyses between the proposed framework and the state-of-the-art multi-body physics simulations. Through these efforts, we have taken the first step towards a feasible solution for robotic casualty manipulation.
R5Detect: Detecting Control-Flow Attacks from Standard RISC-V Enclaves
Venue: arXiv cs.CR 2024
Year: 2024

Embedded and Internet-of-Things (IoT) devices are ubiquitous today, and the uprising of several botnets based on them (e.g., Mirai, Ripple20) raises issues about the security of such devices. Especially low-power devices often lack support for modern system security measures, such as stack integrity, Non-eXecutable bits or strong cryptography. In this work, we present R5Detect, a security monitoring software that detects and prevents control-flow attacks on unmodified RISC-V standard architectures. With a novel combination of different protection techniques, it can run on embedded and low-power IoT devices, which may lack proper security features. R5Detect implements a memory-protected shadow stack to prevent runtime modifications, as well as a heuristics detection based on Hardware Performance Counters to detect control-flow integrity violations. Our results indicate that regular software can be protected against different degrees of control-flow manipulations with an average performance overhead of below 5 %. We implement and evaluate R5Detect on standard low-power RISC-V devices and show that such security features can be effectively used with minimal hardware support.
Fast k-connectivity Restoration in Multi-Robot Systems for Robust Communication Maintenance
Venue: arXiv cs.RO 2024
Year: 2024

Maintaining a robust communication network plays an important role in the success of a multi-robot team jointly performing an optimization task. A key characteristic of a robust cooperative multi-robot system is the ability to repair the communication topology in the case of robot failure. In this paper, we focus on the Fast k-connectivity Restoration (FCR) problem, which aims to repair a network to make it k-connected with minimum robot movement. We develop a Quadratically Constrained Program (QCP) formulation of the FCR problem, which provides a way to optimally solve the problem, but cannot handle large instances due to high computational overhead. We therefore present a scalable algorithm, called EA-SCR, for the FCR problem using graph theoretic concepts. By conducting empirical studies, we demonstrate that the EA-SCR algorithm performs within 10 percent of the optimal while being orders of magnitude faster. We also show that EA-SCR outperforms existing solutions by 30 percent in terms of the FCR distance metric.
Extract, Define, Canonicalize: An LLM-based Framework for Knowledge Graph Construction
Venue: arXiv cs.CL 2024
Year: 2024

In this work, we are interested in automated methods for knowledge graph creation (KGC) from input text. Progress on large language models (LLMs) has prompted a series of recent works applying them to KGC, e.g., via zero/few-shot prompting. Despite successes on small domain-specific datasets, these models face difficulties scaling up to text common in many real-world applications. A principal issue is that, in prior methods, the KG schema has to be included in the LLM prompt to generate valid triplets; larger and more complex schemas easily exceed the LLMs' context window length. Furthermore, there are scenarios where a fixed pre-defined schema is not available and we would like the method to construct a high-quality KG with a succinct self-generated schema. To address these problems, we propose a three-phase framework named Extract-Define-Canonicalize (EDC): open information extraction followed by schema definition and post-hoc canonicalization. EDC is flexible in that it can be applied to settings where a pre-defined target schema is available and when it is not; in the latter case, it constructs a schema automatically and applies self-canonicalization. To further improve performance, we introduce a trained component that retrieves schema elements relevant to the input text; this improves the LLMs' extraction performance in a retrieval-augmented generation-like manner. We demonstrate on three KGC benchmarks that EDC is able to extract high-quality triplets without any parameter tuning and with significantly larger schemas compared to prior works. Code for EDC is available at https://github.com/clear-nus/edc.
VELLET: Verifiable Embedded Wallet for Securing Authenticity and Integrity
Venue: arXiv cs.CR 2024
Year: 2024

The blockchain ecosystem, particularly with the rise of Web3 and Non-Fungible Tokens (NFTs), has experienced a significant increase in users and applications. However, this expansion is challenged by the need to connect early adopters with a wider user base. A notable difficulty in this process is the complex interfaces of blockchain wallets, which can be daunting for those familiar with traditional payment methods. To address this issue, the category of "embedded wallets" has emerged as a promising solution. These wallets are seamlessly integrated into the front-end of decentralized applications (Dapps), simplifying the onboarding process for users and making access more widely available. However, our insights indicate that this simplification introduces a trade-off between ease of use and security. Embedded wallets lack transparency and auditability, leading to obscured transactions by the front end and a pronounced risk of fraud and phishing attacks. This paper proposes a new protocol to enhance the security of embedded wallets. Our VELLET protocol introduces a wallet verifier that can match the audit trail of embedded wallets on smart contracts, incorporating a process to verify authenticity and integrity. In the implementation architecture of the VELLET protocol, we suggest using the Text Record feature of the Ethereum Name Service (ENS), known as a decentralized domain name service, to serve as a repository for managing the audit trails of smart contracts. This approach has been demonstrated to reduce the necessity for new smart contract development and operational costs, proving cost-effective through a proof-of-concept. This protocol is a vital step in reducing security risks associated with embedded wallets, ensuring their convenience does not undermine user security and trust.
Accurately Classifying Out-Of-Distribution Data in Facial Recognition
Venue: arXiv cs.CV 2024
Year: 2024

Standard classification theory assumes that the distribution of images in the test and training sets are identical. Unfortunately, real-life scenarios typically feature unseen data (``out-of-distribution data") which is different from data in the training distribution (``in-distribution"). This issue is most prevalent in social justice problems where data from under-represented groups may appear in the test data without representing an equal proportion of the training data. This may result in a model returning confidently wrong decisions and predictions. We are interested in the following question: Can the performance of a neural network improve on facial images of out-of-distribution data when it is trained simultaneously on multiple datasets of in-distribution data? We approach this problem by incorporating the Outlier Exposure model and investigate how the model's performance changes when other datasets of facial images were implemented. We observe that the accuracy and other metrics of the model can be increased by applying Outlier Exposure, incorporating a trainable weight parameter to increase the machine's emphasis on outlier images, and by re-weighting the importance of different class labels. We also experimented with whether sorting the images and determining outliers via image features would have more of an effect on the metrics than sorting by average pixel value, and found no conclusive results. Our goal was to make models not only more accurate but also more fair by scanning a more expanded range of images. Utilizing Python and the Pytorch package, we found models utilizing outlier exposure could result in more fair classification.
Can only LLMs do Reasoning?: Potential of Small Language Models in Task Planning
Venue: arXiv cs.RO 2024
Year: 2024

In robotics, the use of Large Language Models (LLMs) is becoming prevalent, especially for understanding human commands. In particular, LLMs are utilized as domain-agnostic task planners for high-level human commands. LLMs are capable of Chain-of-Thought (CoT) reasoning, and this allows LLMs to be task planners. However, we need to consider that modern robots still struggle to perform complex actions, and the domains where robots can be deployed are limited in practice. This leads us to pose a question: If small LMs can be trained to reason in chains within a single domain, would even small LMs be good task planners for the robots? To train smaller LMs to reason in chains, we build `COmmand-STeps datasets' (COST) consisting of high-level commands along with corresponding actionable low-level steps, via LLMs. We release not only our datasets but also the prompt templates used to generate them, to allow anyone to build datasets for their domain. We compare GPT3.5 and GPT4 with the finetuned GPT2 for task domains, in tabletop and kitchen environments, and the result shows that GPT2-medium is comparable to GPT3.5 for task planning in a specific domain. Our dataset, code, and more output samples can be found in https://github.com/Gawon-Choi/small-LMs-Task-Planning
Holon: a cybernetic interface for bio-semiotics
Venue: arXiv cs.SD 2024
Year: 2024

This paper presents an interactive artwork, "Holon", a collection of 130 autonomous, cybernetic organisms that listen and make sound in collaboration with the natural environment. The work was developed for installation on water at a heritage-listed dock in Melbourne, Australia. Conceptual issues informing the work are presented, along with a detailed technical overview of the implementation. Individual holons are of three types, inspired by biological models of animal communication: composer/generators, collector/critics and disruptors. Collectively, Holon integrates and occupies elements of the acoustic spectrum in collaboration with human and non-human agents.
Open vocabulary keyword spotting through transfer learning from speech synthesis
Venue: arXiv cs.HC 2024
Year: 2024

Identifying keywords in an open-vocabulary context is crucial for personalizing interactions with smart devices. Previous approaches to open vocabulary keyword spotting dependon a shared embedding space created by audio and text encoders. However, these approaches suffer from heterogeneous modality representations (i.e., audio-text mismatch). To address this issue, our proposed framework leverages knowledge acquired from a pre-trained text-to-speech (TTS) system. This knowledge transfer allows for the incorporation of awareness of audio projections into the text representations derived from the text encoder. The performance of the proposed approach is compared with various baseline methods across four different datasets. The robustness of our proposed model is evaluated by assessing its performance across different word lengths and in an Out-of-Vocabulary (OOV) scenario. Additionally, the effectiveness of transfer learning from the TTS system is investigated by analyzing its different intermediate representations. The experimental results indicate that, in the challenging LibriPhrase Hard dataset, the proposed approach outperformed the cross-modality correspondence detector (CMCD) method by a significant improvement of 8.22% in area under the curve (AUC) and 12.56% in equal error rate (EER).
POMDP-Guided Active Force-Based Search for Robotic Insertion
Venue: arXiv cs.RO 2024
Year: 2024

In robotic insertion tasks where the uncertainty exceeds the allowable tolerance, a good search strategy is essential for successful insertion and significantly influences efficiency. The commonly used blind search method is time-consuming and does not exploit the rich contact information. In this paper, we propose a novel search strategy that actively utilizes the information contained in the contact configuration and shows high efficiency. In particular, we formulate this problem as a Partially Observable Markov Decision Process (POMDP) with carefully designed primitives based on an in-depth analysis of the contact configuration's static stability. From the formulated POMDP, we can derive a novel search strategy. Thanks to its simplicity, this search strategy can be incorporated into a Finite-State-Machine (FSM) controller. The behaviors of the FSM controller are realized through a low-level Cartesian Impedance Controller. Our method is based purely on the robot's proprioceptive sensing and does not need visual or tactile sensors. To evaluate the effectiveness of our proposed strategy and control framework, we conduct extensive comparison experiments in simulation, where we compare our method with the baseline approach. The results demonstrate that our proposed method achieves a higher success rate with a shorter search time and search trajectory length compared to the baseline method. Additionally, we show that our method is robust to various initial displacement errors.
Towards Understanding the Impact of Code Modifications on Software Quality Metrics
Venue: arXiv cs.SE 2024
Year: 2024

Context: In the realm of software development, maintaining high software quality is a persistent challenge. However, this challenge is often impeded by the lack of comprehensive understanding of how specific code modifications influence quality metrics. Objective: This study ventures to bridge this gap through an approach that aspires to assess and interpret the impact of code modifications. The underlying hypothesis posits that code modifications inducing similar changes in software quality metrics can be grouped into distinct clusters, which can be effectively described using an AI language model, thus providing a simple understanding of code changes and their quality implications. Method: To validate this hypothesis, we built and analyzed a dataset from popular GitHub repositories, segmented into individual code modifications. Each project was evaluated against software quality metrics pre and post-application. Machine learning techniques were utilized to cluster these modifications based on the induced changes in the metrics. Simultaneously, an AI language model was employed to generate descriptions of each modification's function. Results: The results reveal distinct clusters of code modifications, each accompanied by a concise description, revealing their collective impact on software quality metrics. Conclusions: The findings suggest that this research is a significant step towards a comprehensive understanding of the complex relationship between code changes and software quality, which has the potential to transform software maintenance strategies and enable the development of more accurate quality prediction models.
Tensions between Preference and Performance: Designing for Visual Exploration of Multi-frequency Medical Network Data
Venue: arXiv cs.HC 2024
Year: 2024

The analysis of complex high-dimensional data is a common task in many domains, resulting in bespoke visual exploration tools. Expectations and practices of domain experts as users do not always align with visualization theory. In this paper, we report on a design study in the medical domain where we developed two high-fidelity prototypes encoding EEG-derived brain network data with different types of visualizations. We evaluate these prototypes regarding effectiveness, efficiency, and preference with two groups: participants with domain knowledge (domain experts in medical research) and those without domain knowledge, both groups having little or no visualization experience. A requirement analysis and study of low-fidelity prototypes revealed a strong preference for a novel and aesthetically pleasing visualization design, as opposed to a design that is considered more optimal based on visualization theory. Our study highlights the pros and cons of both approaches, discussing trade-offs between task-specific measurements and subjective preference. While the aesthetically pleasing and novel low-fidelity prototype was favored, the results of our evaluation show that, in most cases, this was not reflected in participants' performance or subjective preference for the high-fidelity prototypes.
Transformers for molecular property prediction: Lessons learned from the past five years
Venue: arXiv cs.LG 2024
Year: 2024

Molecular Property Prediction (MPP) is vital for drug discovery, crop protection, and environmental science. Over the last decades, diverse computational techniques have been developed, from using simple physical and chemical properties and molecular fingerprints in statistical models and classical machine learning to advanced deep learning approaches. In this review, we aim to distill insights from current research on employing transformer models for MPP. We analyze the currently available models and explore key questions that arise when training and fine-tuning a transformer model for MPP. These questions encompass the choice and scale of the pre-training data, optimal architecture selections, and promising pre-training objectives. Our analysis highlights areas not yet covered in current research, inviting further exploration to enhance the field's understanding. Additionally, we address the challenges in comparing different models, emphasizing the need for standardized data splitting and robust statistical analysis.