OpenRaiser/Intern-Atlas huggingface dataset:
Active Exploration in Bayesian Model-based Reinforcement Learning for Robot Manipulation
Venue: arXiv cs.RO 2024
Year: 2024

Efficiently tackling multiple tasks within complex environment, such as those found in robot manipulation, remains an ongoing challenge in robotics and an opportunity for data-driven solutions, such as reinforcement learning (RL). Model-based RL, by building a dynamic model of the robot, enables data reuse and transfer learning between tasks with the same robot and similar environment. Furthermore, data gathering in robotics is expensive and we must rely on data efficient approaches such as model-based RL, where policy learning is mostly conducted on cheaper simulations based on the learned model. Therefore, the quality of the model is fundamental for the performance of the posterior tasks. In this work, we focus on improving the quality of the model and maintaining the data efficiency by performing active learning of the dynamic model during a preliminary exploration phase based on maximize information gathering. We employ Bayesian neural network models to represent, in a probabilistic way, both the belief and information encoded in the dynamic model during exploration. With our presented strategies we manage to actively estimate the novelty of each transition, using this as the exploration reward. In this work, we compare several Bayesian inference methods for neural networks, some of which have never been used in a robotics context, and evaluate them in a realistic robot manipulation setup. Our experiments show the advantages of our Bayesian model-based RL approach, with similar quality in the results than relevant alternatives with much lower requirements regarding robot execution steps. Unlike related previous studies that focused the validation solely on toy problems, our research takes a step towards more realistic setups, tackling robotic arm end-tasks.
Toward Efficient Visual Gyroscopes: Spherical Moments, Harmonics Filtering, and Masking Techniques for Spherical Camera Applications
Venue: arXiv cs.CV 2024
Year: 2024

Unlike a traditional gyroscope, a visual gyroscope estimates camera rotation through images. The integration of omnidirectional cameras, offering a larger field of view compared to traditional RGB cameras, has proven to yield more accurate and robust results. However, challenges arise in situations that lack features, have substantial noise causing significant errors, and where certain features in the images lack sufficient strength, leading to less precise prediction results. Here, we address these challenges by introducing a novel visual gyroscope, which combines an Efficient Multi-Mask-Filter Rotation Estimator(EMMFRE) and a Learning based optimization(LbTO) to provide a more efficient and accurate rotation estimation from spherical images. Experimental results demonstrate superior performance of the proposed approach in terms of accuracy. The paper emphasizes the advantages of integrating machine learning to optimize analytical solutions, discusses limitations, and suggests directions for future research.
The open access coverage of OpenAlex, Scopus and Web of Science
Venue: arXiv cs.DL 2024
Year: 2024

Diamond open access (OA) journals offer a publishing model that is free for both authors and readers, but their lack of indexing in major bibliographic databases presents challenges in assessing the uptake of these journals. Furthermore, OA characteristics such as publication language and country of publication have often been used to support the argument that OA journals are more diverse and aim to serve a local community, but there is a current lack of empirical evidence related to the geographical and linguistic characteristics of OA journals. Using OpenAlex and the Directory of Open Access Journals as a benchmark, this paper investigates the coverage of diamond and gold through authorship and journal coverage in the Web of Science and Scopus by field, country, and language. Results show their lower coverage in WoS and Scopus, and the local scope of diamond OA. The share of English-only journals is considerably higher among gold journals. High-income countries have the highest share of authorship in every domain and type of journal, except for diamond journals in the social sciences and humanities. Understanding the current landscape of diamond OA indexing can aid the scholarly communications network with advancing policy and practices towards more inclusive OA models.
Africa-Centric Self-Supervised Pre-Training for Multilingual Speech Representation in a Sub-Saharan Context
Venue: arXiv cs.CL 2024
Year: 2024

We present the first self-supervised multilingual speech model trained exclusively on African speech. The model learned from nearly 60 000 hours of unlabeled speech segments in 21 languages and dialects spoken in sub-Saharan Africa. On the SSA subset of the FLEURS-102 dataset, our approach based on a HuBERT$_{base}$ (0.09B) architecture shows competitive results, for ASR downstream task, compared to the w2v-bert-51 (0.6B) pre-trained model proposed in the FLEURS benchmark, while being more efficient by using 7x less data and 6x less parameters. Furthermore, in the context of a LID downstream task, our approach outperforms FLEURS baselines accuracy by over 22\%.
Long-context LLMs Struggle with Long In-context Learning
Venue: arXiv cs.CL 2024
Year: 2024

Large Language Models (LLMs) have made significant strides in handling long sequences. Some models like Gemini could even to be capable of dealing with millions of tokens. However, their performance evaluation has largely been confined to metrics like perplexity and synthetic tasks, which may not fully capture their true abilities in more challenging, real-world scenarios. We introduce a benchmark (LongICLBench) for long in-context learning in extreme-label classification using six datasets with 28 to 174 classes and input lengths from 2K to 50K tokens. Our benchmark requires LLMs to comprehend the entire input to recognize the massive label spaces to make correct predictions. We evaluate on 15 long-context LLMs and find that they perform well on less challenging classification tasks with smaller label space and shorter demonstrations. However, they struggle with more challenging task like Discovery with 174 labels, suggesting a gap in their ability to process long, context-rich sequences. Further analysis reveals a bias towards labels presented later in the sequence and a need for improved reasoning over multiple pieces of information. Our study reveals that long context understanding and reasoning is still a challenging task for the existing LLMs. We believe LongICLBench could serve as a more realistic evaluation for the future long-context LLMs.
Digital Forgetting in Large Language Models: A Survey of Unlearning Methods
Venue: arXiv cs.CR 2024
Year: 2024

The objective of digital forgetting is, given a model with undesirable knowledge or behavior, obtain a new model where the detected issues are no longer present. The motivations for forgetting include privacy protection, copyright protection, elimination of biases and discrimination, and prevention of harmful content generation. Effective digital forgetting has to be effective (meaning how well the new model has forgotten the undesired knowledge/behavior), retain the performance of the original model on the desirable tasks, and be scalable (in particular forgetting has to be more efficient than retraining from scratch on just the tasks/data to be retained). This survey focuses on forgetting in large language models (LLMs). We first provide background on LLMs, including their components, the types of LLMs, and their usual training pipeline. Second, we describe the motivations, types, and desired properties of digital forgetting. Third, we introduce the approaches to digital forgetting in LLMs, among which unlearning methodologies stand out as the state of the art. Fourth, we provide a detailed taxonomy of machine unlearning methods for LLMs, and we survey and compare current approaches. Fifth, we detail datasets, models and metrics used for the evaluation of forgetting, retaining and runtime. Sixth, we discuss challenges in the area. Finally, we provide some concluding remarks.
Using Interpretation Methods for Model Enhancement
Venue: arXiv cs.CL 2024
Year: 2024

In the age of neural natural language processing, there are plenty of works trying to derive interpretations of neural models. Intuitively, when gold rationales exist during training, one can additionally train the model to match its interpretation with the rationales. However, this intuitive idea has not been fully explored. In this paper, we propose a framework of utilizing interpretation methods and gold rationales to enhance models. Our framework is very general in the sense that it can incorporate various interpretation methods. Previously proposed gradient-based methods can be shown as an instance of our framework. We also propose two novel instances utilizing two other types of interpretation methods, erasure/replace-based and extractor-based methods, for model enhancement. We conduct comprehensive experiments on a variety of tasks. Experimental results show that our framework is effective especially in low-resource settings in enhancing models with various interpretation methods, and our two newly-proposed methods outperform gradient-based methods in most settings. Code is available at https://github.com/Chord-Chen-30/UIMER.
Explainability in JupyterLab and Beyond: Interactive XAI Systems for Integrated and Collaborative Workflows
Venue: arXiv cs.HC 2024
Year: 2024

Explainable AI (XAI) tools represent a turn to more human-centered and human-in-the-loop AI approaches that emphasize user needs and perspectives in machine learning model development workflows. However, while the majority of ML resources available today are developed for Python computational environments such as JupyterLab and Jupyter Notebook, the same has not been true of interactive XAI systems, which are often still implemented as standalone interfaces. In this paper, we address this mismatch by identifying three design patterns for embedding front-end XAI interfaces into Jupyter, namely: 1) One-way communication from Python to JavaScript, 2) Two-way data synchronization, and 3) Bi-directional callbacks. We also provide an open-source toolkit, bonXAI, that demonstrates how each design pattern might be used to build interactive XAI tools for a Pytorch text classification workflow. Finally, we conclude with a discussion of best practices and open questions. Our aims for this paper are to discuss how interactive XAI tools might be developed for computational notebooks, and how they can better integrate into existing model development workflows to support more collaborative, human-centered AI.
FastqZip: An Improved Reference-Based Genome Sequence Lossy Compression Framework
Venue: arXiv cs.IT 2024
Year: 2024

Storing and archiving data produced by next-generation sequencing (NGS) is a huge burden for research institutions. Reference-based compression algorithms are effective in dealing with these data. Our work focuses on compressing FASTQ format files with an improved reference-based compression algorithm to achieve a higher compression ratio than other state-of-the-art algorithms. We propose FastqZip, which uses a new method mapping the sequence to reference for compression, allows reads-reordering and lossy quality scores, and the BSC or ZPAQ algorithm to perform final lossless compression for a higher compression ratio and relatively fast speed. Our method ensures the sequence can be losslessly reconstructed while allowing lossless or lossy compression for the quality scores. We reordered the reads to get a higher compression ratio. We evaluate our algorithms on five datasets and show that FastqZip can outperform the SOTA algorithm Genozip by around 10% in terms of compression ratio while having an acceptable slowdown.
An Online Joint Optimization Approach for QoE Maximization in UAV-Enabled Mobile Edge Computing
Venue: arXiv cs.IT 2024
Year: 2024

Given flexible mobility, rapid deployment, and low cost, unmanned aerial vehicle (UAV)-enabled mobile edge computing (MEC) shows great potential to compensate for the lack of terrestrial edge computing coverage. However, limited battery capacity, computing and spectrum resources also pose serious challenges for UAV-enabled MEC, which shorten the service time of UAVs and degrade the quality of experience (QoE) of user devices (UDs) {\color{b} without effective control approach}. In this work, we consider a UAV-enabled MEC scenario where a UAV serves as an aerial edge server to provide computing services for multiple ground UDs. Then, a joint task offloading, resource allocation, and UAV trajectory planning optimization problem (JTRTOP) is formulated to maximize the QoE of UDs under the UAV energy consumption constraint. To solve the JTRTOP that is proved to be a future-dependent and NP-hard problem, an online joint optimization approach (OJOA) is proposed. Specifically, the JTRTOP is first transformed into a per-slot real-time optimization problem (PROP) by using the Lyapunov optimization framework. Then, a two-stage optimization method based on game theory and convex optimization is proposed to solve the PROP. Simulation results validate that the proposed approach can achieve superior system performance compared to the other benchmark schemes.
Emergent Abilities in Reduced-Scale Generative Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Large language models can solve new tasks without task-specific fine-tuning. This ability, also known as in-context learning (ICL), is considered an emergent ability and is primarily seen in large language models with billions of parameters. This study investigates if such emergent properties are strictly tied to model size or can be demonstrated by smaller models trained on reduced-scale data. To explore this, we simplify pre-training data and pre-train 36 causal language models with parameters varying from 1 million to 165 million parameters. We show that models trained on this simplified pre-training data demonstrate enhanced zero-shot capabilities across various tasks in simplified language, achieving performance comparable to that of pre-trained models six times larger on unrestricted language. This suggests that downscaling the language allows zero-shot learning capabilities to emerge in models with limited size. Additionally, we find that these smaller models pre-trained on simplified data demonstrate a power law relationship between the evaluation loss and the three scaling factors: compute, dataset size, and model size.
Exploring How Multiple Levels of GPT-Generated Programming Hints Support or Disappoint Novices
Venue: arXiv cs.HC 2024
Year: 2024

Recent studies have integrated large language models (LLMs) into diverse educational contexts, including providing adaptive programming hints, a type of feedback focuses on helping students move forward during problem-solving. However, most existing LLM-based hint systems are limited to one single hint type. To investigate whether and how different levels of hints can support students' problem-solving and learning, we conducted a think-aloud study with 12 novices using the LLM Hint Factory, a system providing four levels of hints from general natural language guidance to concrete code assistance, varying in format and granularity. We discovered that high-level natural language hints alone can be helpless or even misleading, especially when addressing next-step or syntax-related help requests. Adding lower-level hints, like code examples with in-line comments, can better support students. The findings open up future work on customizing help responses from content, format, and granularity levels to accurately identify and meet students' learning needs.
$\texttt{LM}^\texttt{2}$: A Simple Society of Language Models Solves Complex Reasoning
Venue: arXiv cs.CL 2024
Year: 2024

Despite demonstrating emergent reasoning abilities, Large Language Models (LLMS) often lose track of complex, multi-step reasoning. Existing studies show that providing guidance via decomposing the original question into multiple subproblems elicits more robustness in LLM reasoning -- a decomposer generates the subproblems, and a solver solves each of these subproblems. However, these techniques fail to accommodate coordination between the decomposer and the solver modules (either in a single model or different specialized ones) -- the decomposer does not keep track of the ability of the solver to follow the decomposed reasoning. In this paper, we propose LM2 to address these challenges. LM2 modularizes the decomposition, solution, and verification into three different language models. The decomposer module identifies the key concepts necessary to solve the problem and generates step-by-step subquestions according to the reasoning requirement. The solver model generates the solution to the subproblems that are then checked by the verifier module; depending upon the feedback from the verifier, the reasoning context is constructed using the subproblems and the solutions. These models are trained to coordinate using policy learning. Exhaustive experimentation suggests the superiority of LM2 over existing methods on in- and out-domain reasoning problems, outperforming the best baselines by $8.1\%$ on MATH, $7.71\%$ on JEEBench, and $9.7\%$ on MedQA problems (code available at https://github.com/LCS2-IIITD/Language_Model_Multiplex).
Continuous Sculpting: Persistent Swarm Shape Formation Adaptable to Local Environmental Changes
Venue: arXiv cs.RO 2024
Year: 2024

Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent of onboard energy constraints such as batteries. Robots generate a path through a shape such that robots cycle in and out of the shape. Robots inside the shape react to human initiated changes and adapt the path through the shape accordingly. Robots outside the shape recharge and return to the shape so that the shape can persist indefinitely. The presented algorithms communicate shape changes throughout the swarm using message passing and robot motion. These algorithms enable the swarm to persist through any arbitrary changes to the shape. We describe these algorithms in detail and present their performance in simulation and on a swarm of mobile robots. The result is a swarm behavior more suitable for extended duration, dynamic shape-based tasks in applications such as agriculture and emergency response.
Extracting Norms from Contracts Via ChatGPT: Opportunities and Challenges
Venue: arXiv cs.CL 2024
Year: 2024

We investigate the effectiveness of ChatGPT in extracting norms from contracts. Norms provide a natural way to engineer multiagent systems by capturing how to govern the interactions between two or more autonomous parties. We extract norms of commitment, prohibition, authorization, and power, along with associated norm elements (the parties involved, antecedents, and consequents) from contracts. Our investigation reveals ChatGPT's effectiveness and limitations in norm extraction from contracts. ChatGPT demonstrates promising performance in norm extraction without requiring training or fine-tuning, thus obviating the need for annotated data, which is not generally available in this domain. However, we found some limitations of ChatGPT in extracting these norms that lead to incorrect norm extractions. The limitations include oversight of crucial details, hallucination, incorrect parsing of conjunctions, and empty norm elements. Enhanced norm extraction from contracts can foster the development of more transparent and trustworthy formal agent interaction specifications, thereby contributing to the improvement of multiagent systems.
Constrained Robotic Navigation on Preferred Terrains Using LLMs and Speech Instruction: Exploiting the Power of Adverbs
Venue: arXiv cs.RO 2024
Year: 2024

This paper explores leveraging large language models for map-free off-road navigation using generative AI, reducing the need for traditional data collection and annotation. We propose a method where a robot receives verbal instructions, converted to text through Whisper, and a large language model (LLM) model extracts landmarks, preferred terrains, and crucial adverbs translated into speed settings for constrained navigation. A language-driven semantic segmentation model generates text-based masks for identifying landmarks and terrain types in images. By translating 2D image points to the vehicle's motion plane using camera parameters, an MPC controller can guides the vehicle towards the desired terrain. This approach enhances adaptation to diverse environments and facilitates the use of high-level instructions for navigating complex and challenging terrains.
Enhancing Human-Computer Interaction in Chest X-ray Analysis using Vision and Language Model with Eye Gaze Patterns
Venue: arXiv cs.CV 2024
Year: 2024

Recent advancements in Computer Assisted Diagnosis have shown promising performance in medical imaging tasks, particularly in chest X-ray analysis. However, the interaction between these models and radiologists has been primarily limited to input images. This work proposes a novel approach to enhance human-computer interaction in chest X-ray analysis using Vision-Language Models (VLMs) enhanced with radiologists' attention by incorporating eye gaze data alongside textual prompts. Our approach leverages heatmaps generated from eye gaze data, overlaying them onto medical images to highlight areas of intense radiologist's focus during chest X-ray evaluation. We evaluate this methodology in tasks such as visual question answering, chest X-ray report automation, error detection, and differential diagnosis. Our results demonstrate the inclusion of eye gaze information significantly enhances the accuracy of chest X-ray analysis. Also, the impact of eye gaze on fine-tuning was confirmed as it outperformed other medical VLMs in all tasks except visual question answering. This work marks the potential of leveraging both the VLM's capabilities and the radiologist's domain knowledge to improve the capabilities of AI models in medical imaging, paving a novel way for Computer Assisted Diagnosis with a human-centred AI.
Low-resource neural machine translation with morphological modeling
Venue: arXiv cs.CL 2024
Year: 2024

Morphological modeling in neural machine translation (NMT) is a promising approach to achieving open-vocabulary machine translation for morphologically-rich languages. However, existing methods such as sub-word tokenization and character-based models are limited to the surface forms of the words. In this work, we propose a framework-solution for modeling complex morphology in low-resource settings. A two-tier transformer architecture is chosen to encode morphological information at the inputs. At the target-side output, a multi-task multi-label training scheme coupled with a beam search-based decoder are found to improve machine translation performance. An attention augmentation scheme to the transformer model is proposed in a generic form to allow integration of pre-trained language models and also facilitate modeling of word order relationships between the source and target languages. Several data augmentation techniques are evaluated and shown to increase translation performance in low-resource settings. We evaluate our proposed solution on Kinyarwanda - English translation using public-domain parallel text. Our final models achieve competitive performance in relation to large multi-lingual models. We hope that our results will motivate more use of explicit morphological information and the proposed model and data augmentations in low-resource NMT.