OpenRaiser/Intern-Atlas huggingface dataset:
Learning from Random Demonstrations: Offline Reinforcement Learning with Importance-Sampled Diffusion Models
Venue: arXiv cs.LG 2024
Year: 2024

Generative models such as diffusion have been employed as world models in offline reinforcement learning to generate synthetic data for more effective learning. Existing work either generates diffusion models one-time prior to training or requires additional interaction data to update it. In this paper, we propose a novel approach for offline reinforcement learning with closed-loop policy evaluation and world-model adaptation. It iteratively leverages a guided diffusion world model to directly evaluate the offline target policy with actions drawn from it, and then performs an importance-sampled world model update to adaptively align the world model with the updated policy. We analyzed the performance of the proposed method and provided an upper bound on the return gap between our method and the real environment under an optimal policy. The result sheds light on various factors affecting learning performance. Evaluations in the D4RL environment show significant improvement over state-of-the-art baselines, especially when only random or medium-expertise demonstrations are available -- thus requiring improved alignment between the world model and offline policy evaluation.
Federated Learning with Multi-resolution Model Broadcast
Venue: arXiv cs.NI 2024
Year: 2024

In federated learning, a server must periodically broadcast a model to the agents. We propose to use multi-resolution coding and modulation (also known as non-uniform modulation) for this purpose. In the simplest instance, broadcast transmission is used, whereby all agents are targeted with one and the same transmission (typically without any particular favored beam direction), which is coded using multi-resolution coding/modulation. This enables high-SNR agents, with high path gains to the server, to receive a more accurate model than the low-SNR agents do, without consuming more downlink resources. As one implementation, we use transmission with a non-uniform 8-PSK constellation, where a high-SNR receiver (agent) can separate all 8 constellation points (hence receive 3 bits) whereas a low-SNR receiver can only separate 4 points (hence receive 2 bits). By encoding the least significant information in the third bit, the high-SNR receivers can obtain the model with higher accuracy, while the low-SNR receiver can still obtain the model although with reduced accuracy, thereby facilitating at least some basic participation of the low-SNR receiver. We show the effectiveness of our proposed scheme via experimentation using federated learning with the MNIST data-set.
Similarity is Not All You Need: Endowing Retrieval Augmented Generation with Multi Layered Thoughts
Venue: arXiv cs.LG 2024
Year: 2024

In recent years, large language models (LLMs) have made remarkable achievements in various domains. However, the untimeliness and cost of knowledge updates coupled with hallucination issues of LLMs have curtailed their applications in knowledge intensive tasks, where retrieval augmented generation (RAG) can be of help. Nevertheless, existing retrieval augmented models typically use similarity as a bridge between queries and documents and follow a retrieve then read procedure. In this work, we argue that similarity is not always the panacea and totally relying on similarity would sometimes degrade the performance of retrieval augmented generation. To this end, we propose MetRag, a Multi layEred Thoughts enhanced Retrieval Augmented Generation framework. To begin with, beyond existing similarity oriented thought, we embrace a small scale utility model that draws supervision from an LLM for utility oriented thought and further come up with a smarter model by comprehensively combining the similarity and utility oriented thoughts. Furthermore, given the fact that the retrieved document set tends to be huge and using them in isolation makes it difficult to capture the commonalities and characteristics among them, we propose to make an LLM as a task adaptive summarizer to endow retrieval augmented generation with compactness-oriented thought. Finally, with multi layered thoughts from the precedent stages, an LLM is called for knowledge augmented generation. Extensive experiments on knowledge-intensive tasks have demonstrated the superiority of MetRag.
Full weight spectrum one-orbit cyclic subspace codes
Venue: arXiv cs.IT 2024
Year: 2024

For a linear Hamming metric code of length n over a finite field, the number of distinct weights of its codewords is at most n. The codes achieving the equality in the above bound were called full weight spectrum codes. In this paper we will focus on the analogous class of codes within the framework of cyclic subspace codes. Cyclic subspace codes have garnered significant attention, particularly for their applications in random network coding to correct errors and erasures. We investigate one-orbit cyclic subspace codes that are full weight spectrum in this context. Utilizing number theoretical results and combinatorial arguments, we provide a complete classification of full weight spectrum one-orbit cyclic subspace codes.
GenKubeSec: LLM-Based Kubernetes Misconfiguration Detection, Localization, Reasoning, and Remediation
Venue: arXiv cs.CR 2024
Year: 2024

A key challenge associated with Kubernetes configuration files (KCFs) is that they are often highly complex and error-prone, leading to security vulnerabilities and operational setbacks. Rule-based (RB) tools for KCF misconfiguration detection rely on static rule sets, making them inherently limited and unable to detect newly-discovered misconfigurations. RB tools also suffer from misdetection, since mistakes are likely when coding the detection rules. Recent methods for detecting and remediating KCF misconfigurations are limited in terms of their scalability and detection coverage, or due to the fact that they have high expertise requirements and do not offer automated remediation along with misconfiguration detection. Novel approaches that employ LLMs in their pipeline rely on API-based, general-purpose, and mainly commercial models. Thus, they pose security challenges, have inconsistent classification performance, and can be costly. In this paper, we propose GenKubeSec, a comprehensive and adaptive, LLM-based method, which, in addition to detecting a wide variety of KCF misconfigurations, also identifies the exact location of the misconfigurations and provides detailed reasoning about them, along with suggested remediation. When empirically compared with three industry-standard RB tools, GenKubeSec achieved equivalent precision (0.990) and superior recall (0.999). When a random sample of KCFs was examined by a Kubernetes security expert, GenKubeSec's explanations as to misconfiguration localization, reasoning and remediation were 100% correct, informative and useful. To facilitate further advancements in this domain, we share the unique dataset we collected, a unified misconfiguration index we developed for label standardization, our experimentation code, and GenKubeSec itself as an open-source tool.
subMFL: Compatiple subModel Generation for Federated Learning in Device Heterogenous Environment
Venue: arXiv cs.LG 2024
Year: 2024

Federated Learning (FL) is commonly used in systems with distributed and heterogeneous devices with access to varying amounts of data and diverse computing and storage capacities. FL training process enables such devices to update the weights of a shared model locally using their local data and then a trusted central server combines all of those models to generate a global model. In this way, a global model is generated while the data remains local to devices to preserve privacy. However, training large models such as Deep Neural Networks (DNNs) on resource-constrained devices can take a prohibitively long time and consume a large amount of energy. In the current process, the low-capacity devices are excluded from the training process, although they might have access to unseen data. To overcome this challenge, we propose a model compression approach that enables heterogeneous devices with varying computing capacities to participate in the FL process. In our approach, the server shares a dense model with all devices to train it: Afterwards, the trained model is gradually compressed to obtain submodels with varying levels of sparsity to be used as suitable initial global models for resource-constrained devices that were not capable of train the first dense model. This results in an increased participation rate of resource-constrained devices while the transferred weights from the previous round of training are preserved. Our validation experiments show that despite reaching about 50 per cent global sparsity, generated submodels maintain their accuracy while can be shared to increase participation by around 50 per cent.
Safe Multi-agent Reinforcement Learning with Natural Language Constraints
Venue: arXiv cs.MA 2024
Year: 2024

The role of natural language constraints in Safe Multi-agent Reinforcement Learning (MARL) is crucial, yet often overlooked. While Safe MARL has vast potential, especially in fields like robotics and autonomous vehicles, its full potential is limited by the need to define constraints in pre-designed mathematical terms, which requires extensive domain expertise and reinforcement learning knowledge, hindering its broader adoption. To address this limitation and make Safe MARL more accessible and adaptable, we propose a novel approach named Safe Multi-agent Reinforcement Learning with Natural Language constraints (SMALL). Our method leverages fine-tuned language models to interpret and process free-form textual constraints, converting them into semantic embeddings that capture the essence of prohibited states and behaviours. These embeddings are then integrated into the multi-agent policy learning process, enabling agents to learn policies that minimize constraint violations while optimizing rewards. To evaluate the effectiveness of SMALL, we introduce the LaMaSafe, a multi-task benchmark designed to assess the performance of multiple agents in adhering to natural language constraints. Empirical evaluations across various environments demonstrate that SMALL achieves comparable rewards and significantly fewer constraint violations, highlighting its effectiveness in understanding and enforcing natural language constraints.
From Forest to Zoo: Great Ape Behavior Recognition with ChimpBehave
Venue: arXiv cs.CV 2024
Year: 2024

This paper addresses the significant challenge of recognizing behaviors in non-human primates, specifically focusing on chimpanzees. Automated behavior recognition is crucial for both conservation efforts and the advancement of behavioral research. However, it is significantly hindered by the labor-intensive process of manual video annotation. Despite the availability of large-scale animal behavior datasets, the effective application of machine learning models across varied environmental settings poses a critical challenge, primarily due to the variability in data collection contexts and the specificity of annotations. In this paper, we introduce ChimpBehave, a novel dataset featuring over 2 hours of video (approximately 193,000 video frames) of zoo-housed chimpanzees, meticulously annotated with bounding boxes and behavior labels for action recognition. ChimpBehave uniquely aligns its behavior classes with existing datasets, allowing for the study of domain adaptation and cross-dataset generalization methods between different visual settings. Furthermore, we benchmark our dataset using a state-of-the-art CNN-based action recognition model, providing the first baseline results for both within and cross-dataset settings. The dataset, models, and code can be accessed at: https://github.com/MitchFuchs/ChimpBehave
Power Allocation for Cell-Free Massive MIMO ISAC Systems with OTFS Signal
Venue: arXiv cs.IT 2024
Year: 2024

Applying integrated sensing and communication (ISAC) to a cell-free massive multiple-input multiple-output (CF mMIMO) architecture has attracted increasing attention. This approach equips CF mMIMO networks with sensing capabilities and resolves the problem of unreliable service at cell edges in conventional cellular networks. However, existing studies on CF-ISAC systems have focused on the application of traditional integrated signals. To address this limitation, this study explores the employment of the orthogonal time frequency space (OTFS) signal as a representative of innovative signals in the CF-ISAC system, and the system's overall performance is optimized and evaluated. A universal downlink spectral efficiency (SE) expression is derived regarding multi-antenna access points (APs) and optional sensing beams. To streamline the analysis and optimization of the CF-ISAC system with the OTFS signal, we introduce a lower bound on the achievable SE that is applicable to OTFS-signal-based systems. Based on this, a power allocation algorithm is proposed to maximize the minimum communication signal-to-interference-plus-noise ratio (SINR) of users while guaranteeing a specified sensing SINR value and meeting the per-AP power constraints. The results demonstrate the tightness of the proposed lower bound and the efficiency of the proposed algorithm. Finally, the superiority of using the OTFS signals is verified by a 13-fold expansion of the SE performance gap over the application of orthogonal frequency division multiplexing signals. These findings could guide the future deployment of the CF-ISAC systems, particularly in the field of millimeter waves with a large bandwidth.
Tachis: Higher-Order Separation Logic with Credits for Expected Costs
Venue: arXiv cs.LO 2024
Year: 2024

We present Tachis, a higher-order separation logic to reason about the expected cost of probabilistic programs. Inspired by the uses of time credits for reasoning about the running time of deterministic programs, we introduce a novel notion of probabilistic cost credit. Probabilistic cost credits are a separation logic resource that can be used to pay for the cost of operations in programs, and that can be distributed across all possible branches of sampling instructions according to their weight, thus enabling us to reason about expected cost. The representation of cost credits as separation logic resources gives Tachis a great deal of flexibility and expressivity. In particular, it permits reasoning about amortized expected cost by storing excess credits as potential into data structures to pay for future operations. Tachis further supports a range of cost models, including running time and entropy usage. We showcase the versatility of this approach by applying our techniques to prove upper bounds on the expected cost of a variety of probabilistic algorithms and data structures, including randomized quicksort, hash tables, and meldable heaps. All of our results have been mechanized using Coq, Iris, and the Coquelicot real analysis library.
Soft Partitioning of Latent Space for Semantic Channel Equalization
Venue: arXiv cs.LG 2024
Year: 2024

Semantic channel equalization has emerged as a solution to address language mismatch in multi-user semantic communications. This approach aims to align the latent spaces of an encoder and a decoder which were not jointly trained and it relies on a partition of the semantic (latent) space into atoms based on the the semantic meaning. In this work we explore the role of the semantic space partition in scenarios where the task structure involves a one-to-many mapping between the semantic space and the action space. In such scenarios, partitioning based on hard inference results results in loss of information which degrades the equalization performance. We propose a soft criterion to derive the atoms of the partition which leverages the soft decoder's output and offers a more comprehensive understanding of the semantic space's structure. Through empirical validation, we demonstrate that soft partitioning yields a more descriptive and regular partition of the space, consequently enhancing the performance of the equalization algorithm.
The Fine-Tuning Paradox: Boosting Translation Quality Without Sacrificing LLM Abilities
Venue: arXiv cs.CL 2024
Year: 2024

Fine-tuning large language models (LLMs) for machine translation has shown improvements in overall translation quality. However, it is unclear what is the impact of fine-tuning on desirable LLM behaviors that are not present in neural machine translation models, such as steerability, inherent document-level translation abilities, and the ability to produce less literal translations. We perform an extensive translation evaluation on the LLaMA and Falcon family of models with model size ranging from 7 billion up to 65 billion parameters. Our results show that while fine-tuning improves the general translation quality of LLMs, several abilities degrade. In particular, we observe a decline in the ability to perform formality steering, to produce technical translations through few-shot examples, and to perform document-level translation. On the other hand, we observe that the model produces less literal translations after fine-tuning on parallel data. We show that by including monolingual data as part of the fine-tuning data we can maintain the abilities while simultaneously enhancing overall translation quality. Our findings emphasize the need for fine-tuning strategies that preserve the benefits of LLMs for machine translation.
Object-centric Reconstruction and Tracking of Dynamic Unknown Objects using 3D Gaussian Splatting
Venue: arXiv cs.RO 2024
Year: 2024

Generalizable perception is one of the pillars of high-level autonomy in space robotics. Estimating the structure and motion of unknown objects in dynamic environments is fundamental for such autonomous systems. Traditionally, the solutions have relied on prior knowledge of target objects, multiple disparate representations, or low-fidelity outputs unsuitable for robotic operations. This work proposes a novel approach to incrementally reconstruct and track a dynamic unknown object using a unified representation -- a set of 3D Gaussian blobs that describe its geometry and appearance. The differentiable 3D Gaussian Splatting framework is adapted to a dynamic object-centric setting. The input to the pipeline is a sequential set of RGB-D images. 3D reconstruction and 6-DoF pose tracking tasks are tackled using first-order gradient-based optimization. The formulation is simple, requires no pre-training, assumes no prior knowledge of the object or its motion, and is suitable for online applications. The proposed approach is validated on a dataset of 10 unknown spacecraft of diverse geometry and texture under arbitrary relative motion. The experiments demonstrate successful 3D reconstruction and accurate 6-DoF tracking of the target object in proximity operations over a short to medium duration. The causes of tracking drift are discussed and potential solutions are outlined.
A Structure-Aware Lane Graph Transformer Model for Vehicle Trajectory Prediction
Venue: arXiv cs.AI 2024
Year: 2024

Accurate prediction of future trajectories for surrounding vehicles is vital for the safe operation of autonomous vehicles. This study proposes a Lane Graph Transformer (LGT) model with structure-aware capabilities. Its key contribution lies in encoding the map topology structure into the attention mechanism. To address variations in lane information from different directions, four Relative Positional Encoding (RPE) matrices are introduced to capture the local details of the map topology structure. Additionally, two Shortest Path Distance (SPD) matrices are employed to capture distance information between two accessible lanes. Numerical results indicate that the proposed LGT model achieves a significantly higher prediction performance on the Argoverse 2 dataset. Specifically, the minFDE$_6$ metric was decreased by 60.73% compared to the Argoverse 2 baseline model (Nearest Neighbor) and the b-minFDE$_6$ metric was reduced by 2.65% compared to the baseline LaneGCN model. Furthermore, ablation experiments demonstrated that the consideration of map topology structure led to a 4.24% drop in the b-minFDE$_6$ metric, validating the effectiveness of this model.
MotionDreamer: Exploring Semantic Video Diffusion features for Zero-Shot 3D Mesh Animation
Venue: arXiv cs.CV 2024
Year: 2024

Animation techniques bring digital 3D worlds and characters to life. However, manual animation is tedious and automated techniques are often specialized to narrow shape classes. In our work, we propose a technique for automatic re-animation of various 3D shapes based on a motion prior extracted from a video diffusion model. Unlike existing 4D generation methods, we focus solely on the motion, and we leverage an explicit mesh-based representation compatible with existing computer-graphics pipelines. Furthermore, our utilization of diffusion features enhances accuracy of our motion fitting. We analyze efficacy of these features for animation fitting and we experimentally validate our approach for two different diffusion models and four animation models. Finally, we demonstrate that our time-efficient zero-shot method achieves a superior performance re-animating a diverse set of 3D shapes when compared to existing techniques in a user study. The project website is located at https://lukas.uzolas.com/MotionDreamer.
Iterative Feature Boosting for Explainable Speech Emotion Recognition
Venue: arXiv cs.SD 2024
Year: 2024

In speech emotion recognition (SER), using predefined features without considering their practical importance may lead to high dimensional datasets, including redundant and irrelevant information. Consequently, high-dimensional learning often results in decreasing model accuracy while increasing computational complexity. Our work underlines the importance of carefully considering and analyzing features in order to build efficient SER systems. We present a new supervised SER method based on an efficient feature engineering approach. We pay particular attention to the explainability of results to evaluate feature relevance and refine feature sets. This is performed iteratively through feature evaluation loop, using Shapley values to boost feature selection and improve overall framework performance. Our approach allows thus to balance the benefits between model performance and transparency. The proposed method outperforms human-level performance (HLP) and state-of-the-art machine learning methods in emotion recognition on the TESS dataset. The source code of this paper is publicly available at https://github.com/alaaNfissi/Iterative-Feature-Boosting-for-Explainable-Speech-Emotion-Recognition.
A Survey Study on the State of the Art of Programming Exercise Generation using Large Language Models
Venue: arXiv cs.AI 2024
Year: 2024

This paper analyzes Large Language Models (LLMs) with regard to their programming exercise generation capabilities. Through a survey study, we defined the state of the art, extracted their strengths and weaknesses and finally proposed an evaluation matrix, helping researchers and educators to decide which LLM is the best fitting for the programming exercise generation use case. We also found that multiple LLMs are capable of producing useful programming exercises. Nevertheless, there exist challenges like the ease with which LLMs might solve exercises generated by LLMs. This paper contributes to the ongoing discourse on the integration of LLMs in education.