OpenRaiser/Intern-Atlas huggingface dataset:
LiP-LLM: Integrating Linear Programming and dependency graph with Large Language Models for multi-robot task planning
Venue: arXiv cs.RO 2024
Year: 2024

This study proposes LiP-LLM: integrating linear programming and dependency graph with large language models (LLMs) for multi-robot task planning. In order for multiple robots to perform tasks more efficiently, it is necessary to manage the precedence dependencies between tasks. Although multi-robot decentralized and centralized task planners using LLMs have been proposed, none of these studies focus on precedence dependencies from the perspective of task efficiency or leverage traditional optimization methods. It addresses key challenges in managing dependencies between skills and optimizing task allocation. LiP-LLM consists of three steps: skill list generation and dependency graph generation by LLMs, and task allocation using linear programming. The LLMs are utilized to generate a comprehensive list of skills and to construct a dependency graph that maps the relationships and sequential constraints among these skills. To ensure the feasibility and efficiency of skill execution, the skill list is generated by calculated likelihood, and linear programming is used to optimally allocate tasks to each robot. Experimental evaluations in simulated environments demonstrate that this method outperforms existing task planners, achieving higher success rates and efficiency in executing complex, multi-robot tasks. The results indicate the potential of combining LLMs with optimization techniques to enhance the capabilities of multi-robot systems in executing coordinated tasks accurately and efficiently. In an environment with two robots, a maximum success rate difference of 0.82 is observed in the language instruction group with a change in the object name.
Getting By Goal Misgeneralization With a Little Help From a Mentor
Venue: arXiv cs.LG 2024
Year: 2024

While reinforcement learning (RL) agents often perform well during training, they can struggle with distribution shift in real-world deployments. One particularly severe risk of distribution shift is goal misgeneralization, where the agent learns a proxy goal that coincides with the true goal during training but not during deployment. In this paper, we explore whether allowing an agent to ask for help from a supervisor in unfamiliar situations can mitigate this issue. We focus on agents trained with PPO in the CoinRun environment, a setting known to exhibit goal misgeneralization. We evaluate multiple methods for determining when the agent should request help and find that asking for help consistently improves performance. However, we also find that methods based on the agent's internal state fail to proactively request help, instead waiting until mistakes have already occurred. Further investigation suggests that the agent's internal state does not represent the coin at all, highlighting the importance of learning nuanced representations, the risks of ignoring everything not immediately relevant to reward, and the necessity of developing ask-for-help strategies tailored to the agent's training algorithm.
Computable Lipschitz Bounds for Deep Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

Deriving sharp and computable upper bounds of the Lipschitz constant of deep neural networks is crucial to formally guarantee the robustness of neural-network based models. We analyse three existing upper bounds written for the $l^2$ norm. We highlight the importance of working with the $l^1$ and $l^\infty$ norms and we propose two novel bounds for both feed-forward fully-connected neural networks and convolutional neural networks. We treat the technical difficulties related to convolutional neural networks with two different methods, called explicit and implicit. Several numerical tests empirically confirm the theoretical results, help to quantify the relationship between the presented bounds and establish the better accuracy of the new bounds. Four numerical tests are studied: two where the output is derived from an analytical closed form are proposed; another one with random matrices; and the last one for convolutional neural networks trained on the MNIST dataset. We observe that one of our bound is optimal in the sense that it is exact for the first test with the simplest analytical form and it is better than other bounds for the other tests.
Automatic Generation of Benchmarks and Reliable LLM Judgment for Code Tasks
Venue: arXiv cs.SE 2024
Year: 2024

LLMs can be used in a variety of code related tasks such as translating from one programming language to another, implementing natural language requirements and code summarization. Artifacts generated by state of the art LLM technology are expected to be useful in the sense that a user will be able to use the LLM generated artifact after a small number of easy modifications. Quantifying this vague notion is challenging and it is thus hard to determine the quality of code related LLM solutions. We refer to evaluation of LLM solutions using LLM judgment as "LLM as a Judge", or LaaJ for short. In this work we introduce a methodology to generate and evaluate LaaJ implementations, utilizing an automatically generated benchmark. The purpose of the benchmark is two fold, namely, it is used both to develop and validate the LaaJs and to validate and test the LLM code related solution using the LaaJs. To that end, we developed an automated benchmark generation engine, which generates code in multiple programming languages for multiple code related tasks and which serves as the input for LaaJ evaluation. We utilize a graph representation, G, of the potential code related generations. The graph vertices are generated artifacts and edges represent possible generations, e.g., the generation of a Java program from its natural language requirements. Utilizing a chain of LLM agents and G we generate code related artifacts. Using cycles in G we formulate expectations on the generated artifacts. Taking advantage of these formulated expectations enables the development and testing of reliable LLM judgement for usefulness of the artifacts generated by the solution. Our approach enables the creation of high quality code task solutions.
Dual-Agent Deep Reinforcement Learning for Dynamic Pricing and Replenishment
Venue: arXiv cs.LG 2024
Year: 2024

We study the dynamic pricing and replenishment problems under inconsistent decision frequencies. Different from the traditional demand assumption, the discreteness of demand and the parameter within the Poisson distribution as a function of price introduce complexity into analyzing the problem property. We demonstrate the concavity of the single-period profit function with respect to product price and inventory within their respective domains. The demand model is enhanced by integrating a decision tree-based machine learning approach, trained on comprehensive market data. Employing a two-timescale stochastic approximation scheme, we address the discrepancies in decision frequencies between pricing and replenishment, ensuring convergence to local optimum. We further refine our methodology by incorporating deep reinforcement learning (DRL) techniques and propose a fast-slow dual-agent DRL algorithm. In this approach, two agents handle pricing and inventory and are updated on different scales. Numerical results from both single and multiple products scenarios validate the effectiveness of our methods.
FusedInf: Efficient Swapping of DNN Models for On-Demand Serverless Inference Services on the Edge
Venue: arXiv cs.LG 2024
Year: 2024

Edge AI computing boxes are a new class of computing devices that are aimed to revolutionize the AI industry. These compact and robust hardware units bring the power of AI processing directly to the source of data--on the edge of the network. On the other hand, on-demand serverless inference services are becoming more and more popular as they minimize the infrastructural cost associated with hosting and running DNN models for small to medium-sized businesses. However, these computing devices are still constrained in terms of resource availability. As such, the service providers need to load and unload models efficiently in order to meet the growing demand. In this paper, we introduce FusedInf to efficiently swap DNN models for on-demand serverless inference services on the edge. FusedInf combines multiple models into a single Direct Acyclic Graph (DAG) to efficiently load the models into the GPU memory and make execution faster. Our evaluation of popular DNN models showed that creating a single DAG can make the execution of the models up to 14\% faster while reducing the memory requirement by up to 17\%. The prototype implementation is available at https://github.com/SifatTaj/FusedInf.
Retrieval-Enhanced Mutation Mastery: Augmenting Zero-Shot Prediction of Protein Language Model
Venue: arXiv cs.CL 2024
Year: 2024

Enzyme engineering enables the modification of wild-type proteins to meet industrial and research demands by enhancing catalytic activity, stability, binding affinities, and other properties. The emergence of deep learning methods for protein modeling has demonstrated superior results at lower costs compared to traditional approaches such as directed evolution and rational design. In mutation effect prediction, the key to pre-training deep learning models lies in accurately interpreting the complex relationships among protein sequence, structure, and function. This study introduces a retrieval-enhanced protein language model for comprehensive analysis of native properties from sequence and local structural interactions, as well as evolutionary properties from retrieved homologous sequences. The state-of-the-art performance of the proposed ProtREM is validated on over 2 million mutants across 217 assays from an open benchmark (ProteinGym). We also conducted post-hoc analyses of the model's ability to improve the stability and binding affinity of a VHH antibody. Additionally, we designed 10 new mutants on a DNA polymerase and conducted wet-lab experiments to evaluate their enhanced activity at higher temperatures. Both in silico and experimental evaluations confirmed that our method provides reliable predictions of mutation effects, offering an auxiliary tool for biologists aiming to evolve existing enzymes. The implementation is publicly available at https://github.com/tyang816/ProtREM.
coVoxSLAM: GPU Accelerated Globally Consistent Dense SLAM
Venue: arXiv cs.RO 2024
Year: 2024

A dense SLAM system is essential for mobile robots, as it provides localization and allows navigation, path planning, obstacle avoidance, and decision-making in unstructured environments. Due to increasing computational demands the use of GPUs in dense SLAM is expanding. In this work, we present coVoxSLAM, a novel GPU-accelerated volumetric SLAM system that takes full advantage of the parallel processing power of the GPU to build globally consistent maps even in large-scale environments. It was deployed on different platforms (discrete and embedded GPU) and compared with the state of the art. The results obtained using public datasets show that coVoxSLAM delivers a significant performance improvement considering execution times while maintaining accurate localization. The presented system is available as open-source on GitHub https://github.com/lrse-uba/coVoxSLAM.
Synthetica: Large Scale Synthetic Data for Robot Perception
Venue: arXiv cs.CV 2024
Year: 2024

Vision-based object detectors are a crucial basis for robotics applications as they provide valuable information about object localisation in the environment. These need to ensure high reliability in different lighting conditions, occlusions, and visual artifacts, all while running in real-time. Collecting and annotating real-world data for these networks is prohibitively time consuming and costly, especially for custom assets, such as industrial objects, making it untenable for generalization to in-the-wild scenarios. To this end, we present Synthetica, a method for large-scale synthetic data generation for training robust state estimators. This paper focuses on the task of object detection, an important problem which can serve as the front-end for most state estimation problems, such as pose estimation. Leveraging data from a photorealistic ray-tracing renderer, we scale up data generation, generating 2.7 million images, to train highly accurate real-time detection transformers. We present a collection of rendering randomization and training-time data augmentation techniques conducive to robust sim-to-real performance for vision tasks. We demonstrate state-of-the-art performance on the task of object detection while having detectors that run at 50-100Hz which is 9 times faster than the prior SOTA. We further demonstrate the usefulness of our training methodology for robotics applications by showcasing a pipeline for use in the real world with custom objects for which there do not exist prior datasets. Our work highlights the importance of scaling synthetic data generation for robust sim-to-real transfer while achieving the fastest real-time inference speeds. Videos and supplementary information can be found at this URL: https://sites.google.com/view/synthetica-vision.
On Homomorphic Encryption Based Strategies for Class Imbalance in Federated Learning
Venue: arXiv cs.CR 2024
Year: 2024

Class imbalance in training datasets can lead to bias and poor generalization in machine learning models. While pre-processing of training datasets can efficiently address both these issues in centralized learning environments, it is challenging to detect and address these issues in a distributed learning environment such as federated learning. In this paper, we propose FLICKER, a privacy preserving framework to address issues related to global class imbalance in federated learning. At the heart of our contribution lies the popular CKKS homomorphic encryption scheme, which is used by the clients to privately share their data attributes, and subsequently balance their datasets before implementing the FL scheme. Extensive experimental results show that our proposed method significantly improves the FL accuracy numbers when used along with popular datasets and relevant baselines.
Hierarchical Knowledge Graph Construction from Images for Scalable E-Commerce
Venue: arXiv cs.AI 2024
Year: 2024

Knowledge Graph (KG) is playing an increasingly important role in various AI systems. For e-commerce, an efficient and low-cost automated knowledge graph construction method is the foundation of enabling various successful downstream applications. In this paper, we propose a novel method for constructing structured product knowledge graphs from raw product images. The method cooperatively leverages recent advances in the vision-language model (VLM) and large language model (LLM), fully automating the process and allowing timely graph updates. We also present a human-annotated e-commerce product dataset for benchmarking product property extraction in knowledge graph construction. Our method outperforms our baseline in all metrics and evaluated properties, demonstrating its effectiveness and bright usage potential.
On Inductive Biases That Enable Generalization of Diffusion Transformers
Venue: arXiv cs.CV 2024
Year: 2024

Recent work studying the generalization of diffusion models with UNet-based denoisers reveals inductive biases that can be expressed via geometry-adaptive harmonic bases. However, in practice, more recent denoising networks are often based on transformers, e.g., the diffusion transformer (DiT). This raises the question: do transformer-based denoising networks exhibit inductive biases that can also be expressed via geometry-adaptive harmonic bases? To our surprise, we find that this is not the case. This discrepancy motivates our search for the inductive bias that can lead to good generalization in DiT models. Investigating the pivotal attention modules of a DiT, we find that locality of attention maps are closely associated with generalization. To verify this finding, we modify the generalization of a DiT by restricting its attention windows. We inject local attention windows to a DiT and observe an improvement in generalization. Furthermore, we empirically find that both the placement and the effective attention size of these local attention windows are crucial factors. Experimental results on the CelebA, ImageNet, and LSUN datasets show that strengthening the inductive bias of a DiT can improve both generalization and generation quality when less training data is available. Source code will be released publicly upon paper publication. Project page: dit-generalization.github.io/.
QUBO Formulations for Variation of Domination Problem
Venue: arXiv cs.CE 2024
Year: 2024

With the development of quantum computing, the use of quantum algorithms to solve combinatorial optimization problems on quantum computers has become a major research focus. The Quadratic Unconstrained Binary Optimization (QUBO) model serves as a bridge between combinatorial optimization problems and quantum computers, and is a prerequisite for these studies. In combinatorial optimization problems, the Domination Problem (DP) is related to many practical issues in the real world, such as the fire station problem, social network theory, and so on. Additionally, the DP has numerous variants, such as independent DP, total DP, k-domination, and so forth. However, there is a scarcity of quantum computing research on these variant problems. A possible reason for this is the lack of research on QUBO modeling for these issues. This paper investigates the QUBO modeling methods for the classic DP and its variants. Compared to previous studies, the QUBO modeling method we propose for the classic DP can utilize fewer qubits. This will lower the barrier for solving DP on quantum computers. At the same time, for many variants of DP problems, we provide their QUBO modeling methods for the first time. Our work will accelerate the entry of DP into the quantum era.
Comparative Global AI Regulation: Policy Perspectives from the EU, China, and the US
Venue: arXiv cs.CY 2024
Year: 2024

As a powerful and rapidly advancing dual-use technology, AI offers both immense benefits and worrisome risks. In response, governing bodies around the world are developing a range of regulatory AI laws and policies. This paper compares three distinct approaches taken by the EU, China and the US. Within the US, we explore AI regulation at both the federal and state level, with a focus on California's pending Senate Bill 1047. Each regulatory system reflects distinct cultural, political and economic perspectives. Each also highlights differing regional perspectives on regulatory risk-benefit tradeoffs, with divergent judgments on the balance between safety versus innovation and cooperation versus competition. Finally, differences between regulatory frameworks reflect contrastive stances in regards to trust in centralized authority versus trust in a more decentralized free market of self-interested stakeholders. Taken together, these varied approaches to AI innovation and regulation influence each other, the broader international community, and the future of AI regulation.
Logic Error Localization in Student Programming Assignments Using Pseudocode and Graph Neural Networks
Venue: arXiv cs.CY 2024
Year: 2024

Pseudocode is extensively used in introductory programming courses to instruct computer science students in algorithm design, utilizing natural language to define algorithmic behaviors. This learning approach enables students to convert pseudocode into source code and execute it to verify their algorithms' correctness. This process typically introduces two types of errors: syntax errors and logic errors. Syntax errors are often accompanied by compiler feedback, which helps students identify incorrect lines. In contrast, logic errors are more challenging because they do not trigger compiler errors and lack immediate diagnostic feedback, making them harder to detect and correct. To address this challenge, we developed a system designed to localize logic errors within student programming assignments at the line level. Our approach utilizes pseudocode as a scaffold to build a code-pseudocode graph, connecting symbols from the source code to their pseudocode counterparts. We then employ a graph neural network to both localize and suggest corrections for logic errors. Additionally, we have devised a method to efficiently gather logic-error-prone programs during the syntax error correction process and compile these into a dataset that includes single and multiple line logic errors, complete with indices of the erroneous lines. Our experimental results are promising, demonstrating a localization accuracy of 99.2% for logic errors within the top-10 suspected lines, highlighting the effectiveness of our approach in enhancing students' coding proficiency and error correction skills.
Producer vs. Rapper: Who Dominates the Hip Hop Sound? A Case Study
Venue: arXiv cs.SD 2024
Year: 2024

In hip-hop music, rappers and producers play important, but rather different roles. However, both contribute to the overall sound, as rappers bring in their voice, while producers are responsible for the music composition and mix. In this case report, we trained Self-Organizing Maps (SOMs) with songs produced by Dr. Dre, Rick Rubin and Timbaland using the goniometer and Mel Frequency Cepstral Coefficients (MFCCs). With these maps, we investigate whether hip hop producers have a unique sound profile. Then, we test whether collaborations with the rappers Eminem, Jay-Z, LL Cool J and Nas stick to, or break out of this sound profile. As these rappers are also producers of some songs, we investigate how much their sound profile is influenced by the producers who introduced them to beat making. The results speak a clear language: producers have their own sound profile that is unique concerning the goniometer, and less distinct concerning MFCCs. They dominate the sound of hip hop music over rappers, who emulate the sound profile of the producers who introduced them to beat making.
ArCSEM: Artistic Colorization of SEM Images via Gaussian Splatting
Venue: arXiv cs.CV 2024
Year: 2024

Scanning Electron Microscopes (SEMs) are widely renowned for their ability to analyze the surface structures of microscopic objects, offering the capability to capture highly detailed, yet only grayscale, images. To create more expressive and realistic illustrations, these images are typically manually colorized by an artist with the support of image editing software. This task becomes highly laborious when multiple images of a scanned object require colorization. We propose facilitating this process by using the underlying 3D structure of the microscopic scene to propagate the color information to all the captured images, from as little as one colorized view. We explore several scene representation techniques and achieve high-quality colorized novel view synthesis of a SEM scene. In contrast to prior work, there is no manual intervention or labelling involved in obtaining the 3D representation. This enables an artist to color a single or few views of a sequence and automatically retrieve a fully colored scene or video. Project page: https://ronly2460.github.io/ArCSEM