OpenRaiser/Intern-Atlas huggingface dataset:
Inverse Painting: Reconstructing The Painting Process
Venue: arXiv cs.CV 2024
Year: 2024

Given an input painting, we reconstruct a time-lapse video of how it may have been painted. We formulate this as an autoregressive image generation problem, in which an initially blank "canvas" is iteratively updated. The model learns from real artists by training on many painting videos. Our approach incorporates text and region understanding to define a set of painting "instructions" and updates the canvas with a novel diffusion-based renderer. The method extrapolates beyond the limited, acrylic style paintings on which it has been trained, showing plausible results for a wide range of artistic styles and genres.
iSurgARy: A mobile augmented reality solution for ventriculostomy in resource-limited settings
Venue: arXiv cs.HC 2024
Year: 2024

Global disparities in neurosurgical care necessitate innovations addressing affordability and accuracy, particularly for critical procedures like ventriculostomy. This intervention, vital for managing life-threatening intracranial pressure increases, is associated with catheter misplacement rates exceeding 30% when using a freehand technique. Such misplacements hold severe consequences including haemorrhage, infection, prolonged hospital stays, and even morbidity and mortality. To address this issue, we present a novel, stand-alone mobile-based augmented reality system (iSurgARy) aimed at significantly improving ventriculostomy accuracy, particularly in resource-limited settings such as those in low- and middle-income countries. iSurgARy uses landmark based registration by taking advantage of Light Detection and Ranging (LiDaR) to allow for accurate surgical guidance. To evaluate iSurgARy, we conducted a two-phase user study. Initially, we assessed usability and learnability with novice participants using the System Usability Scale (SUS), incorporating their feedback to refine the application. In the second phase, we engaged human-computer interaction (HCI) and clinical domain experts to evaluate our application, measuring Root Mean Square Error (RMSE), System Usability Scale (SUS) and NASA Task Load Index (TLX) metrics to assess accuracy usability, and cognitive workload, respectively
A Novel Spinor-Based Embedding Model for Transformers
Venue: arXiv cs.LG 2024
Year: 2024

This paper proposes a novel approach to word embeddings in Transformer models by utilizing spinors from geometric algebra. Spinors offer a rich mathematical framework capable of capturing complex relationships and transformations in high-dimensional spaces. By encoding words as spinors, we aim to enhance the expressiveness and robustness of language representations. We present the theoretical foundations of spinors, detail their integration into Transformer architectures, and discuss potential advantages and challenges.
CVVLSNet: Vehicle Location and Speed Estimation Using Partial Connected Vehicle Trajectory Data
Venue: arXiv cs.CV 2024
Year: 2024

Real-time estimation of vehicle locations and speeds is crucial for developing many beneficial transportation applications in traffic management and control, e.g., adaptive signal control. Recent advances in communication technologies facilitate the emergence of connected vehicles (CVs), which can share traffic information with nearby CVs or infrastructures. At the early stage of connectivity, only a portion of vehicles are CVs. The locations and speeds for those non-CVs (NCs) are not accessible and must be estimated to obtain the full traffic information. To address the above problem, this paper proposes a novel CV-based Vehicle Location and Speed estimation network, CVVLSNet, to simultaneously estimate the vehicle locations and speeds exclusively using partial CV trajectory data. A road cell occupancy (RCO) method is first proposed to represent the variable vehicle state information. Spatiotemporal interactions can be integrated by simply fusing the RCO representations. Then, CVVLSNet, taking the Coding-RAte TransformEr (CRATE) network as a backbone, is introduced to estimate the vehicle locations and speeds. Moreover, physical vehicle size constraints are also considered in loss functions. Extensive experiments indicate that the proposed method significantly outperformed the existing method under various CV penetration rates, signal timings, and volume-to-capacity ratios.
Are Large Language Models In-Context Personalized Summarizers? Get an iCOPERNICUS Test Done!
Venue: arXiv cs.CL 2024
Year: 2024

Large Language Models (LLMs) have succeeded considerably in In-Context-Learning (ICL) based summarization. However, saliency is subject to the users' specific preference histories. Hence, we need reliable In-Context Personalization Learning (ICPL) capabilities within such LLMs. For any arbitrary LLM to exhibit ICPL, it needs to have the ability to discern contrast in user profiles. A recent study proposed a measure for degree-of-personalization called EGISES for the first time. EGISES measures a model's responsiveness to user profile differences. However, it cannot test if a model utilizes all three types of cues provided in ICPL prompts: (i) example summaries, (ii) user's reading histories, and (iii) contrast in user profiles. To address this, we propose the iCOPERNICUS framework, a novel In-COntext PERsonalization learNIng sCrUtiny of Summarization capability in LLMs that uses EGISES as a comparative measure. As a case-study, we evaluate 17 state-of-the-art LLMs based on their reported ICL performances and observe that 15 models' ICPL degrades (min: 1.6%; max: 3.6%) when probed with richer prompts, thereby showing lack of true ICPL.
The Patterns of Life Human Mobility Simulation
Venue: arXiv cs.MA 2024
Year: 2024

We demonstrate the Patterns of Life Simulation to create realistic simulations of human mobility in a city. This simulation has recently been used to generate massive amounts of trajectory and check-in data. Our demonstration focuses on using the simulation twofold: (1) using the graphical user interface (GUI), and (2) running the simulation headless by disabling the GUI for faster data generation. We further demonstrate how the Patterns of Life simulation can be used to simulate any region on Earth by using publicly available data from OpenStreetMap. Finally, we also demonstrate recent improvements to the scalability of the simulation allows simulating up to 100,000 individual agents for years of simulation time. During our demonstration, as well as offline using our guides on GitHub, participants will learn: (1) The theories of human behavior driving the Patters of Life simulation, (2) how to simulate to generate massive amounts of synthetic yet realistic trajectory data, (3) running the simulation for a region of interest chosen by participants using OSM data, (4) learn the scalability of the simulation and understand the properties of generated data, and (5) manage thousands of parallel simulation instances running concurrently.
Closed Repeats
Venue: arXiv cs.DS 2024
Year: 2024

Much research in stringology focuses on structures that can, in a way, ``grasp'' repeats (substrings that occur multiple times) as, for example, the so-called runs, a.k.a. maximal repetitions, compactly describe all tandem repeats. In this paper we introduce closed repeats: given a string $s$, its non-empty substring $s[i\,..\,j]$ is a right (left) closed repeat if its closest occurrence $s[i'\,..\,j']$ with $i' > i$ cannot be ``extended'' to the right (respectively, left) matching $s[j{+}1] = s[j'{+}1]$ (respectively, $s[i{-}1] = s[i'{-}1]$); the repeat is closed if it is both left and right closed. We note that the closed repeats correspond to the maximal closed substrings recently proposed by Badkobeh et al. and they include all runs as a special case. We prove that the number of right/left closed repeats is $O(n \log n)$, where $n$ is the length of $s$, and we show that this bound is tight. The (right/left) closed repeats can be computed in the optimal time $O(n\log n)$; as we prove, the computation time cannot be lower than $Ω(n\logσ)$ over a general ordered alphabet of size $σ$ even when the number of the closed repeats is $O(n)$. As an application, we describe data structures using the closed repeats for a number of substring queries: finding the period of the substring provided it is ``periodic'', finding the longest repeat in the substring, computing the rightmost LZ77 parsing of the substring.
Micromanipulation System for Microscale Magnetic Component Alignment and Assembly
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents a contact-based micromanipulation system for the alignment and installment of microscale magnets into micro robots and devices. Affixing tweezers to a three degree of freedom micromanipulator allows for precise movement of objects. The use of non-magnetic tweezers permits the assembly of magnetized robots, and a magnetic rotating stage allows multiple magnets to be installed into one device in different orientations. By re-orienting the tweezers on the micromanipulator at defined ninety-degree angles, it is possible to assemble a device with magnets oriented in any direction on XY, XZ, and YZ planes. This system is highly precise and flexible, and can be implemented with minimal custom-made parts, making it ideal for development of new magnetic technologies at the microscale.
Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models
Venue: arXiv cs.RO 2024
Year: 2024

Learning-based methods have achieved strong performance for quadrupedal locomotion. However, several challenges prevent quadrupeds from learning helpful indoor skills that require interaction with environments and humans: lack of end-effectors for manipulation, limited semantic understanding using only simulation data, and low traversability and reachability in indoor environments. We present a system for quadrupedal mobile manipulation in indoor environments. It uses a front-mounted gripper for object manipulation, a low-level controller trained in simulation using egocentric depth for agile skills like climbing and whole-body tilting, and pre-trained vision-language models (VLMs) with a third-person fisheye and an egocentric RGB camera for semantic understanding and command generation. We evaluate our system in two unseen environments without any real-world data collection or training. Our system can zero-shot generalize to these environments and complete tasks, like following user's commands to fetch a randomly placed stuff toy after climbing over a queen-sized bed, with a 60% success rate. Project website: https://helpful-doggybot.github.io/
MM-Conv: A Multi-modal Conversational Dataset for Virtual Humans
Venue: arXiv cs.CV 2024
Year: 2024

In this paper, we present a novel dataset captured using a VR headset to record conversations between participants within a physics simulator (AI2-THOR). Our primary objective is to extend the field of co-speech gesture generation by incorporating rich contextual information within referential settings. Participants engaged in various conversational scenarios, all based on referential communication tasks. The dataset provides a rich set of multimodal recordings such as motion capture, speech, gaze, and scene graphs. This comprehensive dataset aims to enhance the understanding and development of gesture generation models in 3D scenes by providing diverse and contextually rich data.
DoPAMine: Domain-specific Pre-training Adaptation from seed-guided data Mining
Venue: arXiv cs.CL 2024
Year: 2024

Large Language Models (LLMs) have shown remarkable ability to generalize effectively across numerous industry domains while executing a range of tasks. Many of these competencies are obtained from the data utilized during the pre-training phase of the Language Models (LMs). However, these models exhibit limitations when tasked with performing in specialized or low-resource industry domains. More recent approaches use LLMs for generating domain-specific synthetic data but most often they lack in truthfulness and complexity. Alternatively, in cases where domain data is available like healthcare and finance most of the LMs are proprietary necessitating the need for a scalable method to curate real world industry specific pre-training data. In this work, we propose an automated and scalable framework - DoPAMine:Domain-specific Pre-training Adaptation from seed-guided data Mining, to mine domain specific training data from a large data corpus for domain adaptation of a LM. The framework leverages the parametric knowledge of a LLM to generate diverse and representative seed data tailored to a specific domain which is then used to mine real world data from a large data corpus like Common Crawl. We evaluated our framework's performance in the continual pre-training (CPT) setting by training two domain specific 7B parameter LMs in healthcare and finance with data mined via DoPAMine. Our experiments show that DoPAMine boosts the performance of pre-trained LLMs on average by 4.9% and 5.1% in zero-shot and 5-shot settings respectively on healthcare tasks from MMLU, MedQA, MedMCQA and PubMedQA datasets, and 2.9% and 6.7% for zero-shot and 5-shot settings respectively on finance tasks from FiQA-SA, FPB and Headlines datasets when compared to the baseline.
Network Science in Psychology
Venue: arXiv cs.SI 2024
Year: 2024

Social network analysis can answer research questions such as why or how individuals interact or form relationships and how those relationships impact other outcomes. Despite the breadth of methods available to address psychological research questions, social network analysis is not yet a standard practice in psychological research. To promote the use of social network analysis in psychological research, we present an overview of network methods, situating each method within the context of research studies and questions in psychology.
Tuning Fast Memory Size based on Modeling of Page Migration for Tiered Memory
Venue: arXiv cs.PF 2024
Year: 2024

Tiered memory, built upon a combination of fast memory and slow memory, provides a cost-effective solution to meet ever-increasing requirements from emerging applications for large memory capacity. Reducing the size of fast memory is valuable to improve memory utilization in production and reduce production costs because fast memory tends to be expensive. However, deciding the fast memory size is challenging because there is a complex interplay between application characterization and the overhead of page migration used to mitigate the impact of limited fast memory capacity. In this paper, we introduce a system, Tuna, to decide fast memory size based on modeling of page migration. Tuna uses micro-benchmarking to model the impact of page migration on application performance using three metrics. Tuna decides the fast memory size based on offline modeling results and limited information on workload telemetry. Evaluating with common big-memory applications and using 5% as the performance loss target, we show that Tuna in combination with a page management system (TPP) saves fast memory by 8.5% on average (up to 16%). This is in contrast to the 5% saving in fast memory reported by Microsoft Pond for the same workloads (BFS and SSSP) and the same performance loss target.
Sparse Attention Decomposition Applied to Circuit Tracing
Venue: arXiv cs.LG 2024
Year: 2024

Many papers have shown that attention heads work in conjunction with each other to perform complex tasks. It's frequently assumed that communication between attention heads is via the addition of specific features to token residuals. In this work we seek to isolate and identify the features used to effect communication and coordination among attention heads in GPT-2 small. Our key leverage on the problem is to show that these features are very often sparsely coded in the singular vectors of attention head matrices. We characterize the dimensionality and occurrence of these signals across the attention heads in GPT-2 small when used for the Indirect Object Identification (IOI) task. The sparse encoding of signals, as provided by attention head singular vectors, allows for efficient separation of signals from the residual background and straightforward identification of communication paths between attention heads. We explore the effectiveness of this approach by tracing portions of the circuits used in the IOI task. Our traces reveal considerable detail not present in previous studies, shedding light on the nature of redundant paths present in GPT-2. And our traces go beyond previous work by identifying features used to communicate between attention heads when performing IOI.
Neural Scaling Laws of Deep ReLU and Deep Operator Network: A Theoretical Study
Venue: arXiv cs.LG 2024
Year: 2024

Neural scaling laws play a pivotal role in the performance of deep neural networks and have been observed in a wide range of tasks. However, a complete theoretical framework for understanding these scaling laws remains underdeveloped. In this paper, we explore the neural scaling laws for deep operator networks, which involve learning mappings between function spaces, with a focus on the Chen and Chen style architecture. These approaches, which include the popular Deep Operator Network (DeepONet), approximate the output functions using a linear combination of learnable basis functions and coefficients that depend on the input functions. We establish a theoretical framework to quantify the neural scaling laws by analyzing its approximation and generalization errors. We articulate the relationship between the approximation and generalization errors of deep operator networks and key factors such as network model size and training data size. Moreover, we address cases where input functions exhibit low-dimensional structures, allowing us to derive tighter error bounds. These results also hold for deep ReLU networks and other similar structures. Our results offer a partial explanation of the neural scaling laws in operator learning and provide a theoretical foundation for their applications.
PclGPT: A Large Language Model for Patronizing and Condescending Language Detection
Venue: arXiv cs.CL 2024
Year: 2024

Disclaimer: Samples in this paper may be harmful and cause discomfort! Patronizing and condescending language (PCL) is a form of speech directed at vulnerable groups. As an essential branch of toxic language, this type of language exacerbates conflicts and confrontations among Internet communities and detrimentally impacts disadvantaged groups. Traditional pre-trained language models (PLMs) perform poorly in detecting PCL due to its implicit toxicity traits like hypocrisy and false sympathy. With the rise of large language models (LLMs), we can harness their rich emotional semantics to establish a paradigm for exploring implicit toxicity. In this paper, we introduce PclGPT, a comprehensive LLM benchmark designed specifically for PCL. We collect, annotate, and integrate the Pcl-PT/SFT dataset, and then develop a bilingual PclGPT-EN/CN model group through a comprehensive pre-training and supervised fine-tuning staircase process to facilitate implicit toxic detection. Group detection results and fine-grained detection from PclGPT and other models reveal significant variations in the degree of bias in PCL towards different vulnerable groups, necessitating increased societal attention to protect them.
Unleashing the Potentials of Likelihood Composition for Multi-modal Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Model fusing has always been an important topic, especially in an era where large language models (LLM) and multi-modal language models (MLM) with different architectures, parameter sizes and training pipelines, are being created all the time. In this work, we propose a post-hoc framework, aiming at fusing heterogeneous models off-the-shell, which we call \textit{likelihood composition}, and the basic idea is to compose multiple models' likelihood distribution when doing a multi-choice visual-question-answering task. Here the core concept, \textit{likelihood}, is actually the log-probability of the candidate answer. In \textit{likelihood composition}, we introduce some basic operations: \textit{debias}, \textit{highlight}, \textit{majority-vote} and \textit{ensemble}. By combining (composing) these basic elements, we get the mixed composition methods: \textit{mix-composition}. Through conducting comprehensive experiments on 9 VQA datasets and 10 MLMs, we prove the effectiveness of \textit{mix-composition} compared with simple \textit{ensemble} or \textit{majority-vote} methods. In this framework, people can propose new basic composition methods and combine them to get the new mixed composition methods. We hope our proposed \textit{likelihood composition} can provide a new perspective of fusing heterogeneous models and inspire the exploration under this framework.
AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation
Venue: arXiv cs.RO 2024
Year: 2024

Robotic manipulation in open-world settings requires not only task execution but also the ability to detect and learn from failures. While recent advances in vision-language models (VLMs) and large language models (LLMs) have improved robots' spatial reasoning and problem-solving abilities, they still struggle with failure recognition, limiting their real-world applicability. We introduce AHA, an open-source VLM designed to detect and reason about failures in robotic manipulation using natural language. By framing failure detection as a free-form reasoning task, AHA identifies failures and provides detailed, adaptable explanations across different robots, tasks, and environments. We fine-tuned AHA using FailGen, a scalable framework that generates the first large-scale dataset of robotic failure trajectories, the AHA dataset. FailGen achieves this by procedurally perturbing successful demonstrations from simulation. Despite being trained solely on the AHA dataset, AHA generalizes effectively to real-world failure datasets, robotic systems, and unseen tasks. It surpasses the second-best model (GPT-4o in-context learning) by 10.3% and exceeds the average performance of six compared models including five state-of-the-art VLMs by 35.3% across multiple metrics and datasets. We integrate AHA into three manipulation frameworks that utilize LLMs/VLMs for reinforcement learning, task and motion planning, and zero-shot trajectory generation. AHA's failure feedback enhances these policies' performances by refining dense reward functions, optimizing task planning, and improving sub-task verification, boosting task success rates by an average of 21.4% across all three tasks compared to GPT-4 models.