OpenRaiser/Intern-Atlas huggingface dataset:
ParisLuco3D: A high-quality target dataset for domain generalization of LiDAR perception
Venue: arXiv cs.CV 2024
Year: 2024

LiDAR is an essential sensor for autonomous driving by collecting precise geometric information regarding a scene. %Exploiting this information for perception is interesting as the amount of available data increases. As the performance of various LiDAR perception tasks has improved, generalizations to new environments and sensors has emerged to test these optimized models in real-world conditions. This paper provides a novel dataset, ParisLuco3D, specifically designed for cross-domain evaluation to make it easier to evaluate the performance utilizing various source datasets. Alongside the dataset, online benchmarks for LiDAR semantic segmentation, LiDAR object detection, and LiDAR tracking are provided to ensure a fair comparison across methods. The ParisLuco3D dataset, evaluation scripts, and links to benchmarks can be found at the following website:https://npm3d.fr/parisluco3d
Multi-Task Wavelength-Multiplexed Reservoir Computing Using a Silicon Microring Resonator
Venue: arXiv cs.NE 2024
Year: 2024

Among the promising advantages of photonic computing over conventional computing architectures is the potential to increase computing efficiency through massive parallelism by using the many degrees of freedom provided by photonics. Here, we numerically demonstrate the simultaneous use of time and frequency (equivalently wavelength) multiplexing to solve three independent tasks at the same time on the same photonic circuit. In particular, we consider a microring-based time-delay reservoir computing (TDRC) scheme that simultaneously solves three tasks: Time-series prediction, classification, and wireless channel equalization. The scheme relies on time-division multiplexing to avoid the necessity of multiple physical nonlinear nodes, while the tasks are parallelized using wavelength division multiplexing (WDM). The input data modulated on each optical channel is mapped to a higher dimensional space by the nonlinear dynamics of the silicon microring cavity. The carrier wavelength and input power assigned to each optical channel have a high influence on the performance of its respective task. When all tasks operate under the same wavelength/power conditions, our results show that the computing nature of each task is the deciding factor of the level of performance achievable. However, it is possible to achieve good performance for all tasks simultaneously by optimizing the parameters of each optical channel. The variety of applications covered by the tasks shows the versatility of the proposed photonic TDRC scheme. Overall, this work provides insight into the potential of WDM-based schemes for improving the computing capabilities of reservoir computing schemes.
Free-form Flows: Make Any Architecture a Normalizing Flow
Venue: arXiv cs.LG 2024
Year: 2024

Normalizing Flows are generative models that directly maximize the likelihood. Previously, the design of normalizing flows was largely constrained by the need for analytical invertibility. We overcome this constraint by a training procedure that uses an efficient estimator for the gradient of the change of variables formula. This enables any dimension-preserving neural network to serve as a generative model through maximum likelihood training. Our approach allows placing the emphasis on tailoring inductive biases precisely to the task at hand. Specifically, we achieve excellent results in molecule generation benchmarks utilizing $E(n)$-equivariant networks. Moreover, our method is competitive in an inverse problem benchmark, while employing off-the-shelf ResNet architectures.
How Robust is Federated Learning to Communication Error? A Comparison Study Between Uplink and Downlink Channels
Venue: arXiv cs.LG 2024
Year: 2024

Because of its privacy-preserving capability, federated learning (FL) has attracted significant attention from both academia and industry. However, when being implemented over wireless networks, it is not clear how much communication error can be tolerated by FL. This paper investigates the robustness of FL to the uplink and downlink communication error. Our theoretical analysis reveals that the robustness depends on two critical parameters, namely the number of clients and the numerical range of model parameters. It is also shown that the uplink communication in FL can tolerate a higher bit error rate (BER) than downlink communication, and this difference is quantified by a proposed formula. The findings and theoretical analyses are further validated by extensive experiments.
Break it, Imitate it, Fix it: Robustness by Generating Human-Like Attacks
Venue: arXiv cs.LG 2024
Year: 2024

Real-world natural language processing systems need to be robust to human adversaries. Collecting examples of human adversaries for training is an effective but expensive solution. On the other hand, training on synthetic attacks with small perturbations - such as word-substitution - does not actually improve robustness to human adversaries. In this paper, we propose an adversarial training framework that uses limited human adversarial examples to generate more useful adversarial examples at scale. We demonstrate the advantages of this system on the ANLI and hate speech detection benchmark datasets - both collected via an iterative, adversarial human-and-model-in-the-loop procedure. Compared to training only on observed human attacks, also training on our synthetic adversarial examples improves model robustness to future rounds. In ANLI, we see accuracy gains on the current set of attacks (44.1%$\,\to\,$50.1%) and on two future unseen rounds of human generated attacks (32.5%$\,\to\,$43.4%, and 29.4%$\,\to\,$40.2%). In hate speech detection, we see AUC gains on current attacks (0.76 $\to$ 0.84) and a future round (0.77 $\to$ 0.79). Attacks from methods that do not learn the distribution of existing human adversaries, meanwhile, degrade robustness.
MMP++: Motion Manifold Primitives with Parametric Curve Models
Venue: arXiv cs.AI 2024
Year: 2024

Motion Manifold Primitives (MMP), a manifold-based approach for encoding basic motion skills, can produce diverse trajectories, enabling the system to adapt to unseen constraints. Nonetheless, we argue that current MMP models lack crucial functionalities of movement primitives, such as temporal and via-points modulation, found in traditional approaches. This shortfall primarily stems from MMP's reliance on discrete-time trajectories. To overcome these limitations, we introduce Motion Manifold Primitives++ (MMP++), a new model that integrates the strengths of both MMP and traditional methods by incorporating parametric curve representations into the MMP framework. Furthermore, we identify a significant challenge with MMP++: performance degradation due to geometric distortions in the latent space, meaning that similar motions are not closely positioned. To address this, Isometric Motion Manifold Primitives++ (IMMP++) is proposed to ensure the latent space accurately preserves the manifold's geometry. Our experimental results across various applications, including 2-DoF planar motions, 7-DoF robot arm motions, and SE(3) trajectory planning, show that MMP++ and IMMP++ outperform existing methods in trajectory generation tasks, achieving substantial improvements in some cases. Moreover, they enable the modulation of latent coordinates and via-points, thereby allowing efficient online adaptation to dynamic environments.
LLM4DyG: Can Large Language Models Solve Spatial-Temporal Problems on Dynamic Graphs?
Venue: arXiv cs.LG 2024
Year: 2024

In an era marked by the increasing adoption of Large Language Models (LLMs) for various tasks, there is a growing focus on exploring LLMs' capabilities in handling web data, particularly graph data. Dynamic graphs, which capture temporal network evolution patterns, are ubiquitous in real-world web data. Evaluating LLMs' competence in understanding spatial-temporal information on dynamic graphs is essential for their adoption in web applications, which remains unexplored in the literature. In this paper, we bridge the gap via proposing to evaluate LLMs' spatial-temporal understanding abilities on dynamic graphs, to the best of our knowledge, for the first time. Specifically, we propose the LLM4DyG benchmark, which includes nine specially designed tasks considering the capability evaluation of LLMs from both temporal and spatial dimensions. Then, we conduct extensive experiments to analyze the impacts of different data generators, data statistics, prompting techniques, and LLMs on the model performance. Finally, we propose Disentangled Spatial-Temporal Thoughts (DST2) for LLMs on dynamic graphs to enhance LLMs' spatial-temporal understanding abilities. Our main observations are: 1) LLMs have preliminary spatial-temporal understanding abilities on dynamic graphs, 2) Dynamic graph tasks show increasing difficulties for LLMs as the graph size and density increase, while not sensitive to the time span and data generation mechanism, 3) the proposed DST2 prompting method can help to improve LLMs' spatial-temporal understanding abilities on dynamic graphs for most tasks. The data and codes are publicly available at Github.
Content-based Controls For Music Large Language Modeling
Venue: arXiv cs.AI 2024
Year: 2024

Recent years have witnessed a rapid growth of large-scale language models in the domain of music audio. Such models enable end-to-end generation of higher-quality music, and some allow conditioned generation using text descriptions. However, the control power of text controls on music is intrinsically limited, as they can only describe music indirectly through meta-data (such as singers and instruments) or high-level representations (such as genre and emotion). We aim to further equip the models with direct and content-based controls on innate music languages such as pitch, chords and drum track. To this end, we contribute Coco-Mulla, a content-based control method for music large language modeling. It uses a parameter-efficient fine-tuning (PEFT) method tailored for Transformer-based audio models. Experiments show that our approach achieved high-quality music generation with low-resource semi-supervised learning, tuning with less than 4% parameters compared to the original model and training on a small dataset with fewer than 300 songs. Moreover, our approach enables effective content-based controls, and we illustrate the control power via chords and rhythms, two of the most salient features of music audio. Furthermore, we show that by combining content-based controls and text descriptions, our system achieves flexible music variation generation and arrangement. Our source codes and demos are available online.
Lookup Table meets Local Laplacian Filter: Pyramid Reconstruction Network for Tone Mapping
Venue: arXiv cs.CV 2024
Year: 2024

Tone mapping aims to convert high dynamic range (HDR) images to low dynamic range (LDR) representations, a critical task in the camera imaging pipeline. In recent years, 3-Dimensional LookUp Table (3D LUT) based methods have gained attention due to their ability to strike a favorable balance between enhancement performance and computational efficiency. However, these methods often fail to deliver satisfactory results in local areas since the look-up table is a global operator for tone mapping, which works based on pixel values and fails to incorporate crucial local information. To this end, this paper aims to address this issue by exploring a novel strategy that integrates global and local operators by utilizing closed-form Laplacian pyramid decomposition and reconstruction. Specifically, we employ image-adaptive 3D LUTs to manipulate the tone in the low-frequency image by leveraging the specific characteristics of the frequency information. Furthermore, we utilize local Laplacian filters to refine the edge details in the high-frequency components in an adaptive manner. Local Laplacian filters are widely used to preserve edge details in photographs, but their conventional usage involves manual tuning and fixed implementation within camera imaging pipelines or photo editing tools. We propose to learn parameter value maps progressively for local Laplacian filters from annotated data using a lightweight network. Our model achieves simultaneous global tone manipulation and local edge detail preservation in an end-to-end manner. Extensive experimental results on two benchmark datasets demonstrate that the proposed method performs favorably against state-of-the-art methods.
Static Semantics Reconstruction for Enhancing JavaScript-WebAssembly Multilingual Malware Detection
Venue: arXiv cs.CR 2024
Year: 2024

The emergence of WebAssembly allows attackers to hide the malicious functionalities of JavaScript malware in cross-language interoperations, termed JavaScript-WebAssembly multilingual malware (JWMM). However, existing anti-virus solutions based on static program analysis are still limited to monolingual code. As a result, their detection effectiveness decreases significantly against JWMM. The detection of JWMM is challenging due to the complex interoperations and semantic diversity between JavaScript and WebAssembly. To bridge this gap, we present JWBinder, the first technique aimed at enhancing the static detection of JWMM. JWBinder performs a language-specific data-flow analysis to capture the cross-language interoperations and then characterizes the functionalities of JWMM through a unified high-level structure called Inter-language Program Dependency Graph. The extensive evaluation on one of the most representative real-world anti-virus platforms, VirusTotal, shows that \system effectively enhances anti-virus systems from various vendors and increases the overall successful detection rate against JWMM from 49.1\% to 86.2\%. Additionally, we assess the side effects and runtime overhead of JWBinder, corroborating its practical viability in real-world applications.
FedPEAT: Convergence of Federated Learning, Parameter-Efficient Fine Tuning, and Emulator Assisted Tuning for Artificial Intelligence Foundation Models with Mobile Edge Computing
Venue: arXiv cs.LG 2024
Year: 2024

The emergence of foundation models, including language and vision models, has reshaped AI's landscape, offering capabilities across various applications. Deploying and fine-tuning these large models, like GPT-3 and BERT, presents challenges, especially in the current foundation model era. We introduce Emulator-Assisted Tuning (EAT) combined with Parameter-Efficient Fine-Tuning (PEFT) to form Parameter-Efficient Emulator-Assisted Tuning (PEAT). Further, we expand this into federated learning as Federated PEAT (FedPEAT). FedPEAT uses adapters, emulators, and PEFT for federated model tuning, enhancing model privacy and memory efficiency. Adapters adjust pre-trained models, while emulators give a compact representation of original models, addressing both privacy and efficiency. Adaptable to various neural networks, our approach also uses deep reinforcement learning for hyper-parameter optimization. We tested FedPEAT in a unique scenario with a server participating in collaborative federated tuning, showcasing its potential in tackling foundation model challenges.
Multi-fingered Dynamic Grasping for Unknown Objects
Venue: arXiv cs.RO 2024
Year: 2024

Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment stationarity, pre-defined objects, and low-dimensional end-effectors. Though easing the problem and enabling progress, it undermined the complexity of the real world. Aiming to relax these assumptions, we present a dynamic grasping framework for unknown objects in this work, which uses a five-fingered hand with visual servo control and can compensate for external disturbances. To establish such a system on real hardware, we leverage the recent advances in real-time dexterous generative grasp synthesis and introduce several techniques to secure the robustness and performance of the overall system. Our experiments on real hardware verify the ability of the proposed system to reliably grasp unknown dynamic objects in two realistic scenarios: objects on a conveyor belt and human-robot handover. Note that there has been no prior work that can achieve dynamic multi-fingered grasping for unknown objects like ours up to the time of writing this paper. We hope our pioneering work in this direction can provide inspiration to the community and pave the way for further algorithmic and engineering advances on this challenging task. A video of the experiments is available at https://youtu.be/b87zGNoKELg.
A Survey on Trustworthy Edge Intelligence: From Security and Reliability To Transparency and Sustainability
Venue: arXiv cs.LG 2024
Year: 2024

Edge Intelligence (EI) integrates Edge Computing (EC) and Artificial Intelligence (AI) to push the capabilities of AI to the network edge for real-time, efficient and secure intelligent decision-making and computation. However, EI faces various challenges due to resource constraints, heterogeneous network environments, and diverse service requirements of different applications, which together affect the trustworthiness of EI in the eyes of stakeholders. This survey comprehensively summarizes the characteristics, architecture, technologies, and solutions of trustworthy EI. Specifically, we first emphasize the need for trustworthy EI in the context of the trend toward large models. We then provide an initial definition of trustworthy EI, explore its key characteristics and give a multi-layered architecture for trustworthy EI. Then, we summarize several important issues that hinder the achievement of trustworthy EI. Subsequently, we present enabling technologies for trustworthy EI systems and provide an in-depth literature review of the state-of-the-art solutions for realizing the trustworthiness of EI. Finally, we discuss the corresponding research challenges and open issues.
FormalGeo: An Extensible Formalized Framework for Olympiad Geometric Problem Solving
Venue: arXiv cs.AI 2024
Year: 2024

This is the first paper in a series of work we have accomplished over the past three years. In this paper, we have constructed a consistent formal plane geometry system. This will serve as a crucial bridge between IMO-level plane geometry challenges and readable AI automated reasoning. Within this formal framework, we have been able to seamlessly integrate modern AI models with our formal system. AI is now capable of providing deductive reasoning solutions to IMO-level plane geometry problems, just like handling other natural languages, and these proofs are readable, traceable, and verifiable. We propose the geometry formalization theory (GFT) to guide the development of the geometry formal system. Based on the GFT, we have established the FormalGeo, which consists of 88 geometric predicates and 196 theorems. It can represent, validate, and solve IMO-level geometry problems. we also have crafted the FGPS (formal geometry problem solver) in Python. It serves as both an interactive assistant for verifying problem-solving processes and an automated problem solver. We've annotated the formalgeo7k and formalgeo-imo datasets. The former contains 6,981 (expand to 133,818 through data augmentation) geometry problems, while the latter includes 18 (expand to 2,627 and continuously increasing) IMO-level challenging geometry problems. All annotated problems include detailed formal language descriptions and solutions. Implementation of the formal system and experiments validate the correctness and utility of the GFT. The backward depth-first search method only yields a 2.42% problem-solving failure rate, and we can incorporate deep learning techniques to achieve lower one. The source code of FGPS and datasets are available at https://github.com/BitSecret/FGPS.
Ask more, know better: Reinforce-Learned Prompt Questions for Decision Making with Large Language Models
Venue: arXiv cs.LG 2024
Year: 2024

Large language models (LLMs) demonstrate their promise in tackling complicated practical challenges by combining action-based policies with chain of thought (CoT) reasoning. Having high-quality prompts on hand, however, is vital to the framework's effectiveness. Currently, these prompts are handcrafted utilising extensive human labor, resulting in CoT policies that frequently fail to generalise. Human intervention is also required to develop grounding functions that ensure low-level controllers appropriately process CoT reasoning. In this paper, we propose a comprehensive training framework for complex task-solving, incorporating human prior knowledge into the learning of action policies. To that purpose, we offer a new leader-follower bilevel framework that is capable of learning to ask relevant questions (prompts) and subsequently undertaking reasoning to guide the learning of actions. The prompt policy is employed to make introspective revisions based on historical findings, leading the CoT process to consider the anticipated goals and generate outputs that lead to decisive, high-performing actions. The action policy subsequently learns to comprehend and integrate the CoT outputs to take actions. Our empirical data reveal that our framework outperforms leading methods in $5$ decision-making tasks such as Overcooked and FourRoom.
Leadership Inference for Multi-Agent Interactions
Venue: arXiv cs.MA 2024
Year: 2024

Effectively predicting intent and behavior requires inferring leadership in multi-agent interactions. Dynamic games provide an expressive theoretical framework for modeling these interactions. Employing this framework, we propose a novel method to infer the leader in a two-agent game by observing the agents' behavior in complex, long-horizon interactions. We make two contributions. First, we introduce an iterative algorithm that solves dynamic two-agent Stackelberg games with nonlinear dynamics and nonquadratic costs, and demonstrate that it consistently converges. Second, we propose the Stackelberg Leadership Filter (SLF), an online method for identifying the leading agent in interactive scenarios based on observations of the game interactions. We validate the leadership filter's efficacy on simulated driving scenarios to demonstrate that the SLF can draw conclusions about leadership that match right-of-way expectations.
Is Scaling Learned Optimizers Worth It? Evaluating The Value of VeLO's 4000 TPU Months
Venue: arXiv cs.LG 2024
Year: 2024

We analyze VeLO (versatile learned optimizer), the largest scale attempt to train a general purpose "foundational" optimizer to date. VeLO was trained on thousands of machine learning tasks using over 4000 TPU months with the goal of producing an optimizer capable of generalizing to new problems while being hyperparameter free, and outperforming industry standards such as Adam. We independently evaluate VeLO on the MLCommons optimizer benchmark suite. We find that, contrary to initial claims: (1) VeLO has a critical hyperparameter that needs problem-specific tuning, (2) VeLO does not necessarily outperform competitors in quality of solution found, and (3) VeLO is not faster than competing optimizers at reducing the training loss. These observations call into question VeLO's generality and the value of the investment in training it.