OpenRaiser/Intern-Atlas huggingface dataset:
Self-Knowledge Distillation for Learning Ambiguity
Venue: arXiv cs.CL 2024
Year: 2024

Recent language models have shown remarkable performance on natural language understanding (NLU) tasks. However, they are often sub-optimal when faced with ambiguous samples that can be interpreted in multiple ways, over-confidently predicting a single label without consideration for its correctness. To address this issue, we propose a novel self-knowledge distillation method that enables models to learn label distributions more accurately by leveraging knowledge distilled from their lower layers. This approach also includes a learning phase that re-calibrates the unnecessarily strengthened confidence for training samples judged as extremely ambiguous based on the distilled distribution knowledge. We validate our method on diverse NLU benchmark datasets and the experimental results demonstrate its effectiveness in producing better label distributions. Particularly, through the process of re-calibrating the confidence for highly ambiguous samples, the issue of over-confidence when predictions for unseen samples do not match with their ground-truth labels has been significantly alleviated. This has been shown to contribute to generating better distributions than the existing state-of-the-art method. Moreover, our method is more efficient in training the models compared to the existing method, as it does not involve additional training processes to refine label distributions.
Some things never change: how far generative AI can really change software engineering practice
Venue: arXiv cs.SE 2024
Year: 2024

Generative Artificial Intelligence (GenAI) has become an emerging technology with the availability of several tools that could impact Software Engineering (SE) activities. As any other disruptive technology, GenAI led to the speculation that its full potential can deeply change SE. However, an overfocus on improving activities for which GenAI is more suitable could negligent other relevant areas of the process. In this paper, we aim to explore which SE activities are not expected to be profoundly changed by GenAI. To achieve this goal, we performed a survey with SE practitioners to identify their expectations regarding GenAI in SE, including impacts, challenges, ethical issues, and aspects they do not expect to change. We compared our results with previous roadmaps proposed in SE literature. Our results show that although practitioners expect an increase in productivity, coding, and process quality, they envision that some aspects will not change, such as the need for human expertise, creativity, and project management. Our results point to SE areas for which GenAI is probably not so useful, and future research could tackle them to improve SE practice.
Contrastive Imitation Learning for Language-guided Multi-Task Robotic Manipulation
Venue: arXiv cs.RO 2024
Year: 2024

Developing robots capable of executing various manipulation tasks, guided by natural language instructions and visual observations of intricate real-world environments, remains a significant challenge in robotics. Such robot agents need to understand linguistic commands and distinguish between the requirements of different tasks. In this work, we present Sigma-Agent, an end-to-end imitation learning agent for multi-task robotic manipulation. Sigma-Agent incorporates contrastive Imitation Learning (contrastive IL) modules to strengthen vision-language and current-future representations. An effective and efficient multi-view querying Transformer (MVQ-Former) for aggregating representative semantic information is introduced. Sigma-Agent shows substantial improvement over state-of-the-art methods under diverse settings in 18 RLBench tasks, surpassing RVT by an average of 5.2% and 5.9% in 10 and 100 demonstration training, respectively. Sigma-Agent also achieves 62% success rate with a single policy in 5 real-world manipulation tasks. The code will be released upon acceptance.
Evaluating LLM-driven User-Intent Formalization for Verification-Aware Languages
Venue: arXiv cs.PL 2024
Year: 2024

Verification-aware programming languages such as Dafny and F* provide means to formally specify and prove properties of a program. Although the problem of checking an implementation against a specification can be defined mechanically, there is no algorithmic way of ensuring the correctness of the {\it user-intent formalization for programs}, expressed as a formal specification. This is because intent or requirement is expressed {\it informally} in natural language and the specification is a formal artefact. Despite, the advent of large language models (LLMs) has made tremendous strides bridging the gap between informal intent and formal program implementations recently, driven in large parts by benchmarks and automated metrics for evaluation. Recent work has proposed a framework for evaluating the {\it user-intent formalization} problem for mainstream programming languages~\cite{endres-fse24}. However, such an approach does not readily extend to verification-aware languages that support rich specifications (using quantifiers and ghost variables) that cannot be evaluated through dynamic execution. Previous work also required generating program mutants using LLMs to create the benchmark. We advocate an alternate, perhaps simpler approach of {\it symbolically testing specifications} to provide an intuitive metric for evaluating the quality of specifications for verification-aware languages. We demonstrate that our automated metric agrees closely on a human-labeled dataset of Dafny specifications for the popular MBPP code-generation benchmark, yet demonstrates cases where the human labeling is not perfect. We also outline formal verification challenges that need to be addressed to apply the technique more widely. We believe our work provides a stepping stone to enable the establishment of a benchmark and research agenda for the problem of user-intent formalization for programs.
Block Coordinate Descent Methods for Optimization under J-Orthogonality Constraints with Applications
Venue: arXiv cs.DS 2024
Year: 2024

The J-orthogonal matrix, also referred to as the hyperbolic orthogonal matrix, is a class of special orthogonal matrix in hyperbolic space, notable for its advantageous properties. These matrices are integral to optimization under J-orthogonal constraints, which have widespread applications in statistical learning and data science. However, addressing these problems is generally challenging due to their non-convex nature and the computational intensity of the constraints. Currently, algorithms for tackling these challenges are limited. This paper introduces JOBCD, a novel Block Coordinate Descent method designed to address optimizations with J-orthogonality constraints. We explore two specific variants of JOBCD: one based on a Gauss-Seidel strategy (GS-JOBCD), the other on a variance-reduced and Jacobi strategy (VR-J-JOBCD). Notably, leveraging the parallel framework of a Jacobi strategy, VR-J-JOBCD integrates variance reduction techniques to decrease oracle complexity in the minimization of finite-sum functions. For both GS-JOBCD and VR-J-JOBCD, we establish the oracle complexity under mild conditions and strong limit-point convergence results under the Kurdyka-Lojasiewicz inequality. To demonstrate the effectiveness of our method, we conduct experiments on hyperbolic eigenvalue problems, hyperbolic structural probe problems, and the ultrahyperbolic knowledge graph embedding problem. Extensive experiments using both real-world and synthetic data demonstrate that JOBCD consistently outperforms state-of-the-art solutions, by large margins.
A Two-Stage Masked Autoencoder Based Network for Indoor Depth Completion
Venue: arXiv cs.CV 2024
Year: 2024

Depth images have a wide range of applications, such as 3D reconstruction, autonomous driving, augmented reality, robot navigation, and scene understanding. Commodity-grade depth cameras are hard to sense depth for bright, glossy, transparent, and distant surfaces. Although existing depth completion methods have achieved remarkable progress, their performance is limited when applied to complex indoor scenarios. To address these problems, we propose a two-step Transformer-based network for indoor depth completion. Unlike existing depth completion approaches, we adopt a self-supervision pre-training encoder based on the masked autoencoder to learn an effective latent representation for the missing depth value; then we propose a decoder based on a token fusion mechanism to complete (i.e., reconstruct) the full depth from the jointly RGB and incomplete depth image. Compared to the existing methods, our proposed network, achieves the state-of-the-art performance on the Matterport3D dataset. In addition, to validate the importance of the depth completion task, we apply our methods to indoor 3D reconstruction. The code, dataset, and demo are available at https://github.com/kailaisun/Indoor-Depth-Completion.
An I2I Inpainting Approach for Efficient Channel Knowledge Map Construction
Venue: arXiv cs.IT 2024
Year: 2024

Channel knowledge map (CKM) has received widespread attention as an emerging enabling technology for environment-aware wireless communications. It involves the construction of databases containing location-specific channel knowledge, which are then leveraged to facilitate channel state information (CSI) acquisition and transceiver design. In this context, a fundamental challenge lies in efficiently constructing the CKM based on a given wireless propagation environment. Most existing methods are based on stochastic modeling and sequence prediction, which do not fully exploit the inherent physical characteristics of the propagation environment, resulting in low accuracy and high computational complexity. To address these limitations, we propose a Laplacian pyramid (LP)-based CKM construction scheme to predict the channel knowledge at arbitrary locations in a targeted area. Specifically, we first view the channel knowledge as a 2-D image and transform the CKM construction problem into an image-to-image (I2I) inpainting task, which predicts the channel knowledge at a specific location by recovering the corresponding pixel value in the image matrix. Then, inspired by the reversible and closed-form structure of the LP, we show its natural suitability for our task in designing a fast I2I mapping network. For different frequency components of LP decomposition, we design tailored networks accordingly. Besides, to encode the global structural information of the propagation environment, we introduce self-attention and cross-covariance attention mechanisms in different layers, respectively. Finally, experimental results show that the proposed scheme outperforms the benchmark, achieving higher reconstruction accuracy while with lower computational complexity. Moreover, the proposed approach has a strong generalization ability and can be implemented in different wireless communication scenarios.
The Chorioallantoic Membrane Model: A 3D in vivo Testbed for Design and Analysis of MC Systems
Venue: arXiv cs.ET 2024
Year: 2024

Molecular Communications (MC) research is increasingly focused on applications within the human body, such as health monitoring and drug delivery. These applications require testing in realistic and living environments. Thus, advancing experimental MC research to the next level requires the development of in vivo experimental testbeds. In this paper, we introduce the Chorioallantoic Membrane ( CAM ) model as a versatile 3D in vivo MC testbed. The CAM is a highly vascularized membrane formed in fertilized chicken eggs and has gained significance in various research fields, including bioengineering, cancer research, and drug development. Its versatility, reproducibility, and realistic biological properties make the CAM model perfectly suited for next-generation MC testbeds, facilitating the transition from proof-of-concept systems to practical applications. We provide a comprehensive introduction to the CAM model, its properties, and its applications in practical research. Additionally, we present a characterization of the CAM model as an MC system. As a preliminary experimental study, we investigate the distribution of fluorescent molecules in the closed-loop vascular system of the CAM model. We also derive an approximate analytical model for the propagation of molecules in closed-loop systems, and show that the proposed model is able to approximate molecule propagation in the CAM model.
Enhancing Fake News Detection in Social Media via Label Propagation on Cross-modal Tweet Graph
Venue: arXiv cs.MM 2024
Year: 2024

Fake news detection in social media has become increasingly important due to the rapid proliferation of personal media channels and the consequential dissemination of misleading information. Existing methods, which primarily rely on multimodal features and graph-based techniques, have shown promising performance in detecting fake news. However, they still face a limitation, i.e., sparsity in graph connections, which hinders capturing possible interactions among tweets. This challenge has motivated us to explore a novel method that densifies the graph's connectivity to capture denser interaction better. Our method constructs a cross-modal tweet graph using CLIP, which encodes images and text into a unified space, allowing us to extract potential connections based on similarities in text and images. We then design a Feature Contextualization Network with Label Propagation (FCN-LP) to model the interaction among tweets as well as positive or negative correlations between predicted labels of connected tweets. The propagated labels from the graph are weighted and aggregated for the final detection. To enhance the model's generalization ability to unseen events, we introduce a domain generalization loss that ensures consistent features between tweets on seen and unseen events. We use three publicly available fake news datasets, Twitter, PHEME, and Weibo, for evaluation. Our method consistently improves the performance over the state-of-the-art methods on all benchmark datasets and effectively demonstrates its aptitude for generalizing fake news detection in social media.
GEB-1.3B: Open Lightweight Large Language Model
Venue: arXiv cs.CL 2024
Year: 2024

Recently developed large language models (LLMs) such as ChatGPT, Claude, and Llama have demonstrated impressive abilities, and even surpass human-level performance in several tasks. Despite their success, the resource-intensive demands of these models, requiring significant computational power for both training and inference, limit their deployment to high-performance servers. Additionally, the extensive calculation requirements of the models often lead to increased latency in response times. With the increasing need for LLMs to operate efficiently on CPUs, research about lightweight models that are optimized for CPU inference has emerged. In this work, we introduce GEB-1.3B, a lightweight LLM trained on 550 billion tokens in both Chinese and English languages. We employ novel training techniques, including ROPE, Group-Query-Attention, and FlashAttention-2, to accelerate training while maintaining model performance. Additionally, we fine-tune the model using 10 million samples of instruction data to enhance alignment. GEB-1.3B exhibits outstanding performance on general benchmarks such as MMLU, C-Eval, and CMMLU, outperforming comparative models such as MindLLM-1.3B and TinyLLaMA-1.1B. Notably, the FP32 version of GEB-1.3B achieves commendable inference times on CPUs, with ongoing efforts to further enhance speed through advanced quantization techniques. The release of GEB-1.3B as an open-source model marks a significant contribution to the development of lightweight LLMs, promising to foster further research and innovation in the field.
CliBench: A Multifaceted and Multigranular Evaluation of Large Language Models for Clinical Decision Making
Venue: arXiv cs.CL 2024
Year: 2024

The integration of Artificial Intelligence (AI), especially Large Language Models (LLMs), into the clinical diagnosis process offers significant potential to improve the efficiency and accessibility of medical care. While LLMs have shown some promise in the medical domain, their application in clinical diagnosis remains underexplored, especially in real-world clinical practice, where highly sophisticated, patient-specific decisions need to be made. Current evaluations of LLMs in this field are often narrow in scope, focusing on specific diseases or specialties and employing simplified diagnostic tasks. To bridge this gap, we introduce CliBench, a novel benchmark developed from the MIMIC IV dataset, offering a comprehensive and realistic assessment of LLMs' capabilities in clinical diagnosis. This benchmark not only covers diagnoses from a diverse range of medical cases across various specialties but also incorporates tasks of clinical significance: treatment procedure identification, lab test ordering and medication prescriptions. Supported by structured output ontologies, CliBench enables a precise and multi-granular evaluation, offering an in-depth understanding of LLM's capability on diverse clinical tasks of desired granularity. We conduct a zero-shot evaluation of leading LLMs to assess their proficiency in clinical decision-making. Our preliminary results shed light on the potential and limitations of current LLMs in clinical settings, providing valuable insights for future advancements in LLM-powered healthcare.
POWN: Prototypical Open-World Node Classification
Venue: arXiv cs.LG 2024
Year: 2024

We consider the problem of \textit{true} open-world semi-supervised node classification, in which nodes in a graph either belong to known or new classes, with the latter not present during training. Existing methods detect and reject new classes but fail to distinguish between different new classes. We adapt existing methods and show they do not solve the problem sufficiently. We introduce a novel end-to-end approach for classification into known classes and new classes based on class prototypes, which we call Prototypical Open-World Learning for Node Classification (POWN). Our method combines graph semi-supervised learning, self-supervised learning, and pseudo-labeling to learn prototype representations of new classes in a zero-shot way. In contrast to existing solutions from the vision domain, POWN does not require data augmentation techniques for node classification. Experiments on benchmark datasets demonstrate the effectiveness of POWN, where it outperforms baselines by up to $20\%$ accuracy on the small and up to $30\%$ on the large datasets. Source code is available at https://github.com/Bobowner/POWN.
Neural Concept Binder
Venue: arXiv cs.AI 2024
Year: 2024

The challenge in object-based visual reasoning lies in generating concept representations that are both descriptive and distinct. Achieving this in an unsupervised manner requires human users to understand the model's learned concepts and, if necessary, revise incorrect ones. To address this challenge, we introduce the Neural Concept Binder (NCB), a novel framework for deriving both discrete and continuous concept representations, which we refer to as "concept-slot encodings". NCB employs two types of binding: "soft binding", which leverages the recent SysBinder mechanism to obtain object-factor encodings, and subsequent "hard binding", achieved through hierarchical clustering and retrieval-based inference. This enables obtaining expressive, discrete representations from unlabeled images. Moreover, the structured nature of NCB's concept representations allows for intuitive inspection and the straightforward integration of external knowledge, such as human input or insights from other AI models like GPT-4. Additionally, we demonstrate that incorporating the hard binding mechanism preserves model performance while enabling seamless integration into both neural and symbolic modules for complex reasoning tasks. We validate the effectiveness of NCB through evaluations on our newly introduced CLEVR-Sudoku dataset.
HIRO: Hierarchical Information Retrieval Optimization
Venue: arXiv cs.CL 2024
Year: 2024

Retrieval-Augmented Generation (RAG) has revolutionized natural language processing by dynamically integrating external knowledge into Large Language Models (LLMs), addressing their limitation of static training datasets. Recent implementations of RAG leverage hierarchical data structures, which organize documents at various levels of summarization and information density. This complexity, however, can cause LLMs to "choke" on information overload, necessitating more sophisticated querying mechanisms. In this context, we introduce Hierarchical Information Retrieval Optimization (HIRO), a novel querying approach that employs a Depth-First Search (DFS)-based recursive similarity score calculation and branch pruning. This method uniquely minimizes the context delivered to the LLM without informational loss, effectively managing the challenge of excessive data. HIRO's refined approach is validated by a 10.85% improvement in performance on the NarrativeQA dataset.
Constrained Motion Planning for a Robotic Endoscope Holder based on Hierarchical Quadratic Programming
Venue: arXiv cs.RO 2024
Year: 2024

Minimally Invasive Surgeries (MIS) are challenging for surgeons due to the limited field of view and constrained range of motion imposed by narrow access ports. These challenges can be addressed by robot-assisted endoscope systems which provide precise and stabilized positioning, as well as constrained and smooth motion control of the endoscope. In this work, we propose an online hierarchical optimization framework for visual servoing control of the endoscope in MIS. The framework prioritizes maintaining a remote-center-of-motion (RCM) constraint to prevent tissue damage, while a visual tracking task is defined as a secondary task to enable autonomous tracking of visual features of interest. We validated our approach using a 6-DOF Denso VS050 manipulator and achieved optimization solving times under 0.4 ms and maximum RCM deviation of approximately 0.4 mm. Our results demonstrate the effectiveness of the proposed approach in addressing the constrained motion planning challenges of MIS, enabling precise and autonomous endoscope positioning and visual tracking.
Details Make a Difference: Object State-Sensitive Neurorobotic Task Planning
Venue: arXiv cs.AI 2024
Year: 2024

The state of an object reflects its current status or condition and is important for a robot's task planning and manipulation. However, detecting an object's state and generating a state-sensitive plan for robots is challenging. Recently, pre-trained Large Language Models (LLMs) and Vision-Language Models (VLMs) have shown impressive capabilities in generating plans. However, to the best of our knowledge, there is hardly any investigation on whether LLMs or VLMs can also generate object state-sensitive plans. To study this, we introduce an Object State-Sensitive Agent (OSSA), a task-planning agent empowered by pre-trained neural networks. We propose two methods for OSSA: (i) a modular model consisting of a pre-trained vision processing module (dense captioning model, DCM) and a natural language processing model (LLM), and (ii) a monolithic model consisting only of a VLM. To quantitatively evaluate the performances of the two methods, we use tabletop scenarios where the task is to clear the table. We contribute a multimodal benchmark dataset that takes object states into consideration. Our results show that both methods can be used for object state-sensitive tasks, but the monolithic approach outperforms the modular approach. The code for OSSA is available at https://github.com/Xiao-wen-Sun/OSSA