OpenRaiser/Intern-Atlas huggingface dataset:
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Venue: arXiv cs.RO 2024
Year: 2024

The current state-of-the-art in quadruped locomotion is able to produce a variety of complex motions. These methods either rely on switching between a discrete set of skills or learn a distribution across gaits using complex black-box models. Alternatively, we present Gaitor, which learns a disentangled and 2D representation across locomotion gaits. This learnt representation forms a planning space for closed-loop control delivering continuous gait transitions and perceptive terrain traversal. Gaitor's latent space is readily interpretable and we discover that during gait transitions, novel unseen gaits emerge. The latent space is disentangled with respect to footswing heights and lengths. This means that these gait characteristics can be varied independently in the 2D latent representation. Together with a simple terrain encoding and a learnt planner operating in the latent space, Gaitor can take motion commands including desired gait type and swing characteristics all while reacting to uneven terrain. We evaluate Gaitor in both simulation and the real world on the ANYmal C platform. To the best of our knowledge, this is the first work learning a unified and interpretable latent space for multiple gaits, resulting in continuous blending between different locomotion modes on a real quadruped robot. An overview of the methods and results in this paper is found at https://youtu.be/eVFQbRyilCA.
Participation in the age of foundation models
Venue: arXiv cs.CY 2024
Year: 2024

Growing interest and investment in the capabilities of foundation models has positioned such systems to impact a wide array of public services. Alongside these opportunities is the risk that these systems reify existing power imbalances and cause disproportionate harm to marginalized communities. Participatory approaches hold promise to instead lend agency and decision-making power to marginalized stakeholders. But existing approaches in participatory AI/ML are typically deeply grounded in context - how do we apply these approaches to foundation models, which are, by design, disconnected from context? Our paper interrogates this question. First, we examine existing attempts at incorporating participation into foundation models. We highlight the tension between participation and scale, demonstrating that it is intractable for impacted communities to meaningfully shape a foundation model that is intended to be universally applicable. In response, we develop a blueprint for participatory foundation models that identifies more local, application-oriented opportunities for meaningful participation. In addition to the "foundation" layer, our framework proposes the "subfloor'' layer, in which stakeholders develop shared technical infrastructure, norms and governance for a grounded domain, and the "surface'' layer, in which affected communities shape the use of a foundation model for a specific downstream task. The intermediate "subfloor'' layer scopes the range of potential harms to consider, and affords communities more concrete avenues for deliberation and intervention. At the same time, it avoids duplicative effort by scaling input across relevant use cases. Through three case studies in clinical care, financial services, and journalism, we illustrate how this multi-layer model can create more meaningful opportunities for participation than solely intervening at the foundation layer.
Fast Gaussian Distributed Pseudorandom Number Generation in Java via the Ziggurat Algorithm
Venue: arXiv cs.DS 2024
Year: 2024

We report on experiments with the ziggurat algorithm for generating Gaussian distributed random numbers. The study utilizes our open source Java implementation that was introduced originally for Java 11 at a time when the Java API only provided the much slower polar method. Our Java implementation of the ziggurat algorithm is a port of the GNU Scientific Library's C implementation. Java 17 introduced a significant overhaul of pseudorandom number generation, including several modern pseudorandom number generators (PRNGs) as well as additional functionality, among which includes switching from the polar method to a modified ziggurat algorithm. In the experiments of this paper, we explore whether there is still a need for our implementation for Java 17+ applications. Our results show that Java 17's modified ziggurat is faster than our implementation for the PRNGs that support it. However, Java 17+ continues to use the polar method for the legacy PRNGs Random, SecureRandom, and ThreadLocalRandom. The linear congruential method of Java's Random class lacks the statistical properties required by Java's modified ziggurat implementation; and SecureRandom and ThreadLocalRandom unfortunately use the polar method as a side-effect of extending Random. Our implementation of the original ziggurat algorithm does not require the same statistical properties of the underlying PRNG as Java 17's optimized version, and can be used with any of these PRNGs, and is especially relevant where pre-Java 17 support is required.
Machine Psychology: Integrating Operant Conditioning with the Non-Axiomatic Reasoning System for Advancing Artificial General Intelligence Research
Venue: arXiv cs.AI 2024
Year: 2024

This paper introduces an interdisciplinary framework called Machine Psychology, which merges principles from operant learning psychology with a specific Artificial Intelligence model, the Non-Axiomatic Reasoning System (NARS), to enhance Artificial General Intelligence (AGI) research. The core premise of this framework is that adaptation is crucial to both biological and artificial intelligence and can be understood through operant conditioning principles. The study assesses this approach via three operant learning tasks using OpenNARS for Applications (ONA): simple discrimination, changing contingencies, and conditional discrimination tasks. In the simple discrimination task, NARS demonstrated rapid learning, achieving perfect accuracy during both training and testing phases. The changing contingencies task showcased NARS's adaptability, as it successfully adjusted its behavior when task conditions were reversed. In the conditional discrimination task, NARS handled complex learning scenarios effectively, achieving high accuracy by forming and utilizing intricate hypotheses based on conditional cues. These findings support the application of operant conditioning as a framework for creating adaptive AGI systems. NARS's ability to operate under conditions of insufficient knowledge and resources, coupled with its sensorimotor reasoning capabilities, establishes it as a robust model for AGI. The Machine Psychology framework, by incorporating elements of natural intelligence such as continuous learning and goal-driven behavior, offers a scalable and flexible approach for real-world applications. Future research should investigate using enhanced NARS systems, more advanced tasks, and applying this framework to diverse, complex challenges to further progress the development of human-level AI.
Wavefront Threading Enables Effective High-Level Synthesis
Venue: arXiv cs.PL 2024
Year: 2024

Digital systems are growing in importance and computing hardware is growing more heterogeneous. Hardware design, however, remains laborious and expensive, in part due to the limitations of conventional hardware description languages (HDLs) like VHDL and Verilog. A longstanding research goal has been programming hardware like software, with high-level languages that can generate efficient hardware designs. This paper describes Kanagawa, a language that takes a new approach to combine the programmer productivity benefits of traditional High-Level Synthesis (HLS) approaches with the expressibility and hardware efficiency of Register-Transfer Level (RTL) design. The language's concise syntax, matched with a hardware design-friendly execution model, permits a relatively simple toolchain to map high-level code into efficient hardware implementations.
Selective Explanations
Venue: arXiv cs.CY 2024
Year: 2024

Feature attribution methods explain black-box machine learning (ML) models by assigning importance scores to input features. These methods can be computationally expensive for large ML models. To address this challenge, there has been increasing efforts to develop amortized explainers, where a machine learning model is trained to predict feature attribution scores with only one inference. Despite their efficiency, amortized explainers can produce inaccurate predictions and misleading explanations. In this paper, we propose selective explanations, a novel feature attribution method that (i) detects when amortized explainers generate low-quality explanations and (ii) improves these explanations using a technique called explanations with initial guess. Our selective explanation method allows practitioners to specify the fraction of samples that receive explanations with initial guess, offering a principled way to bridge the gap between amortized explainers and their high-quality counterparts.
Dr-LLaVA: Visual Instruction Tuning with Symbolic Clinical Grounding
Venue: arXiv cs.AI 2024
Year: 2024

Vision-Language Models (VLM) can support clinicians by analyzing medical images and engaging in natural language interactions to assist in diagnostic and treatment tasks. However, VLMs often exhibit "hallucinogenic" behavior, generating textual outputs not grounded in contextual multimodal information. This challenge is particularly pronounced in the medical domain, where we do not only require VLM outputs to be accurate in single interactions but also to be consistent with clinical reasoning and diagnostic pathways throughout multi-turn conversations. For this purpose, we propose a new alignment algorithm that uses symbolic representations of clinical reasoning to ground VLMs in medical knowledge. These representations are utilized to (i) generate GPT-4-guided visual instruction tuning data at scale, simulating clinician-VLM conversations with demonstrations of clinical reasoning, and (ii) create an automatic reward function that evaluates the clinical validity of VLM generations throughout clinician-VLM interactions. Our algorithm eliminates the need for human involvement in training data generation or reward model construction, reducing costs compared to standard reinforcement learning with human feedback (RLHF). We apply our alignment algorithm to develop Dr-LLaVA, a conversational VLM finetuned for analyzing bone marrow pathology slides, demonstrating strong performance in multi-turn medical conversations.
A Deep Convolutional Neural Network-based Model for Aspect and Polarity Classification in Hausa Movie Reviews
Venue: arXiv cs.CL 2024
Year: 2024

Aspect-based Sentiment Analysis (ABSA) is crucial for understanding sentiment nuances in text, especially across diverse languages and cultures. This paper introduces a novel Deep Convolutional Neural Network (CNN)-based model tailored for aspect and polarity classification in Hausa movie reviews, an underrepresented language in sentiment analysis research. A comprehensive Hausa ABSA dataset is created, filling a significant gap in resource availability. The dataset, preprocessed using sci-kit-learn for TF-IDF transformation, includes manually annotated aspect-level feature ontology words and sentiment polarity assignments. The proposed model combines CNNs with attention mechanisms for aspect-word prediction, leveraging contextual information and sentiment polarities. With 91% accuracy on aspect term extraction and 92% on sentiment polarity classification, the model outperforms traditional machine models, offering insights into specific aspects and sentiments. This study advances ABSA research, particularly in underrepresented languages, with implications for cross-cultural linguistic research.
AutoBreach: Universal and Adaptive Jailbreaking with Efficient Wordplay-Guided Optimization
Venue: arXiv cs.CV 2024
Year: 2024

Despite the widespread application of large language models (LLMs) across various tasks, recent studies indicate that they are susceptible to jailbreak attacks, which can render their defense mechanisms ineffective. However, previous jailbreak research has frequently been constrained by limited universality, suboptimal efficiency, and a reliance on manual crafting. In response, we rethink the approach to jailbreaking LLMs and formally define three essential properties from the attacker' s perspective, which contributes to guiding the design of jailbreak methods. We further introduce AutoBreach, a novel method for jailbreaking LLMs that requires only black-box access. Inspired by the versatility of wordplay, AutoBreach employs a wordplay-guided mapping rule sampling strategy to generate a variety of universal mapping rules for creating adversarial prompts. This generation process leverages LLMs' automatic summarization and reasoning capabilities, thus alleviating the manual burden. To boost jailbreak success rates, we further suggest sentence compression and chain-of-thought-based mapping rules to correct errors and wordplay misinterpretations in target LLMs. Additionally, we propose a two-stage mapping rule optimization strategy that initially optimizes mapping rules before querying target LLMs to enhance the efficiency of AutoBreach. AutoBreach can efficiently identify security vulnerabilities across various LLMs, including three proprietary models: Claude-3, GPT-3.5, GPT-4 Turbo, and two LLMs' web platforms: Bingchat, GPT-4 Web, achieving an average success rate of over 80% with fewer than 10 queries
One Token Can Help! Learning Scalable and Pluggable Virtual Tokens for Retrieval-Augmented Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Retrieval-augmented generation (RAG) is a promising way to improve large language models (LLMs) for generating more factual, accurate, and up-to-date content. Existing methods either optimize prompts to guide LLMs in leveraging retrieved information or directly fine-tune LLMs to adapt to RAG scenarios. Although fine-tuning can yield better performance, it often compromises the LLMs' general generation capabilities by modifying their parameters. This limitation poses challenges in practical applications, especially when LLMs are already deployed, as parameter adjustments may affect their original functionality. To address this, we propose a novel method that involves learning scalable and pluggable virtual tokens for RAG. By maintaining the LLMs' original parameters and fine-tuning only the embeddings of these pluggable tokens, our approach not only enhances LLMs' performance but also preserves their general generation capabilities. Furthermore, we design several training strategies to improve the scalability, flexibility, and generalizability of our method. Comprehensive experiments across 12 question-answering tasks demonstrate the superiority of our approach.
May the Dance be with You: Dance Generation Framework for Non-Humanoids
Venue: arXiv cs.CV 2024
Year: 2024

We hypothesize dance as a motion that forms a visual rhythm from music, where the visual rhythm can be perceived from an optical flow. If an agent can recognize the relationship between visual rhythm and music, it will be able to dance by generating a motion to create a visual rhythm that matches the music. Based on this, we propose a framework for any kind of non-humanoid agents to learn how to dance from human videos. Our framework works in two processes: (1) training a reward model which perceives the relationship between optical flow (visual rhythm) and music from human dance videos, (2) training the non-humanoid dancer based on that reward model, and reinforcement learning. Our reward model consists of two feature encoders for optical flow and music. They are trained based on contrastive learning which makes the higher similarity between concurrent optical flow and music features. With this reward model, the agent learns dancing by getting a higher reward when its action creates an optical flow whose feature has a higher similarity with the given music feature. Experiment results show that generated dance motion can align with the music beat properly, and user study result indicates that our framework is more preferred by humans compared to the baselines. To the best of our knowledge, our work of non-humanoid agents which learn dance from human videos is unprecedented. An example video can be found at https://youtu.be/dOUPvo-O3QY.
X-Instruction: Aligning Language Model in Low-resource Languages with Self-curated Cross-lingual Instructions
Venue: arXiv cs.CL 2024
Year: 2024

Large language models respond well in high-resource languages like English but struggle in low-resource languages. It may arise from the lack of high-quality instruction following data in these languages. Directly translating English samples into these languages can be a solution but unreliable, leading to responses with translation errors and lacking language-specific or cultural knowledge. To address this issue, we propose a novel method to construct cross-lingual instruction following samples with instruction in English and response in low-resource languages. Specifically, the language model first learns to generate appropriate English instructions according to the natural web texts in other languages as responses. The candidate cross-lingual instruction tuning samples are further refined and diversified. We have employed this method to build a large-scale cross-lingual instruction tuning dataset on 10 languages, namely X-Instruction. The instruction data built using our method incorporate more language-specific knowledge compared with the naive translation method. Experimental results have shown that the response quality of the model tuned on X-Instruction greatly exceeds the model distilled from a powerful teacher model, reaching or even surpassing the ones of ChatGPT. In addition, we find that models tuned on cross-lingual instruction following samples can follow the instruction in the output language without further tuning.
GaussianPrediction: Dynamic 3D Gaussian Prediction for Motion Extrapolation and Free View Synthesis
Venue: arXiv cs.CV 2024
Year: 2024

Forecasting future scenarios in dynamic environments is essential for intelligent decision-making and navigation, a challenge yet to be fully realized in computer vision and robotics. Traditional approaches like video prediction and novel-view synthesis either lack the ability to forecast from arbitrary viewpoints or to predict temporal dynamics. In this paper, we introduce GaussianPrediction, a novel framework that empowers 3D Gaussian representations with dynamic scene modeling and future scenario synthesis in dynamic environments. GaussianPrediction can forecast future states from any viewpoint, using video observations of dynamic scenes. To this end, we first propose a 3D Gaussian canonical space with deformation modeling to capture the appearance and geometry of dynamic scenes, and integrate the lifecycle property into Gaussians for irreversible deformations. To make the prediction feasible and efficient, a concentric motion distillation approach is developed by distilling the scene motion with key points. Finally, a Graph Convolutional Network is employed to predict the motions of key points, enabling the rendering of photorealistic images of future scenarios. Our framework shows outstanding performance on both synthetic and real-world datasets, demonstrating its efficacy in predicting and rendering future environments.
Generating Query Recommendations via LLMs
Venue: arXiv cs.IR 2024
Year: 2024

Query recommendation systems are ubiquitous in modern search engines, assisting users in producing effective queries to meet their information needs. However, these systems require a large amount of data to produce good recommendations, such as a large collection of documents to index and query logs. In particular, query logs and user data are not available in cold start scenarios. Query logs are expensive to collect and maintain and require complex and time-consuming cascading pipelines for creating, combining, and ranking recommendations. To address these issues, we frame the query recommendation problem as a generative task, proposing a novel approach called Generative Query Recommendation (GQR). GQR uses an LLM as its foundation and does not require to be trained or fine-tuned to tackle the query recommendation problem. We design a prompt that enables the LLM to understand the specific recommendation task, even using a single example. We then improved our system by proposing a version that exploits query logs called Retriever-Augmented GQR (RA-GQR). RA-GQr dynamically composes its prompt by retrieving similar queries from query logs. GQR approaches reuses a pre-existing neural architecture resulting in a simpler and more ready-to-market approach, even in a cold start scenario. Our proposed GQR obtains state-of-the-art performance in terms of NDCG@10 and clarity score against two commercial search engines and the previous state-of-the-art approach on the Robust04 and ClueWeb09B collections, improving on average the NDCG@10 performance up to ~4% on Robust04 and ClueWeb09B w.r.t the previous best competitor. RA-GQR further improve the NDCG@10 obtaining an increase of ~11%, ~6\% on Robust04 and ClueWeb09B w.r.t the best competitor. Furthermore, our system obtained ~59% of user preferences in a blind user study, proving that our method produces the most engaging queries.
From Symbolic Tasks to Code Generation: Diversification Yields Better Task Performers
Venue: arXiv cs.CL 2024
Year: 2024

Instruction tuning -- tuning large language models on instruction-output pairs -- is a promising technique for making models better adapted to the real world. Yet, the key factors driving the model's capability to understand and follow instructions not seen during training remain under-explored. Our investigation begins with a series of synthetic experiments within the theoretical framework of a Turing-complete algorithm called Markov algorithm, which allows fine-grained control over the instruction-tuning data. Generalization and robustness with respect to the training distribution emerge once a diverse enough set of tasks is provided, even though very few examples are provided for each task. We extend these initial results to a real-world application scenario of code generation and find that a more diverse instruction set, extending beyond code-related tasks, improves the performance of code generation. Our observations suggest that a more diverse semantic space for instruction-tuning sets greatly improves the model's ability to follow instructions and perform tasks.
PDDLEGO: Iterative Planning in Textual Environments
Venue: arXiv cs.CL 2024
Year: 2024

Planning in textual environments have been shown to be a long-standing challenge even for current models. A recent, promising line of work uses LLMs to generate a formal representation of the environment that can be solved by a symbolic planner. However, existing methods rely on a fully-observed environment where all entity states are initially known, so a one-off representation can be constructed, leading to a complete plan. In contrast, we tackle partially-observed environments where there is initially no sufficient information to plan for the end-goal. We propose PDDLEGO that iteratively construct a planning representation that can lead to a partial plan for a given sub-goal. By accomplishing the sub-goal, more information is acquired to augment the representation, eventually achieving the end-goal. We show that plans produced by few-shot PDDLEGO are 43% more efficient than generating plans end-to-end on the Coin Collector simulation, with strong performance (98%) on the more complex Cooking World simulation where end-to-end LLMs fail to generate coherent plans (4%).