OpenRaiser/Intern-Atlas huggingface dataset:
Autonomous Drifting Based on Maximal Safety Probability Learning
Venue: arXiv cs.RO 2024
Year: 2024

This paper proposes a novel learning-based framework for autonomous driving based on the concept of maximal safety probability. Efficient learning requires rewards that are informative of desirable/undesirable states, but such rewards are challenging to design manually due to the difficulty of differentiating better states among many safe states. On the other hand, learning policies that maximize safety probability does not require laborious reward shaping but is numerically challenging because the algorithms must optimize policies based on binary rewards sparse in time. Here, we show that physics-informed reinforcement learning can efficiently learn this form of maximally safe policy. Unlike existing drift control methods, our approach does not require a specific reference trajectory or complex reward shaping, and can learn safe behaviors only from sparse binary rewards. This is enabled by the use of the physics loss that plays an analogous role to reward shaping. The effectiveness of the proposed approach is demonstrated through lane keeping in a normal cornering scenario and safe drifting in a high-speed racing scenario.
Solving Stochastic Orienteering Problems with Chance Constraints Using Monte Carlo Tree Search
Venue: arXiv cs.RO 2024
Year: 2024

We present a new Monte Carlo Tree Search (MCTS) algorithm to solve the stochastic orienteering problem with chance constraints, i.e., a version of the problem where travel costs are random, and one is assigned a bound on the tolerable probability of exceeding the budget. The algorithm we present is online and anytime, i.e., it alternates planning and execution, and the quality of the solution it produces increases as the allowed computational time increases. Differently from most former MCTS algorithms, for each action available in a state the algorithm maintains estimates of both its value and the probability that its execution will eventually result in a violation of the chance constraint. Then, at action selection time, our proposed solution prunes away trajectories that are estimated to violate the failure probability. Extensive simulation results show that this approach can quickly produce high-quality solutions and is competitive with the optimal but time-consuming solution.
Upper-Limb Rehabilitation with a Dual-Mode Individualized Exoskeleton Robot: A Generative-Model-Based Solution
Venue: arXiv cs.RO 2024
Year: 2024

Several upper-limb exoskeleton robots have been developed for stroke rehabilitation, but their rather low level of individualized assistance typically limits their effectiveness and practicability. Individualized assistance involves an upper-limb exoskeleton robot continuously assessing feedback from a stroke patient and then meticulously adjusting interaction forces to suit specific conditions and online changes. This paper describes the development of a new upper-limb exoskeleton robot with a novel online generative capability that allows it to provide individualized assistance to support the rehabilitation training of stroke patients. Specifically, the upper-limb exoskeleton robot exploits generative models to customize the fine and fit trajectory for the patient, as medical conditions, responses, and comfort feedback during training generally differ between patients. This generative capability is integrated into the two working modes of the upper-limb exoskeleton robot: an active mirroring mode for patients who retain motor abilities on one side of the body and a passive following mode for patients who lack motor ability on both sides of the body. The performance of the upper-limb exoskeleton robot was illustrated in experiments involving healthy subjects and stroke patients.
iSeg: An Iterative Refinement-based Framework for Training-free Segmentation
Venue: arXiv cs.CV 2024
Year: 2024

Stable diffusion has demonstrated strong image synthesis ability to given text descriptions, suggesting it to contain strong semantic clue for grouping objects. The researchers have explored employing stable diffusion for training-free segmentation. Most existing approaches refine cross-attention map by self-attention map once, demonstrating that self-attention map contains useful semantic information to improve segmentation. To fully utilize self-attention map, we present a deep experimental analysis on iteratively refining cross-attention map with self-attention map, and propose an effective iterative refinement framework for training-free segmentation, named iSeg. The proposed iSeg introduces an entropy-reduced self-attention module that utilizes a gradient descent scheme to reduce the entropy of self-attention map, thereby suppressing the weak responses corresponding to irrelevant global information. Leveraging the entropy-reduced self-attention module, our iSeg stably improves refined cross-attention map with iterative refinement. Further, we design a category-enhanced cross-attention module to generate accurate cross-attention map, providing a better initial input for iterative refinement. Extensive experiments across different datasets and diverse segmentation tasks reveal the merits of proposed contributions, leading to promising performance on diverse segmentation tasks. For unsupervised semantic segmentation on Cityscapes, our iSeg achieves an absolute gain of 3.8% in terms of mIoU compared to the best existing training-free approach in literature. Moreover, our proposed iSeg can support segmentation with different kinds of images and interactions. The project is available at https://linsun449.github.io/iSeg.
xLAM: A Family of Large Action Models to Empower AI Agent Systems
Venue: arXiv cs.CL 2024
Year: 2024

Autonomous agents powered by large language models (LLMs) have attracted significant research interest. However, the open-source community faces many challenges in developing specialized models for agent tasks, driven by the scarcity of high-quality agent datasets and the absence of standard protocols in this area. We introduce and publicly release xLAM, a series of large action models designed for AI agent tasks. The xLAM series includes five models with both dense and mixture-of-expert architectures, ranging from 1B to 8x22B parameters, trained using a scalable, flexible pipeline that unifies, augments, and synthesizes diverse datasets to enhance AI agents' generalizability and performance across varied environments. Our experimental results demonstrate that xLAM consistently delivers exceptional performance across multiple agent ability benchmarks, notably securing the 1st position on the Berkeley Function-Calling Leaderboard, outperforming GPT-4, Claude-3, and many other models in terms of tool use. By releasing the xLAM series, we aim to advance the performance of open-source LLMs for autonomous AI agents, potentially accelerating progress and democratizing access to high-performance models for agent tasks. Models are available at https://huggingface.co/collections/Salesforce/xlam-models-65f00e2a0a63bbcd1c2dade4
Labeled-to-Unlabeled Distribution Alignment for Partially-Supervised Multi-Organ Medical Image Segmentation
Venue: arXiv cs.CV 2024
Year: 2024

Partially-supervised multi-organ medical image segmentation aims to develop a unified semantic segmentation model by utilizing multiple partially-labeled datasets, with each dataset providing labels for a single class of organs. However, the limited availability of labeled foreground organs and the absence of supervision to distinguish unlabeled foreground organs from the background pose a significant challenge, which leads to a distribution mismatch between labeled and unlabeled pixels. Although existing pseudo-labeling methods can be employed to learn from both labeled and unlabeled pixels, they are prone to performance degradation in this task, as they rely on the assumption that labeled and unlabeled pixels have the same distribution. In this paper, to address the problem of distribution mismatch, we propose a labeled-to-unlabeled distribution alignment (LTUDA) framework that aligns feature distributions and enhances discriminative capability. Specifically, we introduce a cross-set data augmentation strategy, which performs region-level mixing between labeled and unlabeled organs to reduce distribution discrepancy and enrich the training set. Besides, we propose a prototype-based distribution alignment method that implicitly reduces intra-class variation and increases the separation between the unlabeled foreground and background. This can be achieved by encouraging consistency between the outputs of two prototype classifiers and a linear classifier. Extensive experimental results on the AbdomenCT-1K dataset and a union of four benchmark datasets (including LiTS, MSD-Spleen, KiTS, and NIH82) demonstrate that our method outperforms the state-of-the-art partially-supervised methods by a considerable margin, and even surpasses the fully-supervised methods. The source code is publicly available at https://github.com/xjiangmed/LTUDA.
Unveiling Context-Related Anomalies: Knowledge Graph Empowered Decoupling of Scene and Action for Human-Related Video Anomaly Detection
Venue: arXiv cs.CV 2024
Year: 2024

Detecting anomalies in human-related videos is crucial for surveillance applications. Current methods primarily include appearance-based and action-based techniques. Appearance-based methods rely on low-level visual features such as color, texture, and shape. They learn a large number of pixel patterns and features related to known scenes during training, making them effective in detecting anomalies within these familiar contexts. However, when encountering new or significantly changed scenes, i.e., unknown scenes, they often fail because existing SOTA methods do not effectively capture the relationship between actions and their surrounding scenes, resulting in low generalization. In contrast, action-based methods focus on detecting anomalies in human actions but are usually less informative because they tend to overlook the relationship between actions and their scenes, leading to incorrect detection. For instance, the normal event of running on the beach and the abnormal event of running on the street might both be considered normal due to the lack of scene information. In short, current methods struggle to integrate low-level visual and high-level action features, leading to poor anomaly detection in varied and complex scenes. To address this challenge, we propose a novel decoupling-based architecture for human-related video anomaly detection (DecoAD). DecoAD significantly improves the integration of visual and action features through the decoupling and interweaving of scenes and actions, thereby enabling a more intuitive and accurate understanding of complex behaviors and scenes. DecoAD supports fully supervised, weakly supervised, and unsupervised settings.
Preserving Empirical Probabilities in BERT for Small-sample Clinical Entity Recognition
Venue: arXiv cs.CL 2024
Year: 2024

Named Entity Recognition (NER) encounters the challenge of unbalanced labels, where certain entity types are overrepresented while others are underrepresented in real-world datasets. This imbalance can lead to biased models that perform poorly on minority entity classes, impeding accurate and equitable entity recognition. This paper explores the effects of unbalanced entity labels of the BERT-based pre-trained model. We analyze the different mechanisms of loss calculation and loss propagation for the task of token classification on randomized datasets. Then we propose ways to improve the token classification for the highly imbalanced task of clinical entity recognition.
Robust End-to-End Image Transmission with Residual Learning
Venue: arXiv cs.IT 2024
Year: 2024

Recently, deep learning (DL) based image transmission at the physical layer (PL) has become a rising trend due to its ability to significantly outperform conventional separation-based digital transmissions. However, implementing solutions at the PL requires a major shift in established standards, such as those in cellular communications. Application layer (AL) solutions present a more feasible and standards-compliant alternative. In this work, we propose a layered image transmission scheme at the AL that is robust to end-to-end (E2E) channel errors. The base layer transmits a coarse image, while the enhancement layer transmits the residual between the original and coarse images. By mapping the residual image into a latent representation that aligns with the structure of the E2E channel, our proposed solution demonstrates high robustness to E2E channel errors.
No Man is an Island: Towards Fully Automatic Programming by Code Search, Code Generation and Program Repair
Venue: arXiv cs.SE 2024
Year: 2024

Automatic programming attempts to minimize human intervention in the generation of executable code, and has been a long-standing challenge in the software engineering community. To advance automatic programming, researchers are focusing on three primary directions: (1) code search that reuses existing code snippets from external databases; (2) code generation that produces new code snippets from natural language; and (3) program repair that refines existing code snippets by fixing detected bugs. Despite significant advancements, the effectiveness of state-of-the-art techniques is still limited, such as the usability of searched code and the correctness of generated code. Motivated by the real-world programming process, where developers usually use various external tools to aid their coding processes, such as code search engines and code testing tools, in this work, we propose \toolname{}, an automatic programming framework that leverages recent large language models (LLMs) to integrate the three research areas to address their inherent limitations. In particular, our framework first leverages different code search strategies to retrieve similar code snippets, which are then used to further guide the code generation process of LLMs. Our framework further validates the quality of generated code by compilers and test cases, and constructs repair prompts to query LLMs for generating correct patches. We conduct preliminary experiments to demonstrate the potential of our framework, \eg helping CodeLlama solve 267 programming problems with an improvement of 62.53\%. As a generic framework, \toolname{} can integrate various code search, generation, and repair tools, combining these three research areas together for the first time. More importantly, it demonstrates the potential of using traditional SE tools to enhance the usability of LLMs in automatic programming.
SVP: Style-Enhanced Vivid Portrait Talking Head Diffusion Model
Venue: arXiv cs.CV 2024
Year: 2024

Talking Head Generation (THG), typically driven by audio, is an important and challenging task with broad application prospects in various fields such as digital humans, film production, and virtual reality. While diffusion model-based THG methods present high quality and stable content generation, they often overlook the intrinsic style which encompasses personalized features such as speaking habits and facial expressions of a video. As consequence, the generated video content lacks diversity and vividness, thus being limited in real life scenarios. To address these issues, we propose a novel framework named Style-Enhanced Vivid Portrait (SVP) which fully leverages style-related information in THG. Specifically, we first introduce the novel probabilistic style prior learning to model the intrinsic style as a Gaussian distribution using facial expressions and audio embedding. The distribution is learned through the 'bespoked' contrastive objective, effectively capturing the dynamic style information in each video. Then we finetune a pretrained Stable Diffusion (SD) model to inject the learned intrinsic style as a controlling signal via cross attention. Experiments show that our model generates diverse, vivid, and high-quality videos with flexible control over intrinsic styles, outperforming existing state-of-the-art methods.
Strategic Chain-of-Thought: Guiding Accurate Reasoning in LLMs through Strategy Elicitation
Venue: arXiv cs.AI 2024
Year: 2024

The Chain-of-Thought (CoT) paradigm has emerged as a critical approach for enhancing the reasoning capabilities of large language models (LLMs). However, despite their widespread adoption and success, CoT methods often exhibit instability due to their inability to consistently ensure the quality of generated reasoning paths, leading to sub-optimal reasoning performance. To address this challenge, we propose the \textbf{Strategic Chain-of-Thought} (SCoT), a novel methodology designed to refine LLM performance by integrating strategic knowledge prior to generating intermediate reasoning steps. SCoT employs a two-stage approach within a single prompt: first eliciting an effective problem-solving strategy, which is then used to guide the generation of high-quality CoT paths and final answers. Our experiments across eight challenging reasoning datasets demonstrate significant improvements, including a 21.05\% increase on the GSM8K dataset and 24.13\% on the Tracking\_Objects dataset, respectively, using the Llama3-8b model. Additionally, we extend the SCoT framework to develop a few-shot method with automatically matched demonstrations, yielding even stronger results. These findings underscore the efficacy of SCoT, highlighting its potential to substantially enhance LLM performance in complex reasoning tasks.
Interpretable mixture of experts for time series prediction under recurrent and non-recurrent conditions
Venue: arXiv cs.LG 2024
Year: 2024

Non-recurrent conditions caused by incidents are different from recurrent conditions that follow periodic patterns. Existing traffic speed prediction studies are incident-agnostic and use one single model to learn all possible patterns from these drastically diverse conditions. This study proposes a novel Mixture of Experts (MoE) model to improve traffic speed prediction under two separate conditions, recurrent and non-recurrent (i.e., with and without incidents). The MoE leverages separate recurrent and non-recurrent expert models (Temporal Fusion Transformers) to capture the distinct patterns of each traffic condition. Additionally, we propose a training pipeline for non-recurrent models to remedy the limited data issues. To train our model, multi-source datasets, including traffic speed, incident reports, and weather data, are integrated and processed to be informative features. Evaluations on a real road network demonstrate that the MoE achieves lower errors compared to other benchmark algorithms. The model predictions are interpreted in terms of temporal dependencies and variable importance in each condition separately to shed light on the differences between recurrent and non-recurrent conditions.
N-gram Prediction and Word Difference Representations for Language Modeling
Venue: arXiv cs.CL 2024
Year: 2024

Causal language modeling (CLM) serves as the foundational framework underpinning remarkable successes of recent large language models (LLMs). Despite its success, the training approach for next word prediction poses a potential risk of causing the model to overly focus on local dependencies within a sentence. While prior studies have been introduced to predict future N words simultaneously, they were primarily applied to tasks such as masked language modeling (MLM) and neural machine translation (NMT). In this study, we introduce a simple N-gram prediction framework for the CLM task. Moreover, we introduce word difference representation (WDR) as a surrogate and contextualized target representation during model training on the basis of N-gram prediction framework. To further enhance the quality of next word prediction, we propose an ensemble method that incorporates the future N words' prediction results. Empirical evaluations across multiple benchmark datasets encompassing CLM and NMT tasks demonstrate the significant advantages of our proposed methods over the conventional CLM.
Sketch: A Toolkit for Streamlining LLM Operations
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) represented by GPT family have achieved remarkable success. The characteristics of LLMs lie in their ability to accommodate a wide range of tasks through a generative approach. However, the flexibility of their output format poses challenges in controlling and harnessing the model's outputs, thereby constraining the application of LLMs in various domains. In this work, we present Sketch, an innovative toolkit designed to streamline LLM operations across diverse fields. Sketch comprises the following components: (1) a suite of task description schemas and prompt templates encompassing various NLP tasks; (2) a user-friendly, interactive process for building structured output LLM services tailored to various NLP tasks; (3) an open-source dataset for output format control, along with tools for dataset construction; and (4) an open-source model based on LLaMA3-8B-Instruct that adeptly comprehends and adheres to output formatting instructions. We anticipate this initiative to bring considerable convenience to LLM users, achieving the goal of ''plug-and-play'' for various applications. The components of Sketch will be progressively open-sourced at https://github.com/cofe-ai/Sketch.
Challenging Portability Paradigms: FPGA Acceleration Using SYCL and OpenCL
Venue: arXiv cs.DC 2024
Year: 2024

As the interest in FPGA-based accelerators for HPC applications increases, new challenges also arise, especially concerning different programming and portability issues. This paper aims to provide a snapshot of the current state of the FPGA tooling and its problems. To do so, we evaluate the performance portability of two frameworks for developing FPGA solutions for HPC (SYCL and OpenCL) when using them to port a highly-parallel application to FPGAs, using both ND-range and single-task type of kernels. The developer's general recommendation when using FPGAs is to develop single-task kernels for them, as they are commonly regarded as more suited for such hardware. However, we discovered that, when using high-level approaches such as OpenCL and SYCL to program a highly-parallel application with no FPGA-tailored optimizations, ND-range kernels significantly outperform single-task codes. Specifically, while SYCL struggles to produce efficient FPGA implementations of applications described as single-task codes, its performance excels with ND-range kernels, a result that was unexpectedly favorable.
TG-LMM: Enhancing Medical Image Segmentation Accuracy through Text-Guided Large Multi-Modal Model
Venue: arXiv cs.CV 2024
Year: 2024

We propose TG-LMM (Text-Guided Large Multi-Modal Model), a novel approach that leverages textual descriptions of organs to enhance segmentation accuracy in medical images. Existing medical image segmentation methods face several challenges: current medical automatic segmentation models do not effectively utilize prior knowledge, such as descriptions of organ locations; previous text-visual models focus on identifying the target rather than improving the segmentation accuracy; prior models attempt to use prior knowledge to enhance accuracy but do not incorporate pre-trained models. To address these issues, TG-LMM integrates prior knowledge, specifically expert descriptions of the spatial locations of organs, into the segmentation process. Our model utilizes pre-trained image and text encoders to reduce the number of training parameters and accelerate the training process. Additionally, we designed a comprehensive image-text information fusion structure to ensure thorough integration of the two modalities of data. We evaluated TG-LMM on three authoritative medical image datasets, encompassing the segmentation of various parts of the human body. Our method demonstrated superior performance compared to existing approaches, such as MedSAM, SAM and nnUnet.