OpenRaiser/Intern-Atlas huggingface dataset:
Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrations
Venue: arXiv cs.RO 2024
Year: 2024

Bimanual dexterous manipulation is a critical yet underexplored area in robotics. Its high-dimensional action space and inherent task complexity present significant challenges for policy learning, and the limited task diversity in existing benchmarks hinders general-purpose skill development. Existing approaches largely depend on reinforcement learning, often constrained by intricately designed reward functions tailored to a narrow set of tasks. In this work, we present a novel approach for efficiently learning diverse bimanual dexterous skills from abundant human demonstrations. Specifically, we introduce BiDexHD, a framework that unifies task construction from existing bimanual datasets and employs teacher-student policy learning to address all tasks. The teacher learns state-based policies using a general two-stage reward function across tasks with shared behaviors, while the student distills the learned multi-task policies into a vision-based policy. With BiDexHD, scalable learning of numerous bimanual dexterous skills from auto-constructed tasks becomes feasible, offering promising advances toward universal bimanual dexterous manipulation. Our empirical evaluation on the TACO dataset, spanning 141 tasks across six categories, demonstrates a task fulfillment rate of 74.59% on trained tasks and 51.07% on unseen tasks, showcasing the effectiveness and competitive zero-shot generalization capabilities of BiDexHD. For videos and more information, visit our project page https://sites.google.com/view/bidexhd.
Semantic-Guided RL for Interpretable Feature Engineering
Venue: arXiv cs.LG 2024
Year: 2024

The quality of Machine Learning (ML) models strongly depends on the input data, as such generating high-quality features is often required to improve the predictive accuracy. This process is referred to as Feature Engineering (FE). However, since manual feature engineering is time-consuming and requires case-by-case domain knowledge, Automated Feature Engineering (AutoFE) is crucial. A major challenge that remains is to generate interpretable features. To tackle this problem, we introduce SMART, a hybrid approach that uses semantic technologies to guide the generation of interpretable features through a two-step process: Exploitation and Exploration. The former uses Description Logics (DL) to reason on the semantics embedded in Knowledge Graphs (KG) to infer domain-specific features, while the latter exploits the knowledge graph to conduct a guided exploration of the search space through Deep Reinforcement Learning (DRL). Our experiments on public datasets demonstrate that SMART significantly improves prediction accuracy while ensuring a high level of interpretability.
Contextual Document Embeddings
Venue: arXiv cs.CL 2024
Year: 2024

Dense document embeddings are central to neural retrieval. The dominant paradigm is to train and construct embeddings by running encoders directly on individual documents. In this work, we argue that these embeddings, while effective, are implicitly out-of-context for targeted use cases of retrieval, and that a contextualized document embedding should take into account both the document and neighboring documents in context - analogous to contextualized word embeddings. We propose two complementary methods for contextualized document embeddings: first, an alternative contrastive learning objective that explicitly incorporates the document neighbors into the intra-batch contextual loss; second, a new contextual architecture that explicitly encodes neighbor document information into the encoded representation. Results show that both methods achieve better performance than biencoders in several settings, with differences especially pronounced out-of-domain. We achieve state-of-the-art results on the MTEB benchmark with no hard negative mining, score distillation, dataset-specific instructions, intra-GPU example-sharing, or extremely large batch sizes. Our method can be applied to improve performance on any contrastive learning dataset and any biencoder.
Algorithms For Automatic Accentuation And Transcription Of Russian Texts In Speech Recognition Systems
Venue: arXiv cs.CL 2024
Year: 2024

This paper presents an overview of rule-based system for automatic accentuation and phonemic transcription of Russian texts for speech connected tasks, such as Automatic Speech Recognition (ASR). Two parts of the developed system, accentuation and transcription, use different approaches to achieve correct phonemic representations of input phrases. Accentuation is based on "Grammatical dictionary of the Russian language" of A.A. Zaliznyak and wiktionary corpus. To distinguish homographs, the accentuation system also utilises morphological information of the sentences based on Recurrent Neural Networks (RNN). Transcription algorithms apply the rules presented in the monograph of B.M. Lobanov and L.I. Tsirulnik "Computer Synthesis and Voice Cloning". The rules described in the present paper are implemented in an open-source module, which can be of use to any scientific study connected to ASR or Speech To Text (STT) tasks. Automatically marked up text annotations of the Russian Voxforge database were used as training data for an acoustic model in CMU Sphinx. The resulting acoustic model was evaluated on cross-validation, mean Word Accuracy being 71.2%. The developed toolkit is written in the Python language and is accessible on GitHub for any researcher interested.
Large Language Model for Multi-Domain Translation: Benchmarking and Domain CoT Fine-tuning
Venue: arXiv cs.CL 2024
Year: 2024

Achieving consistent high-quality machine translation (MT) across diverse domains remains a significant challenge, primarily due to the limited and imbalanced parallel training data available in various domains. While large language models (LLMs) have demonstrated impressive general understanding and generation abilities, their potential in multi-domain MT is under-explored. We establish a comprehensive benchmark for multi-domain translation, featuring 25 German$\Leftrightarrow$English and 22 Chinese$\Leftrightarrow$English test sets respectively covering 15 domains. Our evaluation of prominent LLMs reveals a discernible performance gap against traditional MT systems, highlighting domain overfitting and catastrophic forgetting issues after fine-tuning on domain-limited corpora. To mitigate this, we propose a domain Chain of Thought (CoT) fine-tuning technique that utilizes the intrinsic multi-domain intelligence of LLMs to improve translation performance. This method inspires the LLM to perceive domain information from the source text, which then serves as a helpful hint to guide the translation process. Despite being trained on a small dataset of four domains, our CoT fine-tune approach achieves notable enhancements in translation accuracy and domain robustness than traditional fine-tuning, as evidenced by an average 1.53 BLEU score increase in over 20 German$\rightarrow$English distinct out-of-domain tests.
UncertaintyRAG: Span-Level Uncertainty Enhanced Long-Context Modeling for Retrieval-Augmented Generation
Venue: arXiv cs.CL 2024
Year: 2024

We present UncertaintyRAG, a novel approach for long-context Retrieval-Augmented Generation (RAG) that utilizes Signal-to-Noise Ratio (SNR)-based span uncertainty to estimate similarity between text chunks. This span uncertainty enhances model calibration, improving robustness and mitigating semantic inconsistencies introduced by random chunking. Leveraging this insight, we propose an efficient unsupervised learning technique to train the retrieval model, alongside an effective data sampling and scaling strategy. UncertaintyRAG outperforms baselines by 2.03% on LLaMA-2-7B, achieving state-of-the-art results while using only 4% of the training data compared to other advanced open-source retrieval models under distribution shift settings. Our method demonstrates strong calibration through span uncertainty, leading to improved generalization and robustness in long-context RAG tasks. Additionally, UncertaintyRAG provides a lightweight retrieval model that can be integrated into any large language model with varying context window lengths, without the need for fine-tuning, showcasing the flexibility of our approach.
Mind the Uncertainty in Human Disagreement: Evaluating Discrepancies between Model Predictions and Human Responses in VQA
Venue: arXiv cs.CV 2024
Year: 2024

Large vision-language models frequently struggle to accurately predict responses provided by multiple human annotators, particularly when those responses exhibit human uncertainty. In this study, we focus on the Visual Question Answering (VQA) task, and we comprehensively evaluate how well the state-of-the-art vision-language models correlate with the distribution of human responses. To do so, we categorize our samples based on their levels (low, medium, high) of human uncertainty in disagreement (HUD) and employ not only accuracy but also three new human-correlated metrics in VQA, to investigate the impact of HUD. To better align models with humans, we also verify the effect of common calibration and human calibration. Our results show that even BEiT3, currently the best model for this task, struggles to capture the multi-label distribution inherent in diverse human responses. Additionally, we observe that the commonly used accuracy-oriented calibration technique adversely affects BEiT3's ability to capture HUD, further widening the gap between model predictions and human distributions. In contrast, we show the benefits of calibrating models towards human distributions for VQA, better aligning model confidence with human uncertainty. Our findings highlight that for VQA, the consistent alignment between human responses and model predictions is understudied and should become the next crucial target of future studies.
Bypassing the Popularity Bias: Repurposing Models for Better Long-Tail Recommendation
Venue: arXiv cs.IR 2024
Year: 2024

Recommender systems play a crucial role in shaping information we encounter online, whether on social media or when using content platforms, thereby influencing our beliefs, choices, and behaviours. Many recent works address the issue of fairness in recommender systems, typically focusing on topics like ensuring equal access to information and opportunities for all individual users or user groups, promoting diverse content to avoid filter bubbles and echo chambers, enhancing transparency and explainability, and adhering to ethical and sustainable practices. In this work, we aim to achieve a more equitable distribution of exposure among publishers on an online content platform, with a particular focus on those who produce high quality, long-tail content that may be unfairly disadvantaged. We propose a novel approach of repurposing existing components of an industrial recommender system to deliver valuable exposure to underrepresented publishers while maintaining high recommendation quality. To demonstrate the efficiency of our proposal, we conduct large-scale online AB experiments, report results indicating desired outcomes and share several insights from long-term application of the approach in the production setting.
TaCIE: Enhancing Instruction Comprehension in Large Language Models through Task-Centred Instruction Evolution
Venue: arXiv cs.CY 2024
Year: 2024

Large Language Models (LLMs) require precise alignment with complex instructions to optimize their performance in real-world applications. As the demand for refined instruction tuning data increases, traditional methods that evolve simple seed instructions often struggle to effectively enhance complexity or manage difficulty scaling across various domains. Our innovative approach, Task-Centered Instruction Evolution (TaCIE), addresses these shortcomings by redefining instruction evolution from merely evolving seed instructions to a more dynamic and comprehensive combination of elements. TaCIE starts by deconstructing complex instructions into their fundamental components. It then generates and integrates new elements with the original ones, reassembling them into more sophisticated instructions that progressively increase in difficulty, diversity, and complexity. Applied across multiple domains, LLMs fine-tuned with these evolved instructions have substantially outperformed those tuned with conventional methods, marking a significant advancement in instruction-based model fine-tuning.
DANA: Domain-Aware Neurosymbolic Agents for Consistency and Accuracy
Venue: arXiv cs.AI 2024
Year: 2024

Large Language Models (LLMs) have shown remarkable capabilities, but their inherent probabilistic nature often leads to inconsistency and inaccuracy in complex problem-solving tasks. This paper introduces DANA (Domain-Aware Neurosymbolic Agent), an architecture that addresses these issues by integrating domain-specific knowledge with neurosymbolic approaches. We begin by analyzing current AI architectures, including AutoGPT, LangChain ReAct and OpenAI's ChatGPT, through a neurosymbolic lens, highlighting how their reliance on probabilistic inference contributes to inconsistent outputs. In response, DANA captures and applies domain expertise in both natural-language and symbolic forms, enabling more deterministic and reliable problem-solving behaviors. We implement a variant of DANA using Hierarchical Task Plans (HTPs) in the open-source OpenSSA framework. This implementation achieves over 90\% accuracy on the FinanceBench financial-analysis benchmark, significantly outperforming current LLM-based systems in both consistency and accuracy. Application of DANA in physical industries such as semiconductor shows that its flexible architecture for incorporating knowledge is effective in mitigating the probabilistic limitations of LLMs and has potential in tackling complex, real-world problems that require reliability and precision.
Fine-Tuning Language Models with Differential Privacy through Adaptive Noise Allocation
Venue: arXiv cs.AI 2024
Year: 2024

Language models are capable of memorizing detailed patterns and information, leading to a double-edged effect: they achieve impressive modeling performance on downstream tasks with the stored knowledge but also raise significant privacy concerns. Traditional differential privacy based training approaches offer robust safeguards by employing a uniform noise distribution across all parameters. However, this overlooks the distinct sensitivities and contributions of individual parameters in privacy protection and often results in suboptimal models. To address these limitations, we propose ANADP, a novel algorithm that adaptively allocates additive noise based on the importance of model parameters. We demonstrate that ANADP narrows the performance gap between regular fine-tuning and traditional DP fine-tuning on a series of datasets while maintaining the required privacy constraints.
Does the Order of Fine-tuning Matter and Why?
Venue: arXiv cs.SE 2024
Year: 2024

To improve the performance on a target task, researchers have fine-tuned language models with an intermediate task before the target task of interest. However, previous works have focused on the pre-trained language models and downstream tasks in Natural Language Processing (NLP) and considered only one intermediate task. The effect of fine-tuning multiple intermediate tasks and their ordering on target task performance has not been fully explored in Software Engineering. In this study, we perform the first empirical study on analyzing the impact of task ordering on target task performance. Experimental results show that there is an impact of task ordering on target task performance by up to 6% of performance gain and up to 4% of performance loss. To explain such an impact, we consider a variety of potential factors, including the characteristics of dataset (syntactic similarity and semantic similarity analysis, dataset size), model (probing task and attention analysis), and task (task affinity analysis). Our study provides Software Engineering researchers and practitioners with insights into the effect of task orderings and how to select the one that is cost-effective while achieving the best performance gain.
Intrinsic Evaluation of RAG Systems for Deep-Logic Questions
Venue: arXiv cs.AI 2024
Year: 2024

We introduce the Overall Performance Index (OPI), an intrinsic metric to evaluate retrieval-augmented generation (RAG) mechanisms for applications involving deep-logic queries. OPI is computed as the harmonic mean of two key metrics: the Logical-Relation Correctness Ratio and the average of BERT embedding similarity scores between ground-truth and generated answers. We apply OPI to assess the performance of LangChain, a popular RAG tool, using a logical relations classifier fine-tuned from GPT-4o on the RAG-Dataset-12000 from Hugging Face. Our findings show a strong correlation between BERT embedding similarity scores and extrinsic evaluation scores. Among the commonly used retrievers, the cosine similarity retriever using BERT-based embeddings outperforms others, while the Euclidean distance-based retriever exhibits the weakest performance. Furthermore, we demonstrate that combining multiple retrievers, either algorithmically or by merging retrieved sentences, yields superior performance compared to using any single retriever alone.
Comparison of Autoencoder Encodings for ECG Representation in Downstream Prediction Tasks
Venue: arXiv cs.LG 2024
Year: 2024

The electrocardiogram (ECG) is an inexpensive and widely available tool for cardiovascular assessment. Despite its standardized format and small file size, the high complexity and inter-individual variability of ECG signals (typically a 60,000-size vector) make it challenging to use in deep learning models, especially when only small datasets are available. This study addresses these challenges by exploring feature generation methods from representative beat ECGs, focusing on Principal Component Analysis (PCA) and Autoencoders to reduce data complexity. We introduce three novel Variational Autoencoder (VAE) variants: Stochastic Autoencoder (SAE), Annealed beta-VAE (Abeta-VAE), and cyclical beta-VAE (Cbeta-VAE), and compare their effectiveness in maintaining signal fidelity and enhancing downstream prediction tasks. The Abeta-VAE achieved superior signal reconstruction, reducing the mean absolute error (MAE) to 15.7 plus-minus 3.2 microvolts, which is at the level of signal noise. Moreover, the SAE encodings, when combined with ECG summary features, improved the prediction of reduced Left Ventricular Ejection Fraction (LVEF), achieving an area under the receiver operating characteristic curve (AUROC) of 0.901. This performance nearly matches the 0.910 AUROC of state-of-the-art CNN models but requires significantly less data and computational resources. Our findings demonstrate that these VAE encodings are not only effective in simplifying ECG data but also provide a practical solution for applying deep learning in contexts with limited-scale labeled training data.
Self-Deployable, Adaptive Soft Robots Based on Contracting-Cord Particle Jamming
Venue: arXiv cs.RO 2024
Year: 2024

We developed a new class of soft locomotive robots that can self-assemble into a preprogrammed configuration and vary their stiffness afterward in a highly integrated, compact body using contracting-cord particle jamming (CCPJ). We demonstrate this with a tripod-shaped robot, TripodBot, consisting of three CCPJ-based legs attached to a central body. TripodBot is intrinsically soft and can be stored and transported in a compact configuration. On site, it can self-deploy and crawl in a slip-stick manner through the shape morphing of its legs; a simplified analytical model accurately captures the speed. The robot's adaptability is demonstrated by its ability to navigate tunnels as narrow as 61 percent of its deployed body width and ceilings as low as 31 percent of its freestanding height. Additionally, it can climb slopes up to 15 degrees, carry a load of 5 grams (2.4 times its weight), and bear a load 9429 times its weight.
Differentiation and Specialization of Attention Heads via the Refined Local Learning Coefficient
Venue: arXiv cs.LG 2024
Year: 2024

We introduce refined variants of the Local Learning Coefficient (LLC), a measure of model complexity grounded in singular learning theory, to study the development of internal structure in transformer language models during training. By applying these \textit{refined LLCs} (rLLCs) to individual components of a two-layer attention-only transformer, we gain novel insights into the progressive differentiation and specialization of attention heads. Our methodology reveals how attention heads differentiate into distinct functional roles over the course of training, analyzes the types of data these heads specialize to process, and discovers a previously unidentified multigram circuit. These findings demonstrate that rLLCs provide a principled, quantitative toolkit for \textit{developmental interpretability}, which aims to understand models through their evolution across the learning process. More broadly, this work takes a step towards establishing the correspondence between data distributional structure, geometric properties of the loss landscape, learning dynamics, and emergent computational structures in neural networks.
Transforming Teachers' Roles and Agencies in the Era of Generative AI: Perceptions, Acceptance, Knowledge, and Practices
Venue: arXiv cs.CY 2024
Year: 2024

This paper explores the transformative impact of Generative Artificial Intelligence (GenAI) on teachers' roles and agencies in education, presenting a comprehensive framework that addresses teachers' perceptions, knowledge, acceptance, and practices of GenAI. As GenAI technologies, such as ChatGPT, become increasingly integrated into educational settings, teachers are required to adapt to evolving classroom dynamics, where AI plays a significant role in content creation, personalized learning, and student engagement. However, existing literature often treats these factors in isolation, overlooking how they collectively influence teachers' ability to effectively integrate GenAI into their pedagogical practices. This paper fills this gap by proposing a framework that categorizes teachers into four roles -- Observer, Adopter, Collaborator, and Innovator -- each representing different levels of GenAI engagement, outlining teachers' agencies in GenAI classrooms. By highlighting the need for continuous professional development and institutional support, we demonstrate how teachers can evolve from basic GenAI users to co-creators of knowledge alongside GenAI systems. The findings emphasize that for GenAI to reach its full educational potential, teachers must not only accept and understand its capabilities but also integrate it deeply into their teaching strategies. This study contributes to the growing literature on GenAI in education, offering practical implications for supporting teachers in navigating the complexities of GenAI adoption.