OpenRaiser/Intern-Atlas huggingface dataset:
ACCESS: Prompt Engineering for Automated Web Accessibility Violation Corrections
Venue: arXiv cs.HC 2024
Year: 2024

With the increasing need for inclusive and user-friendly technology, web accessibility is crucial to ensuring equal access to online content for individuals with disabilities, including visual, auditory, cognitive, or motor impairments. Despite the existence of accessibility guidelines and standards such as Web Content Accessibility Guidelines (WCAG) and the Web Accessibility Initiative (W3C), over 90% of websites still fail to meet the necessary accessibility requirements. For web users with disabilities, there exists a need for a tool to automatically fix web page accessibility errors. While research has demonstrated methods to find and target accessibility errors, no research has focused on effectively correcting such violations. This paper presents a novel approach to correcting accessibility violations on the web by modifying the document object model (DOM) in real time with foundation models. Leveraging accessibility error information, large language models (LLMs), and prompt engineering techniques, we achieved greater than a 51% reduction in accessibility violation errors after corrections on our novel benchmark: ACCESS. Our work demonstrates a valuable approach toward the direction of inclusive web content, and provides directions for future research to explore advanced methods to automate web accessibility.
Hybrid Transformer and Spatial-Temporal Self-Supervised Learning for Long-term Traffic Prediction
Venue: arXiv cs.LG 2024
Year: 2024

Long-term traffic prediction has always been a challenging task due to its dynamic temporal dependencies and complex spatial dependencies. In this paper, we propose a model that combines hybrid Transformer and spatio-temporal self-supervised learning. The model enhances its robustness by applying adaptive data augmentation techniques at the sequence-level and graph-level of the traffic data. It utilizes Transformer to overcome the limitations of recurrent neural networks in capturing long-term sequences, and employs Chebyshev polynomial graph convolution to capture complex spatial dependencies. Furthermore, considering the impact of spatio-temporal heterogeneity on traffic speed, we design two self-supervised learning tasks to model the temporal and spatial heterogeneity, thereby improving the accuracy and generalization ability of the model. Experimental evaluations are conducted on two real-world datasets, PeMS04 and PeMS08, and the results are visualized and analyzed, demonstrating the superior performance of the proposed model.
KAUCUS: Knowledge Augmented User Simulators for Training Language Model Assistants
Venue: arXiv cs.HC 2024
Year: 2024

An effective multi-turn instruction-following assistant can be developed by creating a simulator that can generate useful interaction data. Apart from relying on its intrinsic weights, an ideal user simulator should also be able to bootstrap external knowledge rapidly in its raw form to simulate the multifarious diversity of text available over the internet. Previous user simulators generally lacked diversity, were mostly closed domain, and necessitated rigid schema making them inefficient to rapidly scale to incorporate external knowledge. In this regard, we introduce, Kaucus, a Knowledge-Augmented User Simulator framework, to outline a process of creating diverse user simulators, that can seamlessly exploit external knowledge as well as benefit downstream assistant model training. Through two GPT-J based simulators viz., a Retrieval Augmented Simulator and a Summary Controlled Simulator we generate diverse simulator-assistant interactions. Through reward and preference model-based evaluations, we find that these interactions serve as useful training data and create more helpful downstream assistants. We also find that incorporating knowledge through retrieval augmentation or summary control helps create better assistants.
Print-N-Grip: A Disposable, Compliant, Scalable and One-Shot 3D-Printed Multi-Fingered Robotic Hand
Venue: arXiv cs.RO 2024
Year: 2024

Robotic hands are an important tool for replacing humans in handling toxic or radioactive materials. However, these are usually highly expensive, and in many cases, once they are contaminated, they cannot be re-used. Some solutions cope with this challenge by 3D printing parts of a tendon-based hand. However, fabrication requires additional assembly steps. Therefore, a novice user may have difficulties fabricating a hand upon contamination of the previous one. We propose the Print-N-Grip (PNG) hand which is a tendon-based underactuated mechanism able to adapt to the shape of objects. The hand is fabricated through one-shot 3D printing with no additional engineering effort, and can accommodate a number of fingers as desired by the practitioner. Due to its low cost, the PNG hand can easily be detached from a universal base for disposing upon contamination, and replaced by a newly printed one. In addition, the PNG hand is scalable such that one can effortlessly resize the computerized model and print. We present the design of the PNG hand along with experiments to show the capabilities and high durability of the hand.
RL-Based Hyperparameter Selection for Spectrum Sensing With CNNs
Venue: arXiv cs.IT 2024
Year: 2024

Selection of hyperparameters in deep neural networks is a challenging problem due to the wide search space and emergence of various layers with specific hyperparameters. There exists an absence of consideration for the neural architecture selection of convolutional neural networks (CNNs) for spectrum sensing. Here, we develop a method using reinforcement learning and Q-learning to systematically search and evaluate various architectures for generated datasets including different signals and channels in the spectrum sensing problem. We show by extensive simulations that CNN-based detectors proposed by our developed method outperform several detectors in the literature. For the most complex dataset, the proposed approach provides 9% enhancement in accuracy at the cost of higher computational complexity. Furthermore, a novel method using multi-armed bandit model for selection of the sensing time is proposed to achieve higher throughput and accuracy while minimizing the consumed energy. The method dynamically adjusts the sensing time under the time-varying condition of the channel without prior information. We demonstrate through a simulated scenario that the proposed method improves the achieved reward by about 20% compared to the conventional policies. Consequently, this study effectively manages the selection of important hyperparameters for CNN-based detectors offering superior performance of cognitive radio network.
Efficient Combinatorial Group Testing: Bridging the Gap between Union-Free and Disjunctive Codes
Venue: arXiv cs.IT 2024
Year: 2024

This work focuses on non-adaptive group testing, with a primary goal of efficiently identifying a set of at most $d$ defective elements among a given set of elements using the fewest possible number of tests. Non-adaptive combinatorial group testing often employs disjunctive codes and union-free codes. This paper discusses union-free codes with fast decoding (UFFD codes), a recently introduced class of union-free codes that combine the best of both worlds -- the linear complexity decoding of disjunctive codes and the fewest number of tests of union-free codes. In our study, we distinguish two subclasses of these codes -- one subclass, denoted as $(=d)$-UFFD codes, can be used when the number of defectives $d$ is a priori known, whereas $(\le d)$-UFFD codes works for any subset of at most $d$ defectives. Previous studies have established a lower bound on the rate of these codes for $d=2$. Our contribution lies in deriving new lower bounds on the rate for both $(=d)$- and $(\le d)$-UFFD codes for an arbitrary number $d \ge 2$ of defectives. Our results show that for $d\to\infty$, the rate of $(=d)$-UFFD codes is twice as large as the best-known lower bound on the rate of $d$-disjunctive codes. In addition, the rate of $(\le d)$-UFFD code is shown to be better than the known lower bound on the rate of $d$-disjunctive codes for small values of $d$.
Generating Bindings in MPICH
Venue: arXiv cs.DC 2024
Year: 2024

The MPI Forum has recently adopted a Python scripting engine for generating the API text in the standard document. As a by-product, it made available reliable and rich descriptions of all MPI functions that are suited for scripting tools. Using these extracted API information, we developed a Python code generation toolbox to generate the language binding layers in MPICH. The toolbox replaces nearly 70,000 lines of manually maintained C and Fortran 2008 binding code with around 5,000 lines of Python scripts plus some simple configuration. In addition to completely eliminating code duplication in the binding layer and avoiding bugs from manual code copying , the code generation also minimizes the effort for API extension and code instrumentation. This is demonstrated in our implementation of MPI-4 large count functions and the prototyping of a next generation MPI profiling interface, QMPI.
Pick and Place Planning is Better than Pick Planning then Place Planning
Venue: arXiv cs.RO 2024
Year: 2024

Robotic pick and place stands at the heart of autonomous manipulation. When conducted in cluttered or complex environments robots must jointly reason about the selected grasp and desired placement locations to ensure success. While several works have examined this joint pick-and-place problem, none have fully leveraged recent learning-based approaches for multi-fingered grasp planning. We present a modular algorithm for joint pick and place planning that can make use of state of the art grasp classifiers for planning multi-fingered grasps for novel objects from partial view point clouds. We demonstrate our joint pick and place formulation with several costs associated with different placement tasks. Experiments on pick and place tasks with cluttered scenes using a physical robot show that our joint inference method is more successful than a sequential pick then place approach, while also achieving better placement configurations.
Depth Anything in Medical Images: A Comparative Study
Venue: arXiv cs.CV 2024
Year: 2024

Monocular depth estimation (MDE) is a critical component of many medical tracking and mapping algorithms, particularly from endoscopic or laparoscopic video. However, because ground truth depth maps cannot be acquired from real patient data, supervised learning is not a viable approach to predict depth maps for medical scenes. Although self-supervised learning for MDE has recently gained attention, the outputs are difficult to evaluate reliably and each MDE's generalizability to other patients and anatomies is limited. This work evaluates the zero-shot performance of the newly released Depth Anything Model on medical endoscopic and laparoscopic scenes. We compare the accuracy and inference speeds of Depth Anything with other MDE models trained on general scenes as well as in-domain models trained on endoscopic data. Our findings show that although the zero-shot capability of Depth Anything is quite impressive, it is not necessarily better than other models in both speed and performance. We hope that this study can spark further research in employing foundation models for MDE in medical scenes.
I came, I saw, I certified: some perspectives on the safety assurance of cyber-physical systems
Venue: arXiv cs.SE 2024
Year: 2024

The execution failure of cyber-physical systems (e.g., autonomous driving systems, unmanned aerial systems, and robotic systems) could result in the loss of life, severe injuries, large-scale environmental damage, property destruction, and major economic loss. Hence, such systems usually require a strong justification that they will effectively support critical requirements (e.g., safety, security, and reliability) for which they were designed. Thus, it is often mandatory to develop compelling assurance cases to support that justification and allow regulatory bodies to certify such systems. In such contexts, detecting assurance deficits, relying on patterns to improve the structure of assurance cases, improving existing assurance case notations, and (semi-)automating the generation of assurance cases are key to develop compelling assurance cases and foster consumer acceptance. We therefore explore challenges related to such assurance enablers and outline some potential directions that could be explored to tackle them.
Improving Reinforcement Learning from Human Feedback with Efficient Reward Model Ensemble
Venue: arXiv cs.LG 2024
Year: 2024

Reinforcement Learning from Human Feedback (RLHF) is a widely adopted approach for aligning large language models with human values. However, RLHF relies on a reward model that is trained with a limited amount of human preference data, which could lead to inaccurate predictions. As a result, RLHF may produce outputs that are misaligned with human values. To mitigate this issue, we contribute a reward ensemble method that allows the reward model to make more accurate predictions. As using an ensemble of large language model-based reward models can be computationally and resource-expensive, we explore efficient ensemble methods including linear-layer ensemble and LoRA-based ensemble. Empirically, we run Best-of-$n$ and Proximal Policy Optimization with our ensembled reward models, and verify that our ensemble methods help improve the alignment performance of RLHF outputs.
IRCoCo: Immediate Rewards-Guided Deep Reinforcement Learning for Code Completion
Venue: arXiv cs.SE 2024
Year: 2024

Code completion aims to enhance programming productivity by predicting potential code based on the current programming context. Recently, pretrained language models (LMs) have become prominent in this field. Various approaches have been proposed to fine-tune LMs using supervised fine-tuning (SFT) techniques for code completion. However, the inherent exposure bias of these models can cause errors to accumulate early in the sequence completion, leading to even more errors in subsequent completions. To address this problem, deep reinforcement learning (DRL) is an alternative technique for fine-tuning LMs for code completion, which can improve the generalization capabilities and overall performance. Nevertheless, integrating DRL-based strategies into code completion faces two major challenges: 1) The dynamic nature of the code context requires the completion model to quickly adapt to changes, which poses difficulties for conventional DRL strategies that focus on delayed rewarding of the final code state. 2) It is difficult to evaluate the correctness of partial code, thus the reward redistribution-based strategies cannot be adapted to code completion. To tackle these challenges, we propose IRCoCo, a code completion-specific DRL-based fine-tuning framework. This framework is designed to provide immediate rewards as feedback for detecting dynamic context changes arising from continuous edits during code completion. With the aid of immediate feedback, the fine-tuned LM can gain a more precise understanding of the current context, thereby enabling effective adjustment of the LM and optimizing code completion in a more refined manner. Experimental results demonstrate that fine-tuning pretrained LMs with IRCoCo leads to significant improvements in the code completion task, outperforming both SFT-based and other DRL-based baselines.
Breaking Free Transformer Models: Task-specific Context Attribution Promises Improved Generalizability Without Fine-tuning Pre-trained LLMs
Venue: arXiv cs.CL 2024
Year: 2024

Fine-tuning large pre-trained language models (LLMs) on particular datasets is a commonly employed strategy in Natural Language Processing (NLP) classification tasks. However, this approach usually results in a loss of models generalizability. In this paper, we present a framework that allows for maintaining generalizability, and enhances the performance on the downstream task by utilizing task-specific context attribution. We show that a linear transformation of the text representation from any transformer model using the task-specific concept operator results in a projection onto the latent concept space, referred to as context attribution in this paper. The specific concept operator is optimized during the supervised learning stage via novel loss functions. The proposed framework demonstrates that context attribution of the text representation for each task objective can improve the capacity of the discriminator function and thus achieve better performance for the classification task. Experimental results on three datasets, namely HateXplain, IMDB reviews, and Social Media Attributions, illustrate that the proposed model attains superior accuracy and generalizability. Specifically, for the non-fine-tuned BERT on the HateXplain dataset, we observe 8% improvement in accuracy and 10% improvement in F1-score. Whereas for the IMDB dataset, fine-tuned state-of-the-art XLNet is outperformed by 1% for both accuracy and F1-score. Furthermore, in an out-of-domain cross-dataset test, DistilBERT fine-tuned on the IMDB dataset in conjunction with the proposed model improves the F1-score on the HateXplain dataset by 7%. For the Social Media Attributions dataset of YouTube comments, we observe 5.2% increase in F1-metric. The proposed framework is implemented with PyTorch and provided open-source on GitHub.
Augmenting Replay in World Models for Continual Reinforcement Learning
Venue: arXiv cs.LG 2024
Year: 2024

Continual RL requires an agent to learn new tasks without forgetting previous ones, while improving on both past and future tasks. The most common approaches use model-free algorithms and replay buffers can help to mitigate catastrophic forgetting, but often struggle with scalability due to large memory requirements. Biologically inspired replay suggests replay to a world model, aligning with model-based RL; as opposed to the common setting of replay in model-free algorithms. Model-based RL offers benefits for continual RL by leveraging knowledge of the environment, independent of policy. We introduce WMAR (World Models with Augmented Replay), a model-based RL algorithm with a memory-efficient distribution-matching replay buffer. WMAR extends the well known DreamerV3 algorithm, which employs a simple FIFO buffer and was not tested in continual RL. We evaluated WMAR and DreamerV3, with the same-size replay buffers. They were tested on two scenarios: tasks with shared structure using OpenAI Procgen and tasks without shared structure using the Atari benchmark. WMAR demonstrated favourable properties for continual RL considering metrics for forgetting as well as skill transfer on past and future tasks. Compared to DreamerV3, WMAR showed slight benefits in tasks with shared structure and substantially better forgetting characteristics on tasks without shared structure. Our results suggest that model-based RL with a memory-efficient replay buffer can be an effective approach to continual RL, justifying further research.
ILBiT: Imitation Learning for Robot Using Position and Torque Information based on Bilateral Control with Transformer
Venue: arXiv cs.RO 2024
Year: 2024

Autonomous manipulation in robot arms is a complex and evolving field of study in robotics. This paper introduces an innovative approach to this challenge by focusing on imitation learning (IL). Unlike traditional imitation methods, our approach uses IL based on bilateral control, allowing for more precise and adaptable robot movements. The conventional IL based on bilateral control method have relied on Long Short-Term Memory (LSTM) networks. In this paper, we present the IL for robot using position and torque information based on Bilateral control with Transformer (ILBiT). This proposed method employs the Transformer model, known for its robust performance in handling diverse datasets and its capability to surpass LSTM's limitations, especially in tasks requiring detailed force adjustments. A standout feature of ILBiT is its high-frequency operation at 100 Hz, which significantly improves the system's adaptability and response to varying environments and objects of different hardness levels. The effectiveness of the Transformer-based ILBiT method can be seen through comprehensive real-world experiments.
A Detailed Historical and Statistical Analysis of the Influence of Hardware Artifacts on SPEC Integer Benchmark Performance
Venue: arXiv cs.CY 2024
Year: 2024

The Standard Performance Evaluation Corporation (SPEC) CPU benchmark has been widely used as a measure of computing performance for decades. The SPEC is an industry-standardized, CPU-intensive benchmark suite and the collective data provide a proxy for the history of worldwide CPU and system performance. Past efforts have not provided or enabled answers to questions such as, how has the SPEC benchmark suite evolved empirically over time and what micro-architecture artifacts have had the most influence on performance? -- have any micro-benchmarks within the suite had undue influence on the results and comparisons among the codes? -- can the answers to these questions provide insights to the future of computer system performance? To answer these questions, we detail our historical and statistical analysis of specific hardware artifacts (clock frequencies, core counts, etc.) on the performance of the SPEC benchmarks since 1995. We discuss in detail several methods to normalize across benchmark evolutions. We perform both isolated and collective sensitivity analyses for various hardware artifacts and we identify one benchmark (libquantum) that had somewhat undue influence on performance outcomes. We also present the use of SPEC data to predict future performance.
Diffusion model for relational inference
Venue: arXiv cs.LG 2024
Year: 2024

Dynamical behaviors of complex interacting systems, including brain activities, financial price movements, and physical collective phenomena, are associated with underlying interactions between the system's components. The issue of uncovering interaction relations in such systems using observable dynamics is called relational inference. In this study, we propose a Diffusion model for Relational Inference (DiffRI), inspired by a self-supervised method for probabilistic time series imputation. DiffRI learns to infer the probability of the presence of connections between components through conditional diffusion modeling.