OpenRaiser/Intern-Atlas huggingface dataset:
EnvGen: Generating and Adapting Environments via LLMs for Training Embodied Agents
Venue: arXiv cs.CL 2024
Year: 2024

Recent SOTA approaches for embodied learning via interaction directly employ large language models (LLMs) as agents to determine the next steps in an environment. Due to their world knowledge and reasoning capabilities, LLM agents achieve stronger performance than previous smaller agents based on reinforcement learning (RL); however, frequently calling LLMs is slow and expensive. Instead of directly employing LLMs as agents, can we use LLMs' reasoning capabilities to adaptively create training environments to help smaller RL agents learn useful skills that they are weak at? We propose EnvGen, a novel framework to address this question. We first prompt an LLM to generate training environments by giving it the task description and simulator objectives that the agents should learn and then asking it to generate a set of environment configurations (e.g., different terrains, items initially given to agents, etc.). Next, we train a small RL agent in a mixture of the original and LLM-generated environments. Then, we enable the LLM to continuously adapt the generated environments to progressively improve the skills that the agent is weak at, by providing feedback to the LLM in the form of the agent's performance. We demonstrate the usefulness of EnvGen with comprehensive experiments in Crafter and Heist environments. We find that a small RL agent trained with EnvGen can outperform SOTA methods, including a GPT-4 agent, and learns long-horizon tasks significantly faster. We also show that using an LLM to adapt environments dynamically outperforms curriculum learning approaches and how the environments are adapted to help improve RL agents' weaker skills over time. Additionally, EnvGen is substantially more efficient as it only uses a small number of LLM calls (e.g., 4 in total), whereas LLM agents require thousands of calls. Lastly, we present detailed ablation studies for EnvGen design choices.
From Pixels to Insights: A Survey on Automatic Chart Understanding in the Era of Large Foundation Models
Venue: arXiv cs.CL 2024
Year: 2024

Data visualization in the form of charts plays a pivotal role in data analysis, offering critical insights and aiding in informed decision-making. Automatic chart understanding has witnessed significant advancements with the rise of large foundation models in recent years. Foundation models, such as large language models, have revolutionized various natural language processing tasks and are increasingly being applied to chart understanding tasks. This survey paper provides a comprehensive overview of the recent developments, challenges, and future directions in chart understanding within the context of these foundation models. We review fundamental building blocks crucial for studying chart understanding tasks. Additionally, we explore various tasks and their evaluation metrics and sources of both charts and textual inputs. Various modeling strategies are then examined, encompassing both classification-based and generation-based approaches, along with tool augmentation techniques that enhance chart understanding performance. Furthermore, we discuss the state-of-the-art performance of each task and discuss how we can improve the performance. Challenges and future directions are addressed, highlighting the importance of several topics, such as domain-specific charts, lack of efforts in developing evaluation metrics, and agent-oriented settings. This survey paper serves as a comprehensive resource for researchers and practitioners in the fields of natural language processing, computer vision, and data analysis, providing valuable insights and directions for future research in chart understanding leveraging large foundation models. The studies mentioned in this paper, along with emerging new research, will be continually updated at: https://github.com/khuangaf/Awesome-Chart-Understanding.
Ultraman: Single Image 3D Human Reconstruction with Ultra Speed and Detail
Venue: arXiv cs.CV 2024
Year: 2024

3D human body reconstruction has been a challenge in the field of computer vision. Previous methods are often time-consuming and difficult to capture the detailed appearance of the human body. In this paper, we propose a new method called \emph{Ultraman} for fast reconstruction of textured 3D human models from a single image. Compared to existing techniques, \emph{Ultraman} greatly improves the reconstruction speed and accuracy while preserving high-quality texture details. We present a set of new frameworks for human reconstruction consisting of three parts, geometric reconstruction, texture generation and texture mapping. Firstly, a mesh reconstruction framework is used, which accurately extracts 3D human shapes from a single image. At the same time, we propose a method to generate a multi-view consistent image of the human body based on a single image. This is finally combined with a novel texture mapping method to optimize texture details and ensure color consistency during reconstruction. Through extensive experiments and evaluations, we demonstrate the superior performance of \emph{Ultraman} on various standard datasets. In addition, \emph{Ultraman} outperforms state-of-the-art methods in terms of human rendering quality and speed. Upon acceptance of the article, we will make the code and data publicly available.
MineDreamer: Learning to Follow Instructions via Chain-of-Imagination for Simulated-World Control
Venue: arXiv cs.CV 2024
Year: 2024

It is a long-lasting goal to design a generalist-embodied agent that can follow diverse instructions in human-like ways. However, existing approaches often fail to steadily follow instructions due to difficulties in understanding abstract and sequential natural language instructions. To this end, we introduce MineDreamer, an open-ended embodied agent built upon the challenging Minecraft simulator with an innovative paradigm that enhances instruction-following ability in low-level control signal generation. Specifically, MineDreamer is developed on top of recent advances in Multimodal Large Language Models (MLLMs) and diffusion models, and we employ a Chain-of-Imagination (CoI) mechanism to envision the step-by-step process of executing instructions and translating imaginations into more precise visual prompts tailored to the current state; subsequently, the agent generates keyboard-and-mouse actions to efficiently achieve these imaginations, steadily following the instructions at each step. Extensive experiments demonstrate that MineDreamer follows single and multi-step instructions steadily, significantly outperforming the best generalist agent baseline and nearly doubling its performance. Moreover, qualitative analysis of the agent's imaginative ability reveals its generalization and comprehension of the open world.
A Thorough Analysis of Radio Resource Assignment for UAV-Enhanced Vehicular Sidelink Communications
Venue: arXiv cs.NI 2024
Year: 2024

The rapid expansion of connected and autonomous vehicles (CAVs) and the shift towards millimiter-wave (mmWave) frequencies offer unprecedented opportunities to enhance road safety and traffic efficiency. Sidelink communication, enabling direct Vehicle-to-Vehicle (V2V) communications, play a pivotal role in this transformation. As communication technologies transit to higher frequencies, the associated increase in bandwidth comes at the cost of a severe path and penetration loss. In response to these challenges, we investigate a network configuration that deploys beamforming-capable Unmanned Aerial Vehicles (UAVs) as relay nodes. In this work, we present a comprehensive analytical framework with a groundbreaking performance metric, i.e. average access probability, that quantifies user satisfaction, considering factors across different protocol stack layers. Additionally, we introduce two Radio Resources Assignment (RRA) methods tailored for UAVs. These methods consider parameters such as resource availability, vehicle distribution, and latency requirements. Through our analytical approach, we optimize the average access probability by controlling UAV altitude based on traffic density. Our numerical findings validate the proposed model and strategy, which ensures that Quality of Service (QoS) standards are met in the domain of Vehicle-to-Anything (V2X) sidelink communications.
Beyond Quantities: Machine Learning-based Characterization of Inequality in Infrastructure Quality Provision in Cities
Venue: arXiv cs.CY 2024
Year: 2024

The objective of this study is to characterize inequality in infrastructure quality across urban areas. While a growing of body of literature has recognized the importance of characterizing infrastructure inequality in cities and provided quantified metrics to inform urban development plans, the majority of the existing approaches focus primarily on measuring the quantity of infrastructure, assuming that more infrastructure is better. Also, the existing research focuses primarily on index-based approaches in which the status of infrastructure provision in urban areas is determined based on assumed subjective weights. The focus on infrastructure quantity and use of indices obtained from subjective weights has hindered the ability to properly examine infrastructure inequality as it pertains to urban inequality and environmental justice considerations. Recognizing this gap, we propose a machine learning-based approach in which infrastructure features that shape environmental hazard exposure are identified and we use the weights obtained by the model to calculate an infrastructure quality provision for spatial areas of cities and accordingly, quantify the extent of inequality in infrastructure quality. The implementation of the model in five metropolitan areas in the U.S. demonstrates the capability of the proposed approach in characterizing inequality in infrastructure quality and capturing city-specific differences in the weights of infrastructure features. The results also show that areas in which low-income populations reside have lower infrastructure quality provision, suggesting the lower infrastructure quality provision as a determinant of urban disparities. Accordingly, the proposed approach can be effectively used to inform integrated urban design strategies to promote infrastructure equity and environmental justice based on data-driven and machine intelligence-based insights.
Evaluating Terrain-Dependent Performance for Martian Frost Detection in Visible Satellite Observations
Venue: arXiv cs.CV 2024
Year: 2024

Seasonal frosting and defrosting on the surface of Mars is hypothesized to drive both climate processes and the formation and evolution of geomorphological features such as gullies. Past studies have focused on manually analyzing the behavior of the frost cycle in the northern mid-latitude region of Mars using high-resolution visible observations from orbit. Extending these studies globally requires automating the detection of frost using data science techniques such as convolutional neural networks. However, visible indications of frost presence can vary significantly depending on the geologic context on which the frost is superimposed. In this study, we (1) present a novel approach for spatially partitioning data to reduce biases in model performance estimation, (2) illustrate how geologic context affects automated frost detection, and (3) propose mitigations to observed biases in automated frost detection.
Group Movie Selection using Multi-channel Emotion Recognition
Venue: arXiv cs.IR 2024
Year: 2024

Social activities often done in groups include watching television or movies. Choosing a film that appeals to the emotional inclinations of a varied group can be tricky. One of the most difficult aspects of making group movie suggestions is achieving agreement among members. At the same time, emotion is the most important component that connects the film and the viewer. Current research proposes a methodology for group movie selection that employs emotional analysis from numerous sources, such as film posters, soundtracks, and text. Our research stands at the intersection of emotion recognition technology in music, text, color images, and group decision-making, providing a practical tool for navigating the complex dynamics of film selection in a group setting. The survey participants were given emotion categories and asked to select the emotions that best suited a particular movie. Preliminary comparison results between real and predicted scores show the effectiveness of using emotion detection for group movie recommendation. Such systems have the potential to enhance movie recommendation systems.
Does AI help humans make better decisions? A statistical evaluation framework for experimental and observational studies
Venue: arXiv cs.AI 2024
Year: 2024

The use of Artificial Intelligence (AI), or more generally data-driven algorithms, has become ubiquitous in today's society. Yet, in many cases and especially when stakes are high, humans still make final decisions. The critical question, therefore, is whether AI helps humans make better decisions compared to a human-alone or AI-alone system. We introduce a new methodological framework to empirically answer this question with a minimal set of assumptions. We measure a decision maker's ability to make correct decisions using standard classification metrics based on the baseline potential outcome. We consider a single-blinded and unconfounded treatment assignment, where the provision of AI-generated recommendations is assumed to be randomized across cases with humans making final decisions. Under this study design, we show how to compare the performance of three alternative decision-making systems--human-alone, human-with-AI, and AI-alone. Importantly, the AI-alone system includes any individualized treatment assignment, including those that are not used in the original study. We also show when AI recommendations should be provided to a human-decision maker, and when one should follow such recommendations. We apply the proposed methodology to our own randomized controlled trial evaluating a pretrial risk assessment instrument. We find that the risk assessment recommendations do not improve the classification accuracy of a judge's decision to impose cash bail. Furthermore, we find that replacing a human judge with algorithms--the risk assessment score and a large language model in particular--leads to a worse classification performance.
Safety Analysis of Autonomous Railway Systems: An Introduction to the SACRED Methodology
Venue: arXiv cs.SE 2024
Year: 2024

As the railway industry increasingly seeks to introduce autonomy and machine learning (ML), several questions arise. How can safety be assured for such systems and technologies? What is the applicability of current safety standards within this new technological landscape? What are the key metrics to classify a system as safe? Currently, safety analysis for the railway reflects the failure modes of existing technology; in contrast, the primary concern of analysis of automation is typically average performance. Such purely statistical approaches to measuring ML performance are limited, as they may overlook classes of situations that may occur rarely but in which the function performs consistently poorly. To combat these difficulties we introduce SACRED, a safety methodology for producing an initial safety case and determining important safety metrics for autonomous systems. The development of SACRED is motivated by the proposed GoA-4 light-rail system in Berlin.
Continual Domain Randomization
Venue: arXiv cs.RO 2024
Year: 2024

Domain Randomization (DR) is commonly used for sim2real transfer of reinforcement learning (RL) policies in robotics. Most DR approaches require a simulator with a fixed set of tunable parameters from the start of the training, from which the parameters are randomized simultaneously to train a robust model for use in the real world. However, the combined randomization of many parameters increases the task difficulty and might result in sub-optimal policies. To address this problem and to provide a more flexible training process, we propose Continual Domain Randomization (CDR) for RL that combines domain randomization with continual learning to enable sequential training in simulation on a subset of randomization parameters at a time. Starting from a model trained in a non-randomized simulation where the task is easier to solve, the model is trained on a sequence of randomizations, and continual learning is employed to remember the effects of previous randomizations. Our robotic reaching and grasping tasks experiments show that the model trained in this fashion learns effectively in simulation and performs robustly on the real robot while matching or outperforming baselines that employ combined randomization or sequential randomization without continual learning. Our code and videos are available at https://continual-dr.github.io/.
FLex: Joint Pose and Dynamic Radiance Fields Optimization for Stereo Endoscopic Videos
Venue: arXiv cs.CV 2024
Year: 2024

Reconstruction of endoscopic scenes is an important asset for various medical applications, from post-surgery analysis to educational training. Neural rendering has recently shown promising results in endoscopic reconstruction with deforming tissue. However, the setup has been restricted to a static endoscope, limited deformation, or required an external tracking device to retrieve camera pose information of the endoscopic camera. With FLex we adress the challenging setup of a moving endoscope within a highly dynamic environment of deforming tissue. We propose an implicit scene separation into multiple overlapping 4D neural radiance fields (NeRFs) and a progressive optimization scheme jointly optimizing for reconstruction and camera poses from scratch. This improves the ease-of-use and allows to scale reconstruction capabilities in time to process surgical videos of 5,000 frames and more; an improvement of more than ten times compared to the state of the art while being agnostic to external tracking information. Extensive evaluations on the StereoMIS dataset show that FLex significantly improves the quality of novel view synthesis while maintaining competitive pose accuracy.
Compositional learning of functions in humans and machines
Venue: arXiv cs.AI 2024
Year: 2024

The ability to learn and compose functions is foundational to efficient learning and reasoning in humans, enabling flexible generalizations such as creating new dishes from known cooking processes. Beyond sequential chaining of functions, existing linguistics literature indicates that humans can grasp more complex compositions with interacting functions, where output production depends on context changes induced by different function orderings. Extending the investigation into the visual domain, we developed a function learning paradigm to explore the capacity of humans and neural network models in learning and reasoning with compositional functions under varied interaction conditions. Following brief training on individual functions, human participants were assessed on composing two learned functions, in ways covering four main interaction types, including instances in which the application of the first function creates or removes the context for applying the second function. Our findings indicate that humans can make zero-shot generalizations on novel visual function compositions across interaction conditions, demonstrating sensitivity to contextual changes. A comparison with a neural network model on the same task reveals that, through the meta-learning for compositionality (MLC) approach, a standard sequence-to-sequence Transformer can mimic human generalization patterns in composing functions.
Synthetic Image Generation in Cyber Influence Operations: An Emergent Threat?
Venue: arXiv cs.CY 2024
Year: 2024

The evolution of artificial intelligence (AI) has catalyzed a transformation in digital content generation, with profound implications for cyber influence operations. This report delves into the potential and limitations of generative deep learning models, such as diffusion models, in fabricating convincing synthetic images. We critically assess the accessibility, practicality, and output quality of these tools and their implications in threat scenarios of deception, influence, and subversion. Notably, the report generates content for several hypothetical cyber influence operations to demonstrate the current capabilities and limitations of these AI-driven methods for threat actors. While generative models excel at producing illustrations and non-realistic imagery, creating convincing photo-realistic content remains a significant challenge, limited by computational resources and the necessity for human-guided refinement. Our exploration underscores the delicate balance between technological advancement and its potential for misuse, prompting recommendations for ongoing research, defense mechanisms, multi-disciplinary collaboration, and policy development. These recommendations aim to leverage AI's potential for positive impact while safeguarding against its risks to the integrity of information, especially in the context of cyber influence.
HRI in Indian Education: Challenges Opportunities
Venue: arXiv cs.RO 2024
Year: 2024

With the recent advancements in the field of robotics and the increased focus on having general-purpose robots widely available to the general public, it has become increasingly necessary to pursue research into Human-robot interaction (HRI). While there have been a lot of works discussing frameworks for teaching HRI in educational institutions with a few institutions already offering courses to students, a consensus on the course content still eludes the field. In this work, we highlight a few challenges and opportunities while designing an HRI course from an Indian perspective. These topics warrant further deliberations as they have a direct impact on the design of HRI courses and wider implications for the entire field.
Fusion Transformer with Object Mask Guidance for Image Forgery Analysis
Venue: arXiv cs.CV 2024
Year: 2024

In this work, we introduce OMG-Fuser, a fusion transformer-based network designed to extract information from various forensic signals to enable robust image forgery detection and localization. Our approach can operate with an arbitrary number of forensic signals and leverages object information for their analysis -- unlike previous methods that rely on fusion schemes with few signals and often disregard image semantics. To this end, we design a forensic signal stream composed of a transformer guided by an object attention mechanism, associating patches that depict the same objects. In that way, we incorporate object-level information from the image. Each forensic signal is processed by a different stream that adapts to its peculiarities. A token fusion transformer efficiently aggregates the outputs of an arbitrary number of network streams and generates a fused representation for each image patch. We assess two fusion variants on top of the proposed approach: (i) score-level fusion that fuses the outputs of multiple image forensics algorithms and (ii) feature-level fusion that fuses low-level forensic traces directly. Both variants exceed state-of-the-art performance on seven datasets for image forgery detection and localization, with a relative average improvement of 12.1% and 20.4% in terms of F1. Our model is robust against traditional and novel forgery attacks and can be expanded with new signals without training from scratch. Our code is publicly available at: https://github.com/mever-team/omgfuser