OpenRaiser/Intern-Atlas huggingface dataset:
Real-time Dynamics of Soft Manipulators with Cross-section Inflation: Application to the Octopus Muscular Hydrostat
Venue: arXiv cs.RO 2024
Year: 2024

Inspired by the embodied intelligence of biological creatures like the octopus, the soft robotic arm utilizes its highly flexible structure to perform various tasks in the complex environment. While the classic Cosserat rod theory investigates the bending, twisting, shearing, and stretching of the soft arm, it fails to capture the in-plane deformation that occurs during certain tasks, particularly those involving active lateral traction. This paper introduces an extended Cosserat rod theory addressing these limitations by incorporating an extra strain variable reflecting the in-plane inflation ratio. To accurately describe the viscoelasticity effect of the soft body in dynamics, the proposed model enhances the constitutive law by integrating the Saint-Venant Kirchhoff hyperelastic and Kelvin-Voigt viscous models. The active and environmental loads are accounted for the equations of motion, which are numerically solved by adapting the Geometric Variable Strain (GVS) approach to balance the accuracy and computational efficiency. Our contributions include the derivation of the extended Cosserat rod theory in dynamic context, and the development of a reduced-order numerical method that enables rapid and precise solutions. We demonstrate applications of the model in stiffness tuning of a soft robotic arm and the study of complex octopus' arm motions.
Point-GR: Graph Residual Point Cloud Network for 3D Object Classification and Segmentation
Venue: arXiv cs.CV 2024
Year: 2024

In recent years, the challenge of 3D shape analysis within point cloud data has gathered significant attention in computer vision. Addressing the complexities of effective 3D information representation and meaningful feature extraction for classification tasks remains crucial. This paper presents Point-GR, a novel deep learning architecture designed explicitly to transform unordered raw point clouds into higher dimensions while preserving local geometric features. It introduces residual-based learning within the network to mitigate the point permutation issues in point cloud data. The proposed Point-GR network significantly reduced the number of network parameters in Classification and Part-Segmentation compared to baseline graph-based networks. Notably, the Point-GR model achieves a state-of-the-art scene segmentation mean IoU of 73.47% on the S3DIS benchmark dataset, showcasing its effectiveness. Furthermore, the model shows competitive results in Classification and Part-Segmentation tasks.
Revisiting Energy-Based Model for Out-of-Distribution Detection
Venue: arXiv cs.CV 2024
Year: 2024

Out-of-distribution (OOD) detection is an essential approach to robustifying deep learning models, enabling them to identify inputs that fall outside of their trained distribution. Existing OOD detection methods usually depend on crafted data, such as specific outlier datasets or elaborate data augmentations. While this is reasonable, the frequent mismatch between crafted data and OOD data limits model robustness and generalizability. In response to this issue, we introduce Outlier Exposure by Simple Transformations (OEST), a framework that enhances OOD detection by leveraging "peripheral-distribution" (PD) data. Specifically, PD data are samples generated through simple data transformations, thus providing an efficient alternative to manually curated outliers. We adopt energy-based models (EBMs) to study PD data. We recognize the "energy barrier" in OOD detection, which characterizes the energy difference between in-distribution (ID) and OOD samples and eases detection. PD data are introduced to establish the energy barrier during training. Furthermore, this energy barrier concept motivates a theoretically grounded energy-barrier loss to replace the classical energy-bounded loss, leading to an improved paradigm, OEST*, which achieves a more effective and theoretically sound separation between ID and OOD samples. We perform empirical validation of our proposal, and extensive experiments across various benchmarks demonstrate that OEST* achieves better or similar accuracy compared with state-of-the-art methods.
Preference-based opponent shaping in differentiable games
Venue: arXiv cs.AI 2024
Year: 2024

Strategy learning in game environments with multi-agent is a challenging problem. Since each agent's reward is determined by the joint strategy, a greedy learning strategy that aims to maximize its own reward may fall into a local optimum. Recent studies have proposed the opponent modeling and shaping methods for game environments. These methods enhance the efficiency of strategy learning by modeling the strategies and updating processes of other agents. However, these methods often rely on simple predictions of opponent strategy changes. Due to the lack of modeling behavioral preferences such as cooperation and competition, they are usually applicable only to predefined scenarios and lack generalization capabilities. In this paper, we propose a novel Preference-based Opponent Shaping (PBOS) method to enhance the strategy learning process by shaping agents' preferences towards cooperation. We introduce the preference parameter, which is incorporated into the agent's loss function, thus allowing the agent to directly consider the opponent's loss function when updating the strategy. We update the preference parameters concurrently with strategy learning to ensure that agents can adapt to any cooperative or competitive game environment. Through a series of experiments, we verify the performance of PBOS algorithm in a variety of differentiable games. The experimental results show that the PBOS algorithm can guide the agent to learn the appropriate preference parameters, so as to achieve better reward distribution in multiple game environments.
Mimir: Improving Video Diffusion Models for Precise Text Understanding
Venue: arXiv cs.CV 2024
Year: 2024

Text serves as the key control signal in video generation due to its narrative nature. To render text descriptions into video clips, current video diffusion models borrow features from text encoders yet struggle with limited text comprehension. The recent success of large language models (LLMs) showcases the power of decoder-only transformers, which offers three clear benefits for text-to-video (T2V) generation, namely, precise text understanding resulting from the superior scalability, imagination beyond the input text enabled by next token prediction, and flexibility to prioritize user interests through instruction tuning. Nevertheless, the feature distribution gap emerging from the two different text modeling paradigms hinders the direct use of LLMs in established T2V models. This work addresses this challenge with Mimir, an end-to-end training framework featuring a carefully tailored token fuser to harmonize the outputs from text encoders and LLMs. Such a design allows the T2V model to fully leverage learned video priors while capitalizing on the text-related capability of LLMs. Extensive quantitative and qualitative results demonstrate the effectiveness of Mimir in generating high-quality videos with excellent text comprehension, especially when processing short captions and managing shifting motions. Project page: https://lucaria-academy.github.io/Mimir/
A surprisal oracle for when every layer counts
Venue: arXiv cs.CL 2024
Year: 2024

Active Curriculum Language Modeling (ACLM; Hong et al., 2023) is a learner directed approach to training a language model. We proposed the original version of this process in our submission to the BabyLM 2023 task, and now we propose an updated ACLM process for the BabyLM 2024 task. ACLM involves an iteratively- and dynamically-constructed curriculum informed over the training process by a model of uncertainty; other training items that are similarly uncertain to a least certain candidate item are prioritized. Our new process improves the similarity model so that it is more dynamic, and we run ACLM over the most successful model from the BabyLM 2023 task: ELC-BERT (Charpentier and Samuel, 2023). We find that while our models underperform on fine-grained grammatical inferences, they outperform the BabyLM 2024 official base-lines on common-sense and world-knowledge tasks. We make our code available at https: //github.com/asayeed/ActiveBaby.
Few-Shot Learning with Adaptive Weight Masking in Conditional GANs
Venue: arXiv cs.CV 2024
Year: 2024

Deep learning has revolutionized various fields, yet its efficacy is hindered by overfitting and the requirement of extensive annotated data, particularly in few-shot learning scenarios where limited samples are available. This paper introduces a novel approach to few-shot learning by employing a Residual Weight Masking Conditional Generative Adversarial Network (RWM-CGAN) for data augmentation. The proposed model integrates residual units within the generator to enhance network depth and sample quality, coupled with a weight mask regularization technique in the discriminator to improve feature learning from small-sample categories. This method addresses the core issues of robustness and generalization in few-shot learning by providing a controlled and clear augmentation of the sample space. Extensive experiments demonstrate that RWM-CGAN not only expands the sample space effectively but also enriches the diversity and quality of generated samples, leading to significant improvements in detection and classification accuracy on public datasets. The paper contributes to the advancement of few-shot learning by offering a practical solution to the challenges posed by data scarcity and the need for rapid generalization to new tasks or categories.
Optimal bounds on a tree inference algorithm
Venue: arXiv cs.DS 2024
Year: 2024

This paper tightens the best known analysis of Hein's 1989 algorithm to infer the topology of a weighted tree based on the lengths of paths between its leaves. It shows that the number of length queries required for a degree-$k$ tree of $n$ leaves is $O(n k \log_k n)$, which is the lower bound. It also presents a family of trees for which the performance is asymptotically better, and shows that no such family exists for a competing $O(n k \log_k n)$ algorithm.
Large Language Models show both individual and collective creativity comparable to humans
Venue: arXiv cs.AI 2024
Year: 2024

Artificial intelligence has, so far, largely automated routine tasks, but what does it mean for the future of work if Large Language Models (LLMs) show creativity comparable to humans? To measure the creativity of LLMs holistically, the current study uses 13 creative tasks spanning three domains. We benchmark the LLMs against individual humans, and also take a novel approach by comparing them to the collective creativity of groups of humans. We find that the best LLMs (Claude and GPT-4) rank in the 52nd percentile against humans, and overall LLMs excel in divergent thinking and problem solving but lag in creative writing. When questioned 10 times, an LLM's collective creativity is equivalent to 8-10 humans. When more responses are requested, two additional responses of LLMs equal one extra human. Ultimately, LLMs, when optimally applied, may compete with a small group of humans in the future of work.
Semi-Supervised Transfer Boosting (SS-TrBoosting)
Venue: arXiv cs.CV 2024
Year: 2024

Semi-supervised domain adaptation (SSDA) aims at training a high-performance model for a target domain using few labeled target data, many unlabeled target data, and plenty of auxiliary data from a source domain. Previous works in SSDA mainly focused on learning transferable representations across domains. However, it is difficult to find a feature space where the source and target domains share the same conditional probability distribution. Additionally, there is no flexible and effective strategy extending existing unsupervised domain adaptation (UDA) approaches to SSDA settings. In order to solve the above two challenges, we propose a novel fine-tuning framework, semi-supervised transfer boosting (SS-TrBoosting). Given a well-trained deep learning-based UDA or SSDA model, we use it as the initial model, generate additional base learners by boosting, and then use all of them as an ensemble. More specifically, half of the base learners are generated by supervised domain adaptation, and half by semi-supervised learning. Furthermore, for more efficient data transmission and better data privacy protection, we propose a source data generation approach to extend SS-TrBoosting to semi-supervised source-free domain adaptation (SS-SFDA). Extensive experiments showed that SS-TrBoosting can be applied to a variety of existing UDA, SSDA and SFDA approaches to further improve their performance.
RFSR: Improving ISR Diffusion Models via Reward Feedback Learning
Venue: arXiv cs.CV 2024
Year: 2024

Generative diffusion models (DM) have been extensively utilized in image super-resolution (ISR). Most of the existing methods adopt the denoising loss from DDPMs for model optimization. We posit that introducing reward feedback learning to finetune the existing models can further improve the quality of the generated images. In this paper, we propose a timestep-aware training strategy with reward feedback learning. Specifically, in the initial denoising stages of ISR diffusion, we apply low-frequency constraints to super-resolution (SR) images to maintain structural stability. In the later denoising stages, we use reward feedback learning to improve the perceptual and aesthetic quality of the SR images. In addition, we incorporate Gram-KL regularization to alleviate stylization caused by reward hacking. Our method can be integrated into any diffusion-based ISR model in a plug-and-play manner. Experiments show that ISR diffusion models, when fine-tuned with our method, significantly improve the perceptual and aesthetic quality of SR images, achieving excellent subjective results. Code: https://github.com/sxpro/RFSR
DMP_AI: An AI-Aided K-12 System for Teaching and Learning in Diverse Schools
Venue: arXiv cs.CY 2024
Year: 2024

The use of Artificial Intelligence (AI) has gained momentum in education. However, the use of AI in K-12 education is still in its nascent stages, and further research and development is needed to realize its potential. Moreover, the creation of a comprehensive and cohesive system that effectively harnesses AI to support teaching and learning across a diverse range of primary and secondary schools presents substantial challenges that need to be addressed. To fill these gaps, especially in countries like China, we designed and implemented the DMP_AI (Data Management Platform_Artificial Intelligence) system, an innovative AI-aided educational system specifically designed for K-12 education. The system utilizes data mining, natural language processing, and machine learning, along with learning analytics, to offer a wide range of features, including student academic performance and behavior prediction, early warning system, analytics of Individualized Education Plan, talented students prediction and identification, and cross-school personalized electives recommendation. The development of this system has been meticulously carried out while prioritizing user privacy and addressing the challenges posed by data heterogeneity. We successfully implemented the DMP_AI system in real-world primary and secondary schools, allowing us to gain valuable insights into the potential and challenges of integrating AI into K-12 education in the real world. This system will serve as a valuable resource for supporting educators in providing effective and inclusive K-12 education.
Digital twin inference from multi-physical simulation data of DED additive manufacturing processes with neural ODEs
Venue: arXiv cs.CE 2024
Year: 2024

A digital twin is a virtual representation that accurately replicates its physical counterpart, fostering bi-directional real-time data exchange throughout the entire process lifecycle. For Laser Directed Energy Deposition of Wire (DED-LB/w) additive manufacturing processes, digital twins may help to control the residual stress design in build parts. This study focuses on providing faster-than-real-time and highly accurate surrogate models for the formation of residual stresses by employing neural ordinary differential equations. The approach enables accurate prediction of temperatures and altered structural properties like stress tensor components. The developed surrogates can ultimately facilitate on-the-fly re-optimization of the ongoing manufacturing process to achieve desired structural outcomes. Consequently, this building block contributes significantly to realizing digital twins and the first-time-right paradigm in additive manufacturing.
Equivariant Representation Learning for Augmentation-based Self-Supervised Learning via Image Reconstruction
Venue: arXiv cs.CV 2024
Year: 2024

Augmentation-based self-supervised learning methods have shown remarkable success in self-supervised visual representation learning, excelling in learning invariant features but often neglecting equivariant ones. This limitation reduces the generalizability of foundation models, particularly for downstream tasks requiring equivariance. We propose integrating an image reconstruction task as an auxiliary component in augmentation-based self-supervised learning algorithms to facilitate equivariant feature learning without additional parameters. Our method implements a cross-attention mechanism to blend features learned from two augmented views, subsequently reconstructing one of them. This approach is adaptable to various datasets and augmented-pair based learning methods. We evaluate its effectiveness on learning equivariant features through multiple linear regression tasks and downstream applications on both artificial (3DIEBench) and natural (ImageNet) datasets. Results consistently demonstrate significant improvements over standard augmentation-based self-supervised learning methods and state-of-the-art approaches, particularly excelling in scenarios involving combined augmentations. Our method enhances the learning of both invariant and equivariant features, leading to more robust and generalizable visual representations for computer vision tasks.
Granular Ball Twin Support Vector Machine with Universum Data
Venue: arXiv cs.LG 2024
Year: 2024

Classification with support vector machines (SVM) often suffers from limited performance when relying solely on labeled data from target classes and is sensitive to noise and outliers. Incorporating prior knowledge from Universum data and more robust data representations can enhance accuracy and efficiency. Motivated by these findings, we propose a novel Granular Ball Twin Support Vector Machine with Universum Data (GBU-TSVM) that extends the TSVM framework to leverage both Universum samples and granular ball computing during model training. Unlike existing TSVM methods, the proposed GBU-TSVM represents data instances as hyper-balls rather than points in the feature space. This innovative approach improves the model's robustness and efficiency, particularly in handling noisy and large datasets. By grouping data points into granular balls, the model achieves superior computational efficiency, increased noise resistance, and enhanced interpretability. Additionally, the inclusion of Universum data, which consists of samples that are not strictly from the target classes, further refines the classification boundaries. This integration enriches the model with contextual information, refining classification boundaries and boosting overall accuracy. Experimental results on UCI benchmark datasets demonstrate that the GBU-TSVM outperforms existing TSVM models in both accuracy and computational efficiency. These findings highlight the potential of the GBU-TSVM model in setting a new standard in data representation and classification.
RedStone: Curating General, Code, Math, and QA Data for Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Pre-training Large Language Models (LLMs) on high-quality, meticulously curated datasets is widely recognized as critical for enhancing their performance and generalization capabilities. This study explores the untapped potential of Common Crawl as a comprehensive and flexible resource for pre-training LLMs, addressing both general-purpose language understanding and specialized domain knowledge. We introduce RedStone, an innovative and scalable pipeline engineered to extract and process data from Common Crawl, facilitating the creation of extensive and varied pre-training datasets. Unlike traditional datasets, which often require expensive curation and domain-specific expertise, RedStone leverages the breadth of Common Crawl to deliver datasets tailored to a wide array of domains. In this work, we exemplify its capability by constructing pre-training datasets across multiple fields, including general language understanding, code, mathematics, and question-answering tasks. The flexibility of RedStone allows for easy adaptation to other specialized domains, significantly lowering the barrier to creating valuable domain-specific datasets. Our findings demonstrate that Common Crawl, when harnessed through effective pipelines like RedStone, can serve as a rich, renewable source of pre-training data, unlocking new avenues for domain adaptation and knowledge discovery in LLMs. This work also underscores the importance of innovative data acquisition strategies and highlights the role of web-scale data as a powerful resource in the continued evolution of LLMs. RedStone code and data samples will be publicly available at \url{https://aka.ms/redstone}.
Benchmarking Pretrained Attention-based Models for Real-Time Recognition in Robot-Assisted Esophagectomy
Venue: arXiv cs.CV 2024
Year: 2024

Esophageal cancer is among the most common types of cancer worldwide. It is traditionally treated using open esophagectomy, but in recent years, robot-assisted minimally invasive esophagectomy (RAMIE) has emerged as a promising alternative. However, robot-assisted surgery can be challenging for novice surgeons, as they often suffer from a loss of spatial orientation. Computer-aided anatomy recognition holds promise for improving surgical navigation, but research in this area remains limited. In this study, we developed a comprehensive dataset for semantic segmentation in RAMIE, featuring the largest collection of vital anatomical structures and surgical instruments to date. Handling this diverse set of classes presents challenges, including class imbalance and the recognition of complex structures such as nerves. This study aims to understand the challenges and limitations of current state-of-the-art algorithms on this novel dataset and problem. Therefore, we benchmarked eight real-time deep learning models using two pretraining datasets. We assessed both traditional and attention-based networks, hypothesizing that attention-based networks better capture global patterns and address challenges such as occlusion caused by blood or other tissues. The benchmark includes our RAMIE dataset and the publicly available CholecSeg8k dataset, enabling a thorough assessment of surgical segmentation tasks. Our findings indicate that pretraining on ADE20k, a dataset for semantic segmentation, is more effective than pretraining on ImageNet. Furthermore, attention-based models outperform traditional convolutional neural networks, with SegNeXt and Mask2Former achieving higher Dice scores, and Mask2Former additionally excelling in average symmetric surface distance.