OpenRaiser/Intern-Atlas huggingface dataset:
Diffusion Model for Planning: A Systematic Literature Review
Venue: arXiv cs.LG 2024
Year: 2024

Diffusion models, which leverage stochastic processes to capture complex data distributions effectively, have shown their performance as generative models, achieving notable success in image-related tasks through iterative denoising processes. Recently, diffusion models have been further applied and show their strong abilities in planning tasks, leading to a significant growth in related publications since 2023. To help researchers better understand the field and promote the development of the field, we conduct a systematic literature review of recent advancements in the application of diffusion models for planning. Specifically, this paper categorizes and discusses the current literature from the following perspectives: (i) relevant datasets and benchmarks used for evaluating diffusion modelbased planning; (ii) fundamental studies that address aspects such as sampling efficiency; (iii) skill-centric and condition-guided planning for enhancing adaptability; (iv) safety and uncertainty managing mechanism for enhancing safety and robustness; and (v) domain-specific application such as autonomous driving. Finally, given the above literature review, we further discuss the challenges and future directions in this field.
GARLIC: GPT-Augmented Reinforcement Learning with Intelligent Control for Vehicle Dispatching
Venue: arXiv cs.LG 2024
Year: 2024

As urban residents demand higher travel quality, vehicle dispatch has become a critical component of online ride-hailing services. However, current vehicle dispatch systems struggle to navigate the complexities of urban traffic dynamics, including unpredictable traffic conditions, diverse driver behaviors, and fluctuating supply and demand patterns. These challenges have resulted in travel difficulties for passengers in certain areas, while many drivers in other areas are unable to secure orders, leading to a decline in the overall quality of urban transportation services. To address these issues, this paper introduces GARLIC: a framework of GPT-Augmented Reinforcement Learning with Intelligent Control for vehicle dispatching. GARLIC utilizes multiview graphs to capture hierarchical traffic states, and learns a dynamic reward function that accounts for individual driving behaviors. The framework further integrates a GPT model trained with a custom loss function to enable high-precision predictions and optimize dispatching policies in real-world scenarios. Experiments conducted on two real-world datasets demonstrate that GARLIC effectively aligns with driver behaviors while reducing the empty load rate of vehicles.
Chatbots and Zero Sales Resistance
Venue: arXiv cs.LG 2024
Year: 2024

It is argued that the pursuit of an ever increasing number of weights in large-scale machine learning applications, besides being energetically unsustainable, is also conducive to manipulative strategies whereby Science is easily served as a strawman for economic and financial power. If machine learning is meant to serve science ahead of vested business interests, a paradigm shift is needed: from more weights and little insight to more insight and less weights.
AI-Driven Review Systems: Evaluating LLMs in Scalable and Bias-Aware Academic Reviews
Venue: arXiv cs.AI 2024
Year: 2024

Automatic reviewing helps handle a large volume of papers, provides early feedback and quality control, reduces bias, and allows the analysis of trends. We evaluate the alignment of automatic paper reviews with human reviews using an arena of human preferences by pairwise comparisons. Gathering human preference may be time-consuming; therefore, we also use an LLM to automatically evaluate reviews to increase sample efficiency while reducing bias. In addition to evaluating human and LLM preferences among LLM reviews, we fine-tune an LLM to predict human preferences, predicting which reviews humans will prefer in a head-to-head battle between LLMs. We artificially introduce errors into papers and analyze the LLM's responses to identify limitations, use adaptive review questions, meta prompting, role-playing, integrate visual and textual analysis, use venue-specific reviewing materials, and predict human preferences, improving upon the limitations of the traditional review processes. We make the reviews of publicly available arXiv and open-access Nature journal papers available online, along with a free service which helps authors review and revise their research papers and improve their quality. This work develops proof-of-concept LLM reviewing systems that quickly deliver consistent, high-quality reviews and evaluate their quality. We mitigate the risks of misuse, inflated review scores, overconfident ratings, and skewed score distributions by augmenting the LLM with multiple documents, including the review form, reviewer guide, code of ethics and conduct, area chair guidelines, and previous year statistics, by finding which errors and shortcomings of the paper may be detected by automated reviews, and evaluating pairwise reviewer preferences. This work identifies and addresses the limitations of using LLMs as reviewers and evaluators and enhances the quality of the reviewing process.
BrewCLIP: A Bifurcated Representation Learning Framework for Audio-Visual Retrieval
Venue: arXiv cs.SD 2024
Year: 2024

Previous methods for audio-image matching generally fall into one of two categories: pipeline models or End-to-End models. Pipeline models first transcribe speech and then encode the resulting text; End-to-End models encode speech directly. Generally, pipeline models outperform end-to-end models, but the intermediate transcription necessarily discards some potentially useful non-textual information. In addition to textual information, speech can convey details such as accent, mood, and and emphasis, which should be effectively captured in the encoded representation. In this paper, we investigate whether non-textual information, which is overlooked by pipeline-based models, can be leveraged to improve speech-image matching performance. We thoroughly analyze and compare End-to-End models, pipeline models, and our proposed dual-channel model for robust audio-image retrieval on a variety of datasets. Our approach achieves a substantial performance gain over the previous state-of-the-art by leveraging strong pretrained models, a prompting mechanism and a bifurcated design.
Webcam-based Pupil Diameter Prediction Benefits from Upscaling
Venue: arXiv cs.CV 2024
Year: 2024

Capturing pupil diameter is essential for assessing psychological and physiological states such as stress levels and cognitive load. However, the low resolution of images in eye datasets often hampers precise measurement. This study evaluates the impact of various upscaling methods, ranging from bicubic interpolation to advanced super-resolution, on pupil diameter predictions. We compare several pre-trained methods, including CodeFormer, GFPGAN, Real-ESRGAN, HAT, and SRResNet. Our findings suggest that pupil diameter prediction models trained on upscaled datasets are highly sensitive to the selected upscaling method and scale. Our results demonstrate that upscaling methods consistently enhance the accuracy of pupil diameter prediction models, highlighting the importance of upscaling in pupilometry. Overall, our work provides valuable insights for selecting upscaling techniques, paving the way for more accurate assessments in psychological and physiological research.
System-Level Design Space Exploration for High-Level Synthesis under End-to-End Latency Constraints
Venue: arXiv cs.AR 2024
Year: 2024

Many modern embedded systems have end-to-end (EtoE) latency constraints that necessitate precise timing to ensure high reliability and functional correctness. The combination of High-Level Synthesis (HLS) and Design Space Exploration (DSE) enables the rapid generation of embedded systems using various constraints/directives to find Pareto-optimal configurations. Current HLS DSE approaches often address latency by focusing on individual components, without considering the EtoE latency during the system-level optimization process. However, to truly optimize the system under EtoE latency, we need a holistic approach that analyzes individual system components' timing constraints in the context of how the different components interact and impact the overall design. This paper presents a novel system-level HLS DSE approach, called EtoE-DSE, that accommodates EtoE latency and variable timing constraints for complex multi-component application-specific embedded systems. EtoE-DSE employs a latency estimation model and a pathfinding algorithm to identify and estimate the EtoE latency for paths between any endpoints. It also uses a frequency-based segmentation process to segment and prune the design space, alongside a latency-constrained optimization algorithm for efficiently and accurately exploring the system-level design space. We evaluate our approach using a real-world use case of an autonomous driving subsystem compared to the state-of-the-art in HLS DSE. We show that our approach yields substantially better optimization results than prior DSE approaches, improving the quality of results by up to 89.26%, while efficiently identifying Pareto-optimal configurations in terms of energy and area.
Feasibility of assessing cognitive impairment via distributed camera network and privacy-preserving edge computing
Venue: arXiv cs.AI 2024
Year: 2024

INTRODUCTION: Mild cognitive impairment (MCI) is characterized by a decline in cognitive functions beyond typical age and education-related expectations. Since, MCI has been linked to reduced social interactions and increased aimless movements, we aimed to automate the capture of these behaviors to enhance longitudinal monitoring. METHODS: Using a privacy-preserving distributed camera network, we collected movement and social interaction data from groups of individuals with MCI undergoing therapy within a 1700$m^2$ space. We developed movement and social interaction features, which were then used to train a series of machine learning algorithms to distinguish between higher and lower cognitive functioning MCI groups. RESULTS: A Wilcoxon rank-sum test revealed statistically significant differences between high and low-functioning cohorts in features such as linear path length, walking speed, change in direction while walking, entropy of velocity and direction change, and number of group formations in the indoor space. Despite lacking individual identifiers to associate with specific levels of MCI, a machine learning approach using the most significant features provided a 71% accuracy. DISCUSSION: We provide evidence to show that a privacy-preserving low-cost camera network using edge computing framework has the potential to distinguish between different levels of cognitive impairment from the movements and social interactions captured during group activities.
Likelihood Scouting Via Map Inversion For A Posterior-Sampled Particle Filter
Venue: arXiv cs.IT 2024
Year: 2024

An exploit of the Sequential Importance Sampling (SIS) algorithm using Differential Algebra (DA) techniques is derived to develop an efficient particle filter. The filter creates an original kind of particles, called scout particles, that bring information from the measurement noise onto the state prior probability density function. Thanks to the creation of high-order polynomial maps and their inversions, the scouting of the measurements helps the SIS algorithm identify the region of the prior more affected by the likelihood distribution. The result of the technique is two different versions of the proposed Scout Particle Filter (SPF), which identifies and delimits the region where the true posterior probability has high density in the SIS algorithm. Four different numerical applications show the benefits of the methodology both in terms of accuracy and efficiency, where the SPF is compared to other particle filters, with a particular focus on target tracking and orbit determination problems.
GPT-based Textile Pilling Classification Using 3D Point Cloud Data
Venue: arXiv cs.CV 2024
Year: 2024

Textile pilling assessment is critical for textile quality control. We collect thousands of 3D point cloud images in the actual test environment of textiles and organize and label them as TextileNet8 dataset. To the best of our knowledge, it is the first publicly available eight-categories 3D point cloud dataset in the field of textile pilling assessment. Based on PointGPT, the GPT-like big model of point cloud analysis, we incorporate the global features of the input point cloud extracted from the non-parametric network into it, thus proposing the PointGPT+NN model. Using TextileNet8 as a benchmark, the experimental results show that the proposed PointGPT+NN model achieves an overall accuracy (OA) of 91.8% and a mean per-class accuracy (mAcc) of 92.2%. Test results on other publicly available datasets also validate the competitive performance of the proposed PointGPT+NN model. The proposed TextileNet8 dataset will be publicly available.
Almost Optimal Algorithms for Token Collision in Anonymous Networks
Venue: arXiv cs.DC 2024
Year: 2024

In distributed systems, situations often arise where some nodes each holds a collection of tokens, and all nodes collectively need to determine whether all tokens are distinct. For example, if each token represents a logged-in user, the problem corresponds to checking whether there are duplicate logins. Similarly, if each token represents a data object or a timestamp, the problem corresponds to checking whether there are conflicting operations in distributed databases. In distributed computing theory, unique identifiers generation is also related to this problem: each node generates one token, which is its identifier, then a verification phase is needed to ensure all identifiers are unique. In this paper, we formalize and initiate the study of token collision. In this problem, a collection of $k$ tokens, each represented by some length-$L$ bit string, are distributed to $n$ nodes of an anonymous CONGEST network in an arbitrary manner. The nodes need to determine whether there are tokens with an identical value. We present near optimal deterministic algorithms for the token collision problem with $\tilde{O}(D+k\cdot L/\log{n})$ round complexity, where $D$ denotes the network diameter. Besides high efficiency, the prior knowledge required by our algorithms is also limited. For completeness, we further present a near optimal randomized algorithm for token collision.
Diff-PCC: Diffusion-based Neural Compression for 3D Point Clouds
Venue: arXiv cs.CV 2024
Year: 2024

Stable diffusion networks have emerged as a groundbreaking development for their ability to produce realistic and detailed visual content. This characteristic renders them ideal decoders, capable of producing high-quality and aesthetically pleasing reconstructions. In this paper, we introduce the first diffusion-based point cloud compression method, dubbed Diff-PCC, to leverage the expressive power of the diffusion model for generative and aesthetically superior decoding. Different from the conventional autoencoder fashion, a dual-space latent representation is devised in this paper, in which a compressor composed of two independent encoding backbones is considered to extract expressive shape latents from distinct latent spaces. At the decoding side, a diffusion-based generator is devised to produce high-quality reconstructions by considering the shape latents as guidance to stochastically denoise the noisy point clouds. Experiments demonstrate that the proposed Diff-PCC achieves state-of-the-art compression performance (e.g., 7.711 dB BD-PSNR gains against the latest G-PCC standard at ultra-low bitrate) while attaining superior subjective quality. Source code will be made publicly available.
GACL: Graph Attention Collaborative Learning for Temporal QoS Prediction
Venue: arXiv cs.LG 2024
Year: 2024

Accurate prediction of temporal QoS is crucial for maintaining service reliability and enhancing user satisfaction in dynamic service-oriented environments. However, current methods often neglect high-order latent collaborative relationships and fail to dynamically adjust feature learning for specific user-service invocations, which are critical for precise feature extraction within each time slice. Moreover, the prevalent use of RNNs for modeling temporal feature evolution patterns is constrained by their inherent difficulty in managing long-range dependencies, thereby limiting the detection of long-term QoS trends across multiple time slices. These shortcomings dramatically degrade the performance of temporal QoS prediction. To address the two issues, we propose a novel Graph Attention Collaborative Learning (GACL) framework for temporal QoS prediction. Building on a dynamic user-service invocation graph to comprehensively model historical interactions, it designs a target-prompt graph attention network to extract deep latent features of users and services at each time slice, considering implicit target-neighboring collaborative relationships and historical QoS values. Additionally, a multi-layer Transformer encoder is introduced to uncover temporal feature evolution patterns, enhancing temporal QoS prediction. Extensive experiments on the WS-DREAM dataset demonstrate that GACL significantly outperforms state-of-the-art methods for temporal QoS prediction across multiple evaluation metrics, achieving the improvements of up to 38.80%.
Constrained Behavior Cloning for Robotic Learning
Venue: arXiv cs.RO 2024
Year: 2024

Behavior cloning (BC) is a popular supervised imitation learning method in the societies of robotics, autonomous driving, etc., wherein complex skills can be learned by direct imitation from expert demonstrations. Despite its rapid development, it is still affected by limited field of view where accumulation of sensors and joint noise bring compounding errors. In this paper, we introduced geometrically and historically constrained behavior cloning (GHCBC) to dominantly consider high-level state information inspired by neuroscientists, wherein the geometrically constrained behavior cloning were used to geometrically constrain predicting poses, and the historically constrained behavior cloning were utilized to temporally constrain action sequences. The synergy between these two types of constrains enhanced the BC performance in terms of robustness and stability. Comprehensive experimental results showed that success rates were improved by 29.73% in simulation and 39.4% in real robot experiments in average, respectively, compared to state-of-the-art BC method, especially in long-term operational scenes, indicating great potential of using the GHCBC for robotic learning.
Fast Collective Evasion in Self-Localized Swarms of Unmanned Aerial Vehicles
Venue: arXiv cs.RO 2024
Year: 2024

A novel approach for achieving fast evasion in self-localized swarms of Unmanned Aerial Vehicles (UAVs) threatened by an intruding moving object is presented in this paper. Motivated by natural self-organizing systems, the presented approach of fast and collective evasion enables the UAV swarm to avoid dynamic objects (interferers) that are actively approaching the group. The main objective of the proposed technique is the fast and safe escape of the swarm from an interferer ~discovered in proximity. This method is inspired by the collective behavior of groups of certain animals, such as schools of fish or flocks of birds. These animals use the limited information of their sensing organs and decentralized control to achieve reliable and effective group motion. The system presented in this paper is intended to execute the safe coordination of UAV swarms with a large number of agents. Similar to natural swarms, this system propagates a fast shock of information about detected interferers throughout the group to achieve dynamic and collective evasion. The proposed system is fully decentralized using only onboard sensors to mutually localize swarm agents and interferers, similar to how animals accomplish this behavior. As a result, the communication structure between swarm agents is not overwhelmed by information about the state (position and velocity) of each individual and it is reliable to communication dropouts. The proposed system and theory were numerically evaluated and verified in real-world experiments.
Minor SFT loss for LLM fine-tune to increase performance and reduce model deviation
Venue: arXiv cs.AI 2024
Year: 2024

Instruct LLM provide a paradigm used in large scale language model to align LLM to human preference. The paradigm contains supervised fine tuning and reinforce learning from human feedback. This paradigm is also used in downstream scenarios to adapt LLM to specific corpora and applications. Comparing to SFT, there are many efforts focused on RLHF and several algorithms being proposed, such as PPO, DPO, IPO, KTO, MinorDPO and etc. Meanwhile most efforts for SFT are focused on how to collect, filter and mix high quality data. In this article with insight from DPO and MinorDPO, we propose a training metric for SFT to measure the discrepancy between the optimized model and the original model, and a loss function MinorSFT that can increase the training effectiveness, and reduce the discrepancy between the optimized LLM and original LLM.
A Noncontact Technique for Wave Measurement Based on Thermal Stereography and Deep Learning
Venue: arXiv cs.CV 2024
Year: 2024

The accurate measurement of the wave field and its spatiotemporal evolution is essential in many hydrodynamic experiments and engineering applications. The binocular stereo imaging technique has been widely used to measure waves. However, the optical properties of indoor water surfaces, including transparency, specular reflection, and texture absence, pose challenges for image processing and stereo reconstruction. This study proposed a novel technique that combined thermal stereography and deep learning to achieve fully noncontact wave measurements. The optical imaging properties of water in the long-wave infrared spectrum were found to be suitable for stereo matching, effectively avoiding the issues in the visible-light spectrum. After capturing wave images using thermal stereo cameras, a reconstruction strategy involving deep learning techniques was proposed to improve stereo matching performance. A generative approach was employed to synthesize a dataset with ground-truth disparity from unannotated infrared images. This dataset was then fed to a pretrained stereo neural network for fine-tuning to achieve domain adaptation. Wave flume experiments were conducted to validate the feasibility and accuracy of the proposed technique. The final reconstruction results indicated great agreement and high accuracy with a mean bias of less than 2.1% compared with the measurements obtained using wave probes, suggesting that the novel technique effectively measures the spatiotemporal distribution of wave surface in hydrodynamic experiments.