OpenRaiser/Intern-Atlas huggingface dataset:
Efficient Fusion and Task Guided Embedding for End-to-end Autonomous Driving
Venue: arXiv cs.RO 2024
Year: 2024

To address the challenges of sensor fusion and safety risk prediction, contemporary closed-loop autonomous driving neural networks leveraging imitation learning typically require a substantial volume of parameters and computational resources to run neural networks. Given the constrained computational capacities of onboard vehicular computers, we introduce a compact yet potent solution named EfficientFuser. This approach employs EfficientViT for visual information extraction and integrates feature maps via cross attention. Subsequently, it utilizes a decoder-only transformer for the amalgamation of multiple features. For prediction purposes, learnable vectors are embedded as tokens to probe the association between the task and sensor features through attention. Evaluated on the CARLA simulation platform, EfficientFuser demonstrates remarkable efficiency, utilizing merely 37.6% of the parameters and 8.7% of the computations compared to the state-of-the-art lightweight method with only 0.4% lower driving score, and the safety score neared that of the leading safety-enhanced method, showcasing its efficacy and potential for practical deployment in autonomous driving systems.
GPTQT: Quantize Large Language Models Twice to Push the Efficiency
Venue: arXiv cs.LG 2024
Year: 2024

Due to their large size, generative Large Language Models (LLMs) require significant computing and storage resources. This paper introduces a new post-training quantization method, GPTQT, to reduce memory usage and enhance processing speed by expressing the weight of LLM in 3bit/2bit. Practice has shown that minimizing the quantization error of weights is ineffective, leading to overfitting. Therefore, GPTQT employs a progressive two-step approach: initially quantizing weights using Linear quantization to a relatively high bit, followed by converting obtained int weight to lower bit binary coding. A re-explore strategy is proposed to optimize initial scaling factor. During inference, these steps are merged into pure binary coding, enabling efficient computation. Testing across various models and datasets confirms GPTQT's effectiveness. Compared to the strong 3-bit quantization baseline, GPTQT further reduces perplexity by 4.01 on opt-66B and increases speed by 1.24 times on opt-30b. The results on Llama2 show that GPTQT is currently the best binary coding quantization method for such kind of LLMs.
Fair Resource Allocation for Probabilistic Semantic Communication in IIoT
Venue: arXiv cs.IT 2024
Year: 2024

In this paper, the problem of minimum rate maximization for probabilistic semantic communication (PSCom) in industrial Internet of Things (IIoT) is investigated. In the considered model, users employ semantic information extraction techniques to compress the original data before sending it to the base station (BS). During this semantic compression process, knowledge graphs are employed to represent the semantic information, and the probability graph sharing between users and the BS is utilized to further compress the knowledge graph. The semantic compression process can significantly reduce the transmitted data size, but it inevitably introduces additional computation overhead. Considering the limited power budget of the user, we formulate a joint communication and computation optimization problem is formulated aiming to maximize the minimum equivalent rate among all users while meeting total power and semantic compression ratio constraints. To address this problem, two algorithms with different computational complexities are proposed to obtain suboptimal solutions. One algorithm is based on a prorate distribution of transmission power, while the other traverses the combinations of semantic compression ratios among all users. In both algorithms, bisection is employed in order to achieve the greatest minimum equivalent rate. The simulation results validate the effectiveness of the proposed algorithms.
Competitive Analysis of Arbitrary Varying Channels
Venue: arXiv cs.IT 2024
Year: 2024

Arbitrary varying channels (AVC) are used to model communication settings in which a channel state may vary arbitrarily over time. Their primary objective is to circumvent statistical assumptions on channel variation. Traditional studies on AVCs optimize rate subject to the worst-case state sequence. While this approach is resilient to channel variations, it may result in low rates for state sequences that are associated with relatively good channels. This paper addresses the analysis of AVCs through the lens of competitive analysis, where solution quality is measured with respect to the optimal solution had the state sequence been known in advance. Our main result demonstrates that codes constructed by a single input distribution do not achieve optimal competitive performance over AVCs. This stands in contrast to the single-letter capacity formulae for AVCs, and it indicates, in our setting, that even though the encoder cannot predict the subsequent channel states, it benefits from varying its input distribution as time proceeds.
Are Large Language Models Consistent over Value-laden Questions?
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) appear to bias their survey answers toward certain values. Nonetheless, some argue that LLMs are too inconsistent to simulate particular values. Are they? To answer, we first define value consistency as the similarity of answers across (1) paraphrases of one question, (2) related questions under one topic, (3) multiple-choice and open-ended use-cases of one question, and (4) multilingual translations of a question to English, Chinese, German, and Japanese. We apply these measures to small and large, open LLMs including llama-3, as well as gpt-4o, using 8,000 questions spanning more than 300 topics. Unlike prior work, we find that models are relatively consistent across paraphrases, use-cases, translations, and within a topic. Still, some inconsistencies remain. Models are more consistent on uncontroversial topics (e.g., in the U.S., "Thanksgiving") than on controversial ones ("euthanasia"). Base models are both more consistent compared to fine-tuned models and are uniform in their consistency across topics, while fine-tuned models are more inconsistent about some topics ("euthanasia") than others ("women's rights") like our human subjects (n=165).
Strategies for Arabic Readability Modeling
Venue: arXiv cs.CL 2024
Year: 2024

Automatic readability assessment is relevant to building NLP applications for education, content analysis, and accessibility. However, Arabic readability assessment is a challenging task due to Arabic's morphological richness and limited readability resources. In this paper, we present a set of experimental results on Arabic readability assessment using a diverse range of approaches, from rule-based methods to Arabic pretrained language models. We report our results on a newly created corpus at different textual granularity levels (words and sentence fragments). Our results show that combining different techniques yields the best results, achieving an overall macro F1 score of 86.7 at the word level and 87.9 at the fragment level on a blind test set. We make our code, data, and pretrained models publicly available.
Seeing is Believing: Vision-driven Non-crash Functional Bug Detection for Mobile Apps
Venue: arXiv cs.SE 2024
Year: 2024

Mobile app GUI (Graphical User Interface) pages now contain rich visual information, with the visual semantics of each page helping users understand the application logic. However, these complex visual and functional logic present new challenges to software testing. Existing automated GUI testing methods, constrained by the lack of reliable testing oracles, are limited to detecting crash bugs with obvious abnormal signals. Consequently, many non-crash functional bugs, ranging from unexpected behaviors to logical errors, often evade detection by current techniques. While these non-crash functional bugs can exhibit visual cues that serve as potential testing oracles, they often entail a sequence of screenshots, and detecting them necessitates an understanding of the operational logic among GUI page transitions, which is challenging traditional techniques. Considering the remarkable performance of Multimodal Large Language Models (MLLM) in visual and language understanding, this paper proposes Trident, a novel vision-driven, multi-agent collaborative automated GUI testing approach for detecting non-crash functional bugs. It comprises three agents: Explorer, Monitor, and Detector, to guide the exploration, oversee the testing progress, and spot issues. We also address several challenges, i.e., align visual and textual information for MLLM input, achieve functionality-oriented exploration, and infer test oracles for non-crash bugs, to enhance the performance of functionality bug detection. We evaluate Trident on 590 non-crash bugs and compare it with 12 baselines, it can achieve more than 14%-112% and 108%-147% boost in average recall and precision compared with the best baseline. The ablation study further proves the contribution of each module. Moreover, Trident identifies 43 new bugs on Google Play, of which 31 have been fixed.
Position and Altitude of the Nao Camera Head from Two Points on the Soccer Field plus the Gravitational Direction
Venue: arXiv cs.RO 2024
Year: 2024

To be able to play soccer, a robot needs a good estimate of its current position on the field. Ideally, multiple features are visible that have known locations. By applying trigonometry we can estimate the viewpoint from where this observation was actually made. Given that the Nao robots of the Standard Platform League have quite a limited field of view, a given camera frame typically only allows for one or two points to be recognized. In this paper we propose a method for determining the (x, y) coordinates on the field and the height h of the camera from the geometry of a simplified tetrahedron. This configuration is formed by two observed points on the ground plane plus the gravitational direction. When the distance between the two points is known, and the directions to the points plus the gravitational direction are measured, all dimensions of the tetrahedron can be determined. By performing these calculations with rational trigonometry instead of classical trigonometry, the computations turn out to be 28.7% faster, with equal numerical accuracy. The position of the head of the Nao can also be externally measured with the OptiTrack system. The difference between externally measured and internally predicted position from sensor data gives us mean absolute errors in the 3-6 centimeters range, when we estimated the gravitational direction from the vanishing point of the outer edges of the goal posts.
JailbreakHunter: A Visual Analytics Approach for Jailbreak Prompts Discovery from Large-Scale Human-LLM Conversational Datasets
Venue: arXiv cs.HC 2024
Year: 2024

Large Language Models (LLMs) have gained significant attention but also raised concerns due to the risk of misuse. Jailbreak prompts, a popular type of adversarial attack towards LLMs, have appeared and constantly evolved to breach the safety protocols of LLMs. To address this issue, LLMs are regularly updated with safety patches based on reported jailbreak prompts. However, malicious users often keep their successful jailbreak prompts private to exploit LLMs. To uncover these private jailbreak prompts, extensive analysis of large-scale conversational datasets is necessary to identify prompts that still manage to bypass the system's defenses. This task is highly challenging due to the immense volume of conversation data, diverse characteristics of jailbreak prompts, and their presence in complex multi-turn conversations. To tackle these challenges, we introduce JailbreakHunter, a visual analytics approach for identifying jailbreak prompts in large-scale human-LLM conversational datasets. We have designed a workflow with three analysis levels: group-level, conversation-level, and turn-level. Group-level analysis enables users to grasp the distribution of conversations and identify suspicious conversations using multiple criteria, such as similarity with reported jailbreak prompts in previous research and attack success rates. Conversation-level analysis facilitates the understanding of the progress of conversations and helps discover jailbreak prompts within their conversation contexts. Turn-level analysis allows users to explore the semantic similarity and token overlap between a singleturn prompt and the reported jailbreak prompts, aiding in the identification of new jailbreak strategies. The effectiveness and usability of the system were verified through multiple case studies and expert interviews.
Enhancements for Real-Time Monte-Carlo Tree Search in General Video Game Playing
Venue: arXiv cs.AI 2024
Year: 2024

General Video Game Playing (GVGP) is a field of Artificial Intelligence where agents play a variety of real-time video games that are unknown in advance. This limits the use of domain-specific heuristics. Monte-Carlo Tree Search (MCTS) is a search technique for game playing that does not rely on domain-specific knowledge. This paper discusses eight enhancements for MCTS in GVGP; Progressive History, N-Gram Selection Technique, Tree Reuse, Breadth-First Tree Initialization, Loss Avoidance, Novelty-Based Pruning, Knowledge-Based Evaluations, and Deterministic Game Detection. Some of these are known from existing literature, and are either extended or introduced in the context of GVGP, and some are novel enhancements for MCTS. Most enhancements are shown to provide statistically significant increases in win percentages when applied individually. When combined, they increase the average win percentage over sixty different games from 31.0% to 48.4% in comparison to a vanilla MCTS implementation, approaching a level that is competitive with the best agents of the GVG-AI competition in 2015.
Social Bias Evaluation for Large Language Models Requires Prompt Variations
Venue: arXiv cs.CL 2024
Year: 2024

Warning: This paper contains examples of stereotypes and biases. Large Language Models (LLMs) exhibit considerable social biases, and various studies have tried to evaluate and mitigate these biases accurately. Previous studies use downstream tasks as prompts to examine the degree of social biases for evaluation and mitigation. While LLMs' output highly depends on prompts, previous studies evaluating and mitigating bias have often relied on a limited variety of prompts. In this paper, we investigate the sensitivity of LLMs when changing prompt variations (task instruction and prompt, few-shot examples, debias-prompt) by analyzing task performance and social bias of LLMs. Our experimental results reveal that LLMs are highly sensitive to prompts to the extent that the ranking of LLMs fluctuates when comparing models for task performance and social bias. Additionally, we show that LLMs have tradeoffs between performance and social bias caused by the prompts. Less bias from prompt setting may result in reduced performance. Moreover, the ambiguity of instances is one of the reasons for this sensitivity to prompts in advanced LLMs, leading to various outputs. We recommend using diverse prompts, as in this study, to compare the effects of prompts on social bias in LLMs.
Low-Rank Toeplitz Matrix Restoration: Descent Cone Analysis and Structured Random Matrix
Venue: arXiv cs.IT 2024
Year: 2024

This note demonstrates that we can stably recover rank $r$ Toeplitz matrix $\pmb{X}\in\mathbb{R}^{n\times n}$ from a number of rank one subgaussian measurements on the order of $r\log^{2} n$ with an exponentially decreasing failure probability by employing a nuclear norm minimization program. Our approach utilizes descent cone analysis through Mendelson's small ball method with the Toeplitz constraint. The key ingredient is to determine the spectral norm of the random matrix of the Topelitz structure, which may be of independent interest.This improves upon earlier analyses and resolves the conjecture in Chen et al. (IEEE Transactions on Information Theory, 2015).
MuDiT & MuSiT: Alignment with Colloquial Expression in Description-to-Song Generation
Venue: arXiv cs.SD 2024
Year: 2024

Amid the rising intersection of generative AI and human artistic processes, this study probes the critical yet less-explored terrain of alignment in human-centric automatic song composition. We propose a novel task of Colloquial Description-to-Song Generation, which focuses on aligning the generated content with colloquial human expressions. This task is aimed at bridging the gap between colloquial language understanding and auditory expression within an AI model, with the ultimate goal of creating songs that accurately satisfy human auditory expectations and structurally align with musical norms. Current datasets are limited due to their narrow descriptive scope, semantic gaps and inaccuracies. To overcome data scarcity in this domain, we present the Caichong Music Dataset (CaiMD). CaiMD is manually annotated by both professional musicians and amateurs, offering diverse perspectives and a comprehensive understanding of colloquial descriptions. Unlike existing datasets pre-set with expert annotations or auto-generated ones with inherent biases, CaiMD caters more sufficiently to our purpose of aligning AI-generated music with widespread user-desired results. Moreover, we propose an innovative single-stage framework called MuDiT/MuSiT for enabling effective human-machine alignment in song creation. This framework not only achieves cross-modal comprehension between colloquial language and auditory music perceptions but also ensures generated songs align with user-desired results. MuDiT/MuSiT employs one DiT/SiT model for end-to-end generation of musical components like melody, harmony, rhythm, vocals, and instrumentation. The approach ensures harmonious sonic cohesiveness amongst all generated musical components, facilitating better resonance with human auditory expectations.
Cutting through the noise to motivate people: A comprehensive analysis of COVID-19 social media posts de/motivating vaccination
Venue: arXiv cs.CY 2024
Year: 2024

The COVID-19 pandemic exposed significant weaknesses in the healthcare information system. The overwhelming volume of misinformation on social media and other socioeconomic factors created extraordinary challenges to motivate people to take proper precautions and get vaccinated. In this context, our work explored a novel direction by analyzing an extensive dataset collected over two years, identifying the topics de/motivating the public about COVID-19 vaccination. We analyzed these topics based on time, geographic location, and political orientation. We noticed that while the motivating topics remain the same over time and geographic location, the demotivating topics change rapidly. We also identified that intrinsic motivation, rather than external mandate, is more advantageous to inspire the public. This study addresses scientific communication and public motivation in social media. It can help public health officials, policymakers, and social media platforms develop more effective messaging strategies to cut through the noise of misinformation and educate the public about scientific findings.
Prediction Instability in Machine Learning Ensembles
Venue: arXiv cs.LG 2024
Year: 2024

In machine learning ensembles predictions from multiple models are aggregated. Despite widespread use and strong performance of ensembles in applied problems little is known about the mathematical properties of aggregating models and associated consequences for safe, explainable use of such models. In this paper we prove a theorem that shows that any ensemble will exhibit at least one of the following forms of prediction instability. It will either ignore agreement among all underlying models, change its mind when none of the underlying models have done so, or be manipulable through inclusion or exclusion of options it would never actually predict. As a consequence, ensemble aggregation procedures will always need to balance the benefits of information use against the risk of these prediction instabilities. This analysis also sheds light on what specific forms of prediction instability to expect from particular ensemble algorithms; for example popular tree ensembles like random forest, or xgboost will violate basic, intuitive fairness properties. Finally, we show that this can be ameliorated by using consistent models in asymptotic conditions.
TheoremLlama: Transforming General-Purpose LLMs into Lean4 Experts
Venue: arXiv cs.FL 2024
Year: 2024

Proving mathematical theorems using computer-verifiable formal languages like Lean significantly impacts mathematical reasoning. One approach to formal theorem proving involves generating complete proofs using Large Language Models (LLMs) based on Natural Language (NL) proofs. However, due to the scarcity of aligned NL and Formal Language (FL) theorem-proving data most modern LLMs exhibit suboptimal performance.This scarcity results in a paucity of methodologies for training LLMs and techniques to fully utilize their capabilities in composing formal proofs. To address these challenges, this paper proposes TheoremLlama, an end-to-end framework that trains a general-purpose LLM to be a Lean4 expert. TheoremLlama includes NL-FL dataset generation and bootstrapping method to obtain aligned dataset, curriculum learning and block training techniques to train the model, and iterative proof writing method to write Lean4 proofs that work together synergistically. Using the dataset generation method in TheoremLlama, we provide Open Bootstrapped Theorems (OBT), an NL-FL aligned and bootstrapped dataset. Our novel NL-FL bootstrapping method, where NL proofs are integrated into Lean4 code for training datasets, leverages the NL reasoning ability of LLMs for formal reasoning. The TheoremLlama framework achieves cumulative accuracies of 36.48% and 33.61% on MiniF2F-Valid and Test datasets respectively, surpassing the GPT-4 baseline of 22.95% and 25.41%. Our code, model checkpoints, and the generated dataset is published in GitHub
Terrain Classification Enhanced with Uncertainty for Space Exploration Robots from Proprioceptive Data
Venue: arXiv cs.RO 2024
Year: 2024

Terrain Classification is an essential task in space exploration, where unpredictable environments are difficult to observe using only exteroceptive sensors such as vision. Implementing Neural Network classifiers can have high performance but can be deemed untrustworthy as they lack transparency, which makes them unreliable for taking high-stakes decisions during mission planning. We address this by proposing Neural Networks with Uncertainty Quantification in Terrain Classification. We enable our Neural Networks with Monte Carlo Dropout, DropConnect, and Flipout in time series-capable architectures using only proprioceptive data as input. We use Bayesian Optimization with Hyperband for efficient hyperparameter optimization to find optimal models for trustworthy terrain classification.