OpenRaiser/Intern-Atlas huggingface dataset:
RELAX: Reinforcement Learning Enabled 2D-LiDAR Autonomous System for Parsimonious UAVs
Venue: arXiv cs.RO 2024
Year: 2024

Unmanned Aerial Vehicles (UAVs) have become increasingly prominence in recent years, finding applications in surveillance, package delivery, among many others. Despite considerable efforts in developing algorithms that enable UAVs to navigate through complex unknown environments autonomously, they often require expensive hardware and sensors, such as RGB-D cameras and 3D-LiDAR, leading to a persistent trade-off between performance and cost. To this end, we propose RELAX, a novel end-to-end autonomous framework that is exceptionally cost-efficient, requiring only a single 2D-LiDAR to enable UAVs operating in unknown environments. Specifically, RELAX comprises three components: a pre-processing map constructor; an offline mission planner; and a reinforcement learning (RL)-based online re-planner. Experiments demonstrate that RELAX offers more robust dynamic navigation compared to existing algorithms, while only costing a fraction of the others. The code will be made public upon acceptance.
MLP Based Continuous Gait Recognition of a Powered Ankle Prosthesis with Serial Elastic Actuator
Venue: arXiv cs.RO 2024
Year: 2024

Powered ankle prostheses effectively assist people with lower limb amputation to perform daily activities. High performance prostheses with adjustable compliance and capability to predict and implement amputee's intent are crucial for them to be comparable to or better than a real limb. However, current designs fail to provide simple yet effective compliance of the joint with full potential of modification, and lack accurate gait prediction method in real time. This paper proposes an innovative design of powered ankle prosthesis with serial elastic actuator (SEA), and puts forward a MLP based gait recognition method that can accurately and continuously predict more gait parameters for motion sensing and control. The prosthesis mimics biological joint with similar weight, torque, and power which can assist walking of up to 4 m/s. A new design of planar torsional spring is proposed for the SEA, which has better stiffness, endurance, and potential of modification than current designs. The gait recognition system simultaneously generates locomotive speed, gait phase, ankle angle and angular velocity only utilizing signals of single IMU, holding advantage in continuity, adaptability for speed range, accuracy, and capability of multi-functions.
Object-Oriented Grid Mapping in Dynamic Environments
Venue: arXiv cs.RO 2024
Year: 2024

Grid maps, especially occupancy grid maps, are ubiquitous in many mobile robot applications. To simplify the process of learning the map, grid maps subdivide the world into a grid of cells whose occupancies are independently estimated using measurements in the perceptual field of the particular cell. However, the world consists of objects that span multiple cells, which means that measurements falling onto a cell provide evidence of the occupancy of other cells belonging to the same object. Current models do not capture this correlation and, therefore, do not use object-level information for estimating the state of the environment. In this work, we present a way to generalize the update of grid maps, relaxing the assumption of independence. We propose modeling the relationship between the measurements and the occupancy of each cell as a set of latent variables and jointly estimate those variables and the posterior of the map. We propose a method to estimate the latent variables by clustering based on semantic labels and an extension to the Normal Distributions Transform Occupancy Map (NDT-OM) to facilitate the proposed map update method. We perform comprehensive map creation and localization experiments with real-world data sets and show that the proposed method creates better maps in highly dynamic environments compared to state-of-the-art methods. Finally, we demonstrate the ability of the proposed method to remove occluded objects from the map in a lifelong map update scenario.
A Theoretical and Empirical Study on the Convergence of Adam with an "Exact" Constant Step Size in Non-Convex Settings
Venue: arXiv cs.LG 2024
Year: 2024

In neural network training, RMSProp and Adam remain widely favoured optimisation algorithms. One of the keys to their performance lies in selecting the correct step size, which can significantly influence their effectiveness. Additionally, questions about their theoretical convergence properties continue to be a subject of interest. In this paper, we theoretically analyse a constant step size version of Adam in the non-convex setting and discuss why it is important for the convergence of Adam to use a fixed step size. This work demonstrates the derivation and effective implementation of a constant step size for Adam, offering insights into its performance and efficiency in non convex optimisation scenarios. (i) First, we provide proof that these adaptive gradient algorithms are guaranteed to reach criticality for smooth non-convex objectives with constant step size, and we give bounds on the running time. Both deterministic and stochastic versions of Adam are analysed in this paper. We show sufficient conditions for the derived constant step size to achieve asymptotic convergence of the gradients to zero with minimal assumptions. Next, (ii) we design experiments to empirically study Adam's convergence with our proposed constant step size against stateof the art step size schedulers on classification tasks. Lastly, (iii) we also demonstrate that our derived constant step size has better abilities in reducing the gradient norms, and empirically, we show that despite the accumulation of a few past gradients, the key driver for convergence in Adam is the non-increasing step sizes.
Data Distribution Bottlenecks in Grounding Language Models to Knowledge Bases
Venue: arXiv cs.CL 2024
Year: 2024

Language models (LMs) have already demonstrated remarkable abilities in understanding and generating both natural and formal language. Despite these advances, their integration with real-world environments such as large-scale knowledge bases (KBs) remains an underdeveloped area, affecting applications such as semantic parsing and indulging in "hallucinated" information. This paper is an experimental investigation aimed at uncovering the robustness challenges that LMs encounter when tasked with knowledge base question answering (KBQA). The investigation covers scenarios with inconsistent data distribution between training and inference, such as generalization to unseen domains, adaptation to various language variations, and transferability across different datasets. Our comprehensive experiments reveal that even when employed with our proposed data augmentation techniques, advanced small and large language models exhibit poor performance in various dimensions. While the LM is a promising technology, the robustness of the current form in dealing with complex environments is fragile and of limited practicality because of the data distribution issue. This calls for future research on data collection and LM learning paradims.
Comprehension Is a Double-Edged Sword: Over-Interpreting Unspecified Information in Intelligible Machine Learning Explanations
Venue: arXiv cs.HC 2024
Year: 2024

Automated decision-making systems are becoming increasingly ubiquitous, which creates an immediate need for their interpretability and explainability. However, it remains unclear whether users know what insights an explanation offers and, more importantly, what information it lacks. To answer this question we conducted an online study with 200 participants, which allowed us to assess explainees' ability to realise explicated information -- i.e., factual insights conveyed by an explanation -- and unspecified information -- i.e, insights that are not communicated by an explanation -- across four representative explanation types: model architecture, decision surface visualisation, counterfactual explainability and feature importance. Our findings uncover that highly comprehensible explanations, e.g., feature importance and decision surface visualisation, are exceptionally susceptible to misinterpretation since users tend to infer spurious information that is outside of the scope of these explanations. Additionally, while the users gauge their confidence accurately with respect to the information explicated by these explanations, they tend to be overconfident when misinterpreting the explanations. Our work demonstrates that human comprehension can be a double-edged sword since highly accessible explanations may convince users of their truthfulness while possibly leading to various misinterpretations at the same time. Machine learning explanations should therefore carefully navigate the complex relation between their full scope and limitations to maximise understanding and curb misinterpretation.
Doeblin Coefficients and Related Measures
Venue: arXiv cs.IT 2024
Year: 2024

Doeblin coefficients are a classical tool for analyzing the ergodicity and exponential convergence rates of Markov chains. Propelled by recent works on contraction coefficients of strong data processing inequalities, we investigate whether Doeblin coefficients also exhibit some of the notable properties of canonical contraction coefficients. In this paper, we present several new structural and geometric properties of Doeblin coefficients. Specifically, we show that Doeblin coefficients form a multi-way divergence, exhibit tensorization, and possess an extremal trace characterization. We then show that they also have extremal coupling and simultaneously maximal coupling characterizations. By leveraging these characterizations, we demonstrate that Doeblin coefficients act as a nice generalization of the well-known total variation (TV) distance to a multi-way divergence, enabling us to measure the "distance" between multiple distributions rather than just two. We then prove that Doeblin coefficients exhibit contraction properties over Bayesian networks similar to other canonical contraction coefficients. We additionally derive some other results and discuss an application of Doeblin coefficients to distribution fusion. Finally, in a complementary vein, we introduce and discuss three new quantities: max-Doeblin coefficient, max-DeGroot distance, and min-DeGroot distance. The max-Doeblin coefficient shares a connection with the concept of maximal leakage in information security; we explore its properties and provide a coupling characterization. On the other hand, the max-DeGroot and min-DeGroot measures extend the concept of DeGroot distance to multiple distributions.
SCT: A Simple Baseline for Parameter-Efficient Fine-Tuning via Salient Channels
Venue: arXiv cs.CV 2024
Year: 2024

Pre-trained vision transformers have strong representation benefits to various downstream tasks. Recently, many parameter-efficient fine-tuning (PEFT) methods have been proposed, and their experiments demonstrate that tuning only 1\% extra parameters could surpass full fine-tuning in low-data resource scenarios. However, these methods overlook the task-specific information when fine-tuning diverse downstream tasks. In this paper, we propose a simple yet effective method called "Salient Channel Tuning" (SCT) to leverage the task-specific information by forwarding the model with the task images to select partial channels in a feature map that enables us to tune only 1/8 channels leading to significantly lower parameter costs. Experiments on 19 visual transfer learning downstream tasks demonstrate that our SCT outperforms full fine-tuning on 18 out of 19 tasks by adding only 0.11M parameters of the ViT-B, which is 780$\times$ fewer than its full fine-tuning counterpart. Furthermore, experiments on domain generalization and few-shot classification further demonstrate the effectiveness and generic of our approach. The code is available at https://github.com/showlab/SCT.
Local Differential Privacy in Graph Neural Networks: a Reconstruction Approach
Venue: arXiv cs.LG 2024
Year: 2024

Graph Neural Networks have achieved tremendous success in modeling complex graph data in a variety of applications. However, there are limited studies investigating privacy protection in GNNs. In this work, we propose a learning framework that can provide node privacy at the user level, while incurring low utility loss. We focus on a decentralized notion of Differential Privacy, namely Local Differential Privacy, and apply randomization mechanisms to perturb both feature and label data at the node level before the data is collected by a central server for model training. Specifically, we investigate the application of randomization mechanisms in high-dimensional feature settings and propose an LDP protocol with strict privacy guarantees. Based on frequency estimation in statistical analysis of randomized data, we develop reconstruction methods to approximate features and labels from perturbed data. We also formulate this learning framework to utilize frequency estimates of graph clusters to supervise the training procedure at a sub-graph level. Extensive experiments on real-world and semi-synthetic datasets demonstrate the validity of our proposed model.
Anchor Points: Benchmarking Models with Much Fewer Examples
Venue: arXiv cs.CL 2024
Year: 2024

Modern language models often exhibit powerful but brittle behavior, leading to the development of larger and more diverse benchmarks to reliably assess their behavior. Here, we suggest that model performance can be benchmarked and elucidated with much smaller evaluation sets. We first show that in six popular language classification benchmarks, model confidence in the correct class on many pairs of points is strongly correlated across models. We build upon this phenomenon to propose Anchor Point Selection, a technique to select small subsets of datasets that capture model behavior across the entire dataset. Anchor points reliably rank models: across 87 diverse language model-prompt pairs, evaluating models using 1-30 anchor points outperforms uniform sampling and other baselines at accurately ranking models. Moreover, just several anchor points can be used to estimate model per-class predictions on all other points in a dataset with low mean absolute error, sufficient for gauging where the model is likely to fail. Lastly, we present Anchor Point Maps for visualizing these insights and facilitating comparisons of the performance of different models on various regions within the dataset distribution.
ExBluRF: Efficient Radiance Fields for Extreme Motion Blurred Images
Venue: arXiv cs.CV 2024
Year: 2024

We present ExBluRF, a novel view synthesis method for extreme motion blurred images based on efficient radiance fields optimization. Our approach consists of two main components: 6-DOF camera trajectory-based motion blur formulation and voxel-based radiance fields. From extremely blurred images, we optimize the sharp radiance fields by jointly estimating the camera trajectories that generate the blurry images. In training, multiple rays along the camera trajectory are accumulated to reconstruct single blurry color, which is equivalent to the physical motion blur operation. We minimize the photo-consistency loss on blurred image space and obtain the sharp radiance fields with camera trajectories that explain the blur of all images. The joint optimization on the blurred image space demands painfully increasing computation and resources proportional to the blur size. Our method solves this problem by replacing the MLP-based framework to low-dimensional 6-DOF camera poses and voxel-based radiance fields. Compared with the existing works, our approach restores much sharper 3D scenes from challenging motion blurred views with the order of 10 times less training time and GPU memory consumption.
Monolingual or Multilingual Instruction Tuning: Which Makes a Better Alpaca
Venue: arXiv cs.CL 2024
Year: 2024

Foundational large language models (LLMs) can be instruction-tuned to perform open-domain question answering, facilitating applications like chat assistants. While such efforts are often carried out in a single language, we empirically analyze cost-efficient strategies for multilingual scenarios. Our study employs the Alpaca dataset and machine translations of it to form multilingual data, which is then used to tune LLMs through either low-rank adaptation or full-parameter training. Under a controlled computation budget, comparisons show that multilingual tuning is on par or better than tuning a model for each language. Furthermore, multilingual tuning with downsampled data can be as powerful and more robust. Our findings serve as a guide for expanding language support through instruction tuning.
Sorted LLaMA: Unlocking the Potential of Intermediate Layers of Large Language Models for Dynamic Inference
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) have revolutionized natural language processing (NLP) by excelling at understanding and generating human-like text. However, their widespread deployment can be prohibitively expensive. SortedNet is a recent training technique for enabling dynamic inference by leveraging the modularity in networks and sorting sub-models based on computation/accuracy in a nested manner. We extend SortedNet to generative NLP tasks, making large language models dynamic without any Pre-Training and by only replacing Standard Fine-Tuning (SFT) with Sorted Fine-Tuning (SoFT). Our approach boosts model efficiency, eliminating the need for multiple models for various scenarios during inference. We show that this approach can unlock the power of intermediate layers of transformers in generating the target output. Our sub-models remain integral components of the original model, minimizing storage requirements and transition costs between different computational/latency budgets. The efficacy of our proposed method was demonstrated by applying it to tune LLaMA 2 13B on the Stanford Alpaca dataset for instruction following and TriviaQA for closed-book question answering. Our results show the superior performance of sub-models in comparison to Standard Fine-Tuning and SFT+ICT (Early-Exit), all achieved with efficient tuning and without additional memory usage during inference.
Optimal Initialization Strategies for Range-Only Trajectory Estimation
Venue: arXiv cs.RO 2024
Year: 2024

Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The nonconvex nature of the range measurement model results in a cost function with possible local minima. In the absence of a good initialization, commonly used iterative solvers can get stuck in these local minima resulting in poor trajectory estimation accuracy. In this work, we propose convex relaxations to the original nonconvex problem based on semidefinite programs (SDPs). Specifically, we formulate computationally tractable SDP relaxations to obtain accurate initial pose and trajectory estimates for RO trajectory estimation under static and dynamic (i.e., constant-velocity motion) conditions. Through simulation and real experiments, we demonstrate that our proposed initialization strategies estimate the initial state accurately compared to iterative local solvers. Additionally, the proposed relaxations recover global minima under moderate range measurement noise levels.
Answering Causal Queries at Layer 3 with DiscoSCMs-Embracing Heterogeneity
Venue: arXiv cs.AI 2024
Year: 2024

In the realm of causal inference, Potential Outcomes (PO) and Structural Causal Models (SCM) are recognized as the principal frameworks.However, when it comes to Layer 3 valuations -- counterfactual queries deeply entwined with individual-level semantics -- both frameworks encounter limitations due to the degenerative issues brought forth by the consistency rule. This paper advocates for the Distribution-consistency Structural Causal Models (DiscoSCM) framework as a pioneering approach to counterfactual inference, skillfully integrating the strengths of both PO and SCM. The DiscoSCM framework distinctively incorporates a unit selection variable $U$ and embraces the concept of uncontrollable exogenous noise realization. Through personalized incentive scenarios, we demonstrate the inadequacies of PO and SCM frameworks in representing the probability of a user being a complier (a Layer 3 event) without degeneration, an issue adeptly resolved by adopting the assumption of independent counterfactual noises within DiscoSCM. This innovative assumption broadens the foundational counterfactual theory, facilitating the extension of numerous theoretical results regarding the probability of causation to an individual granularity level and leading to a comprehensive set of theories on heterogeneous counterfactual bounds. Ultimately, our paper posits that if one acknowledges and wishes to leverage the ubiquitous heterogeneity, understanding causality as invariance across heterogeneous units, then DiscoSCM stands as a significant advancement in the methodology of counterfactual inference.
Heterogeneous Generative Knowledge Distillation with Masked Image Modeling
Venue: arXiv cs.CV 2024
Year: 2024

Small CNN-based models usually require transferring knowledge from a large model before they are deployed in computationally resource-limited edge devices. Masked image modeling (MIM) methods achieve great success in various visual tasks but remain largely unexplored in knowledge distillation for heterogeneous deep models. The reason is mainly due to the significant discrepancy between the Transformer-based large model and the CNN-based small network. In this paper, we develop the first Heterogeneous Generative Knowledge Distillation (H-GKD) based on MIM, which can efficiently transfer knowledge from large Transformer models to small CNN-based models in a generative self-supervised fashion. Our method builds a bridge between Transformer-based models and CNNs by training a UNet-style student with sparse convolution, which can effectively mimic the visual representation inferred by a teacher over masked modeling. Our method is a simple yet effective learning paradigm to learn the visual representation and distribution of data from heterogeneous teacher models, which can be pre-trained using advanced generative methods. Extensive experiments show that it adapts well to various models and sizes, consistently achieving state-of-the-art performance in image classification, object detection, and semantic segmentation tasks. For example, in the Imagenet 1K dataset, H-GKD improves the accuracy of Resnet50 (sparse) from 76.98% to 80.01%.
A Heterogeneous Graph-Based Multi-Task Learning for Fault Event Diagnosis in Smart Grid
Venue: arXiv cs.AI 2024
Year: 2024

Precise and timely fault diagnosis is a prerequisite for a distribution system to ensure minimum downtime and maintain reliable operation. This necessitates access to a comprehensive procedure that can provide the grid operators with insightful information in the case of a fault event. In this paper, we propose a heterogeneous multi-task learning graph neural network (MTL-GNN) capable of detecting, locating and classifying faults in addition to providing an estimate of the fault resistance and current. Using a graph neural network (GNN) allows for learning the topological representation of the distribution system as well as feature learning through a message-passing scheme. We investigate the robustness of our proposed model using the IEEE-123 test feeder system. This work also proposes a novel GNN-based explainability method to identify key nodes in the distribution system which then facilitates informed sparse measurements. Numerical tests validate the performance of the model across all tasks.