pwc-archive/papers-with-abstracts huggingface dataset:
Transferring Foundation Models for Generalizable Robotic Manipulation
Authors: Jiange Yang, Wenhui Tan, Chuhao Jin, Keling Yao, Bei Liu, Jianlong Fu, Ruihua Song, Gangshan Wu, LiMin Wang
Date: 2023-06-09 00:00:00
Tasks: Imitation Learning, Object, Reasoning Segmentation, Robot Manipulation

Improving the generalization capabilities of general-purpose robotic manipulation agents in the real world has long been a significant challenge. Existing approaches often rely on collecting large-scale robotic data which is costly and time-consuming, such as the RT-1 dataset. However, due to insufficient diversity of data, these approaches typically suffer from limiting their capability in open-domain scenarios with new objects and diverse environments. In this paper, we propose a novel paradigm that effectively leverages language-reasoning segmentation mask generated by internet-scale foundation models, to condition robot manipulation tasks. By integrating the mask modality, which incorporates semantic, geometric, and temporal correlation priors derived from vision foundation models, into the end-to-end policy model, our approach can effectively and robustly perceive object pose and enable sample-efficient generalization learning, including new object instances, semantic categories, and unseen backgrounds. We first introduce a series of foundation models to ground natural language demands across multiple tasks. Secondly, we develop a two-stream 2D policy model based on imitation learning, which processes raw images and object masks to predict robot actions with a local-global perception manner. Extensive realworld experiments conducted on a Franka Emika robot arm demonstrate the effectiveness of our proposed paradigm and policy architecture. Demos can be found in our submitted video, and more comprehensive ones can be found in link1 or link2.
Exploring the Responses of Large Language Models to Beginner Programmers' Help Requests
Authors: Arto Hellas, Juho Leinonen, Sami Sarsa, Charles Koutcheme, Lilja Kujanpää, Juha Sorva
Date: 2023-06-09 00:00:00

Background and Context: Over the past year, large language models (LLMs) have taken the world by storm. In computing education, like in other walks of life, many opportunities and threats have emerged as a consequence. Objectives: In this article, we explore such opportunities and threats in a specific area: responding to student programmers' help requests. More specifically, we assess how good LLMs are at identifying issues in problematic code that students request help on. Method: We collected a sample of help requests and code from an online programming course. We then prompted two different LLMs (OpenAI Codex and GPT-3.5) to identify and explain the issues in the students' code and assessed the LLM-generated answers both quantitatively and qualitatively. Findings: GPT-3.5 outperforms Codex in most respects. Both LLMs frequently find at least one actual issue in each student program (GPT-3.5 in 90% of the cases). Neither LLM excels at finding all the issues (GPT-3.5 finding them 57% of the time). False positives are common (40% chance for GPT-3.5). The advice that the LLMs provide on the issues is often sensible. The LLMs perform better on issues involving program logic rather than on output formatting. Model solutions are frequently provided even when the LLM is prompted not to. LLM responses to prompts in a non-English language are only slightly worse than responses to English prompts. Implications: Our results continue to highlight the utility of LLMs in programming education. At the same time, the results highlight the unreliability of LLMs: LLMs make some of the same mistakes that students do, perhaps especially when formatting output as required by automated assessment systems. Our study informs teachers interested in using LLMs as well as future efforts to customize LLMs for the needs of programming education.
Lightweight Monocular Depth Estimation via Token-Sharing Transformer
Authors: Dong-Jae Lee, Jae Young Lee, Hyounguk Shon, Eojindl Yi, Yeong-Hun Park, Sung-Sik Cho, Junmo Kim
Date: 2023-06-09 00:00:00
Tasks: Depth Estimation, Depth Prediction, Monocular Depth Estimation

Depth estimation is an important task in various robotics systems and applications. In mobile robotics systems, monocular depth estimation is desirable since a single RGB camera can be deployable at a low cost and compact size. Due to its significant and growing needs, many lightweight monocular depth estimation networks have been proposed for mobile robotics systems. While most lightweight monocular depth estimation methods have been developed using convolution neural networks, the Transformer has been gradually utilized in monocular depth estimation recently. However, massive parameters and large computational costs in the Transformer disturb the deployment to embedded devices. In this paper, we present a Token-Sharing Transformer (TST), an architecture using the Transformer for monocular depth estimation, optimized especially in embedded devices. The proposed TST utilizes global token sharing, which enables the model to obtain an accurate depth prediction with high throughput in embedded devices. Experimental results show that TST outperforms the existing lightweight monocular depth estimation methods. On the NYU Depth v2 dataset, TST can deliver depth maps up to 63.4 FPS in NVIDIA Jetson nano and 142.6 FPS in NVIDIA Jetson TX2, with lower errors than the existing methods. Furthermore, TST achieves real-time depth estimation of high-resolution images on Jetson TX2 with competitive results.
One-Shot Machine Unlearning with Mnemonic Code
Authors: Tomoya Yamashita, Masanori Yamada, Takashi Shibata
Date: 2023-06-09 00:00:00
Tasks: Machine Unlearning

Ethical and privacy issues inherent in artificial intelligence (AI) applications have been a growing concern with the rapid spread of deep learning. Machine unlearning (MU) is the research area that addresses these issues by making a trained AI model forget about undesirable training data. Unfortunately, most existing MU methods incur significant time and computational costs for forgetting. Therefore, it is often difficult to apply these methods to practical datasets and sophisticated architectures, e.g., ImageNet and Transformer. To tackle this problem, we propose a lightweight and effective MU method. Our method identifies the model parameters sensitive to the forgetting targets and adds perturbation to such model parameters. We identify the sensitive parameters by calculating the Fisher Information Matrix (FIM). This approach does not require time-consuming additional training for forgetting. In addition, we introduce class-specific random signals called mnemonic code to reduce the cost of FIM calculation, which generally requires the entire training data and incurs significant computational costs. In our method, we train the model with mnemonic code; when forgetting, we use a small number of mnemonic codes to calculate the FIM and get the effective perturbation for forgetting. Comprehensive experiments demonstrate that our method is faster and better at forgetting than existing MU methods. Furthermore, we show that our method can scale to more practical datasets and sophisticated architectures.
RePaint-NeRF: NeRF Editting via Semantic Masks and Diffusion Models
Authors: Xingchen Zhou, Ying He, F. Richard Yu, Jianqiang Li, You Li
Date: 2023-06-09 00:00:00
Tasks: Diversity, NeRF

The emergence of Neural Radiance Fields (NeRF) has promoted the development of synthesized high-fidelity views of the intricate real world. However, it is still a very demanding task to repaint the content in NeRF. In this paper, we propose a novel framework that can take RGB images as input and alter the 3D content in neural scenes. Our work leverages existing diffusion models to guide changes in the designated 3D content. Specifically, we semantically select the target object and a pre-trained diffusion model will guide the NeRF model to generate new 3D objects, which can improve the editability, diversity, and application range of NeRF. Experiment results show that our algorithm is effective for editing 3D objects in NeRF under different text prompts, including editing appearance, shape, and more. We validate our method on both real-world datasets and synthetic-world datasets for these editing tasks. Please visit https://starstesla.github.io/repaintnerf for a better view of our results.
COVER: A Heuristic Greedy Adversarial Attack on Prompt-based Learning in Language Models
Authors: Zihao Tan, Qingliang Chen, Wenbin Zhu, Yongjian Huang
Date: 2023-06-09 00:00:00
Tasks: Adversarial Attack

Prompt-based learning has been proved to be an effective way in pre-trained language models (PLMs), especially in low-resource scenarios like few-shot settings. However, the trustworthiness of PLMs is of paramount significance and potential vulnerabilities have been shown in prompt-based templates that could mislead the predictions of language models, causing serious security concerns. In this paper, we will shed light on some vulnerabilities of PLMs, by proposing a prompt-based adversarial attack on manual templates in black box scenarios. First of all, we design character-level and word-level heuristic approaches to break manual templates separately. Then we present a greedy algorithm for the attack based on the above heuristic destructive approaches. Finally, we evaluate our approach with the classification tasks on three variants of BERT series models and eight datasets. And comprehensive experimental results justify the effectiveness of our approach in terms of attack success rate and attack speed.
Privacy Aware Question-Answering System for Online Mental Health Risk Assessment
Authors: Prateek Chhikara, Ujjwal Pasupulety, John Marshall, Dhiraj Chaurasia, Shweta Kumari
Date: 2023-06-09 00:00:00
Tasks: Diagnostic, Question Answering

Social media platforms have enabled individuals suffering from mental illnesses to share their lived experiences and find the online support necessary to cope. However, many users fail to receive genuine clinical support, thus exacerbating their symptoms. Screening users based on what they post online can aid providers in administering targeted healthcare and minimize false positives. Pre-trained Language Models (LMs) can assess users' social media data and classify them in terms of their mental health risk. We propose a Question-Answering (QA) approach to assess mental health risk using the Unified-QA model on two large mental health datasets. To protect user data, we extend Unified-QA by anonymizing the model training process using differential privacy. Our results demonstrate the effectiveness of modeling risk assessment as a QA task, specifically for mental health use cases. Furthermore, the model's performance decreases by less than 1% with the inclusion of differential privacy. The proposed system's performance is indicative of a promising research direction that will lead to the development of privacy-aware diagnostic systems.
Differentially Private Sharpness-Aware Training
Authors: Jinseong Park, Hoki Kim, Yujin Choi, Jaewook Lee
Date: 2023-06-09 00:00:00

Training deep learning models with differential privacy (DP) results in a degradation of performance. The training dynamics of models with DP show a significant difference from standard training, whereas understanding the geometric properties of private learning remains largely unexplored. In this paper, we investigate sharpness, a key factor in achieving better generalization, in private learning. We show that flat minima can help reduce the negative effects of per-example gradient clipping and the addition of Gaussian noise. We then verify the effectiveness of Sharpness-Aware Minimization (SAM) for seeking flat minima in private learning. However, we also discover that SAM is detrimental to the privacy budget and computational time due to its two-step optimization. Thus, we propose a new sharpness-aware training method that mitigates the privacy-optimization trade-off. Our experimental results demonstrate that the proposed method improves the performance of deep learning models with DP from both scratch and fine-tuning. Code is available at https://github.com/jinseongP/DPSAT.
Customizing General-Purpose Foundation Models for Medical Report Generation
Authors: Bang Yang, Asif Raza, Yuexian Zou, Tong Zhang
Date: 2023-06-09 00:00:00
Tasks: Medical Report Generation, Transfer Learning

Medical caption prediction which can be regarded as a task of medical report generation (MRG), requires the automatic generation of coherent and accurate captions for the given medical images. However, the scarcity of labelled medical image-report pairs presents great challenges in the development of deep and large-scale neural networks capable of harnessing the potential artificial general intelligence power like large language models (LLMs). In this work, we propose customizing off-the-shelf general-purpose large-scale pre-trained models, i.e., foundation models (FMs), in computer vision and natural language processing with a specific focus on medical report generation. Specifically, following BLIP-2, a state-of-the-art vision-language pre-training approach, we introduce our encoder-decoder-based MRG model. This model utilizes a lightweight query Transformer to connect two FMs: the giant vision Transformer EVA-ViT-g and a bilingual LLM trained to align with human intentions (referred to as ChatGLM-6B). Furthermore, we conduct ablative experiments on the trainable components of the model to identify the crucial factors for effective transfer learning. Our findings demonstrate that unfreezing EVA-ViT-g to learn medical image representations, followed by parameter-efficient training of ChatGLM-6B to capture the writing styles of medical reports, is essential for achieving optimal results. Our best attempt (PCLmed Team) achieved the 4th and the 2nd, respectively, out of 13 participating teams, based on the BERTScore and ROUGE-1 metrics, in the ImageCLEFmedical Caption 2023 Caption Prediction Task competition.
Revisiting Permutation Symmetry for Merging Models between Different Datasets
Authors: Masanori Yamada, Tomoya Yamashita, Shin'ya Yamaguchi, Daiki Chijiwa
Date: 2023-06-09 00:00:00
Tasks: Dataset Condensation

Model merging is a new approach to creating a new model by combining the weights of different trained models. Previous studies report that model merging works well for models trained on a single dataset with different random seeds, while model merging between different datasets is difficult. Merging knowledge from different datasets has practical significance, but it has not been well investigated. In this paper, we investigate the properties of merging models between different datasets. Through theoretical and empirical analyses, we find that the accuracy of the merged model decreases more significantly as the datasets diverge more and that the different loss landscapes for each dataset make model merging between different datasets difficult. We also show that merged models require datasets for merging in order to achieve a high accuracy. Furthermore, we show that condensed datasets created by dataset condensation can be used as substitutes for the original datasets when merging models. We conduct experiments for model merging between different datasets. When merging between MNIST and Fashion- MNIST models, the accuracy significantly improves by 28% using the dataset and 25% using the condensed dataset compared with not using the dataset.
A Unified Generative Approach to Product Attribute-Value Identification
Authors: Keiji Shinzato, Naoki Yoshinaga, Yandi Xia, Wei-Te Chen
Date: 2023-06-09 00:00:00
Tasks: Attribute

Product attribute-value identification (PAVI) has been studied to link products on e-commerce sites with their attribute values (e.g., <Material, Cotton>) using product text as clues. Technical demands from real-world e-commerce platforms require PAVI methods to handle unseen values, multi-attribute values, and canonicalized values, which are only partly addressed in existing extraction- and classification-based approaches. Motivated by this, we explore a generative approach to the PAVI task. We finetune a pre-trained generative model, T5, to decode a set of attribute-value pairs as a target sequence from the given product text. Since the attribute value pairs are unordered set elements, how to linearize them will matter; we, thus, explore methods of composing an attribute-value pair and ordering the pairs for the task. Experimental results confirm that our generation-based approach outperforms the existing extraction and classification-based methods on large-scale real-world datasets meant for those methods.
The Viability of Domain Constrained Coalition Formation for Robotic Collectives
Authors: Grace Diehl, Julie A. Adams
Date: 2023-06-08 00:00:00
Tasks: Disaster Response, Survey

Applications, such as military and disaster response, can benefit from robotic collectives' ability to perform multiple cooperative tasks (e.g., surveillance, damage assessments) efficiently across a large spatial area. Coalition formation algorithms can potentially facilitate collective robots' assignment to appropriate task teams; however, most coalition formation algorithms were designed for smaller multiple robot systems (i.e., 2-50 robots). Collectives' scale and domain-relevant constraints (i.e., distribution, near real-time, minimal communication) make coalition formation more challenging. This manuscript identifies the challenges inherent to designing coalition formation algorithms for very large collectives (e.g., 1000 robots). A survey of multiple robot coalition formation algorithms finds that most are unable to transfer directly to collectives, due to the identified system differences; however, auctions and hedonic games may be the most transferable. A simulation-based evaluation of three auction and hedonic game algorithms, applied to homogeneous and heterogeneous collectives, demonstrates that there are collective compositions for which no existing algorithm is viable; however, the experimental results and literature survey suggest paths forward.
A newborn embodied Turing test for view-invariant object recognition
Authors: Denizhan Pak, Donsuk Lee, Samantha M. W. Wood, Justin N. Wood
Date: 2023-06-08 00:00:00
Tasks: Deep Reinforcement Learning, Object Recognition

Recent progress in artificial intelligence has renewed interest in building machines that learn like animals. Almost all of the work comparing learning across biological and artificial systems comes from studies where animals and machines received different training data, obscuring whether differences between animals and machines emerged from differences in learning mechanisms versus training data. We present an experimental approach-a "newborn embodied Turing Test"-that allows newborn animals and machines to be raised in the same environments and tested with the same tasks, permitting direct comparison of their learning abilities. To make this platform, we first collected controlled-rearing data from newborn chicks, then performed "digital twin" experiments in which machines were raised in virtual environments that mimicked the rearing conditions of the chicks. We found that (1) machines (deep reinforcement learning agents with intrinsic motivation) can spontaneously develop visually guided preference behavior, akin to imprinting in newborn chicks, and (2) machines are still far from newborn-level performance on object recognition tasks. Almost all of the chicks developed view-invariant object recognition, whereas the machines tended to develop view-dependent recognition. The learning outcomes were also far more constrained in the chicks versus machines. Ultimately, we anticipate that this approach will help researchers develop embodied AI systems that learn like newborn animals.
Bias Against 93 Stigmatized Groups in Masked Language Models and Downstream Sentiment Classification Tasks
Authors: Katelyn X. Mei, Sonia Fereidooni, Aylin Caliskan
Date: 2023-06-08 00:00:00
Tasks: Sentiment Analysis, Sentiment Classification

The rapid deployment of artificial intelligence (AI) models demands a thorough investigation of biases and risks inherent in these models to understand their impact on individuals and society. This study extends the focus of bias evaluation in extant work by examining bias against social stigmas on a large scale. It focuses on 93 stigmatized groups in the United States, including a wide range of conditions related to disease, disability, drug use, mental illness, religion, sexuality, socioeconomic status, and other relevant factors. We investigate bias against these groups in English pre-trained Masked Language Models (MLMs) and their downstream sentiment classification tasks. To evaluate the presence of bias against 93 stigmatized conditions, we identify 29 non-stigmatized conditions to conduct a comparative analysis. Building upon a psychology scale of social rejection, the Social Distance Scale, we prompt six MLMs: RoBERTa-base, RoBERTa-large, XLNet-large, BERTweet-base, BERTweet-large, and DistilBERT. We use human annotations to analyze the predicted words from these models, with which we measure the extent of bias against stigmatized groups. When prompts include stigmatized conditions, the probability of MLMs predicting negative words is approximately 20 percent higher than when prompts have non-stigmatized conditions. In the sentiment classification tasks, when sentences include stigmatized conditions related to diseases, disability, education, and mental illness, they are more likely to be classified as negative. We also observe a strong correlation between bias in MLMs and their downstream sentiment classifiers (r =0.79). The evidence indicates that MLMs and their downstream sentiment classification tasks exhibit biases against socially stigmatized groups.
Prompt Injection attack against LLM-integrated Applications
Authors: Yi Liu, Gelei Deng, Yuekang Li, Kailong Wang, ZiHao Wang, XiaoFeng Wang, Tianwei Zhang, Yepang Liu, Haoyu Wang, Yan Zheng, Yang Liu
Date: 2023-06-08 00:00:00

Large Language Models (LLMs), renowned for their superior proficiency in language comprehension and generation, stimulate a vibrant ecosystem of applications around them. However, their extensive assimilation into various services introduces significant security risks. This study deconstructs the complexities and implications of prompt injection attacks on actual LLM-integrated applications. Initially, we conduct an exploratory analysis on ten commercial applications, highlighting the constraints of current attack strategies in practice. Prompted by these limitations, we subsequently formulate HouYi, a novel black-box prompt injection attack technique, which draws inspiration from traditional web injection attacks. HouYi is compartmentalized into three crucial elements: a seamlessly-incorporated pre-constructed prompt, an injection prompt inducing context partition, and a malicious payload designed to fulfill the attack objectives. Leveraging HouYi, we unveil previously unknown and severe attack outcomes, such as unrestricted arbitrary LLM usage and uncomplicated application prompt theft. We deploy HouYi on 36 actual LLM-integrated applications and discern 31 applications susceptible to prompt injection. 10 vendors have validated our discoveries, including Notion, which has the potential to impact millions of users. Our investigation illuminates both the possible risks of prompt injection attacks and the possible tactics for mitigation.