pwc-archive/papers-with-abstracts huggingface dataset:
ALPINE: Unveiling the Planning Capability of Autoregressive Learning in Language Models
Authors: Siwei Wang, Yifei Shen, Shi Feng, Haoran Sun, Shang-Hua Teng, Wei Chen
Date: 2024-05-15 00:00:00

Planning is a crucial element of both human intelligence and contemporary large language models (LLMs). In this paper, we initiate a theoretical investigation into the emergence of planning capabilities in Transformer-based LLMs via their next-word prediction mechanisms. We model planning as a network path-finding task, where the objective is to generate a valid path from a specified source node to a designated target node. Our mathematical characterization shows that Transformer architectures can execute path-finding by embedding the adjacency and reachability matrices within their weights. Furthermore, our theoretical analysis of gradient-based learning dynamics reveals that LLMs can learn both the adjacency and a limited form of the reachability matrices. These theoretical insights are then validated through experiments, which demonstrate that Transformer architectures indeed learn the adjacency and an incomplete reachability matrices, consistent with our theoretical predictions. When applying our methodology to the real-world planning benchmark Blocksworld, our observations remain consistent. Additionally, our analyses uncover a fundamental limitation of current Transformer architectures in path-finding: these architectures cannot identify reachability relationships through transitivity, which leads to failures in generating paths when concatenation is required. These findings provide new insights into how the internal mechanisms of autoregressive learning facilitate intelligent planning and deepen our understanding of how future LLMs might achieve more advanced and general planning-and-reasoning capabilities across diverse applications.
Xmodel-VLM: A Simple Baseline for Multimodal Vision Language Model
Authors: Wanting Xu, Yang Liu, Langping He, Xucheng Huang, Ling Jiang
Date: 2024-05-15 00:00:00
Tasks: GPU, Language Modeling, Language Modelling, Visual Question Answering

We introduce Xmodel-VLM, a cutting-edge multimodal vision language model. It is designed for efficient deployment on consumer GPU servers. Our work directly confronts a pivotal industry issue by grappling with the prohibitive service costs that hinder the broad adoption of large-scale multimodal systems. Through rigorous training, we have developed a 1B-scale language model from the ground up, employing the LLaVA paradigm for modal alignment. The result, which we call Xmodel-VLM, is a lightweight yet powerful multimodal vision language model. Extensive testing across numerous classic multimodal benchmarks has revealed that despite its smaller size and faster execution, Xmodel-VLM delivers performance comparable to that of larger models. Our model checkpoints and code are publicly available on GitHub at https://github.com/XiaoduoAILab/XmodelVLM.
Advancing Explainable AI with Causal Analysis in Large-Scale Fuzzy Cognitive Maps
Authors: Marios Tyrovolas, Nikolaos D. Kallimanis, Chrysostomos Stylios
Date: 2024-05-15 00:00:00

In the quest for accurate and interpretable AI models, eXplainable AI (XAI) has become crucial. Fuzzy Cognitive Maps (FCMs) stand out as an advanced XAI method because of their ability to synergistically combine and exploit both expert knowledge and data-driven insights, providing transparency and intrinsic interpretability. This letter introduces and investigates the "Total Causal Effect Calculation for FCMs" (TCEC-FCM) algorithm, an innovative approach that, for the first time, enables the efficient calculation of total causal effects among concepts in large-scale FCMs by leveraging binary search and graph traversal techniques, thereby overcoming the challenge of exhaustive causal path exploration that hinder existing methods. We evaluate the proposed method across various synthetic FCMs that demonstrate TCEC-FCM's superior performance over exhaustive methods, marking a significant advancement in causal effect analysis within FCMs, thus broadening their usability for modern complex XAI applications.
HAAP: Vision-context Hierarchical Attention Autoregressive with Adaptive Permutation for Scene Text Recognition
Authors: Honghui Chen, Yuhang Qiu, Jiabao Wang, Pingping Chen, Nam Ling
Date: 2024-05-15 00:00:00
Tasks: Diversity, Language Modeling, Language Modelling, Scene Text Recognition

Internal Language Model (LM)-based methods use permutation language modeling (PLM) to solve the error correction caused by conditional independence in external LM-based methods. However, random permutations of human interference cause fit oscillations in the model training, and Iterative Refinement (IR) operation to improve multimodal information decoupling also introduces additional overhead. To address these issues, this paper proposes the Hierarchical Attention autoregressive Model with Adaptive Permutation (HAAP) to enhance the location-context-image interaction capability, improving autoregressive generalization with internal LM. First, we propose Implicit Permutation Neurons (IPN) to generate adaptive attention masks to dynamically exploit token dependencies. The adaptive masks increase the diversity of training data and prevent model dependency on a specific order. It reduces the training overhead of PLM while avoiding training fit oscillations. Second, we develop Cross-modal Hierarchical Attention mechanism (CHA) to couple context and image features. This processing establishes rich positional semantic dependencies between context and image while avoiding IR. Extensive experimental results show the proposed HAAP achieves state-of-the-art (SOTA) performance in terms of accuracy, complexity, and latency on several datasets.
BonnBot-I Plus: A Bio-diversity Aware Precise Weed Management Robotic Platform
Authors: Alireza Ahmadi, Michael Halstead, Claus Smitt, Chris McCool
Date: 2024-05-15 00:00:00
Tasks: Diversity, Management

In this article, we focus on the critical tasks of plant protection in arable farms, addressing a modern challenge in agriculture: integrating ecological considerations into the operational strategy of precision weeding robots like \bbot. This article presents the recent advancements in weed management algorithms and the real-world performance of \bbot\ at the University of Bonn's Klein-Altendorf campus. We present a novel Rolling-view observation model for the BonnBot-Is weed monitoring section which leads to an average absolute weeding performance enhancement of $3.4\%$. Furthermore, for the first time, we show how precision weeding robots could consider bio-diversity-aware concerns in challenging weeding scenarios. We carried out comprehensive weeding experiments in sugar-beet fields, covering both weed-only and mixed crop-weed situations, and introduced a new dataset compatible with precision weeding. Our real-field experiments revealed that our weeding approach is capable of handling diverse weed distributions, with a minimal loss of only $11.66\%$ attributable to intervention planning and $14.7\%$ to vision system limitations highlighting required improvements of the vision system.
CarDreamer: Open-Source Learning Platform for World Model based Autonomous Driving
Authors: Dechen Gao, Shuangyu Cai, Hanchu Zhou, Hang Wang, Iman Soltani, Junshan Zhang
Date: 2024-05-15 00:00:00
Tasks: Autonomous Driving, Autonomous Vehicles, Navigate, Reinforcement Learning (RL)

To safely navigate intricate real-world scenarios, autonomous vehicles must be able to adapt to diverse road conditions and anticipate future events. World model (WM) based reinforcement learning (RL) has emerged as a promising approach by learning and predicting the complex dynamics of various environments. Nevertheless, to the best of our knowledge, there does not exist an accessible platform for training and testing such algorithms in sophisticated driving environments. To fill this void, we introduce CarDreamer, the first open-source learning platform designed specifically for developing WM based autonomous driving algorithms. It comprises three key components: 1) World model backbone: CarDreamer has integrated some state-of-the-art WMs, which simplifies the reproduction of RL algorithms. The backbone is decoupled from the rest and communicates using the standard Gym interface, so that users can easily integrate and test their own algorithms. 2) Built-in tasks: CarDreamer offers a comprehensive set of highly configurable driving tasks which are compatible with Gym interfaces and are equipped with empirically optimized reward functions. 3) Task development suite: This suite streamlines the creation of driving tasks, enabling easy definition of traffic flows and vehicle routes, along with automatic collection of multi-modal observation data. A visualization server allows users to trace real-time agent driving videos and performance metrics through a browser. Furthermore, we conduct extensive experiments using built-in tasks to evaluate the performance and potential of WMs in autonomous driving. Thanks to the richness and flexibility of CarDreamer, we also systematically study the impact of observation modality, observability, and sharing of vehicle intentions on AV safety and efficiency. All code and documents are accessible on https://github.com/ucd-dare/CarDreamer.
Motion Prediction with Gaussian Processes for Safe Human-Robot Interaction in Virtual Environments
Authors: Stanley Mugisha, Vamsi Krishna Guda, Christine Chevallereau, Damien Chablat, Matteo Zoppi
Date: 2024-05-15 00:00:00
Tasks: Gaussian Processes, Gaze Prediction, motion prediction, Prediction

Humans use collaborative robots as tools for accomplishing various tasks. The interaction between humans and robots happens in tight shared workspaces. However, these machines must be safe to operate alongside humans to minimize the risk of accidental collisions. Ensuring safety imposes many constraints, such as reduced torque and velocity limits during operation, thus increasing the time to accomplish many tasks. However, for applications such as using collaborative robots as haptic interfaces with intermittent contacts for virtual reality applications, speed limitations result in poor user experiences. This research aims to improve the efficiency of a collaborative robot while improving the safety of the human user. We used Gaussian process models to predict human hand motion and developed strategies for human intention detection based on hand motion and gaze to improve the time for the robot and human security in a virtual environment. We then studied the effect of prediction. Results from comparisons show that the prediction models improved the robot time by 3\% and safety by 17\%. When used alongside gaze, prediction with Gaussian process models resulted in an improvement of the robot time by 2\% and the safety by 13\%.
Chaos-based reinforcement learning with TD3
Authors: Toshitaka Matsuki, Yusuke Sakemi, Kazuyuki Aihara
Date: 2024-05-15 00:00:00
Tasks: Deep Reinforcement Learning, reinforcement-learning, Reinforcement Learning

Chaos-based reinforcement learning (CBRL) is a method in which the agent's internal chaotic dynamics drives exploration. This approach offers a model for considering how the biological brain can create variability in its behavior and learn in an exploratory manner. At the same time, it is a learning model that has the ability to automatically switch between exploration and exploitation modes and the potential to realize higher explorations that reflect what it has learned so far. However, the learning algorithms in CBRL have not been well-established in previous studies and have yet to incorporate recent advances in reinforcement learning. This study introduced Twin Delayed Deep Deterministic Policy Gradients (TD3), which is one of the state-of-the-art deep reinforcement learning algorithms that can treat deterministic and continuous action spaces, to CBRL. The validation results provide several insights. First, TD3 works as a learning algorithm for CBRL in a simple goal-reaching task. Second, CBRL agents with TD3 can autonomously suppress their exploratory behavior as learning progresses and resume exploration when the environment changes. Finally, examining the effect of the agent's chaoticity on learning shows that extremely strong chaos negatively impacts the flexible switching between exploration and exploitation.
Explainable AI for Ship Collision Avoidance: Decoding Decision-Making Processes and Behavioral Intentions
Authors: Hitoshi Yoshioka, Hirotada Hashimoto
Date: 2024-05-15 00:00:00
Tasks: Collision Avoidance, Decision Making

This study developed an explainable AI for ship collision avoidance. Initially, a critic network composed of sub-task critic networks was proposed to individually evaluate each sub-task in collision avoidance to clarify the AI decision-making processes involved. Additionally, an attempt was made to discern behavioral intentions through a Q-value analysis and an Attention mechanism. The former focused on interpreting intentions by examining the increment of the Q-value resulting from AI actions, while the latter incorporated the significance of other ships in the decision-making process for collision avoidance into the learning objective. AI's behavioral intentions in collision avoidance were visualized by combining the perceived collision danger with the degree of attention to other ships. The proposed method was evaluated through a numerical experiment. The developed AI was confirmed to be able to safely avoid collisions under various congestion levels, and AI's decision-making process was rendered comprehensible to humans. The proposed method not only facilitates the understanding of DRL-based controllers/systems in the ship collision avoidance task but also extends to any task comprising sub-tasks.
CTS: A Consistency-Based Medical Image Segmentation Model
Authors: Kejia Zhang, Lan Zhang, Haiwei Pan, Baolong Yu
Date: 2024-05-15 00:00:00
Tasks: Image Segmentation, Medical Image Segmentation, Segmentation, Semantic Segmentation

In medical image segmentation tasks, diffusion models have shown significant potential. However, mainstream diffusion models suffer from drawbacks such as multiple sampling times and slow prediction results. Recently, consistency models, as a standalone generative network, have resolved this issue. Compared to diffusion models, consistency models can reduce the sampling times to once, not only achieving similar generative effects but also significantly speeding up training and prediction. However, they are not suitable for image segmentation tasks, and their application in the medical imaging field has not yet been explored. Therefore, this paper applies the consistency model to medical image segmentation tasks, designing multi-scale feature signal supervision modes and loss function guidance to achieve model convergence. Experiments have verified that the CTS model can obtain better medical image segmentation results with a single sampling during the test phase.
Perception Without Vision for Trajectory Prediction: Ego Vehicle Dynamics as Scene Representation for Efficient Active Learning in Autonomous Driving
Authors: Ross Greer, Mohan Trivedi
Date: 2024-05-15 00:00:00
Tasks: Active Learning, Autonomous Driving, Diversity, Trajectory Prediction

This study investigates the use of trajectory and dynamic state information for efficient data curation in autonomous driving machine learning tasks. We propose methods for clustering trajectory-states and sampling strategies in an active learning framework, aiming to reduce annotation and data costs while maintaining model performance. Our approach leverages trajectory information to guide data selection, promoting diversity in the training data. We demonstrate the effectiveness of our methods on the trajectory prediction task using the nuScenes dataset, showing consistent performance gains over random sampling across different data pool sizes, and even reaching sub-baseline displacement errors at just 50% of the data cost. Our results suggest that sampling typical data initially helps overcome the ''cold start problem,'' while introducing novelty becomes more beneficial as the training pool size increases. By integrating trajectory-state-informed active learning, we demonstrate that more efficient and robust autonomous driving systems are possible and practical using low-cost data curation strategies.
Unmasking Efficiency: Learning Salient Sparse Models in Non-IID Federated Learning
Authors: Riyasat Ohib, Bishal Thapaliya, Gintare Karolina Dziugaite, Jingyu Liu, Vince Calhoun, Sergey Plis
Date: 2024-05-15 00:00:00
Tasks: Federated Learning

In this work, we propose Salient Sparse Federated Learning (SSFL), a streamlined approach for sparse federated learning with efficient communication. SSFL identifies a sparse subnetwork prior to training, leveraging parameter saliency scores computed separately on local client data in non-IID scenarios, and then aggregated, to determine a global mask. Only the sparse model weights are communicated each round between the clients and the server. We validate SSFL's effectiveness using standard non-IID benchmarks, noting marked improvements in the sparsity--accuracy trade-offs. Finally, we deploy our method in a real-world federated learning framework and report improvement in communication time.
What is it for a Machine Learning Model to Have a Capability?
Authors: Jacqueline Harding, Nathaniel Sharadin
Date: 2024-05-14 00:00:00

What can contemporary machine learning (ML) models do? Given the proliferation of ML models in society, answering this question matters to a variety of stakeholders, both public and private. The evaluation of models' capabilities is rapidly emerging as a key subfield of modern ML, buoyed by regulatory attention and government grants. Despite this, the notion of an ML model possessing a capability has not been interrogated: what are we saying when we say that a model is able to do something? And what sorts of evidence bear upon this question? In this paper, we aim to answer these questions, using the capabilities of large language models (LLMs) as a running example. Drawing on the large philosophical literature on abilities, we develop an account of ML models' capabilities which can be usefully applied to the nascent science of model evaluation. Our core proposal is a conditional analysis of model abilities (CAMA): crudely, a machine learning model has a capability to X just when it would reliably succeed at doing X if it 'tried'. The main contribution of the paper is making this proposal precise in the context of ML, resulting in an operationalisation of CAMA applicable to LLMs. We then put CAMA to work, showing that it can help make sense of various features of ML model evaluation practice, as well as suggest procedures for performing fair inter-model comparisons.
Meaning-Typed Programming: Language Abstraction and Runtime for Model-Integrated Applications
Authors: Jayanaka L. Dantanarayana, Yiping Kang, Kugesan Sivasothynathan, Christopher Clarke, Baichuan Li, Savini Kashmira, Krisztian Flautner, Lingjia Tang, Jason Mars
Date: 2024-05-14 00:00:00
Tasks: GSM8K, Math, Prompt Engineering, Translation

Software development is shifting from traditional logical programming to model-integrated applications that leverage generative AI and large language models (LLMs) during runtime. However, integrating LLMs remains complex, requiring developers to manually craft prompts and process outputs. Existing tools attempt to assist with prompt engineering, but often introduce additional complexity. This paper presents Meaning-Typed Programming (MTP) model, a novel paradigm that abstracts LLM integration through intuitive language-level constructs. By leveraging the inherent semantic richness of code, MTP automates prompt generation and response handling without additional developer effort. We introduce the by operator for seamless LLM invocation, MT-IR, a meaning-based intermediate representation for semantic extraction, and MT-Runtime, an automated system for managing LLM interactions. We implement MTP in Jac, a Python superset language and find that MTP significantly reduces coding complexity while maintaining accuracy and efficiency. Our evaluation across diverse benchmarks and user studies demonstrates that MTP outperforms existing frameworks such as DSPy and LMQL by reducing lines of code by factors of 2.3-7.5X and 1.3-10.7X respectively. For math problems from the GSM8k dataset, MTP achieves accuracy rates approaching 90%, while reducing token usage in 10 out of 13 benchmarks. This leads to cost savings up to 4.5X and runtime speedups as high as 4.75X. Additionally, MTP demonstrates resilience even when 50% of naming conventions are suboptimal, establishing it as a practical, efficient solution for streamlining model-integrated application development.
Bird's-Eye View to Street-View: A Survey
Authors: Khawlah Bajbaa, Muhammad Usman, Saeed Anwar, Ibrahim Radwan, Abdul Bais
Date: 2024-05-14 00:00:00
Tasks: Decision Making, Survey

In recent years, street view imagery has grown to become one of the most important sources of geospatial data collection and urban analytics, which facilitates generating meaningful insights and assisting in decision-making. Synthesizing a street-view image from its corresponding satellite image is a challenging task due to the significant differences in appearance and viewpoint between the two domains. In this study, we screened 20 recent research papers to provide a thorough review of the state-of-the-art of how street-view images are synthesized from their corresponding satellite counterparts. The main findings are: (i) novel deep learning techniques are required for synthesizing more realistic and accurate street-view images; (ii) more datasets need to be collected for public usage; and (iii) more specific evaluation metrics need to be investigated for evaluating the generated images appropriately. We conclude that, due to applying outdated deep learning techniques, the recent literature failed to generate detailed and diverse street-view images.
Challenges in Deploying Long-Context Transformers: A Theoretical Peak Performance Analysis
Authors: Yao Fu
Date: 2024-05-14 00:00:00
Tasks: 4k, GPU, Video Understanding

Transformer-based long context generative models power emerging AI applications like hour-long video understanding and project-level coding agent. Deploying long context transformers (e.g., 100K to 10M tokens) is prohibitively expensive compared to short context (e.g., 4K tokens) model variants. Reducing the cost of long-context transformers is becoming a pressing research and engineering challenge starting from the year of 2024. This work describes a concurrent programming framework for quantitatively analyzing the efficiency challenges in serving multiple long-context requests under limited size of GPU high-bandwidth memory (HBM) regime. We give a detailed analysis of how all additional computational costs, compared to 4K context, trace back to \textit{one single source: the large size of the KV cache}. We use a 34B GPT-3.5 level model of 50K context on A100 NVLink as a running example, and describe how its large KV cache causes four types of deployment challenges: (1) prefilling long inputs takes much longer compute time and GPU memory than short inputs; (2) after prefilling, the large KV cache residing on the GPU HBM substantially restricts the number of concurrent users being served; (3) during decoding, repeatedly reading the KV cache from HBM to SM largely increases latency; (4) when KV cache memory overflows, swapping it from HBM to DDR causes significant context switching latency. We use this framework to analyze existing works and identify possibilities of combining them to build end-to-end systems. Overall, this work offers a foundational framework for analyzing long context transformer deployment and identifies directions towards reducing the inference cost of 1M context to be as cheap as 4K.