pwc-archive/papers-with-abstracts huggingface dataset:
Decentralized Model Predictive Control for Equilibrium-based Collaborative UAV Bar Transportation
Authors: Roberto C. Sundin, Pedro Roque, Dimos V. Dimarogonas
Date: 2022-07-12 00:00:00
Proceeding: International Conference on Robotics and Automation (ICRA) 2022 7
Tasks: Model Predictive Control

In this paper we analyze the equilibrium points of a collaborative transportation task, composed of two unmanned aerial vehicles and a payload - in this case, a bar. Moreover, centralized and decentralized linear model predictive controllers are designed, where the nonlinear dynamics are linearized around the equilibrium points previously analyzed. A comparison between the centralized and decentralized formulations is provided, based on experimental results for both setups, and considering the time to solution and performance of each controller. Our findings provide new operational equilibrium points that can be paired with predictive model-based controllers for efficient operation.
LoRA-BERT: a Natural Language Processing Model for Robust and Accurate Prediction of long non-coding RNAs
Authors: Nicholas Jeon, Xiaoning Qian, Lamin SaidyKhan, Paul de Figueiredo, Byung-Jun Yoon
Date: 2024-11-11 00:00:00

Long non-coding RNAs (lncRNAs) serve as crucial regulators in numerous biological processes. Although they share sequence similarities with messenger RNAs (mRNAs), lncRNAs perform entirely different roles, providing new avenues for biological research. The emergence of next-generation sequencing technologies has greatly advanced the detection and identification of lncRNA transcripts and deep learning-based approaches have been introduced to classify long non-coding RNAs (lncRNAs). These advanced methods have significantly enhanced the efficiency of identifying lncRNAs. However, many of these methods are devoid of robustness and accuracy due to the extended length of the sequences involved. To tackle this issue, we have introduced a novel pre-trained bidirectional encoder representation called LoRA-BERT. LoRA-BERT is designed to capture the importance of nucleotide-level information during sequence classification, leading to more robust and satisfactory outcomes. In a comprehensive comparison with commonly used sequence prediction tools, we have demonstrated that LoRA-BERT outperforms them in terms of accuracy and efficiency. Our results indicate that, when utilizing the transformer model, LoRA-BERT achieves state-of-the-art performance in predicting both lncRNAs and mRNAs for human and mouse species. Through the utilization of LoRA-BERT, we acquire valuable insights into the traits of lncRNAs and mRNAs, offering the potential to aid in the comprehension and detection of diseases linked to lncRNAs in humans.
One STEP at a time: Language Agents are Stepwise Planners
Authors: Minh Nguyen, Ehsan Shareghi
Date: 2024-11-13 00:00:00

Language agents have shown promising adaptability in dynamic environments to perform complex tasks. However, despite the versatile knowledge embedded in large language models, these agents still fall short when it comes to tasks that require planning. We introduce STEP, a novel framework designed to efficiently learn from previous experiences to enhance the planning capabilities of language agents in future steps. Concretely, STEP functions through four interconnected components. First, the Planner takes on the task, breaks it down into subtasks and provides relevant insights. Then the Executor generates action candidates, while the Evaluator ensures the actions align with learned rules from previous experiences. Lastly, Memory stores experiences to inform future decisions. In the ScienceWorld benchmark, our results show that STEP consistently outperforms state-of-the-art models, achieving an overall score of 67.4 and successfully completing 12 out of 18 tasks. These findings highlight STEP's potential as a framework for enhancing planning capabilities in language agents, paving the way for more sophisticated task-solving in dynamic environments.
A Preview of XiYan-SQL: A Multi-Generator Ensemble Framework for Text-to-SQL
Authors: Yingqi Gao, Yifu Liu, Xiaoxia Li, Xiaorong Shi, Yin Zhu, Yiming Wang, Shiqi Li, Wei Li, Yuntao Hong, Zhiling Luo, Jinyang Gao, Liyu Mou, Yu Li
Date: 2024-11-13 00:00:00
Tasks: Diversity, In-Context Learning, Large Language Model, Named Entity Recognition, Text to SQL, Text-To-SQL

To tackle the challenges of large language model performance in natural language to SQL tasks, we introduce XiYan-SQL, an innovative framework that employs a multi-generator ensemble strategy to improve candidate generation. We introduce M-Schema, a semi-structured schema representation method designed to enhance the understanding of database structures. To enhance the quality and diversity of generated candidate SQL queries, XiYan-SQL integrates the significant potential of in-context learning (ICL) with the precise control of supervised fine-tuning. On one hand, we propose a series of training strategies to fine-tune models to generate high-quality candidates with diverse preferences. On the other hand, we implement the ICL approach with an example selection method based on named entity recognition to prevent overemphasis on entities. The refiner optimizes each candidate by correcting logical or syntactical errors. To address the challenge of identifying the best candidate, we fine-tune a selection model to distinguish nuances of candidate SQL queries. The experimental results on multiple dialect datasets demonstrate the robustness of XiYan-SQL in addressing challenges across different scenarios. Overall, our proposed XiYan-SQL achieves the state-of-the-art execution accuracy of 75.63% on Bird benchmark, 89.65% on the Spider test set, 69.86% on SQL-Eval, 41.20% on NL2GQL. The proposed framework not only enhances the quality and diversity of SQL queries but also outperforms previous methods.
LBONet: Supervised Spectral Descriptors for Shape Analysis
Authors: Oguzhan Yigit, Richard C. Wilson
Date: 2024-11-13 00:00:00

The Laplace-Beltrami operator has established itself in the field of non-rigid shape analysis due to its many useful properties such as being invariant under isometric transformation, having a countable eigensystem forming an orthonormal basis, and fully characterizing geodesic distances of the manifold. However, this invariancy only applies under isometric deformations, which leads to a performance breakdown in many real-world applications. In recent years emphasis has been placed upon extracting optimal features using deep learning methods, however spectral signatures play a crucial role and still add value. In this paper we take a step back, revisiting the LBO and proposing a supervised way to learn several operators on a manifold. Depending on the task, by applying these functions, we can train the LBO eigenbasis to be more task-specific. The optimization of the LBO leads to enormous improvements to established descriptors such as the heat kernel signature in various tasks such as retrieval, classification, segmentation, and correspondence, proving the adaption of the LBO eigenbasis to both global and highly local learning settings.
4D Gaussian Splatting in the Wild with Uncertainty-Aware Regularization
Authors: Mijeong Kim, Jongwoo Lim, Bohyung Han
Date: 2024-11-13 00:00:00
Tasks: Image Reconstruction, Novel View Synthesis

Novel view synthesis of dynamic scenes is becoming important in various applications, including augmented and virtual reality. We propose a novel 4D Gaussian Splatting (4DGS) algorithm for dynamic scenes from casually recorded monocular videos. To overcome the overfitting problem of existing work for these real-world videos, we introduce an uncertainty-aware regularization that identifies uncertain regions with few observations and selectively imposes additional priors based on diffusion models and depth smoothness on such regions. This approach improves both the performance of novel view synthesis and the quality of training image reconstruction. We also identify the initialization problem of 4DGS in fast-moving dynamic regions, where the Structure from Motion (SfM) algorithm fails to provide reliable 3D landmarks. To initialize Gaussian primitives in such regions, we present a dynamic region densification method using the estimated depth maps and scene flow. Our experiments show that the proposed method improves the performance of 4DGS reconstruction from a video captured by a handheld monocular camera and also exhibits promising results in few-shot static scene reconstruction.
A Short Note on Evaluating RepNet for Temporal Repetition Counting in Videos
Authors: Debidatta Dwibedi, Yusuf Aytar, Jonathan Tompson, Pierre Sermanet, Andrew Zisserman
Date: 2024-11-13 00:00:00
Tasks: Repetitive Action Counting

We discuss some consistent issues on how RepNet has been evaluated in various papers. As a way to mitigate these issues, we report RepNet performance results on different datasets, and release evaluation code and the RepNet checkpoint to obtain these results. Code URL: https://github.com/google-research/google-research/blob/master/repnet/
Causal Explanations for Image Classifiers
Authors: Hana Chockler, David A. Kelly, Daniel Kroening, Youcheng Sun
Date: 2024-11-13 00:00:00

Existing algorithms for explaining the output of image classifiers use different definitions of explanations and a variety of techniques to extract them. However, none of the existing tools use a principled approach based on formal definitions of causes and explanations for the explanation extraction. In this paper we present a novel black-box approach to computing explanations grounded in the theory of actual causality. We prove relevant theoretical results and present an algorithm for computing approximate explanations based on these definitions. We prove termination of our algorithm and discuss its complexity and the amount of approximation compared to the precise definition. We implemented the framework in a tool rex and we present experimental results and a comparison with state-of-the-art tools. We demonstrate that rex is the most efficient tool and produces the smallest explanations, in addition to outperforming other black-box tools on standard quality measures.
The Limited Impact of Medical Adaptation of Large Language and Vision-Language Models
Authors: Daniel P. Jeong, Pranav Mani, Saurabh Garg, Zachary C. Lipton, Michael Oberst
Date: 2024-11-13 00:00:00
Tasks: Medical Question Answering, Question Answering

Several recent works seek to develop foundation models specifically for medical applications, adapting general-purpose large language models (LLMs) and vision-language models (VLMs) via continued pretraining on publicly available biomedical corpora. These works typically claim that such domain-adaptive pretraining (DAPT) improves performance on downstream medical tasks, such as answering medical licensing exam questions. In this paper, we compare ten public "medical" LLMs and two VLMs against their corresponding base models, arriving at a different conclusion: all medical VLMs and nearly all medical LLMs fail to consistently improve over their base models in the zero-/few-shot prompting and supervised fine-tuning regimes for medical question-answering (QA). For instance, across all tasks and model pairs we consider in the 3-shot setting, medical LLMs only outperform their base models in 22.7% of cases, reach a (statistical) tie in 36.8% of cases, and are significantly worse than their base models in the remaining 40.5% of cases. Our conclusions are based on (i) comparing each medical model head-to-head, directly against the corresponding base model; (ii) optimizing the prompts for each model separately in zero-/few-shot prompting; and (iii) accounting for statistical uncertainty in comparisons. While these basic practices are not consistently adopted in the literature, our ablations show that they substantially impact conclusions. Meanwhile, we find that after fine-tuning on specific QA tasks, medical LLMs can show performance improvements, but the benefits do not carry over to tasks based on clinical notes. Our findings suggest that state-of-the-art general-domain models may already exhibit strong medical knowledge and reasoning capabilities, and offer recommendations to strengthen the conclusions of future studies.
Interaction Testing in Variation Analysis
Authors: Drago Plecko
Date: 2024-11-13 00:00:00
Tasks: Text-Variation

Relationships of cause and effect are of prime importance for explaining scientific phenomena. Often, rather than just understanding the effects of causes, researchers also wish to understand how a cause $X$ affects an outcome $Y$ mechanistically -- i.e., what are the causal pathways that are activated between $X$ and $Y$. For analyzing such questions, a range of methods has been developed over decades under the rubric of causal mediation analysis. Traditional mediation analysis focuses on decomposing the average treatment effect (ATE) into direct and indirect effects, and therefore focuses on the ATE as the central quantity. This corresponds to providing explanations for associations in the interventional regime, such as when the treatment $X$ is randomized. Commonly, however, it is of interest to explain associations in the observational regime, and not just in the interventional regime. In this paper, we introduce \text{variation analysis}, an extension of mediation analysis that focuses on the total variation (TV) measure between $X$ and $Y$, written as $\mathrm{E}[Y \mid X=x_1] - \mathrm{E}[Y \mid X=x_0]$. The TV measure encompasses both causal and confounded effects, as opposed to the ATE which only encompasses causal (direct and mediated) variations. In this way, the TV measure is suitable for providing explanations in the natural regime and answering questions such as ``why is $X$ associated with $Y$?''. Our focus is on decomposing the TV measure, in a way that explicitly includes direct, indirect, and confounded variations. Furthermore, we also decompose the TV measure to include interaction terms between these different pathways. Subsequently, interaction testing is introduced, involving hypothesis tests to determine if interaction terms are significantly different from zero. If interactions are not significant, more parsimonious decompositions of the TV measure can be used.
Data-driven Surface Solar Irradiance Estimation using Neural Operators at Global Scale
Authors: Alberto Carpentieri, Jussi Leinonen, Jeff Adie, Boris Bonev, Doris Folini, Farah Hariri
Date: 2024-11-13 00:00:00
Tasks: energy management, Management

Accurate surface solar irradiance (SSI) forecasting is essential for optimizing renewable energy systems, particularly in the context of long-term energy planning on a global scale. This paper presents a pioneering approach to solar radiation forecasting that leverages recent advancements in numerical weather prediction (NWP) and data-driven machine learning weather models. These advances facilitate long, stable rollouts and enable large ensemble forecasts, enhancing the reliability of predictions. Our flexible model utilizes variables forecast by these NWP and AI weather models to estimate 6-hourly SSI at global scale. Developed using NVIDIA Modulus, our model represents the first adaptive global framework capable of providing long-term SSI forecasts. Furthermore, it can be fine-tuned using satellite data, which significantly enhances its performance in the fine-tuned regions, while maintaining accuracy elsewhere. The improved accuracy of these forecasts has substantial implications for the integration of solar energy into power grids, enabling more efficient energy management and contributing to the global transition to renewable energy sources.
AstroM$^3$: A self-supervised multimodal model for astronomy
Authors: Mariia Rizhko, Joshua S. Bloom
Date: 2024-11-13 00:00:00
Tasks: Anomaly Detection, Astronomy, Dimensionality Reduction, Time Series

While machine-learned models are now routinely employed to facilitate astronomical inquiry, model inputs tend to be limited to a primary data source (namely images or time series) and, in the more advanced approaches, some metadata. Yet with the growing use of wide-field, multiplexed observational resources, individual sources of interest often have a broad range of observational modes available. Here we construct an astronomical multimodal dataset and propose AstroM$^3$, a self-supervised pre-training approach that enables a model to learn from multiple modalities simultaneously. Specifically, we extend the CLIP (Contrastive Language-Image Pretraining) model to a trimodal setting, allowing the integration of time-series photometry data, spectra, and astrophysical metadata. In a fine-tuning supervised setting, our results demonstrate that CLIP pre-training improves classification performance for time-series photometry, where accuracy increases from 84.6% to 91.5%. Furthermore, CLIP boosts classification accuracy by up to 12.6% when the availability of labeled data is limited, showing the effectiveness of leveraging larger corpora of unlabeled data. In addition to fine-tuned classification, we can use the trained model in other downstream tasks that are not explicitly contemplated during the construction of the self-supervised model. In particular we show the efficacy of using the learned embeddings for misclassifications identification, similarity search, and anomaly detection. One surprising highlight is the "rediscovery" of Mira subtypes and two Rotational variable subclasses using manifold learning and dimension reduction algorithm. To our knowledge this is the first construction of an $n>2$ mode model in astronomy. Extensions to $n>3$ modes is naturally anticipated with this approach.
Offline Adaptation of Quadruped Locomotion using Diffusion Models
Authors: Reece O'Mahoney, Alexander L. Mitchell, Wanming Yu, Ingmar Posner, Ioannis Havoutis
Date: 2024-11-13 00:00:00
Tasks: CPU

We present a diffusion-based approach to quadrupedal locomotion that simultaneously addresses the limitations of learning and interpolating between multiple skills and of (modes) offline adapting to new locomotion behaviours after training. This is the first framework to apply classifier-free guided diffusion to quadruped locomotion and demonstrate its efficacy by extracting goal-conditioned behaviour from an originally unlabelled dataset. We show that these capabilities are compatible with a multi-skill policy and can be applied with little modification and minimal compute overhead, i.e., running entirely on the robots onboard CPU. We verify the validity of our approach with hardware experiments on the ANYmal quadruped platform.
Process-aware Human Activity Recognition
Authors: Jiawei Zheng, Petros Papapanagiotou, Jacques D. Fleuriot, Jane Hillston
Date: 2024-11-13 00:00:00
Tasks: Activity Recognition, Human Activity Recognition

Humans naturally follow distinct patterns when conducting their daily activities, which are driven by established practices and processes, such as production workflows, social norms and daily routines. Human activity recognition (HAR) algorithms usually use neural networks or machine learning techniques to analyse inherent relationships within the data. However, these approaches often overlook the contextual information in which the data are generated, potentially limiting their effectiveness. We propose a novel approach that incorporates process information from context to enhance the HAR performance. Specifically, we align probabilistic events generated by machine learning models with process models derived from contextual information. This alignment adaptively weighs these two sources of information to optimise HAR accuracy. Our experiments demonstrate that our approach achieves better accuracy and Macro F1-score compared to baseline models.
Rethinking CyberSecEval: An LLM-Aided Approach to Evaluation Critique
Authors: Suhas Hariharan, Zainab Ali Majid, Jaime Raldua Veuthey, Jacob Haimes
Date: 2024-11-13 00:00:00

A key development in the cybersecurity evaluations space is the work carried out by Meta, through their CyberSecEval approach. While this work is undoubtedly a useful contribution to a nascent field, there are notable features that limit its utility. Key drawbacks focus on the insecure code detection part of Meta's methodology. We explore these limitations, and use our exploration as a test case for LLM-assisted benchmark analysis.
Evaluating World Models with LLM for Decision Making
Authors: Chang Yang, Xinrun Wang, Junzhe Jiang, Qinggang Zhang, Xiao Huang
Date: 2024-11-13 00:00:00
Tasks: Decision Making

World model emerges as a key module in decision making, where MuZero and Dreamer achieve remarkable successes in complex tasks. Recent work leverages Large Language Models (LLMs) as general world simulators to simulate the dynamics of the world due to their generalizability. LLMs also serve as the world model for deliberative reasoning in Reasoning via Planning (RAP) and Tree of Thought (ToT). However, the world models are either evaluated as a general world simulator, or as a functional module of the agent, i.e., predicting the transitions to assist the planning. In this work, we propose a comprehensive evaluation of the world models with LLMs from the decision making perspective. Specifically, we leverage the 31 diverse environments from (Wang et al., 2023;2024) and curate the rule-based policy of each environment for the diverse evaluation. Then, we design three main tasks, i.e., policy verification, action proposal, and policy planning, where the world models can be used for decision making solely. Finally, we conduct the comprehensive evaluation of the advanced LLMs, i.e., GPT-4o and GPT-4o-mini, on the environments for the three main tasks under various settings. The key observations include: i) GPT-4o significantly outperforms GPT-4o-mini on the three main tasks, especially for the tasks which require the domain knowledge, ii) the performance of the world model with LLM will be decreased for long-term decision-making tasks, and iii) the combination of different functionalities of the world model will brings additional unstabilities of the performance.
Can sparse autoencoders be used to decompose and interpret steering vectors?
Authors: Harry Mayne, Yushi Yang, Adam Mahdi
Date: 2024-11-13 00:00:00

Steering vectors are a promising approach to control the behaviour of large language models. However, their underlying mechanisms remain poorly understood. While sparse autoencoders (SAEs) may offer a potential method to interpret steering vectors, recent findings show that SAE-reconstructed vectors often lack the steering properties of the original vectors. This paper investigates why directly applying SAEs to steering vectors yields misleading decompositions, identifying two reasons: (1) steering vectors fall outside the input distribution for which SAEs are designed, and (2) steering vectors can have meaningful negative projections in feature directions, which SAEs are not designed to accommodate. These limitations hinder the direct use of SAEs for interpreting steering vectors.