pwc-archive/papers-with-abstracts huggingface dataset:
Towards LLM-based optimization compilers. Can LLMs learn how to apply a single peephole optimization? Reasoning is all LLMs need!
Authors: Xiangxin Fang, Lev Mukhanov
Date: 2024-12-11 00:00:00
Tasks: All, Code Generation

Large Language Models (LLMs) have demonstrated great potential in various language processing tasks, and recent studies have explored their application in compiler optimizations. However, all these studies focus on the conventional open-source LLMs, such as Llama2, which lack enhanced reasoning mechanisms. In this study, we investigate the errors produced by the fine-tuned 7B-parameter Llama2 model as it attempts to learn and apply a simple peephole optimization for the AArch64 assembly code. We provide an analysis of the errors produced by the LLM and compare it with state-of-the-art OpenAI models which implement advanced reasoning logic, including GPT-4o and GPT-o1 (preview). We demonstrate that OpenAI GPT-o1, despite not being fine-tuned, outperforms the fine-tuned Llama2 and GPT-4o. Our findings indicate that this advantage is largely due to the chain-of-thought reasoning implemented in GPT-o1. We hope our work will inspire further research on using LLMs with enhanced reasoning mechanisms and chain-of-thought for code generation and optimization.
Efficient Language-instructed Skill Acquisition via Reward-Policy Co-Evolution
Authors: Changxin Huang, Yanbin Chang, Junfan Lin, Junyang Liang, Runhao Zeng, Jianqiang Li
Date: 2024-12-18 00:00:00
Tasks: Bayesian Optimization

The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to design reward functions for real-world tasks, especially for high-dimensional robotic control, due to complex relationships among joints and tasks. Recent advancements large language models (LLMs) enable automatic reward function design. However, approaches evaluate reward functions by re-training policies from scratch placing an undue burden on the reward function, expecting it to be effective throughout the whole policy improvement process. We argue for a more practical strategy in robotic autonomy, focusing on refining existing policies with policy-dependent reward functions rather than a universal one. To this end, we propose a novel reward-policy co-evolution framework where the reward function and the learned policy benefit from each other's progressive on-the-fly improvements, resulting in more efficient and higher-performing skill acquisition. Specifically, the reward evolution process translates the robot's previous best reward function, descriptions of tasks and environment into text inputs. These inputs are used to query LLMs to generate a dynamic amount of reward function candidates, ensuring continuous improvement at each round of evolution. For policy evolution, our method generates new policy populations by hybridizing historically optimal and random policies. Through an improved Bayesian optimization, our approach efficiently and robustly identifies the most capable and plastic reward-policy combination, which then proceeds to the next round of co-evolution. Despite using less data, our approach demonstrates an average normalized improvement of 95.3% across various high-dimensional robotic skill learning tasks.
Anti-bullying Adaptive Cruise Control: A proactive right-of-way protection approach
Authors: Jia Hu, Zhexi Lian, Haoran Wang, Zihan Zhang, Ruoxi Qian, Duo Li, Jaehyun, So, Junnian Zheng
Date: 2024-12-14 00:00:00
Tasks: Motion Planning

The current Adaptive Cruise Control (ACC) systems are vulnerable to "road bully" such as cut-ins. This paper proposed an Anti-bullying Adaptive Cruise Control (AACC) approach with proactive right-of-way protection ability. It bears the following features: i) with the enhanced capability of preventing bullying from cut-ins; ii) optimal but not unsafe; iii) adaptive to various driving styles of cut-in vehicles; iv) with real-time field implementation capability. The proposed approach can identify other road users' driving styles online and conduct game-based motion planning for right-of-way protection. A detailed investigation of the simulation results shows that the proposed approach can prevent bullying from cut-ins and be adaptive to different cut-in vehicles' driving styles. The proposed approach is capable of enhancing travel efficiency by up to 29.55% under different cut-in gaps and can strengthen driving safety compared with the current ACC controller. The proposed approach is flexible and robust against traffic congestion levels. It can improve mobility by up to 11.93% and robustness by 8.74% in traffic flow. Furthermore, the proposed approach can support real-time field implementation by ensuring less than 50 milliseconds computation time.
Meta-Controller: Few-Shot Imitation of Unseen Embodiments and Tasks in Continuous Control
Authors: Seongwoong Cho, Donggyun Kim, Jinwoo Lee, Seunghoon Hong
Date: 2024-12-10 00:00:00
Tasks: continuous-control, Continuous Control, Few-Shot Imitation Learning, Imitation Learning

Generalizing across robot embodiments and tasks is crucial for adaptive robotic systems. Modular policy learning approaches adapt to new embodiments but are limited to specific tasks, while few-shot imitation learning (IL) approaches often focus on a single embodiment. In this paper, we introduce a few-shot behavior cloning framework to simultaneously generalize to unseen embodiments and tasks using a few (\emph{e.g.,} five) reward-free demonstrations. Our framework leverages a joint-level input-output representation to unify the state and action spaces of heterogeneous embodiments and employs a novel structure-motion state encoder that is parameterized to capture both shared knowledge across all embodiments and embodiment-specific knowledge. A matching-based policy network then predicts actions from a few demonstrations, producing an adaptive policy that is robust to over-fitting. Evaluated in the DeepMind Control suite, our framework termed \modelname{} demonstrates superior few-shot generalization to unseen embodiments and tasks over modular policy learning and few-shot IL approaches. Codes are available at \href{https://github.com/SeongwoongCho/meta-controller}{https://github.com/SeongwoongCho/meta-controller}.
ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks
Authors: Arth Shukla, Stone Tao, Hao Su
Date: 2024-12-09 00:00:00
Tasks: GPU, Imitation Learning, Object Rearrangement, Reinforcement Learning (RL)

High-quality benchmarks are the foundation for embodied AI research, enabling significant advancements in long-horizon navigation, manipulation and rearrangement tasks. However, as frontier tasks in robotics get more advanced, they require faster simulation speed, more intricate test environments, and larger demonstration datasets. To this end, we present MS-HAB, a holistic benchmark for low-level manipulation and in-home object rearrangement. First, we provide a GPU-accelerated implementation of the Home Assistant Benchmark (HAB). We support realistic low-level control and achieve over 3x the speed of prior magical grasp implementations at a fraction of the GPU memory usage. Second, we train extensive reinforcement learning (RL) and imitation learning (IL) baselines for future work to compare against. Finally, we develop a rule-based trajectory filtering system to sample specific demonstrations from our RL policies which match predefined criteria for robot behavior and safety. Combining demonstration filtering with our fast environments enables efficient, controlled data generation at scale.
SongEditor: Adapting Zero-Shot Song Generation Language Model as a Multi-Task Editor
Authors: Chenyu Yang, Shuai Wang, Hangting Chen, Jianwei Yu, Wei Tan, Rongzhi Gu, Yaoxun Xu, Yizhi Zhou, Haina Zhu, Haizhou Li
Date: 2024-12-18 00:00:00
Tasks: Language Modeling, Language Modelling

The emergence of novel generative modeling paradigms, particularly audio language models, has significantly advanced the field of song generation. Although state-of-the-art models are capable of synthesizing both vocals and accompaniment tracks up to several minutes long concurrently, research about partial adjustments or editing of existing songs is still underexplored, which allows for more flexible and effective production. In this paper, we present SongEditor, the first song editing paradigm that introduces the editing capabilities into language-modeling song generation approaches, facilitating both segment-wise and track-wise modifications. SongEditor offers the flexibility to adjust lyrics, vocals, and accompaniments, as well as synthesizing songs from scratch. The core components of SongEditor include a music tokenizer, an autoregressive language model, and a diffusion generator, enabling generating an entire section, masked lyrics, or even separated vocals and background music. Extensive experiments demonstrate that the proposed SongEditor achieves exceptional performance in end-to-end song editing, as evidenced by both objective and subjective metrics. Audio samples are available in https://cypress-yang.github.io/SongEditor_demo/.
Deep Speech Synthesis from Multimodal Articulatory Representations
Authors: Peter Wu, Bohan Yu, Kevin Scheck, Alan W Black, Aditi S. Krishnapriyan, Irene Y. Chen, Tanja Schultz, Shinji Watanabe, Gopala K. Anumanchipalli
Date: 2024-12-17 00:00:00
Tasks: Speech Synthesis, Transfer Learning

The amount of articulatory data available for training deep learning models is much less compared to acoustic speech data. In order to improve articulatory-to-acoustic synthesis performance in these low-resource settings, we propose a multimodal pre-training framework. On single-speaker speech synthesis tasks from real-time magnetic resonance imaging and surface electromyography inputs, the intelligibility of synthesized outputs improves noticeably. For example, compared to prior work, utilizing our proposed transfer learning methods improves the MRI-to-speech performance by 36% word error rate. In addition to these intelligibility results, our multimodal pre-trained models consistently outperform unimodal baselines on three objective and subjective synthesis quality metrics.
Streaming Keyword Spotting Boosted by Cross-layer Discrimination Consistency
Authors: Yu Xi, Haoyu Li, Xiaoyu Gu, Hao Li, Yidi Jiang, Kai Yu
Date: 2024-12-17 00:00:00
Tasks: Automatic Speech Recognition, Automatic Speech Recognition (ASR), Keyword Spotting, speech-recognition, Speech Recognition

Connectionist Temporal Classification (CTC), a non-autoregressive training criterion, is widely used in online keyword spotting (KWS). However, existing CTC-based KWS decoding strategies either rely on Automatic Speech Recognition (ASR), which performs suboptimally due to its broad search over the acoustic space without keyword-specific optimization, or on KWS-specific decoding graphs, which are complex to implement and maintain. In this work, we propose a streaming decoding algorithm enhanced by Cross-layer Discrimination Consistency (CDC), tailored for CTC-based KWS. Specifically, we introduce a streamlined yet effective decoding algorithm capable of detecting the start of the keyword at any arbitrary position. Furthermore, we leverage discrimination consistency information across layers to better differentiate between positive and false alarm samples. Our experiments on both clean and noisy Hey Snips datasets show that the proposed streaming decoding strategy outperforms ASR-based and graph-based KWS baselines. The CDC-boosted decoding further improves performance, yielding an average absolute recall improvement of 6.8% and a 46.3% relative reduction in the miss rate compared to the graph-based KWS baseline, with a very low false alarm rate of 0.05 per hour.
NTC-KWS: Noise-aware CTC for Robust Keyword Spotting
Authors: Yu Xi, Haoyu Li, Hao Li, Jiaqi Guo, Xu Li, Wen Ding, Kai Yu
Date: 2024-12-17 00:00:00
Tasks: Keyword Spotting

In recent years, there has been a growing interest in designing small-footprint yet effective Connectionist Temporal Classification based keyword spotting (CTC-KWS) systems. They are typically deployed on low-resource computing platforms, where limitations on model size and computational capacity create bottlenecks under complicated acoustic scenarios. Such constraints often result in overfitting and confusion between keywords and background noise, leading to high false alarms. To address these issues, we propose a noise-aware CTC-based KWS (NTC-KWS) framework designed to enhance model robustness in noisy environments, particularly under extremely low signal-to-noise ratios. Our approach introduces two additional noise-modeling wildcard arcs into the training and decoding processes based on weighted finite state transducer (WFST) graphs: self-loop arcs to address noise insertion errors and bypass arcs to handle masking and interference caused by excessive noise. Experiments on clean and noisy Hey Snips show that NTC-KWS outperforms state-of-the-art (SOTA) end-to-end systems and CTC-KWS baselines across various acoustic conditions, with particularly strong performance in low SNR scenarios.
Voice Biomarker Analysis and Automated Severity Classification of Dysarthric Speech in a Multilingual Context
Authors: Eunjung Yeo
Date: 2024-12-01 00:00:00
Tasks: Decision Making

Dysarthria, a motor speech disorder, severely impacts voice quality, pronunciation, and prosody, leading to diminished speech intelligibility and reduced quality of life. Accurate assessment is crucial for effective treatment, but traditional perceptual assessments are limited by their subjectivity and resource intensity. To mitigate the limitations, automatic dysarthric speech assessment methods have been proposed to support clinicians on their decision-making. While these methods have shown promising results, most research has focused on monolingual environments. However, multilingual approaches are necessary to address the global burden of dysarthria and ensure equitable access to accurate diagnosis. This thesis proposes a novel multilingual dysarthria severity classification method, by analyzing three languages: English, Korean, and Tamil.
SMARTCAL: An Approach to Self-Aware Tool-Use Evaluation and Calibration
Authors: Yuanhao Shen, Xiaodan Zhu, Lei Chen
Date: 2024-12-11 00:00:00

The tool-use ability of Large Language Models (LLMs) has a profound impact on a wide range of industrial applications. However, LLMs' self-control and calibration capability in appropriately using tools remains understudied. The problem is consequential as it raises potential risks of degraded performance and poses a threat to the trustworthiness of the models. In this paper, we conduct a study on a family of state-of-the-art LLMs on three datasets with two mainstream tool-use frameworks. Our study reveals the tool-abuse behavior of LLMs, a tendency for models to misuse tools with overconfidence. We also find that this is a common issue regardless of model capability. Accordingly, we propose a novel approach, \textit{SMARTCAL}, to mitigate the observed issues, and our results show an average of 8.6 percent increase in the QA performance and a 21.6 percent decrease in Expected Calibration Error (ECE) compared to baseline models.
TrendSim: Simulating Trending Topics in Social Media Under Poisoning Attacks with LLM-based Multi-agent System
Authors: Zeyu Zhang, Jianxun Lian, Chen Ma, Yaning Qu, Ye Luo, Lei Wang, Rui Li, Xu Chen, Yankai Lin, Le Wu, Xing Xie, Ji-Rong Wen
Date: 2024-12-14 00:00:00

Trending topics have become a significant part of modern social media, attracting users to participate in discussions of breaking events. However, they also bring in a new channel for poisoning attacks, resulting in negative impacts on society. Therefore, it is urgent to study this critical problem and develop effective strategies for defense. In this paper, we propose TrendSim, an LLM-based multi-agent system to simulate trending topics in social media under poisoning attacks. Specifically, we create a simulation environment for trending topics that incorporates a time-aware interaction mechanism, centralized message dissemination, and an interactive system. Moreover, we develop LLM-based human-like agents to simulate users in social media, and propose prototype-based attackers to replicate poisoning attacks. Besides, we evaluate TrendSim from multiple aspects to validate its effectiveness. Based on TrendSim, we conduct simulation experiments to study four critical problems about poisoning attacks on trending topics for social benefit.
Predicting Internet Connectivity in Schools: A Feasibility Study Leveraging Multi-modal Data and Location Encoders in Low-Resource Settings
Authors: Kelsey Doerksen, Casper Fibaek, Rochelle Schneider, Do-Hyung Kim, Isabelle Tingzon
Date: 2024-12-13 00:00:00
Tasks: Earth Observation, Survey

Internet connectivity in schools is critical to provide students with the digital literary skills necessary to compete in modern economies. In order for governments to effectively implement digital infrastructure development in schools, accurate internet connectivity information is required. However, traditional survey-based methods can exceed the financial and capacity limits of governments. Open-source Earth Observation (EO) datasets have unlocked our ability to observe and understand socio-economic conditions on Earth from space, and in combination with Machine Learning (ML), can provide the tools to circumvent costly ground-based survey methods to support infrastructure development. In this paper, we present our work on school internet connectivity prediction using EO and ML. We detail the creation of our multi-modal, freely-available satellite imagery and survey information dataset, leverage the latest geographically-aware location encoders, and introduce the first results of using the new European Space Agency phi-lab geographically-aware foundational model to predict internet connectivity in Botswana and Rwanda. We find that ML with EO and ground-based auxiliary data yields the best performance in both countries, for accuracy, F1 score, and False Positive rates, and highlight the challenges of internet connectivity prediction from space with a case study in Kigali, Rwanda. Our work showcases a practical approach to support data-driven digital infrastructure development in low-resource settings, leveraging freely available information, and provide cleaned and labelled datasets for future studies to the community through a unique collaboration between UNICEF and the European Space Agency phi-lab.
Robust Optimal Safe and Stability Guaranteeing Reinforcement Learning Control for Quadcopter
Authors: Sanghyoup Gu, Ratnesh Kumar
Date: 2024-12-18 00:00:00

Recent advances in deep learning have provided new data-driven ways of controller design to replace the traditional manual synthesis and certification approaches. Employing neural network (NN) as controllers however, presents its own challenge: that of certifying stability due to their inherent complex nonlinearity, and while NN controllers have demonstrated high performance in complex systems, they often lack formal stability guarantees. This issue is further accentuated for critical nonlinear applications such as of unmanned aerial vehicles (UAVs), complicating their stability guarantees, whereas a lack of stability assurance raises the risk of critical damage or even complete failure under a loss of control. In this study, we improve a Robust, Optimal, Safe and Stability Guaranteed Training (ROSS-GT) method of [1] to design an NN controller for a quadcopter flight control. The approach ensures closed-loop system stability by finding a Lyapunov function, and providing a safe initial state domain that remains invariant under the control and guarantees stability to an equilibrium within it. Stability guaranteeing constraints are derived from the sector bound of the system nonlinearity and of its parameters and disturbance variations, in the form of a Lipschitz bound for a NN control. The control performance is further optimized by searching over the class of stability-guaranteeing controllers to minimize the reference tracking error and the control costs.
Towards privacy-preserving cooperative control via encrypted distributed optimization
Authors: Philipp Binfet, Janis Adamek, Nils Schlüter, Moritz Schulze Darup
Date: 2024-12-18 00:00:00
Tasks: Distributed Optimization, Privacy Preserving

Cooperative control is crucial for the effective operation of dynamical multi-agent systems. Especially for distributed control schemes, it is essential to exchange data between the agents. This becomes a privacy threat if the data is sensitive. Encrypted control has shown the potential to address this risk and ensure confidentiality. However, existing approaches mainly focus on cloud-based control and distributed schemes are restrictive. In this paper, we present a novel privacy-preserving cooperative control scheme based on encrypted distributed optimization. More precisely, we focus on a secure distributed solution of a general consensus problem, which has manifold applications in cooperative control, by means of the alternating direction method of multipliers (ADMM). As a unique feature of our approach, we explicitly take into account the common situation that local decision variables contain copies of quantities associated with neighboring agents and ensure the neighbor's privacy. We show the effectiveness of our method based on a numerical case study dealing with the formation of mobile robots.
Generation of Large District Heating System Models Using Open-Source Data and Tools: An Exemplary Workflow
Authors: Jan stock, Till Schmidt, André Xhonneux, Dirk Müller
Date: 2024-12-18 00:00:00
Tasks: Benchmarking

District heating (DH) systems play a pivotal role in decarbonizing the building sector's heat supply. While innovative low-exergy DH and cooling systems are increasingly adopted in new developments, the transformation of existing DH systems remains critical, as many still depend on fossil-based heating plants. Achieving a sustainable heat supply necessitates integrating renewable energy and waste heat sources into current DH systems and enhancing operational efficiency through measures such as reduced supply temperatures and advanced control algorithms. These improvements can reduce costs and CO2 emissions but may require infrastructure adaptations, including pipe replacements and building-level system adjustments. This paper introduces a workflow for generating DH models using publicly available data and open-source tools. Such models enable comprehensive analyses of existing DH systems, allowing for the evaluation of sustainable heat integration, operational improvements, and the testing of analytical tools, such as simulation and optimization models. The workflow, detailed in this study, combines general structural data with computational estimations to create digital representations of DH systems. These models facilitate scenario-based analyses, tool benchmarking, and the identification of necessary infrastructure adaptations. Two example DH models generated using the proposed workflow are presented, followed by a discussion of the methodology's applicability and limitations. This study demonstrates how leveraging open data and tools can advance the transformation of DH systems, supporting the transition to a sustainable heat supply infrastructure.