pwc-archive/papers-with-abstracts huggingface dataset:
Learning Shared RGB-D Fields: Unified Self-supervised Pre-training for Label-efficient LiDAR-Camera 3D Perception
Authors: Xiaohao Xu, Ye Li, Tianyi Zhang, Jinrong Yang, Matthew Johnson-Roberson, Xiaonan Huang
Date: 2024-05-28 00:00:00
Tasks: 3D Object Detection, Autonomous Driving, NeRF, Neural Rendering, object-detection, Object Detection, Representation Learning, Self-Supervised Learning

Constructing large-scale labeled datasets for multi-modal perception model training in autonomous driving presents significant challenges. This has motivated the development of self-supervised pretraining strategies. However, existing pretraining methods mainly employ distinct approaches for each modality. In contrast, we focus on LiDAR-Camera 3D perception models and introduce a unified pretraining strategy, NeRF-Supervised Masked Auto Encoder (NS-MAE), which optimizes all modalities through a shared formulation. NS-MAE leverages NeRF's ability to encode both appearance and geometry, enabling efficient masked reconstruction of multi-modal data. Specifically, embeddings are extracted from corrupted LiDAR point clouds and images, conditioned on view directions and locations. Then, these embeddings are rendered into multi-modal feature maps from two crucial viewpoints for 3D driving perception: perspective and bird's-eye views. The original uncorrupted data serve as reconstruction targets for self-supervised learning. Extensive experiments demonstrate the superior transferability of NS-MAE across various 3D perception tasks under different fine-tuning settings. Notably, NS-MAE outperforms prior SOTA pre-training methods that employ separate strategies for each modality in BEV map segmentation under the label-efficient fine-tuning setting. Our code is publicly available at https://github.com/Xiaohao-Xu/Unified-Pretrain-AD/ .
World Models for General Surgical Grasping
Authors: Hongbin Lin, Bin Li, Chun Wai Wong, Juan Rojas, Xiangyu Chu, Kwok Wai Samuel Au
Date: 2024-05-28 00:00:00
Tasks: Deep Reinforcement Learning, Pose Estimation

Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and feature tracking. We propose a world-model-based deep reinforcement learning framework "Grasp Anything for Surgery" (GAS), that learns a pixel-level visuomotor policy for surgical grasping, enhancing both generality and robustness. In particular, a novel method is proposed to estimate the values and uncertainties of depth pixels for a rigid-link object's inaccurate region based on the empirical prior of the object's size; both depth and mask images of task objects are encoded to a single compact 3-channel image (size: 64x64x3) by dynamically zooming in the mask regions, minimizing the information loss. The learned controller's effectiveness is extensively evaluated in simulation and in a real robot. Our learned visuomotor policy handles: i) unseen objects, including 5 types of target grasping objects and a robot gripper, in unstructured real-world surgery environments, and ii) disturbances in perception and control. Note that we are the first work to achieve a unified surgical control system that grasps diverse surgical objects using different robot grippers on real robots in complex surgery scenes (average success rate: 69%). Our system also demonstrates significant robustness across 6 conditions including background variation, target disturbance, camera pose variation, kinematic control error, image noise, and re-grasping after the gripped target object drops from the gripper. Videos and codes can be found on our project page: https://linhongbin.github.io/gas/.
Tool Learning with Large Language Models: A Survey
Authors: Changle Qu, Sunhao Dai, Xiaochi Wei, Hengyi Cai, Shuaiqiang Wang, Dawei Yin, Jun Xu, Ji-Rong Wen
Date: 2024-05-28 00:00:00
Tasks: Response Generation, Survey, Task Planning

Recently, tool learning with large language models (LLMs) has emerged as a promising paradigm for augmenting the capabilities of LLMs to tackle highly complex problems. Despite growing attention and rapid advancements in this field, the existing literature remains fragmented and lacks systematic organization, posing barriers to entry for newcomers. This gap motivates us to conduct a comprehensive survey of existing works on tool learning with LLMs. In this survey, we focus on reviewing existing literature from the two primary aspects (1) why tool learning is beneficial and (2) how tool learning is implemented, enabling a comprehensive understanding of tool learning with LLMs. We first explore the "why" by reviewing both the benefits of tool integration and the inherent benefits of the tool learning paradigm from six specific aspects. In terms of "how", we systematically review the literature according to a taxonomy of four key stages in the tool learning workflow: task planning, tool selection, tool calling, and response generation. Additionally, we provide a detailed summary of existing benchmarks and evaluation methods, categorizing them according to their relevance to different stages. Finally, we discuss current challenges and outline potential future directions, aiming to inspire both researchers and industrial developers to further explore this emerging and promising area. We also maintain a GitHub repository to continually keep track of the relevant papers and resources in this rising area at https://github.com/quchangle1/LLM-Tool-Survey.
Proof of Quality: A Costless Paradigm for Trustless Generative AI Model Inference on Blockchains
Authors: Zhenjie Zhang, Yuyang Rao, Hao Xiao, Xiaokui Xiao, Yin Yang
Date: 2024-05-28 00:00:00
Tasks: CPU

Generative AI models, such as GPT-4 and Stable Diffusion, have demonstrated powerful and disruptive capabilities in natural language and image tasks. However, deploying these models in decentralized environments remains challenging. Unlike traditional centralized deployment, systematically guaranteeing the integrity of AI model services in fully decentralized environments, particularly on trustless blockchains, is both crucial and difficult. In this paper, we present a new inference paradigm called \emph{proof of quality} (PoQ) to enable the deployment of arbitrarily large generative models on blockchain architecture. Unlike traditional approaches based on validating inference procedures, such as ZKML or OPML, our PoQ paradigm focuses on the outcome quality of model inference. Using lightweight BERT-based cross-encoders as our underlying quality evaluation model, we design and implement PQML, the first practical protocol for real-world NLP generative model inference on blockchains, tailored for popular open-source models such as Llama 3 and Mixtral. Our analysis demonstrates that our protocol is robust against adversarial but rational participants in ecosystems, where lazy or dishonest behavior results in fewer benefits compared to well-behaving participants. The computational overhead of validating the quality evaluation is minimal, allowing quality validators to complete the quality check within a second, even using only a CPU. Preliminary simulation results show that PoQ consensus is generated in milliseconds, 1,000 times faster than any existing scheme.
The Evolution of Multimodal Model Architectures
Authors: Shakti N. Wadekar, Abhishek Chaurasia, Aman Chadha, Eugenio Culurciello
Date: 2024-05-28 00:00:00
Tasks: model, Model Selection, multimodal generation

This work uniquely identifies and characterizes four prevalent multimodal model architectural patterns in the contemporary multimodal landscape. Systematically categorizing models by architecture type facilitates monitoring of developments in the multimodal domain. Distinct from recent survey papers that present general information on multimodal architectures, this research conducts a comprehensive exploration of architectural details and identifies four specific architectural types. The types are distinguished by their respective methodologies for integrating multimodal inputs into the deep neural network model. The first two types (Type A and B) deeply fuses multimodal inputs within the internal layers of the model, whereas the following two types (Type C and D) facilitate early fusion at the input stage. Type-A employs standard cross-attention, whereas Type-B utilizes custom-designed layers for modality fusion within the internal layers. On the other hand, Type-C utilizes modality-specific encoders, while Type-D leverages tokenizers to process the modalities at the model's input stage. The identified architecture types aid the monitoring of any-to-any multimodal model development. Notably, Type-C and Type-D are currently favored in the construction of any-to-any multimodal models. Type-C, distinguished by its non-tokenizing multimodal model architecture, is emerging as a viable alternative to Type-D, which utilizes input-tokenizing techniques. To assist in model selection, this work highlights the advantages and disadvantages of each architecture type based on data and compute requirements, architecture complexity, scalability, simplification of adding modalities, training objectives, and any-to-any multimodal generation capability.
Generative AI Enhances Team Performance and Reduces Need for Traditional Teams
Authors: Ning li, Huaikang Zhou, Kris Mikel-Hong
Date: 2024-05-28 00:00:00

Recent advancements in generative artificial intelligence (AI) have transformed collaborative work processes, yet the impact on team performance remains underexplored. Here we examine the role of generative AI in enhancing or replacing traditional team dynamics using a randomized controlled experiment with 435 participants across 122 teams. We show that teams augmented with generative AI significantly outperformed those relying solely on human collaboration across various performance measures. Interestingly, teams with multiple AIs did not exhibit further gains, indicating diminishing returns with increased AI integration. Our analysis suggests that centralized AI usage by a few team members is more effective than distributed engagement. Additionally, individual-AI pairs matched the performance of conventional teams, suggesting a reduced need for traditional team structures in some contexts. However, despite this capability, individual-AI pairs still fell short of the performance levels achieved by AI-assisted teams. These findings underscore that while generative AI can replace some traditional team functions, more comprehensively integrating AI within team structures provides superior benefits, enhancing overall effectiveness beyond individual efforts.
Towards Clinical AI Fairness: Filling Gaps in the Puzzle
Authors: Mingxuan Liu, Yilin Ning, Salinelat Teixayavong, Xiaoxuan Liu, Mayli Mertens, Yuqing Shang, Xin Li, Di Miao, Jie Xu, Daniel Shu Wei Ting, Lionel Tim-Ee Cheng, Jasmine Chiat Ling Ong, Zhen Ling Teo, Ting Fang Tan, Narrendar RaviChandran, Fei Wang, Leo Anthony Celi, Marcus Eng Hock Ong, Nan Liu
Date: 2024-05-28 00:00:00
Tasks: Fairness

The ethical integration of Artificial Intelligence (AI) in healthcare necessitates addressing fairness-a concept that is highly context-specific across medical fields. Extensive studies have been conducted to expand the technical components of AI fairness, while tremendous calls for AI fairness have been raised from healthcare. Despite this, a significant disconnect persists between technical advancements and their practical clinical applications, resulting in a lack of contextualized discussion of AI fairness in clinical settings. Through a detailed evidence gap analysis, our review systematically pinpoints several deficiencies concerning both healthcare data and the provided AI fairness solutions. We highlight the scarcity of research on AI fairness in many medical domains where AI technology is increasingly utilized. Additionally, our analysis highlights a substantial reliance on group fairness, aiming to ensure equality among demographic groups from a macro healthcare system perspective; in contrast, individual fairness, focusing on equity at a more granular level, is frequently overlooked. To bridge these gaps, our review advances actionable strategies for both the healthcare and AI research communities. Beyond applying existing AI fairness methods in healthcare, we further emphasize the importance of involving healthcare professionals to refine AI fairness concepts and methods to ensure contextually relevant and ethically sound AI applications in healthcare.
Cost-Sensitive Multi-Fidelity Bayesian Optimization with Transfer of Learning Curve Extrapolation
Authors: Dong Bok Lee, Aoxuan Silvia Zhang, Byungjoo Kim, Junhyeon Park, Juho Lee, Sung Ju Hwang, Hae Beom Lee
Date: 2024-05-28 00:00:00
Tasks: Bayesian Optimization, Hyperparameter Optimization, Transfer Learning

In this paper, we address the problem of cost-sensitive multi-fidelity Bayesian Optimization (BO) for efficient hyperparameter optimization (HPO). Specifically, we assume a scenario where users want to early-stop the BO when the performance improvement is not satisfactory with respect to the required computational cost. Motivated by this scenario, we introduce utility, which is a function predefined by each user and describes the trade-off between cost and performance of BO. This utility function, combined with our novel acquisition function and stopping criterion, allows us to dynamically choose for each BO step the best configuration that we expect to maximally improve the utility in future, and also automatically stop the BO around the maximum utility. Further, we improve the sample efficiency of existing learning curve (LC) extrapolation methods with transfer learning, while successfully capturing the correlations between different configurations to develop a sensible surrogate function for multi-fidelity BO. We validate our algorithm on various LC datasets and found it outperform all the previous multi-fidelity BO and transfer-BO baselines we consider, achieving significantly better trade-off between cost and performance of BO.
OV-DQUO: Open-Vocabulary DETR with Denoising Text Query Training and Open-World Unknown Objects Supervision
Authors: Junjie Wang, Bin Chen, Bin Kang, Yulin Li, YiChi Chen, Weizhi Xian, Huifeng Chang, Yong Xu
Date: 2024-05-28 00:00:00
Tasks: Contrastive Learning, Denoising, object-detection, Object Detection, Open Vocabulary Object Detection, Zero-Shot Object Detection

Open-vocabulary detection aims to detect objects from novel categories beyond the base categories on which the detector is trained. However, existing open-vocabulary detectors trained on base category data tend to assign higher confidence to trained categories and confuse novel categories with the background. To resolve this, we propose OV-DQUO, an \textbf{O}pen-\textbf{V}ocabulary DETR with \textbf{D}enoising text \textbf{Q}uery training and open-world \textbf{U}nknown \textbf{O}bjects supervision. Specifically, we introduce a wildcard matching method. This method enables the detector to learn from pairs of unknown objects recognized by the open-world detector and text embeddings with general semantics, mitigating the confidence bias between base and novel categories. Additionally, we propose a denoising text query training strategy. It synthesizes foreground and background query-box pairs from open-world unknown objects to train the detector through contrastive learning, enhancing its ability to distinguish novel objects from the background. We conducted extensive experiments on the challenging OV-COCO and OV-LVIS benchmarks, achieving new state-of-the-art results of 45.6 AP50 and 39.3 mAP on novel categories respectively, without the need for additional training data. Models and code are released at \url{https://github.com/xiaomoguhz/OV-DQUO}
Human-Cobot collaboration's impact on success, time completion, errors, workload, gestures and acceptability during an assembly task
Authors: Étienne Fournier, Christine Jeoffrion, Belal Hmedan, Damien Pellier, Humbert Fiorino, Aurélie Landry
Date: 2024-05-28 00:00:00

The 5.0 industry promotes collaborative robots (cobots). This research studies the impacts of cobot collaboration using an experimental setup. 120 participants realized a simple and a complex assembly task. 50% collaborated with another human (H/H) and 50% with a cobot (H/C). The workload and the acceptability of the cobotic collaboration were measured. Working with a cobot decreases the effect of the task complexity on the human workload and on the output quality. However, it increases the time completion and the number of gestures (while decreasing their frequency). The H/C couples have a higher chance of success but they take more time and more gestures to realize the task. The results of this research could help developers and stakeholders to understand the impacts of implementing a cobot in production chains.
Cycle-YOLO: A Efficient and Robust Framework for Pavement Damage Detection
Authors: Zhengji Li, Xi Xiao, Jiacheng Xie, Yuxiao Fan, Wentao Wang, Gang Chen, Liqiang Zhang, Tianyang Wang
Date: 2024-05-28 00:00:00
Tasks: GPU

With the development of modern society, traffic volume continues to increase in most countries worldwide, leading to an increase in the rate of pavement damage Therefore, the real-time and highly accurate pavement damage detection and maintenance have become the current need. In this paper, an enhanced pavement damage detection method with CycleGAN and improved YOLOv5 algorithm is presented. We selected 7644 self-collected images of pavement damage samples as the initial dataset and augmented it by CycleGAN. Due to a substantial difference between the images generated by CycleGAN and real road images, we proposed a data enhancement method based on an improved Scharr filter, CycleGAN, and Laplacian pyramid. To improve the target recognition effect on a complex background and solve the problem that the spatial pyramid pooling-fast module in the YOLOv5 network cannot handle multiscale targets, we introduced the convolutional block attention module attention mechanism and proposed the atrous spatial pyramid pooling with squeeze-and-excitation structure. In addition, we optimized the loss function of YOLOv5 by replacing the CIoU with EIoU. The experimental results showed that our algorithm achieved a precision of 0.872, recall of 0.854, and mean average precision@0.5 of 0.882 in detecting three main types of pavement damage: cracks, potholes, and patching. On the GPU, its frames per second reached 68, meeting the requirements for real-time detection. Its overall performance even exceeded the current more advanced YOLOv7 and achieved good results in practical applications, providing a basis for decision-making in pavement damage detection and prevention.
Boosting Protein Language Models with Negative Sample Mining
Authors: Yaoyao Xu, Xinjian Zhao, Xiaozhuang Song, Benyou Wang, Tianshu Yu
Date: 2024-05-28 00:00:00
Tasks: Representation Learning

We introduce a pioneering methodology for boosting large language models in the domain of protein representation learning. Our primary contribution lies in the refinement process for correlating the over-reliance on co-evolution knowledge, in a way that networks are trained to distill invaluable insights from negative samples, constituted by protein pairs sourced from disparate categories. By capitalizing on this novel approach, our technique steers the training of transformer-based models within the attention score space. This advanced strategy not only amplifies performance but also reflects the nuanced biological behaviors exhibited by proteins, offering aligned evidence with traditional biological mechanisms such as protein-protein interaction. We experimentally observed improved performance on various tasks over datasets, on top of several well-established large protein models. This innovative paradigm opens up promising horizons for further progress in the realms of protein research and computational biology.
Near-Infrared and Low-Rank Adaptation of Vision Transformers in Remote Sensing
Authors: Irem Ulku, O. Ozgur Tanriover, Erdem Akagündüz
Date: 2024-05-28 00:00:00

Plant health can be monitored dynamically using multispectral sensors that measure Near-Infrared reflectance (NIR). Despite this potential, obtaining and annotating high-resolution NIR images poses a significant challenge for training deep neural networks. Typically, large networks pre-trained on the RGB domain are utilized to fine-tune infrared images. This practice introduces a domain shift issue because of the differing visual traits between RGB and NIR images.As an alternative to fine-tuning, a method called low-rank adaptation (LoRA) enables more efficient training by optimizing rank-decomposition matrices while keeping the original network weights frozen. However, existing parameter-efficient adaptation strategies for remote sensing images focus on RGB images and overlook domain shift issues in the NIR domain. Therefore, this study investigates the potential benefits of using vision transformer (ViT) backbones pre-trained in the RGB domain, with low-rank adaptation for downstream tasks in the NIR domain. Extensive experiments demonstrate that employing LoRA with pre-trained ViT backbones yields the best performance for downstream tasks applied to NIR images.
FlashST: A Simple and Universal Prompt-Tuning Framework for Traffic Prediction
Authors: Zhonghang Li, Lianghao Xia, Yong Xu, Chao Huang
Date: 2024-05-28 00:00:00
Tasks: In-Context Learning, Prediction, Spatio-Temporal Forecasting, Traffic Prediction, Transfer Learning

The objective of traffic prediction is to accurately forecast and analyze the dynamics of transportation patterns, considering both space and time. However, the presence of distribution shift poses a significant challenge in this field, as existing models struggle to generalize well when faced with test data that significantly differs from the training distribution. To tackle this issue, this paper introduces a simple and universal spatio-temporal prompt-tuning framework-FlashST, which adapts pre-trained models to the specific characteristics of diverse downstream datasets, improving generalization in diverse traffic prediction scenarios. Specifically, the FlashST framework employs a lightweight spatio-temporal prompt network for in-context learning, capturing spatio-temporal invariant knowledge and facilitating effective adaptation to diverse scenarios. Additionally, we incorporate a distribution mapping mechanism to align the data distributions of pre-training and downstream data, facilitating effective knowledge transfer in spatio-temporal forecasting. Empirical evaluations demonstrate the effectiveness of our FlashST across different spatio-temporal prediction tasks using diverse urban datasets. Code is available at https://github.com/HKUDS/FlashST.