pwc-archive/papers-with-abstracts huggingface dataset:
GSAVS: Gaussian Splatting-based Autonomous Vehicle Simulator
Authors: Rami Wilson
Date: 2024-12-25 00:00:00
Tasks: Novel View Synthesis

Modern autonomous vehicle simulators feature an ever-growing library of assets, including vehicles, buildings, roads, pedestrians, and more. While this level of customization proves beneficial when creating virtual urban environments, this process becomes cumbersome when intending to train within a digital twin or a duplicate of a real scene. Gaussian splatting emerged as a powerful technique in scene reconstruction and novel view synthesis, boasting high fidelity and rendering speeds. In this paper, we introduce GSAVS, an autonomous vehicle simulator that supports the creation and development of autonomous vehicle models. Every asset within the simulator is a 3D Gaussian splat, including the vehicles and the environment. However, the simulator runs within a classical 3D engine, rendering 3D Gaussian splats in real-time. This allows the simulator to utilize the photorealism that 3D Gaussian splatting boasts while providing the customization and ease of use of a classical 3D engine.
Ister: Inverted Seasonal-Trend Decomposition Transformer for Explainable Multivariate Time Series Forecasting
Authors: Fanpu Cao, Shu Yang, Zhengjian Chen, Ye Liu, Laizhong Cui
Date: 2024-12-25 00:00:00
Tasks: Computational Efficiency, Multivariate Time Series Forecasting, Time Series, Time Series Forecasting

In long-term time series forecasting, Transformer-based models have achieved great success, due to its ability to capture long-range dependencies. However, existing models face challenges in identifying critical components for prediction, leading to limited interpretability and suboptimal performance. To address these issues, we propose the Inverted Seasonal-Trend Decomposition Transformer (Ister), a novel Transformer-based model for multivariate time series forecasting. Ister decomposes time series into seasonal and trend components, further modeling multi-periodicity and inter-series dependencies using a Dual Transformer architecture. We introduce a novel Dot-attention mechanism that improves interpretability, computational efficiency, and predictive accuracy. Comprehensive experiments on benchmark datasets demonstrate that Ister outperforms existing state-of-the-art models, achieving up to 10% improvement in MSE. Moreover, Ister enables intuitive visualization of component contributions, shedding lights on model's decision process and enhancing transparency in prediction results.
Torque-Aware Momentum
Authors: Pranshu Malviya, Goncalo Mordido, Aristide Baratin, Reza Babanezhad Harikandeh, Gintare Karolina Dziugaite, Razvan Pascanu, Sarath Chandar
Date: 2024-12-25 00:00:00
Tasks: image-classification, Image Classification, Language Modeling, Language Modelling, Large Language Model

Efficiently exploring complex loss landscapes is key to the performance of deep neural networks. While momentum-based optimizers are widely used in state-of-the-art setups, classical momentum can still struggle with large, misaligned gradients, leading to oscillations. To address this, we propose Torque-Aware Momentum (TAM), which introduces a damping factor based on the angle between the new gradients and previous momentum, stabilizing the update direction during training. Empirical results show that TAM, which can be combined with both SGD and Adam, enhances exploration, handles distribution shifts more effectively, and improves generalization performance across various tasks, including image classification and large language model fine-tuning, when compared to classical momentum-based optimizers.
Skeleton-based Action Recognition with Non-linear Dependency Modeling and Hilbert-Schmidt Independence Criterion
Authors: Yuheng Yang
Date: 2024-12-25 00:00:00
Tasks: Action Recognition, Skeleton Based Action Recognition

Human skeleton-based action recognition has long been an indispensable aspect of artificial intelligence. Current state-of-the-art methods tend to consider only the dependencies between connected skeletal joints, limiting their ability to capture non-linear dependencies between physically distant joints. Moreover, most existing approaches distinguish action classes by estimating the probability density of motion representations, yet the high-dimensional nature of human motions invokes inherent difficulties in accomplishing such measurements. In this paper, we seek to tackle these challenges from two directions: (1) We propose a novel dependency refinement approach that explicitly models dependencies between any pair of joints, effectively transcending the limitations imposed by joint distance. (2) We further propose a framework that utilizes the Hilbert-Schmidt Independence Criterion to differentiate action classes without being affected by data dimensionality, and mathematically derive learning objectives guaranteeing precise recognition. Empirically, our approach sets the state-of-the-art performance on NTU RGB+D, NTU RGB+D 120, and Northwestern-UCLA datasets.
Unified Local and Global Attention Interaction Modeling for Vision Transformers
Authors: Tan Nguyen, Coy D. Heldermon, Corey Toler-Franklin
Date: 2024-12-25 00:00:00
Tasks: object-detection, Object Detection

We present a novel method that extends the self-attention mechanism of a vision transformer (ViT) for more accurate object detection across diverse datasets. ViTs show strong capability for image understanding tasks such as object detection, segmentation, and classification. This is due in part to their ability to leverage global information from interactions among visual tokens. However, the self-attention mechanism in ViTs are limited because they do not allow visual tokens to exchange local or global information with neighboring features before computing global attention. This is problematic because tokens are treated in isolation when attending (matching) to other tokens, and valuable spatial relationships are overlooked. This isolation is further compounded by dot-product similarity operations that make tokens from different semantic classes appear visually similar. To address these limitations, we introduce two modifications to the traditional self-attention framework; a novel aggressive convolution pooling strategy for local feature mixing, and a new conceptual attention transformation to facilitate interaction and feature exchange between semantic concepts. Experimental results demonstrate that local and global information exchange among visual features before self-attention significantly improves performance on challenging object detection tasks and generalizes across multiple benchmark datasets and challenging medical datasets. We publish source code and a novel dataset of cancerous tumors (chimeric cell clusters).
ObitoNet: Multimodal High-Resolution Point Cloud Reconstruction
Authors: Apoorv Thapliyal, Vinay Lanka, Swathi Baskaran
Date: 2024-12-25 00:00:00
Tasks: Decoder, Point Cloud Generation, Point cloud reconstruction

ObitoNet employs a Cross Attention mechanism to integrate multimodal inputs, where Vision Transformers (ViT) extract semantic features from images and a point cloud tokenizer processes geometric information using Farthest Point Sampling (FPS) and K Nearest Neighbors (KNN) for spatial structure capture. The learned multimodal features are fed into a transformer-based decoder for high-resolution point cloud reconstruction. This approach leverages the complementary strengths of both modalities rich image features and precise geometric details ensuring robust point cloud generation even in challenging conditions such as sparse or noisy data.
Data clustering: an essential technique in data science
Authors: Tai Dinh, Wong Hauchi, Daniil Lisik, Michal Koren, Dat Tran, Philip S. Yu, Joaquín Torres-Sospedra
Date: 2024-12-25 00:00:00
Tasks: Clustering, Decision Making

This paper explores the critical role of data clustering in data science, emphasizing its methodologies, tools, and diverse applications. Traditional techniques, such as partitional and hierarchical clustering, are analyzed alongside advanced approaches such as data stream, density-based, graph-based, and model-based clustering for handling complex structured datasets. The paper highlights key principles underpinning clustering, outlines widely used tools and frameworks, introduces the workflow of clustering in data science, discusses challenges in practical implementation, and examines various applications of clustering. By focusing on these foundations and applications, the discussion underscores clustering's transformative potential. The paper concludes with insights into future research directions, emphasizing clustering's role in driving innovation and enabling data-driven decision-making.
The Impact of Input Order Bias on Large Language Models for Software Fault Localization
Authors: Md Nakhla Rafi, Dong Jae Kim, Tse-Hsun Chen, Shaowei Wang
Date: 2024-12-25 00:00:00
Tasks: Fault localization, Memorization, Program Repair

Large Language Models (LLMs) have shown significant potential in software engineering tasks such as Fault Localization (FL) and Automatic Program Repair (APR). This study investigates how input order and context size influence LLM performance in FL, a crucial step for many downstream software engineering tasks. We evaluate different method orderings using Kendall Tau distances, including "perfect" (where ground truths appear first) and "worst" (where ground truths appear last), across two benchmarks containing Java and Python projects. Our results reveal a strong order bias: in Java projects, Top-1 FL accuracy drops from 57% to 20% when reversing the order, while in Python projects, it decreases from 38% to approximately 3%. However, segmenting inputs into smaller contexts mitigates this bias, reducing the performance gap in FL from 22% and 6% to just 1% across both benchmarks. We replaced method names with semantically meaningful alternatives to determine whether this bias is due to data leakage. The observed trends remained consistent, suggesting that the bias is not caused by memorization from training data but rather by the inherent effect of input order. Additionally, we explored ordering methods based on traditional FL techniques and metrics, finding that DepGraph's ranking achieves 48% Top-1 accuracy, outperforming simpler approaches such as CallGraph(DFS). These findings highlight the importance of structuring inputs, managing context effectively, and selecting appropriate ordering strategies to enhance LLM performance in FL and other software engineering applications.
Successes and Limitations of Object-centric Models at Compositional Generalisation
Authors: Milton L. Montero, Jeffrey S. Bowers, Gaurav Malhotra
Date: 2024-12-25 00:00:00

In recent years, it has been shown empirically that standard disentangled latent variable models do not support robust compositional learning in the visual domain. Indeed, in spite of being designed with the goal of factorising datasets into their constituent factors of variations, disentangled models show extremely limited compositional generalisation capabilities. On the other hand, object-centric architectures have shown promising compositional skills, albeit these have 1) not been extensively tested and 2) experiments have been limited to scene composition -- where models must generalise to novel combinations of objects in a visual scene instead of novel combinations of object properties. In this work, we show that these compositional generalisation skills extend to this later setting. Furthermore, we present evidence pointing to the source of these skills and how they can be improved through careful training. Finally, we point to one important limitation that still exists which suggests new directions of research.
Predicting Time Series of Networked Dynamical Systems without Knowing Topology
Authors: Yanna Ding, Zijie Huang, Malik Magdon-Ismail, Jianxi Gao
Date: 2024-12-25 00:00:00
Tasks: Time Series

Many real-world complex systems, such as epidemic spreading networks and ecosystems, can be modeled as networked dynamical systems that produce multivariate time series. Learning the intrinsic dynamics from observational data is pivotal for forecasting system behaviors and making informed decisions. However, existing methods for modeling networked time series often assume known topologies, whereas real-world networks are typically incomplete or inaccurate, with missing or spurious links that hinder precise predictions. Moreover, while networked time series often originate from diverse topologies, the ability of models to generalize across topologies has not been systematically evaluated. To address these gaps, we propose a novel framework for learning network dynamics directly from observed time-series data, when prior knowledge of graph topology or governing dynamical equations is absent. Our approach leverages continuous graph neural networks with an attention mechanism to construct a latent topology, enabling accurate reconstruction of future trajectories for network states. Extensive experiments on real and synthetic networks demonstrate that our model not only captures dynamics effectively without topology knowledge but also generalizes to unseen time series originating from diverse topologies.
From Ceilings to Walls: Universal Dynamic Perching of Small Aerial Robots on Surfaces with Variable Orientations
Authors: Bryan Habas, Aaron Brown, Donghyeon Lee, Mitchell Goldman, Bo Cheng
Date: 2024-12-27 00:00:00
Tasks: Deep Reinforcement Learning

This work demonstrates universal dynamic perching capabilities for quadrotors of various sizes and on surfaces with different orientations. By employing a non-dimensionalization framework and deep reinforcement learning, we systematically assessed how robot size and surface orientation affect landing capabilities. We hypothesized that maintaining geometric proportions across different robot scales ensures consistent perching behavior, which was validated in both simulation and experimental tests. Additionally, we investigated the effects of joint stiffness and damping in the landing gear on perching behaviors and performance. While joint stiffness had minimal impact, joint damping ratios influenced landing success under vertical approaching conditions. The study also identified a critical velocity threshold necessary for successful perching, determined by the robot's maneuverability and leg geometry. Overall, this research advances robotic perching capabilities, offering insights into the role of mechanical design and scaling effects, and lays the groundwork for future drone autonomy and operational efficiency in unstructured environments.
SAFLITE: Fuzzing Autonomous Systems via Large Language Models
Authors: Taohong Zhu, Adrians Skapars, Fardeen Mackenzie, Declan Kehoe, William Newton, Suzanne Embury, Youcheng Sun
Date: 2024-12-25 00:00:00
Tasks: Large Language Model

Fuzz testing effectively uncovers software vulnerabilities; however, it faces challenges with Autonomous Systems (AS) due to their vast search spaces and complex state spaces, which reflect the unpredictability and complexity of real-world environments. This paper presents a universal framework aimed at improving the efficiency of fuzz testing for AS. At its core is SaFliTe, a predictive component that evaluates whether a test case meets predefined safety criteria. By leveraging the large language model (LLM) with information about the test objective and the AS state, SaFliTe assesses the relevance of each test case. We evaluated SaFliTe by instantiating it with various LLMs, including GPT-3.5, Mistral-7B, and Llama2-7B, and integrating it into four fuzz testing tools: PGFuzz, DeepHyperion-UAV, CAMBA, and TUMB. These tools are designed specifically for testing autonomous drone control systems, such as ArduPilot, PX4, and PX4-Avoidance. The experimental results demonstrate that, compared to PGFuzz, SaFliTe increased the likelihood of selecting operations that triggered bug occurrences in each fuzzing iteration by an average of 93.1\%. Additionally, after integrating SaFliTe, the ability of DeepHyperion-UAV, CAMBA, and TUMB to generate test cases that caused system violations increased by 234.5\%, 33.3\%, and 17.8\%, respectively. The benchmark for this evaluation was sourced from a UAV Testing Competition.
Toward Scalable Multirobot Control: Fast Policy Learning in Distributed MPC
Authors: Xinglong Zhang, Wei Pan, Cong Li, Xin Xu, Xiangke Wang, Ronghua Zhang, Dewen Hu
Date: 2024-12-27 00:00:00
Tasks: Model Predictive Control

Distributed model predictive control (DMPC) is promising in achieving optimal cooperative control in multirobot systems (MRS). However, real-time DMPC implementation relies on numerical optimization tools to periodically calculate local control sequences online. This process is computationally demanding and lacks scalability for large-scale, nonlinear MRS. This article proposes a novel distributed learning-based predictive control (DLPC) framework for scalable multirobot control. Unlike conventional DMPC methods that calculate open-loop control sequences, our approach centers around a computationally fast and efficient distributed policy learning algorithm that generates explicit closed-loop DMPC policies for MRS without using numerical solvers. The policy learning is executed incrementally and forward in time in each prediction interval through an online distributed actor-critic implementation. The control policies are successively updated in a receding-horizon manner, enabling fast and efficient policy learning with the closed-loop stability guarantee. The learned control policies could be deployed online to MRS with varying robot scales, enhancing scalability and transferability for large-scale MRS. Furthermore, we extend our methodology to address the multirobot safe learning challenge through a force field-inspired policy learning approach. We validate our approach's effectiveness, scalability, and efficiency through extensive experiments on cooperative tasks of large-scale wheeled robots and multirotor drones. Our results demonstrate the rapid learning and deployment of DMPC policies for MRS with scales up to 10,000 units.
Optimization and Scalability of Collaborative Filtering Algorithms in Large Language Models
Authors: Haowei Yang, Longfei Yun, Jinghan Cao, Qingyi Lu, Yuming Tu
Date: 2024-12-25 00:00:00
Tasks: Collaborative Filtering, Computational Efficiency, Model Compression, Recommendation Systems

With the rapid development of large language models (LLMs) and the growing demand for personalized content, recommendation systems have become critical in enhancing user experience and driving engagement. Collaborative filtering algorithms, being core to many recommendation systems, have garnered significant attention for their efficiency and interpretability. However, traditional collaborative filtering approaches face numerous challenges when integrated into large-scale LLM-based systems, including high computational costs, severe data sparsity, cold start problems, and lack of scalability. This paper investigates the optimization and scalability of collaborative filtering algorithms in large language models, addressing these limitations through advanced optimization strategies. Firstly, we analyze the fundamental principles of collaborative filtering algorithms and their limitations when applied in LLM-based contexts. Next, several optimization techniques such as matrix factorization, approximate nearest neighbor search, and parallel computing are proposed to enhance computational efficiency and model accuracy. Additionally, strategies such as distributed architecture and model compression are explored to facilitate dynamic updates and scalability in data-intensive environments.
RobotDiffuse: Motion Planning for Redundant Manipulator based on Diffusion Model
Authors: Xiaohan Zhang, Xudong Mou, Rui Wang, Tianyu Wo, Ningbo Gu, Tiejun Wang, Cangbai Xu, Xudong Liu
Date: 2024-12-27 00:00:00
Tasks: Acrobot, Motion Planning

Redundant manipulators, with their higher Degrees of Freedom (DOFs), offer enhanced kinematic performance and versatility, making them suitable for applications like manufacturing, surgical robotics, and human-robot collaboration. However, motion planning for these manipulators is challenging due to increased DOFs and complex, dynamic environments. While traditional motion planning algorithms struggle with high-dimensional spaces, deep learning-based methods often face instability and inefficiency in complex tasks. This paper introduces RobotDiffuse, a diffusion model-based approach for motion planning in redundant manipulators. By integrating physical constraints with a point cloud encoder and replacing the U-Net structure with an encoder-only transformer, RobotDiffuse improves the model's ability to capture temporal dependencies and generate smoother, more coherent motion plans. We validate the approach using a complex simulator, and release a new dataset with 35M robot poses and 0.14M obstacle avoidance scenarios. Experimental results demonstrate the effectiveness of RobotDiffuse and the promise of diffusion models for motion planning tasks. The code can be accessed at https://github.com/ACRoboT-buaa/RobotDiffuse.
Enhanced Recommendation Combining Collaborative Filtering and Large Language Models
Authors: Xueting Lin, Zhan Cheng, Longfei Yun, Qingyi Lu, Yuanshuai Luo
Date: 2024-12-25 00:00:00
Tasks: Collaborative Filtering, Diversity, Natural Language Understanding, Recommendation Systems

With the advent of the information explosion era, the importance of recommendation systems in various applications is increasingly significant. Traditional collaborative filtering algorithms are widely used due to their effectiveness in capturing user behavior patterns, but they encounter limitations when dealing with cold start problems and data sparsity. Large Language Models (LLMs), with their strong natural language understanding and generation capabilities, provide a new breakthrough for recommendation systems. This study proposes an enhanced recommendation method that combines collaborative filtering and LLMs, aiming to leverage collaborative filtering's advantage in modeling user preferences while enhancing the understanding of textual information about users and items through LLMs to improve recommendation accuracy and diversity. This paper first introduces the fundamental theories of collaborative filtering and LLMs, then designs a recommendation system architecture that integrates both, and validates the system's effectiveness through experiments. The results show that the hybrid model based on collaborative filtering and LLMs significantly improves precision, recall, and user satisfaction, demonstrating its potential in complex recommendation scenarios.
CAG: Chunked Augmented Generation for Google Chrome's Built-in Gemini Nano
Authors: Vivek Vellaiyappan Surulimuthu, Aditya Karnam Gururaj Rao
Date: 2024-12-24 00:00:00
Tasks: Chunking

We present Chunked Augmented Generation (CAG), an architecture specifically designed to overcome the context window limitations of Google Chrome's built-in Gemini Nano model. While Chrome's integration of Gemini Nano represents a significant advancement in bringing AI capabilities directly to the browser, its restricted context window poses challenges for processing large inputs. CAG addresses this limitation through intelligent input chunking and processing strategies, enabling efficient handling of extensive content while maintaining the model's performance within browser constraints. Our implementation demonstrates particular efficacy in processing large documents and datasets directly within Chrome, making sophisticated AI capabilities accessible through the browser without external API dependencies. Get started now at https://github.com/vivekVells/cag-js.