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Recent research has demonstrated that Feed-Forward Networks (FFNs) in Large Language Models (LLMs) play a pivotal role in storing diverse linguistic and factual knowledge. Conventional methods frequently face challenges due to knowledge confusion stemming from their monolithic and redundant architectures, which calls for more efficient solutions with minimal computational overhead, particularly for LLMs. In this paper, we explore the FFN computation paradigm in LLMs and introduce FactorLLM, a novel approach that decomposes well-trained dense FFNs into sparse sub-networks without requiring any further modifications, while maintaining the same level of performance. Furthermore, we embed a router from the Mixture-of-Experts (MoE), combined with our devised Prior-Approximate (PA) loss term that facilitates the dynamic activation of experts and knowledge adaptation, thereby accelerating computational processes and enhancing performance using minimal training data and fine-tuning steps. FactorLLM thus enables efficient knowledge factorization and activates select groups of experts specifically tailored to designated tasks, emulating the interactive functional segmentation of the human brain. Extensive experiments across various benchmarks demonstrate the effectiveness of our proposed FactorLLM which achieves comparable performance to the source model securing up to 85% model performance while obtaining over a 30% increase in inference speed. Code: https://github.com/zhenwuweihe/FactorLLM.

The brain basis of emotion has consistently received widespread attention, attracting a large number of studies to explore this cutting-edge topic. However, the methods employed in these studies typically only model the pairwise relationship between two brain regions, while neglecting the interactions and information fusion among multiple brain regions$\unicode{x2014}$one of the key ideas of the psychological constructionist hypothesis. To overcome the limitations of traditional methods, this study provides an in-depth theoretical analysis of how to maximize interactions and information fusion among brain regions. Building on the results of this analysis, we propose to identify the hierarchical emotional areas in the human brain through multi-source information fusion and graph machine learning methods. Comprehensive experiments reveal that the identified hierarchical emotional areas, from lower to higher levels, primarily facilitate the fundamental process of emotion perception, the construction of basic psychological operations, and the coordination and integration of these operations. Overall, our findings provide unique insights into the brain mechanisms underlying specific emotions based on the psychological constructionist hypothesis.

We introduce Berkeley Humanoid, a reliable and low-cost mid-scale humanoid research platform for learning-based control. Our lightweight, in-house-built robot is designed specifically for learning algorithms with low simulation complexity, anthropomorphic motion, and high reliability against falls. The robot's narrow sim-to-real gap enables agile and robust locomotion across various terrains in outdoor environments, achieved with a simple reinforcement learning controller using light domain randomization. Furthermore, we demonstrate the robot traversing for hundreds of meters, walking on a steep unpaved trail, and hopping with single and double legs as a testimony to its high performance in dynamical walking. Capable of omnidirectional locomotion and withstanding large perturbations with a compact setup, our system aims for scalable, sim-to-real deployment of learning-based humanoid systems. Please check http://berkeley-humanoid.com for more details., Comment: 12 pages, 9 figures

Large Language Models (LLMs) have shown great potential in intelligent visualization systems, especially for domain-specific applications. Integrating LLMs into visualization systems presents challenges, and we categorize these challenges into three alignments: domain problems with LLMs, visualization with LLMs, and interaction with LLMs. To achieve these alignments, we propose a framework and outline a workflow to guide the application of fine-tuned LLMs to enhance visual interactions for domain-specific tasks. These alignment challenges are critical in education because of the need for an intelligent visualization system to support beginners' self-regulated learning. Therefore, we apply the framework to education and introduce Tailor-Mind, an interactive visualization system designed to facilitate self-regulated learning for artificial intelligence beginners. Drawing on insights from a preliminary study, we identify self-regulated learning tasks and fine-tuning objectives to guide visualization design and tuning data construction. Our focus on aligning visualization with fine-tuned LLM makes Tailor-Mind more like a personalized tutor. Tailor-Mind also supports interactive recommendations to help beginners better achieve their learning goals. Model performance evaluations and user studies confirm that Tailor-Mind improves the self-regulated learning experience, effectively validating the proposed framework.

Utilizing large language models (LLMs) to achieve role-playing has gained great attention recently. The primary implementation methods include leveraging refined prompts and fine-tuning on role-specific datasets. However, these methods suffer from insufficient precision and limited flexibility respectively. To achieve a balance between flexibility and precision, we construct a Hierarchical Identity Role-Playing Framework (HIRPF) based on identity theory, constructing complex characters using multiple identity combinations. We develop an identity dialogue dataset for this framework and propose an evaluation benchmark including scale evaluation and open situation evaluation. Empirical results indicate the remarkable efficacy of our framework in modeling identity-level role simulation, and reveal its potential for application in social simulation.

The creation of high-quality 3D assets is paramount for applications in digital heritage preservation, entertainment, and robotics. Traditionally, this process necessitates skilled professionals and specialized software for the modeling, texturing, and rendering of 3D objects. However, the rising demand for 3D assets in gaming and virtual reality (VR) has led to the creation of accessible image-to-3D technologies, allowing non-professionals to produce 3D content and decreasing dependence on expert input. Existing methods for 3D content generation struggle to simultaneously achieve detailed textures and strong geometric consistency. We introduce a novel 3D content creation framework, ScalingGaussian, which combines 3D and 2D diffusion models to achieve detailed textures and geometric consistency in generated 3D assets. Initially, a 3D diffusion model generates point clouds, which are then densified through a process of selecting local regions, introducing Gaussian noise, followed by using local density-weighted selection. To refine the 3D gaussians, we utilize a 2D diffusion model with Score Distillation Sampling (SDS) loss, guiding the 3D Gaussians to clone and split. Finally, the 3D Gaussians are converted into meshes, and the surface textures are optimized using Mean Square Error(MSE) and Gradient Profile Prior(GPP) losses. Our method addresses the common issue of sparse point clouds in 3D diffusion, resulting in improved geometric structure and detailed textures. Experiments on image-to-3D tasks demonstrate that our approach efficiently generates high-quality 3D assets., Comment: 14 pages

In this paper we present the results of the AI-Debater 2023 Challenge held by the Chinese Conference on Affect Computing (CCAC 2023), and introduce the related datasets. We organize two tracks to handle the argumentative generation tasks in different scenarios, namely, Counter-Argument Generation (Track 1) and Claim-based Argument Generation (Track 2). Each track is equipped with its distinct dataset and baseline model respectively. In total, 32 competing teams register for the challenge, from which we received 11 successful submissions. In this paper, we will present the results of the challenge and a summary of the systems, highlighting commonalities and innovations among participating systems. Datasets and baseline models of the AI-Debater 2023 Challenge have been already released and can be accessed through the official website of the challenge.

Automated nodule segmentation is essential for computer-assisted diagnosis in ultrasound images. Nevertheless, most existing methods depend on precise pixel-level annotations by medical professionals, a process that is both costly and labor-intensive. Recently, segmentation foundation models like SAM have shown impressive generalizability on natural images, suggesting their potential as pseudo-labelers. However, accurate prompts remain crucial for their success in medical images. In this work, we devise a novel weakly supervised framework that effectively utilizes the segmentation foundation model to generate pseudo-labels from aspect ration annotations for automatic nodule segmentation. Specifically, we develop three types of bounding box prompts based on scalable shape priors, followed by an adaptive pseudo-label selection module to fully exploit the prediction capabilities of the foundation model for nodules. We also present a SAM-driven uncertainty-aware cross-teaching strategy. This approach integrates SAM-based uncertainty estimation and label-space perturbations into cross-teaching to mitigate the impact of pseudo-label inaccuracies on model training. Extensive experiments on two clinically collected ultrasound datasets demonstrate the superior performance of our proposed method., Comment: ISBI 2024 Oral

Traditional methods for human localization and pose estimation (HPE), which mainly rely on RGB images as an input modality, confront substantial limitations in real-world applications due to privacy concerns. In contrast, radar-based HPE methods emerge as a promising alternative, characterized by distinctive attributes such as through-wall recognition and privacy-preserving, rendering the method more conducive to practical deployments. This paper presents a Radar Tensor-based human pose (RT-Pose) dataset and an open-source benchmarking framework. The RT-Pose dataset comprises 4D radar tensors, LiDAR point clouds, and RGB images, and is collected for a total of 72k frames across 240 sequences with six different complexity-level actions. The 4D radar tensor provides raw spatio-temporal information, differentiating it from other radar point cloud-based datasets. We develop an annotation process using RGB images and LiDAR point clouds to accurately label 3D human skeletons. In addition, we propose HRRadarPose, the first single-stage architecture that extracts the high-resolution representation of 4D radar tensors in 3D space to aid human keypoint estimation. HRRadarPose outperforms previous radar-based HPE work on the RT-Pose benchmark. The overall HRRadarPose performance on the RT-Pose dataset, as reflected in a mean per joint position error (MPJPE) of 9.91cm, indicates the persistent challenges in achieving accurate HPE in complex real-world scenarios. RT-Pose is available at https://huggingface.co/datasets/uwipl/RT-Pose., Comment: ECCV 2024

Recent advancements in Large Language Models (LLMs) have led to significant breakthroughs in various natural language processing tasks. However, generating factually consistent responses in knowledge-intensive scenarios remains a challenge due to issues such as hallucination, difficulty in acquiring long-tailed knowledge, and limited memory expansion. This paper introduces SMART, a novel multi-agent framework that leverages external knowledge to enhance the interpretability and factual consistency of LLM-generated responses. SMART comprises four specialized agents, each performing a specific sub-trajectory action to navigate complex knowledge-intensive tasks. We propose a multi-agent co-training paradigm, Long- and Short-Trajectory Learning, which ensures synergistic collaboration among agents while maintaining fine-grained execution by each agent. Extensive experiments on 5 tasks demonstrate SMART's superior performance compared to previous widely adopted methods.

This work presents HiLMa-Res, a hierarchical framework leveraging reinforcement learning to tackle manipulation tasks while performing continuous locomotion using quadrupedal robots. Unlike most previous efforts that focus on solving a specific task, HiLMa-Res is designed to be general for various loco-manipulation tasks that require quadrupedal robots to maintain sustained mobility. The novel design of this framework tackles the challenges of integrating continuous locomotion control and manipulation using legs. It develops an operational space locomotion controller that can track arbitrary robot end-effector (toe) trajectories while walking at different velocities. This controller is designed to be general to different downstream tasks, and therefore, can be utilized in high-level manipulation planning policy to address specific tasks. To demonstrate the versatility of this framework, we utilize HiLMa-Res to tackle several challenging loco-manipulation tasks using a quadrupedal robot in the real world. These tasks span from leveraging state-based policy to vision-based policy, from training purely from the simulation data to learning from real-world data. In these tasks, HiLMa-Res shows better performance than other methods., Comment: IROS 2024

The reward model has become increasingly important in alignment, assessment, and data construction for large language models (LLMs). Most existing researchers focus on enhancing reward models through data improvements, following the conventional training framework for reward models that directly optimizes the predicted rewards. In this paper, we propose a hybrid alignment framework HaF-RM for reward model training by introducing an additional constraint on token-level policy probabilities in addition to the reward score. It can simultaneously supervise the internal preference model at the token level and optimize the mapping layer of the reward model at the sequence level. Theoretical justifications and experiment results on five datasets show the validity and effectiveness of our proposed hybrid framework for training a high-quality reward model. By decoupling the reward modeling procedure and incorporating hybrid supervision, our HaF-RM framework offers a principled and effective approach to enhancing the performance and alignment of reward models, a critical component in the responsible development of powerful language models. We release our code at https://haf-rm.github.io.

Polyp segmentation plays a pivotal role in colorectal cancer diagnosis. Recently, the emergence of the Segment Anything Model (SAM) has introduced unprecedented potential for polyp segmentation, leveraging its powerful pre-training capability on large-scale datasets. However, due to the domain gap between natural and endoscopy images, SAM encounters two limitations in achieving effective performance in polyp segmentation. Firstly, its Transformer-based structure prioritizes global and low-frequency information, potentially overlooking local details, and introducing bias into the learned features. Secondly, when applied to endoscopy images, its poor out-of-distribution (OOD) performance results in substandard predictions and biased confidence output. To tackle these challenges, we introduce a novel approach named Augmented SAM for Polyp Segmentation (ASPS), equipped with two modules: Cross-branch Feature Augmentation (CFA) and Uncertainty-guided Prediction Regularization (UPR). CFA integrates a trainable CNN encoder branch with a frozen ViT encoder, enabling the integration of domain-specific knowledge while enhancing local features and high-frequency details. Moreover, UPR ingeniously leverages SAM's IoU score to mitigate uncertainty during the training procedure, thereby improving OOD performance and domain generalization. Extensive experimental results demonstrate the effectiveness and utility of the proposed method in improving SAM's performance in polyp segmentation. Our code is available at https://github.com/HuiqianLi/ASPS., Comment: Accepted by MICCAI2024

The rapid development of Large Language Models (LLMs) and Multimodal Large Language Models (MLLMs) has exposed vulnerabilities to various adversarial attacks. This paper provides a comprehensive overview of jailbreaking research targeting both LLMs and MLLMs, highlighting recent advancements in evaluation benchmarks, attack techniques and defense strategies. Compared to the more advanced state of unimodal jailbreaking, multimodal domain remains underexplored. We summarize the limitations and potential research directions of multimodal jailbreaking, aiming to inspire future research and further enhance the robustness and security of MLLMs.

We give a detailed overview of the CAIL 2023 Argument Mining Track, one of the Chinese AI and Law Challenge (CAIL) 2023 tracks. The main goal of the track is to identify and extract interacting argument pairs in trial dialogs. It mainly uses summarized judgment documents but can also refer to trial recordings. The track consists of two stages, and we introduce the tasks designed for each stage; we also extend the data from previous events into a new dataset -- CAIL2023-ArgMine -- with annotated new cases from various causes of action. We outline several submissions that achieve the best results, including their methods for different stages. While all submissions rely on language models, they have incorporated strategies that may benefit future work in this field.

Autonomous driving without high-definition (HD) maps demands a higher level of active scene understanding. In this competition, the organizers provided the multi-perspective camera images and standard-definition (SD) maps to explore the boundaries of scene reasoning capabilities. We found that most existing algorithms construct Bird's Eye View (BEV) features from these multi-perspective images and use multi-task heads to delineate road centerlines, boundary lines, pedestrian crossings, and other areas. However, these algorithms perform poorly at the far end of roads and struggle when the primary subject in the image is occluded. Therefore, in this competition, we not only used multi-perspective images as input but also incorporated SD maps to address this issue. We employed map encoder pre-training to enhance the network's geometric encoding capabilities and utilized YOLOX to improve traffic element detection precision. Additionally, for area detection, we innovatively introduced LDTR and auxiliary tasks to achieve higher precision. As a result, our final OLUS score is 0.58.

The recent rapid development of Large Vision-Language Models (LVLMs) has indicated their potential for embodied tasks.However, the critical skill of spatial understanding in embodied environments has not been thoroughly evaluated, leaving the gap between current LVLMs and qualified embodied intelligence unknown. Therefore, we construct EmbSpatial-Bench, a benchmark for evaluating embodied spatial understanding of LVLMs.The benchmark is automatically derived from embodied scenes and covers 6 spatial relationships from an egocentric perspective.Experiments expose the insufficient capacity of current LVLMs (even GPT-4V). We further present EmbSpatial-SFT, an instruction-tuning dataset designed to improve LVLMs' embodied spatial understanding., Comment: Accepted by ACL 2024 Main

Pre-trained vision-language models, e.g., CLIP, have been successfully applied to zero-shot semantic segmentation. Existing CLIP-based approaches primarily utilize visual features from the last layer to align with text embeddings, while they neglect the crucial information in intermediate layers that contain rich object details. However, we find that directly aggregating the multi-level visual features weakens the zero-shot ability for novel classes. The large differences between the visual features from different layers make these features hard to align well with the text embeddings. We resolve this problem by introducing a series of independent decoders to align the multi-level visual features with the text embeddings in a cascaded way, forming a novel but simple framework named Cascade-CLIP. Our Cascade-CLIP is flexible and can be easily applied to existing zero-shot semantic segmentation methods. Experimental results show that our simple Cascade-CLIP achieves superior zero-shot performance on segmentation benchmarks, like COCO-Stuff, Pascal-VOC, and Pascal-Context. Our code is available at: https://github.com/HVision-NKU/Cascade-CLIP, Comment: Accepted by ICML 2024

While large multi-modal models (LMMs) have exhibited impressive capabilities across diverse tasks, their effectiveness in handling complex tasks has been limited by the prevailing single-step reasoning paradigm. To this end, this paper proposes VoCoT, a multi-step Visually grounded object-centric Chain-of-Thought reasoning framework tailored for inference with LMMs. VoCoT is characterized by two key features: (1) object-centric reasoning paths that revolve around cross-modal shared object-level information, and (2) visually grounded representation of object concepts in a multi-modal interleaved and aligned manner, which effectively bridges the modality gap within LMMs during long-term generation. Additionally, we construct an instruction dataset to facilitate LMMs in adapting to reasoning with VoCoT. By introducing VoCoT into the prevalent open-source LMM architecture, we introduce VolCano. With only 7B parameters and limited input resolution, VolCano demonstrates excellent performance across various scenarios, surpassing SOTA models, including GPT-4V, in tasks requiring complex reasoning. Our code, data and model will be available at https://github.com/RupertLuo/VoCoT.

The perception of transparent objects for grasp and manipulation remains a major challenge, because existing robotic grasp methods which heavily rely on depth maps are not suitable for transparent objects due to their unique visual properties. These properties lead to gaps and inaccuracies in the depth maps of the transparent objects captured by depth sensors. To address this issue, we propose an end-to-end network for transparent object depth completion that combines the strengths of single-view RGB-D based depth completion and multi-view depth estimation. Moreover, we introduce a depth refinement module based on confidence estimation to fuse predicted depth maps from single-view and multi-view modules, which further refines the restored depth map. The extensive experiments on the ClearPose and TransCG datasets demonstrate that our method achieves superior accuracy and robustness in complex scenarios with significant occlusion compared to the state-of-the-art methods.

We present DeepSeek-V2, a strong Mixture-of-Experts (MoE) language model characterized by economical training and efficient inference. It comprises 236B total parameters, of which 21B are activated for each token, and supports a context length of 128K tokens. DeepSeek-V2 adopts innovative architectures including Multi-head Latent Attention (MLA) and DeepSeekMoE. MLA guarantees efficient inference through significantly compressing the Key-Value (KV) cache into a latent vector, while DeepSeekMoE enables training strong models at an economical cost through sparse computation. Compared with DeepSeek 67B, DeepSeek-V2 achieves significantly stronger performance, and meanwhile saves 42.5% of training costs, reduces the KV cache by 93.3%, and boosts the maximum generation throughput to 5.76 times. We pretrain DeepSeek-V2 on a high-quality and multi-source corpus consisting of 8.1T tokens, and further perform Supervised Fine-Tuning (SFT) and Reinforcement Learning (RL) to fully unlock its potential. Evaluation results show that, even with only 21B activated parameters, DeepSeek-V2 and its chat versions still achieve top-tier performance among open-source models.

This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of diverse skills on robots in the real world. Offline learning at scale has led to breakthroughs in computer vision, natural language processing, and robotic manipulation domains. However, scaling up learning for legged robot locomotion, especially with multiple skills in a single policy, presents significant challenges for prior online reinforcement learning methods. To address this challenge, we propose a novel, scalable framework that leverages diffusion models to directly learn from offline multimodal datasets with a diverse set of locomotion skills. With design choices tailored for real-time control in dynamical systems, including receding horizon control and delayed inputs, DiffuseLoco is capable of reproducing multimodality in performing various locomotion skills, zero-shot transfer to real quadrupedal robots, and it can be deployed on edge computing devices. Furthermore, DiffuseLoco demonstrates free transitions between skills and robustness against environmental variations. Through extensive benchmarking in real-world experiments, DiffuseLoco exhibits better stability and velocity tracking performance compared to prior reinforcement learning and non-diffusion-based behavior cloning baselines. The design choices are validated via comprehensive ablation studies. This work opens new possibilities for scaling up learning-based legged locomotion controllers through the scaling of large, expressive models and diverse offline datasets.

Proteins are essential to life's processes, underpinning evolution and diversity. Advances in sequencing technology have revealed millions of proteins, underscoring the need for sophisticated pre-trained protein models for biological analysis and AI development. Facebook's ESM2, the most advanced protein language model to date, leverages a masked prediction task for unsupervised learning, crafting amino acid representations with notable biochemical accuracy. Yet, it lacks in delivering functional protein insights, signaling an opportunity for enhancing representation quality.Our study addresses this gap by incorporating protein family classification into ESM2's training.This approach, augmented with Community Propagation-Based Clustering Algorithm, improves global protein representations, while a contextual prediction task fine-tunes local amino acid accuracy. Significantly, our model achieved state-of-the-art results in several downstream experiments, demonstrating the power of combining global and local methodologies to substantially boost protein representation quality.

Recent advances in deep learning have greatly facilitated the automated segmentation of ultrasound images, which is essential for nodule morphological analysis. Nevertheless, most existing methods depend on extensive and precise annotations by domain experts, which are labor-intensive and time-consuming. In this study, we suggest using simple aspect ratio annotations directly from ultrasound clinical diagnoses for automated nodule segmentation. Especially, an asymmetric learning framework is developed by extending the aspect ratio annotations with two types of pseudo labels, i.e., conservative labels and radical labels, to train two asymmetric segmentation networks simultaneously. Subsequently, a conservative-radical-balance strategy (CRBS) strategy is proposed to complementally combine radical and conservative labels. An inconsistency-aware dynamically mixed pseudo-labels supervision (IDMPS) module is introduced to address the challenges of over-segmentation and under-segmentation caused by the two types of labels. To further leverage the spatial prior knowledge provided by clinical annotations, we also present a novel loss function namely the clinical anatomy prior loss. Extensive experiments on two clinically collected ultrasound datasets (thyroid and breast) demonstrate the superior performance of our proposed method, which can achieve comparable and even better performance than fully supervised methods using ground truth annotations., Comment: Accepted by TCSVT

We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a high-level understanding of the semantics of the problem for task planning and a broad range of locomotion and manipulation skills to interact with the environment. Our system builds a high-level reasoning layer with large language models, which generates hybrid discrete-continuous plans as robot code from task descriptions. It comprises multiple LLM agents: a semantic planner for sketching a plan, a parameter calculator for predicting arguments in the plan, and a code generator to convert the plan into executable robot code. At the low level, we adopt reinforcement learning to train a set of motion planning and control skills to unleash the flexibility of quadrupeds for rich environment interactions. Our system is tested on long-horizon tasks that are infeasible to complete with one single skill. Simulation and real-world experiments show that it successfully figures out multi-step strategies and demonstrates non-trivial behaviors, including building tools or notifying a human for help.

Three-dimensional perception from multi-view cameras is a crucial component in autonomous driving systems, which involves multiple tasks like 3D object detection and bird's-eye-view (BEV) semantic segmentation. To improve perception precision, large image encoders, high-resolution images, and long-term temporal inputs have been adopted in recent 3D perception models, bringing remarkable performance gains. However, these techniques are often incompatible in training and inference scenarios due to computational resource constraints. Besides, modern autonomous driving systems prefer to adopt an end-to-end framework for multi-task 3D perception, which can simplify the overall system architecture and reduce the implementation complexity. However, conflict between tasks often arises when optimizing multiple tasks jointly within an end-to-end 3D perception model. To alleviate these issues, we present an end-to-end framework named HENet for multi-task 3D perception in this paper. Specifically, we propose a hybrid image encoding network, using a large image encoder for short-term frames and a small image encoder for long-term temporal frames. Then, we introduce a temporal feature integration module based on the attention mechanism to fuse the features of different frames extracted by the two aforementioned hybrid image encoders. Finally, according to the characteristics of each perception task, we utilize BEV features of different grid sizes, independent BEV encoders, and task decoders for different tasks. Experimental results show that HENet achieves state-of-the-art end-to-end multi-task 3D perception results on the nuScenes benchmark, including 3D object detection and BEV semantic segmentation. The source code and models will be released at https://github.com/VDIGPKU/HENet.

Vision-and-Language navigation (VLN) requires an agent to navigate in unseen environment by following natural language instruction. For task completion, the agent needs to align and integrate various navigation modalities, including instruction, observation and navigation history. Existing works primarily concentrate on cross-modal attention at the fusion stage to achieve this objective. Nevertheless, modality features generated by disparate uni-encoders reside in their own spaces, leading to a decline in the quality of cross-modal fusion and decision. To address this problem, we propose a Dual-levEL AligNment (DELAN) framework by cross-modal contrastive learning. This framework is designed to align various navigation-related modalities before fusion, thereby enhancing cross-modal interaction and action decision-making. Specifically, we divide the pre-fusion alignment into dual levels: instruction-history level and landmark-observation level according to their semantic correlations. We also reconstruct a dual-level instruction for adaptation to the dual-level alignment. As the training signals for pre-fusion alignment are extremely limited, self-supervised contrastive learning strategies are employed to enforce the matching between different modalities. Our approach seamlessly integrates with the majority of existing models, resulting in improved navigation performance on various VLN benchmarks, including R2R, R4R, RxR and CVDN., Comment: Accepted by LREC-COLING 2024

Owing to the unique features of low Gilbert damping, long spin-diffusion lengths and zero Ohmic losses, magnetic insulators are promising candidate materials for next-generation spintronic applications. However, due to the localized magnetic moments and the complex metal-oxide interface between magnetic insulators and heavy metals, spin-functional Dzyaloshinskii-Moriya interactions or spin Hall and Edelstein effects are weak, which diminishes the performance of these typical building blocks for spintronic devices. Here, we exploit the exchange coupling between metallic and insulating magnets for efficient electrical manipulation of heavy metal/magnetic insulator heterostructures. By inserting a thin Co layer, we enhance the spin-orbit torque efficiency by more than 20 times, which significantly reduces the switching current density. Moreover, we demonstrate field-free current-induced magnetization switching caused by a symmetry-breaking non-collinear magnetic texture. Our work launches magnetic insulators as an alternative platform for low-power spintronic devices.

Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic arms on quadrupedal robots enable manipulating objects, they are sometimes redundant given that a quadruped robot is essentially a mobile unit equipped with four limbs, each possessing 3 degrees of freedom (DoFs). Hence, we aim to empower a quadruped robot to execute real-world manipulation tasks using only its legs. We decompose the loco-manipulation process into a low-level reinforcement learning (RL)-based controller and a high-level Behavior Cloning (BC)-based planner. By parameterizing the manipulation trajectory, we synchronize the efforts of the upper and lower layers, thereby leveraging the advantages of both RL and BC. Our approach is validated through simulations and real-world experiments, demonstrating the robot's ability to perform tasks that demand mobility and high precision, such as lifting a basket from the ground while moving, closing a dishwasher, pressing a button, and pushing a door. Project website: https://zhengmaohe.github.io/leg-manip, Comment: Published at IROS 2024. Project website: https://zhengmaohe.github.io/leg-manip

Three-dimensional object detection is one of the key tasks in autonomous driving. To reduce costs in practice, low-cost multi-view cameras for 3D object detection are proposed to replace the expansive LiDAR sensors. However, relying solely on cameras is difficult to achieve highly accurate and robust 3D object detection. An effective solution to this issue is combining multi-view cameras with the economical millimeter-wave radar sensor to achieve more reliable multi-modal 3D object detection. In this paper, we introduce RCBEVDet, a radar-camera fusion 3D object detection method in the bird's eye view (BEV). Specifically, we first design RadarBEVNet for radar BEV feature extraction. RadarBEVNet consists of a dual-stream radar backbone and a Radar Cross-Section (RCS) aware BEV encoder. In the dual-stream radar backbone, a point-based encoder and a transformer-based encoder are proposed to extract radar features, with an injection and extraction module to facilitate communication between the two encoders. The RCS-aware BEV encoder takes RCS as the object size prior to scattering the point feature in BEV. Besides, we present the Cross-Attention Multi-layer Fusion module to automatically align the multi-modal BEV feature from radar and camera with the deformable attention mechanism, and then fuse the feature with channel and spatial fusion layers. Experimental results show that RCBEVDet achieves new state-of-the-art radar-camera fusion results on nuScenes and view-of-delft (VoD) 3D object detection benchmarks. Furthermore, RCBEVDet achieves better 3D detection results than all real-time camera-only and radar-camera 3D object detectors with a faster inference speed at 21~28 FPS. The source code will be released at https://github.com/VDIGPKU/RCBEVDet., Comment: Accepted by CVPR2024

Model-free reinforcement learning is a promising approach for autonomously solving challenging robotics control problems, but faces exploration difficulty without information of the robot's kinematics and dynamics morphology. The under-exploration of multiple modalities with symmetric states leads to behaviors that are often unnatural and sub-optimal. This issue becomes particularly pronounced in the context of robotic systems with morphological symmetries, such as legged robots for which the resulting asymmetric and aperiodic behaviors compromise performance, robustness, and transferability to real hardware. To mitigate this challenge, we can leverage symmetry to guide and improve the exploration in policy learning via equivariance/invariance constraints. In this paper, we investigate the efficacy of two approaches to incorporate symmetry: modifying the network architectures to be strictly equivariant/invariant, and leveraging data augmentation to approximate equivariant/invariant actor-critics. We implement the methods on challenging loco-manipulation and bipedal locomotion tasks and compare with an unconstrained baseline. We find that the strictly equivariant policy consistently outperforms other methods in sample efficiency and task performance in simulation. In addition, symmetry-incorporated approaches exhibit better gait quality, higher robustness and can be deployed zero-shot in real-world experiments.

Despite recent advances in lane detection methods, scenarios with limited- or no-visual-clue of lanes due to factors such as lighting conditions and occlusion remain challenging and crucial for automated driving. Moreover, current lane representations require complex post-processing and struggle with specific instances. Inspired by the DETR architecture, we propose LDTR, a transformer-based model to address these issues. Lanes are modeled with a novel anchor-chain, regarding a lane as a whole from the beginning, which enables LDTR to handle special lanes inherently. To enhance lane instance perception, LDTR incorporates a novel multi-referenced deformable attention module to distribute attention around the object. Additionally, LDTR incorporates two line IoU algorithms to improve convergence efficiency and employs a Gaussian heatmap auxiliary branch to enhance model representation capability during training. To evaluate lane detection models, we rely on Frechet distance, parameterized F1-score, and additional synthetic metrics. Experimental results demonstrate that LDTR achieves state-of-the-art performance on well-known datasets., Comment: Accepted by CVM 2024 and CVMJ. 16 pages, 14 figures

In the field of multi-object tracking (MOT), traditional methods often rely on the Kalman Filter for motion prediction, leveraging its strengths in linear motion scenarios. However, the inherent limitations of these methods become evident when confronted with complex, nonlinear motions and occlusions prevalent in dynamic environments like sports and dance. This paper explores the possibilities of replacing the Kalman Filter with various learning-based motion model that effectively enhances tracking accuracy and adaptability beyond the constraints of Kalman Filter-based systems. In this paper, we proposed MambaTrack, an online motion-based tracker that outperforms all existing motion-based trackers on the challenging DanceTrack and SportsMOT datasets. Moreover, we further exploit the potential of the state-space-model in trajectory feature extraction to boost the tracking performance and proposed MambaTrack+, which achieves the state-of-the-art performance on DanceTrack dataset with 56.1 HOTA and 54.9 IDF1.

How can we construct an automated debate judge to evaluate an extensive, vibrant, multi-turn debate? This task is challenging, as judging a debate involves grappling with lengthy texts, intricate argument relationships, and multi-dimensional assessments. At the same time, current research mainly focuses on short dialogues, rarely touching upon the evaluation of an entire debate. In this paper, by leveraging Large Language Models (LLMs), we propose Debatrix, which makes the analysis and assessment of multi-turn debates more aligned with majority preferences. Specifically, Debatrix features a vertical, iterative chronological analysis and a horizontal, multi-dimensional evaluation collaboration. To align with real-world debate scenarios, we introduced the PanelBench benchmark, comparing our system's performance to actual debate outcomes. The findings indicate a notable enhancement over directly using LLMs for debate evaluation. Source code and benchmark data are available online at https://github.com/ljcleo/debatrix .

We introduce ALaRM, the first framework modeling hierarchical rewards in reinforcement learning from human feedback (RLHF), which is designed to enhance the alignment of large language models (LLMs) with human preferences. The framework addresses the limitations of current alignment approaches, which often struggle with the inconsistency and sparsity of human supervision signals, by integrating holistic rewards with aspect-specific rewards. This integration enables more precise and consistent guidance of language models towards desired outcomes, particularly in complex and open text generation tasks. By employing a methodology that filters and combines multiple rewards based on their consistency, the framework provides a reliable mechanism for improving model alignment. We validate our approach through applications in long-form question answering and machine translation tasks, employing gpt-3.5-turbo for pairwise comparisons, and demonstrate improvements over existing baselines. Our work underscores the effectiveness of hierarchical rewards modeling in refining LLM training processes for better human preference alignment. We release our code at https://ALaRM-fdu.github.io., Comment: 15 pages, 6 figures

Large language model (LLM) leads to a surge of autonomous GUI agents for smartphone, which completes a task triggered by natural language through predicting a sequence of actions of API. Even though the task highly relies on past actions and visual observations, existing studies typically consider little semantic information carried out by intermediate screenshots and screen operations. To address this, this work presents Chain-of-Action-Thought (dubbed CoAT), which takes the description of the previous actions, the current screen, and more importantly the action thinking of what actions should be performed and the outcomes led by the chosen action. We demonstrate that, in a zero-shot setting upon three off-the-shelf LMMs, CoAT significantly improves the action prediction compared to previous proposed context modeling. To further facilitate the research in this line, we construct a dataset Android-In-The-Zoo (AitZ), which contains 18,643 screen-action pairs together with chain-of-action-thought annotations. Experiments show that fine-tuning a 1B model (i.e. AUTO-UI-base) on our AitZ dataset achieves on-par performance with CogAgent-Chat-18B., Comment: Dataset could be found in https://github.com/IMNearth/CoAT

Dense object counting or crowd counting has come a long way thanks to the recent development in the vision community. However, indiscernible object counting, which aims to count the number of targets that are blended with respect to their surroundings, has been a challenge. Image-based object counting datasets have been the mainstream of the current publicly available datasets. Therefore, we propose a large-scale dataset called YoutubeFish-35, which contains a total of 35 sequences of high-definition videos with high frame-per-second and more than 150,000 annotated center points across a selected variety of scenes. For benchmarking purposes, we select three mainstream methods for dense object counting and carefully evaluate them on the newly collected dataset. We propose TransVidCount, a new strong baseline that combines density and regression branches along the temporal domain in a unified framework and can effectively tackle indiscernible object counting with state-of-the-art performance on YoutubeFish-35 dataset., Comment: Accepted by ICASSP 2024 (IEEE International Conference on Acoustics, Speech, and Signal Processing)

Accurate and consistent methods for counting trees based on remote sensing data are needed to support sustainable forest management, assess climate change mitigation strategies, and build trust in tree carbon credits. Two-dimensional remote sensing imagery primarily shows overstory canopy, and it does not facilitate easy differentiation of individual trees in areas with a dense canopy and does not allow for easy separation of trees when the canopy is dense. We leverage the fusion of three-dimensional LiDAR measurements and 2D imagery to facilitate the accurate counting of trees. We compare a deep learning approach to counting trees in forests using 3D airborne LiDAR data and 2D imagery. The approach is compared with state-of-the-art algorithms, like operating on 3D point cloud and 2D imagery. We empirically evaluate the different methods on the NeonTreeCount data set, which we use to define a tree-counting benchmark. The experiments show that FuseCountNet yields more accurate tree counts., Comment: need more experiments

The emerging trend of advancing generalist artificial intelligence, such as GPTv4 and Gemini, has reshaped the landscape of research (academia and industry) in machine learning and many other research areas. However, domain-specific applications of such foundation models (e.g., in medicine) remain untouched or often at their very early stages. It will require an individual set of transfer learning and model adaptation techniques by further expanding and injecting these models with domain knowledge and data. The development of such technologies could be largely accelerated if the bundle of data, algorithms, and pre-trained foundation models were gathered together and open-sourced in an organized manner. In this work, we present OpenMEDLab, an open-source platform for multi-modality foundation models. It encapsulates not only solutions of pioneering attempts in prompting and fine-tuning large language and vision models for frontline clinical and bioinformatic applications but also building domain-specific foundation models with large-scale multi-modal medical data. Importantly, it opens access to a group of pre-trained foundation models for various medical image modalities, clinical text, protein engineering, etc. Inspiring and competitive results are also demonstrated for each collected approach and model in a variety of benchmarks for downstream tasks. We welcome researchers in the field of medical artificial intelligence to continuously contribute cutting-edge methods and models to OpenMEDLab, which can be accessed via https://github.com/openmedlab., Comment: Technical Report. Visit https://github.com/openmedlab for more details

Social media has emerged as a cornerstone of social movements, wielding significant influence in driving societal change. Simulating the response of the public and forecasting the potential impact has become increasingly important. However, existing methods for simulating such phenomena encounter challenges concerning their efficacy and efficiency in capturing the behaviors of social movement participants. In this paper, we introduce a hybrid framework HiSim for social media user simulation, wherein users are categorized into two types. Core users are driven by Large Language Models, while numerous ordinary users are modeled by deductive agent-based models. We further construct a Twitter-like environment to replicate their response dynamics following trigger events. Subsequently, we develop a multi-faceted benchmark SoMoSiMu-Bench for evaluation and conduct comprehensive experiments across real-world datasets. Experimental results demonstrate the effectiveness and flexibility of our method., Comment: Accepted to findings of ACL 2024

Federated learning encounters substantial challenges with heterogeneous data, leading to performance degradation and convergence issues. While considerable progress has been achieved in mitigating such an impact, the reliability aspect of federated models has been largely disregarded. In this study, we conduct extensive experiments to investigate the reliability of both generic and personalized federated models. Our exploration uncovers a significant finding: \textbf{federated models exhibit unreliability when faced with heterogeneous data}, demonstrating poor calibration on in-distribution test data and low uncertainty levels on out-of-distribution data. This unreliability is primarily attributed to the presence of biased projection heads, which introduce miscalibration into the federated models. Inspired by this observation, we propose the "Assembled Projection Heads" (APH) method for enhancing the reliability of federated models. By treating the existing projection head parameters as priors, APH randomly samples multiple initialized parameters of projection heads from the prior and further performs targeted fine-tuning on locally available data under varying learning rates. Such a head ensemble introduces parameter diversity into the deterministic model, eliminating the bias and producing reliable predictions via head averaging. We evaluate the effectiveness of the proposed APH method across three prominent federated benchmarks. Experimental results validate the efficacy of APH in model calibration and uncertainty estimation. Notably, APH can be seamlessly integrated into various federated approaches but only requires less than 30\% additional computation cost for 100$\times$ inferences within large models., Comment: Accepted in AAAI-24

The growth of social media, characterized by its multimodal nature, has led to the emergence of diverse phenomena and challenges, which calls for an effective approach to uniformly solve automated tasks. The powerful Large Vision Language Models make it possible to handle a variety of tasks simultaneously, but even with carefully designed prompting methods, the general domain models often fall short in aligning with the unique speaking style and context of social media tasks. In this paper, we introduce a Large Vision Language Model for Social Media Processing (SoMeLVLM), which is a cognitive framework equipped with five key capabilities including knowledge & comprehension, application, analysis, evaluation, and creation. SoMeLVLM is designed to understand and generate realistic social media behavior. We have developed a 654k multimodal social media instruction-tuning dataset to support our cognitive framework and fine-tune our model. Our experiments demonstrate that SoMeLVLM achieves state-of-the-art performance in multiple social media tasks. Further analysis shows its significant advantages over baselines in terms of cognitive abilities.

This paper presents a benchmark self-evolving framework to dynamically evaluate rapidly advancing Large Language Models (LLMs), aiming for a more accurate assessment of their capabilities and limitations. We utilize a multi-agent system to manipulate the context or question of original instances, reframing new evolving instances with high confidence that dynamically extend existing benchmarks. Towards a more scalable, robust and fine-grained evaluation, we implement six reframing operations to construct evolving instances testing LLMs against diverse queries, data noise and probing their problem-solving sub-abilities. With this framework, we extend benchmark datasets of four tasks. Experimental results show a general performance decline in most LLMs against their original results. This decline under our scalable and robust evaluations, alongside our fine-grained evaluation, more accurately reflect models' capabilities. Besides, our framework widens performance discrepancies both between different models and within the same model across various tasks, facilitating more informed model selection for specific tasks (Code and data are available at https://github.com/NanshineLoong/Self-Evolving-Benchmark).

Large language models (LLMs) have achieved impressive human-like performance across various reasoning tasks. However, their mastery of underlying inferential rules still falls short of human capabilities. To investigate this, we propose a logic scaffolding inferential rule generation framework, to construct an inferential rule base, ULogic, comprising both primitive and compositional rules across five domains. Our analysis of GPT-series models over a rule subset reveals significant gaps in LLMs' logic understanding compared to human performance, especially in compositional and structural complex rules with certain bias patterns. We further distill these rules into a smaller-scale inference engine for flexible rule generation and enhancing downstream reasoning. Through a multi-judger evaluation, our inference engine proves effective in generating accurate, complex and abstract conclusions and premises, and improve various commonsense reasoning tasks. Overall, our work sheds light on LLMs' limitations in grasping inferential rule and suggests ways to enhance their logical reasoning abilities~\footnote{Code and data are available at \url{https://github.com/SiyuanWangw/ULogic}.}., Comment: Accepted as a long paper to ACL 2024 Main

Artificial intelligence has significantly advanced healthcare, particularly through large language models (LLMs) that excel in medical question answering benchmarks. However, their real-world clinical application remains limited due to the complexities of doctor-patient interactions. To address this, we introduce \textbf{AI Hospital}, a multi-agent framework simulating dynamic medical interactions between \emph{Doctor} as player and NPCs including \emph{Patient}, \emph{Examiner}, \emph{Chief Physician}. This setup allows for realistic assessments of LLMs in clinical scenarios. We develop the Multi-View Medical Evaluation (MVME) benchmark, utilizing high-quality Chinese medical records and NPCs to evaluate LLMs' performance in symptom collection, examination recommendations, and diagnoses. Additionally, a dispute resolution collaborative mechanism is proposed to enhance diagnostic accuracy through iterative discussions. Despite improvements, current LLMs exhibit significant performance gaps in multi-turn interactions compared to one-step approaches. Our findings highlight the need for further research to bridge these gaps and improve LLMs' clinical diagnostic capabilities. Our data, code, and experimental results are all open-sourced at \url{https://github.com/LibertFan/AI_Hospital}., Comment: https://github.com/LibertFan/AI_Hospital

Emotional Support Conversation aims at reducing the seeker's emotional distress through supportive response. Existing approaches have two limitations: (1) They ignore the emotion causes of the distress, which is important for fine-grained emotion understanding; (2) They focus on the seeker's own mental state rather than the emotional dynamics during interaction between speakers. To address these issues, we propose a novel framework CauESC, which firstly recognizes the emotion causes of the distress, as well as the emotion effects triggered by the causes, and then understands each strategy of verbal grooming independently and integrates them skillfully. Experimental results on the benchmark dataset demonstrate the effectiveness of our approach and show the benefits of emotion understanding from cause to effect and independent-integrated strategy modeling., Comment: 15 pages, 5 figures

This paper presents a comprehensive study on using deep reinforcement learning (RL) to create dynamic locomotion controllers for bipedal robots. Going beyond focusing on a single locomotion skill, we develop a general control solution that can be used for a range of dynamic bipedal skills, from periodic walking and running to aperiodic jumping and standing. Our RL-based controller incorporates a novel dual-history architecture, utilizing both a long-term and short-term input/output (I/O) history of the robot. This control architecture, when trained through the proposed end-to-end RL approach, consistently outperforms other methods across a diverse range of skills in both simulation and the real world.The study also delves into the adaptivity and robustness introduced by the proposed RL system in developing locomotion controllers. We demonstrate that the proposed architecture can adapt to both time-invariant dynamics shifts and time-variant changes, such as contact events, by effectively using the robot's I/O history. Additionally, we identify task randomization as another key source of robustness, fostering better task generalization and compliance to disturbances. The resulting control policies can be successfully deployed on Cassie, a torque-controlled human-sized bipedal robot. This work pushes the limits of agility for bipedal robots through extensive real-world experiments. We demonstrate a diverse range of locomotion skills, including: robust standing, versatile walking, fast running with a demonstration of a 400-meter dash, and a diverse set of jumping skills, such as standing long jumps and high jumps.

Leveraging Large Multimodal Models (LMMs) to simulate human behaviors when processing multimodal information, especially in the context of social media, has garnered immense interest due to its broad potential and far-reaching implications. Emojis, as one of the most unique aspects of digital communication, are pivotal in enriching and often clarifying the emotional and tonal dimensions. Yet, there is a notable gap in understanding how these advanced models, such as GPT-4V, interpret and employ emojis in the nuanced context of online interaction. This study intends to bridge this gap by examining the behavior of GPT-4V in replicating human-like use of emojis. The findings reveal a discernible discrepancy between human and GPT-4V behaviors, likely due to the subjective nature of human interpretation and the limitations of GPT-4V's English-centric training, suggesting cultural biases and inadequate representation of non-English cultures., Comment: Accepted for publication in ICWSM 2024

Counter-argument generation -- a captivating area in computational linguistics -- seeks to craft statements that offer opposing views. While most research has ventured into paragraph-level generation, sentence-level counter-argument generation beckons with its unique constraints and brevity-focused challenges. Furthermore, the diverse nature of counter-arguments poses challenges for evaluating model performance solely based on n-gram-based metrics. In this paper, we present the ArgTersely benchmark for sentence-level counter-argument generation, drawing from a manually annotated dataset from the ChangeMyView debate forum. We also propose Arg-LlaMA for generating high-quality counter-argument. For better evaluation, we trained a BERT-based evaluator Arg-Judge with human preference data. We conducted comparative experiments involving various baselines such as LlaMA, Alpaca, GPT-3, and others. The results show the competitiveness of our proposed framework and evaluator in counter-argument generation tasks. Code and data are available at https://github.com/amazingljy1206/ArgTersely., Comment: EMNLP2023, main conference

Automatic psychological counseling requires mass of professional knowledge that can be found in online counseling forums. Motivated by this, we propose K-ESConv, a novel prompt learning based knowledge injection method for emotional support dialogue system, transferring forum knowledge to response generation. We evaluate our model on an emotional support dataset ESConv, where the model retrieves and incorporates knowledge from external professional emotional Q\&A forum. Experiment results show that the proposed method outperforms existing baselines on both automatic evaluation and human evaluation, which shows that our approach significantly improves the correlation and diversity of responses and provides more comfort and better suggestion for the seeker.