Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to achieve generalizability, especially when confronted with extensive categories. Therefore, we introduce an innovative approach for robot manipulation that leverages the robust reasoning capabilities of Multimodal Large Language Models (MLLMs) to enhance the stability and generalization of manipulation. By fine-tuning the injected adapters, we preserve the inherent common sense and reasoning ability of the MLLMs while equipping them with the ability for manipulation. The fundamental insight lies in the introduced fine-tuning paradigm, encompassing object category understanding, affordance prior reasoning, and object-centric pose prediction to stimulate the reasoning ability of MLLM in manipulation. During inference, our approach utilizes an RGB image and text prompt to predict the end effector's pose in chain of thoughts. After the initial contact is established, an active impedance adaptation policy is introduced to plan the upcoming waypoints in a closed-loop manner. Moreover, in real world, we design a test-time adaptation (TTA) strategy for manipulation to enable the model better adapt to the current real-world scene configuration. Experiments in simulator and real-world show the promising performance of ManipLLM. More details and demonstrations can be found at //sites.google.com/view/manipllm.
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When LLMs perform zero-shot inference, they typically use a prompt with a task specification, and generate a completion. However, there is no work to explore the possibility of the reverse - going from completion to task specification. In this paper, we employ both directions to perform cycle-supervised learning entirely in-context. Our goal is to create a forward map f : X -> Y (e.g. image -> generated caption), coupled with a backward map g : Y -> X (e.g. caption -> generated image) to construct a cycle-consistency "loss" (formulated as an update to the prompt) to enforce g(f(X)) ~= X. The technique, called CyclePrompt, uses cycle-consistency as a free supervisory signal to iteratively craft the prompt. Importantly, CyclePrompt reinforces model performance without expensive fine-tuning, without training data, and without the complexity of external environments (e.g. compilers, APIs). We demonstrate CyclePrompt in two domains: code generation and image captioning. Our results on the HumanEval coding benchmark put us in first place on the leaderboard among models that do not rely on extra training data or usage of external environments, and third overall. Compared to the GPT4 baseline, we improve accuracy from 80.5% to 87.2%. In the vision-language space, we generate detailed image captions which outperform baseline zero-shot GPT4V captions, when tested against natural (VQAv2) and diagrammatic (FigureQA) visual question-answering benchmarks. To the best of our knowledge, this is the first use of self-supervised learning for prompting.
We apply causal mediation analysis to explain the decision-making process of neural models for rumour detection on Twitter. Interventions at the input and network level reveal the causal impacts of tweets and words in the model output. We find that our approach CMA-R -- Causal Mediation Analysis for Rumour detection -- identifies salient tweets that explain model predictions and show strong agreement with human judgements for critical tweets determining the truthfulness of stories. CMA-R can further highlight causally impactful words in the salient tweets, providing another layer of interpretability and transparency into these blackbox rumour detection systems. Code is available at: //github.com/ltian678/cma-r.
Despite advancements in evaluating Large Language Models (LLMs) for code synthesis, benchmarks have predominantly focused on functional correctness, overlooking the importance of code efficiency. We present Mercury, the first benchmark designated for assessing the code efficiency of LLM code synthesis tasks. Mercury consists of 1,889 programming tasks covering diverse difficulty levels alongside test case generators generating unlimited cases for comprehensive evaluation. Unlike existing benchmarks, Mercury integrates a novel metric Beyond@K to measure normalized code efficiency based on historical submissions, leading to a new evaluation indicator for code synthesis, which encourages generating functionally correct and computationally efficient code, mirroring the real-world software development standard. Our findings reveal that while LLMs demonstrate the remarkable capability to generate functionally correct code, there still exists a substantial gap in their efficiency output, underscoring a new frontier for LLM research and development.
Neural operators have recently grown in popularity as Partial Differential Equation (PDEs) surrogate models. Learning solution functionals, rather than functions, has proven to be a powerful approach to calculate fast, accurate solutions to complex PDEs. While much work has been done evaluating neural operator performance on a wide variety of surrogate modeling tasks, these works normally evaluate performance on a single equation at a time. In this work, we develop a novel contrastive pretraining framework utilizing Generalized Contrastive Loss that improves neural operator generalization across multiple governing equations simultaneously. Governing equation coefficients are used to measure ground-truth similarity between systems. A combination of physics-informed system evolution and latent-space model output are anchored to input data and used in our distance function. We find that physics-informed contrastive pretraining improves both accuracy and generalization for the Fourier Neural Operator in fixed-future task, with comparable performance on the autoregressive rollout, and superresolution tasks for the 1D Heat, Burgers', and linear advection equations.
Multicore processors constitute the main architecture choice for modern computing systems in different market segments. Despite their benefits, the contention that naturally appears when multiple applications compete for the use of shared resources among cores, such as the last-level cache (LLC), may lead to substantial performance degradation. This may have a negative impact on key system aspects such as throughput and fairness. Assigning the various applications in the workload to separate LLC partitions with possibly different sizes, has been proven effective to mitigate shared-resource contention effects. In this article we propose LFOC, a clustering-based cache partitioning scheme that strives to deliver fairness while providing acceptable system throughput. LFOC leverages the Intel Cache Allocation Technology (CAT), which enables the system software to divide the LLC into different partitions. To accomplish its goals, LFOC tries to mimic the behavior of the optimal cache-clustering solution, which we could approximate by means of a simulator in different scenarios. To this end, LFOC effectively identifies streaming aggressor programs and cache sensitive applications, which are then assigned to separate cache partitions. We implemented LFOC in the Linux kernel and evaluated it on a real system featuring an Intel Skylake processor, where we compare its effectiveness to that of two state-of-the-art policies that optimize fairness and throughput, respectively. Our experimental analysis reveals that LFOC is able to bring a higher reduction in unfairness by leveraging a lightweight algorithm suitable for adoption in a real OS.
Software defect prediction aims to identify defect-prone code, aiding developers in optimizing testing resource allocation. Most defect prediction approaches primarily focus on coarse-grained, file-level defect prediction, which fails to provide developers with the precision required to locate defective code. Recently, some researchers have proposed fine-grained, line-level defect prediction methods. However, most of these approaches lack an in-depth consideration of the contextual semantics of code lines and neglect the local interaction information among code lines. To address the above issues, this paper presents a line-level defect prediction method grounded in a code bilinear attention fusion framework (BAFLineDP). This method discerns defective code files and lines by integrating source code line semantics, line-level context, and local interaction information between code lines and line-level context. Through an extensive analysis involving within- and cross-project defect prediction across 9 distinct projects encompassing 32 releases, our results demonstrate that BAFLineDP outperforms current advanced file-level and line-level defect prediction approaches.
Network traffic refers to the amount of data being sent and received over the internet or any system that connects computers. Analyzing and understanding network traffic is vital for improving network security and management. However, the analysis of network traffic is challenging due to the diverse nature of data packets, which often feature heterogeneous headers and encrypted payloads lacking semantics. To capture the latent semantics of traffic, a few studies have adopted pre-training techniques based on the Transformer encoder or decoder to learn the representations from massive traffic data. However, these methods typically excel in traffic understanding (classification) or traffic generation tasks. To address this issue, we develop Lens, a foundation model for network traffic that leverages the T5 architecture to learn the pre-trained representations from large-scale unlabeled data. Harnessing the strength of the encoder-decoder framework, which captures the global information while preserving the generative ability, our model can better learn the representations from raw data. To further enhance pre-training effectiveness, we design a novel loss that combines three distinct tasks: Masked Span Prediction (MSP), Packet Order Prediction (POP), and Homologous Traffic Prediction (HTP). Evaluation results across various benchmark datasets demonstrate that the proposed Lens outperforms the baselines in most downstream tasks related to both traffic understanding and generation. Notably, it also requires much less labeled data for fine-tuning compared to current methods.
The rapid dissemination of misinformation through social media increased the importance of automated fact-checking. Furthermore, studies on what deep neural models pay attention to when making predictions have increased in recent years. While significant progress has been made in this field, it has not yet reached a level of reasoning comparable to human reasoning. To address these gaps, we propose a multi-task explainable neural model for misinformation detection. Specifically, this work formulates an explanation generation process of the model's veracity prediction as a text summarization problem. Additionally, the performance of the proposed model is discussed on publicly available datasets and the findings are evaluated with related studies.
Many real-world applications require the prediction of long sequence time-series, such as electricity consumption planning. Long sequence time-series forecasting (LSTF) demands a high prediction capacity of the model, which is the ability to capture precise long-range dependency coupling between output and input efficiently. Recent studies have shown the potential of Transformer to increase the prediction capacity. However, there are several severe issues with Transformer that prevent it from being directly applicable to LSTF, such as quadratic time complexity, high memory usage, and inherent limitation of the encoder-decoder architecture. To address these issues, we design an efficient transformer-based model for LSTF, named Informer, with three distinctive characteristics: (i) a $ProbSparse$ Self-attention mechanism, which achieves $O(L \log L)$ in time complexity and memory usage, and has comparable performance on sequences' dependency alignment. (ii) the self-attention distilling highlights dominating attention by halving cascading layer input, and efficiently handles extreme long input sequences. (iii) the generative style decoder, while conceptually simple, predicts the long time-series sequences at one forward operation rather than a step-by-step way, which drastically improves the inference speed of long-sequence predictions. Extensive experiments on four large-scale datasets demonstrate that Informer significantly outperforms existing methods and provides a new solution to the LSTF problem.
Distant supervision can effectively label data for relation extraction, but suffers from the noise labeling problem. Recent works mainly perform soft bag-level noise reduction strategies to find the relatively better samples in a sentence bag, which is suboptimal compared with making a hard decision of false positive samples in sentence level. In this paper, we introduce an adversarial learning framework, which we named DSGAN, to learn a sentence-level true-positive generator. Inspired by Generative Adversarial Networks, we regard the positive samples generated by the generator as the negative samples to train the discriminator. The optimal generator is obtained until the discrimination ability of the discriminator has the greatest decline. We adopt the generator to filter distant supervision training dataset and redistribute the false positive instances into the negative set, in which way to provide a cleaned dataset for relation classification. The experimental results show that the proposed strategy significantly improves the performance of distant supervision relation extraction comparing to state-of-the-art systems.
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