We propose a novel method, ProNav, which uses proprioceptive signals for traversability estimation in challenging outdoor terrains for autonomous legged robot navigation. Our approach uses sensor data from a legged robot's joint encoders, force, and current sensors to measure the joint positions, forces, and current consumption respectively to accurately assess a terrain's stability, resistance to the robot's motion, risk of entrapment, and crash. Based on these factors, we compute the appropriate robot gait to maximize stability, which leads to reduced energy consumption. Our approach can also be used to predict imminent crashes in challenging terrains and execute behaviors to preemptively avoid them. We integrate ProNav with an exteroceptive-based method to navigate real-world environments with dense vegetation, high granularity, negative obstacles, etc. Our method shows an improvement up to 40% in terms of success rate and up to 15.1% reduction in terms of energy consumption compared to exteroceptive-based methods.
We explore how iterative revising a chain of thoughts with the help of information retrieval significantly improves large language models' reasoning and generation ability in long-horizon generation tasks, while hugely mitigating hallucination. In particular, the proposed method -- *retrieval-augmented thoughts* (RAT) -- revises each thought step one by one with retrieved information relevant to the task query, the current and the past thought steps, after the initial zero-shot CoT is generated. Applying RAT to GPT-3.5, GPT-4, and CodeLLaMA-7b substantially improves their performances on various long-horizon generation tasks; on average of relatively increasing rating scores by 13.63% on code generation, 16.96% on mathematical reasoning, 19.2% on creative writing, and 42.78% on embodied task planning. The demo page can be found at //craftjarvis.github.io/RAT
Supervised fine-tuning (SFT) is a crucial step for large language models (LLMs), enabling them to align with human instructions and enhance their capabilities in downstream tasks. Increasing instruction data substantially is a direct solution to align the model with a broader range of downstream tasks or notably improve its performance on a specific task. However, we find that large-scale increases in instruction data can damage the world knowledge previously stored in LLMs. To address this challenge, we propose LoRAMoE, a novelty framework that introduces several low-rank adapters (LoRA) and integrates them by using a router network, like a plugin version of Mixture of Experts (MoE). It freezes the backbone model and forces a portion of LoRAs to focus on leveraging world knowledge to solve downstream tasks, to alleviate world knowledge-edge forgetting. Experimental results show that, as the instruction data increases, LoRAMoE can significantly improve the ability to process downstream tasks, while maintaining the world knowledge stored in the LLM.
The decline of cognitive inhibition significantly impacts older adults' quality of life and well-being, making it a vital public health problem in today's aging society. Previous research has demonstrated that Virtual reality (VR) exergames have great potential to enhance cognitive inhibition among older adults. However, existing commercial VR exergames were unsuitable for older adults' long-term cognitive training due to the inappropriate cognitive activation paradigm, unnecessary complexity, and unbefitting difficulty levels. To bridge these gaps, we developed a customized VR cognitive training exergame (LightSword) based on Dual-task and Stroop paradigms for long-term cognitive inhibition training among healthy older adults. Subsequently, we conducted an eight-month longitudinal user study with 12 older adults aged 60 years and above to demonstrate the effectiveness of LightSword in improving cognitive inhibition. After the training, the cognitive inhibition abilities of older adults were significantly enhanced, with benefits persisting for 6 months. This result indicated that LightSword has both short-term and long-term effects in enhancing cognitive inhibition. Furthermore, qualitative feedback revealed that older adults exhibited a positive attitude toward long-term training with LightSword, which enhanced their motivation and compliance.
We introduce AnyGPT, an any-to-any multimodal language model that utilizes discrete representations for the unified processing of various modalities, including speech, text, images, and music. AnyGPT can be trained stably without any alterations to the current large language model (LLM) architecture or training paradigms. Instead, it relies exclusively on data-level preprocessing, facilitating the seamless integration of new modalities into LLMs, akin to the incorporation of new languages. We build a multimodal text-centric dataset for multimodal alignment pre-training. Utilizing generative models, we synthesize the first large-scale any-to-any multimodal instruction dataset. It consists of 108k samples of multi-turn conversations that intricately interweave various modalities, thus equipping the model to handle arbitrary combinations of multimodal inputs and outputs. Experimental results demonstrate that AnyGPT is capable of facilitating any-to-any multimodal conversation while achieving performance comparable to specialized models across all modalities, proving that discrete representations can effectively and conveniently unify multiple modalities within a language model. Demos are shown in //junzhan2000.github.io/AnyGPT.github.io/
Prior work has found that pretrained language models (LMs) fine-tuned with different random seeds can achieve similar in-domain performance but generalize differently on tests of syntactic generalization. In this work, we show that, even within a single model, we can find multiple subnetworks that perform similarly in-domain, but generalize vastly differently. To better understand these phenomena, we investigate if they can be understood in terms of "competing subnetworks": the model initially represents a variety of distinct algorithms, corresponding to different subnetworks, and generalization occurs when it ultimately converges to one. This explanation has been used to account for generalization in simple algorithmic tasks. Instead of finding competing subnetworks, we find that all subnetworks -- whether they generalize or not -- share a set of attention heads, which we refer to as the heuristic core. Further analysis suggests that these attention heads emerge early in training and compute shallow, non-generalizing features. The model learns to generalize by incorporating additional attention heads, which depend on the outputs of the "heuristic" heads to compute higher-level features. Overall, our results offer a more detailed picture of the mechanisms for syntactic generalization in pretrained LMs.
Most existing topic models rely on bag-of-words (BOW) representation, which limits their ability to capture word order information and leads to challenges with out-of-vocabulary (OOV) words in new documents. Contextualized word embeddings, however, show superiority in word sense disambiguation and effectively address the OOV issue. In this work, we introduce a novel neural topic model called the Contextlized Word Topic Model (CWTM), which integrates contextualized word embeddings from BERT. The model is capable of learning the topic vector of a document without BOW information. In addition, it can also derive the topic vectors for individual words within a document based on their contextualized word embeddings. Experiments across various datasets show that CWTM generates more coherent and meaningful topics compared to existing topic models, while also accommodating unseen words in newly encountered documents.
Fine-grained control over large language models (LLMs) remains a significant challenge, hindering their adaptability to diverse user needs. While Reinforcement Learning from Human Feedback (RLHF) shows promise in aligning LLMs, its reliance on scalar rewards often limits its ability to capture diverse user preferences in real-world applications. To address this limitation, we introduce the Directional Preference Alignment (DPA) framework. Unlike the scalar-reward RLHF, DPA incorporates multi-objective reward modeling to represent diverse preference profiles. Additionally, DPA models user preferences as directions (i.e., unit vectors) in the reward space to achieve user-dependent preference control. Our method involves training a multi-objective reward model and then fine-tuning the LLM with a preference-conditioned variant of Rejection Sampling Finetuning (RSF), an RLHF method adopted by Llama 2. This method enjoys a better performance trade-off across various reward objectives. In comparison with the scalar-reward RLHF, DPA offers users intuitive control over LLM generation: they can arithmetically specify their desired trade-offs (e.g., more helpfulness with less verbosity). We also validate the effectiveness of DPA with real-world alignment experiments on Mistral-7B. Our method provides straightforward arithmetic control over the trade-off between helpfulness and verbosity while maintaining competitive performance with strong baselines such as Direct Preference Optimization (DPO).
Following unprecedented success on the natural language tasks, Transformers have been successfully applied to several computer vision problems, achieving state-of-the-art results and prompting researchers to reconsider the supremacy of convolutional neural networks (CNNs) as {de facto} operators. Capitalizing on these advances in computer vision, the medical imaging field has also witnessed growing interest for Transformers that can capture global context compared to CNNs with local receptive fields. Inspired from this transition, in this survey, we attempt to provide a comprehensive review of the applications of Transformers in medical imaging covering various aspects, ranging from recently proposed architectural designs to unsolved issues. Specifically, we survey the use of Transformers in medical image segmentation, detection, classification, reconstruction, synthesis, registration, clinical report generation, and other tasks. In particular, for each of these applications, we develop taxonomy, identify application-specific challenges as well as provide insights to solve them, and highlight recent trends. Further, we provide a critical discussion of the field's current state as a whole, including the identification of key challenges, open problems, and outlining promising future directions. We hope this survey will ignite further interest in the community and provide researchers with an up-to-date reference regarding applications of Transformer models in medical imaging. Finally, to cope with the rapid development in this field, we intend to regularly update the relevant latest papers and their open-source implementations at \url{//github.com/fahadshamshad/awesome-transformers-in-medical-imaging}.
Learning disentanglement aims at finding a low dimensional representation which consists of multiple explanatory and generative factors of the observational data. The framework of variational autoencoder (VAE) is commonly used to disentangle independent factors from observations. However, in real scenarios, factors with semantics are not necessarily independent. Instead, there might be an underlying causal structure which renders these factors dependent. We thus propose a new VAE based framework named CausalVAE, which includes a Causal Layer to transform independent exogenous factors into causal endogenous ones that correspond to causally related concepts in data. We further analyze the model identifiabitily, showing that the proposed model learned from observations recovers the true one up to a certain degree. Experiments are conducted on various datasets, including synthetic and real word benchmark CelebA. Results show that the causal representations learned by CausalVAE are semantically interpretable, and their causal relationship as a Directed Acyclic Graph (DAG) is identified with good accuracy. Furthermore, we demonstrate that the proposed CausalVAE model is able to generate counterfactual data through "do-operation" to the causal factors.
Language model pre-training, such as BERT, has significantly improved the performances of many natural language processing tasks. However, pre-trained language models are usually computationally expensive and memory intensive, so it is difficult to effectively execute them on some resource-restricted devices. To accelerate inference and reduce model size while maintaining accuracy, we firstly propose a novel transformer distillation method that is a specially designed knowledge distillation (KD) method for transformer-based models. By leveraging this new KD method, the plenty of knowledge encoded in a large teacher BERT can be well transferred to a small student TinyBERT. Moreover, we introduce a new two-stage learning framework for TinyBERT, which performs transformer distillation at both the pre-training and task-specific learning stages. This framework ensures that TinyBERT can capture both the general-domain and task-specific knowledge of the teacher BERT. TinyBERT is empirically effective and achieves comparable results with BERT in GLUE datasets, while being 7.5x smaller and 9.4x faster on inference. TinyBERT is also significantly better than state-of-the-art baselines, even with only about 28% parameters and 31% inference time of baselines.