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Large models represent a groundbreaking advancement in multiple application fields, enabling remarkable achievements across various tasks. However, their unprecedented scale comes with significant computational costs. These models, often consisting of billions of parameters, require vast amounts of computational resources for execution. Especially, the expansive scale and computational demands pose considerable challenges when customizing them for particular downstream tasks, particularly over the hardware platforms constrained by computational capabilities. Parameter Efficient Fine-Tuning (PEFT) provides a practical solution by efficiently adapt the large models over the various downstream tasks. In particular, PEFT refers to the process of adjusting the parameters of a pre-trained large models to adapt it to a specific task while minimizing the number of additional parameters introduced or computational resources required. This approach is particularly important when dealing with large language models with high parameter counts, as fine-tuning these models from scratch can be computationally expensive and resource-intensive, posing considerable challenges in the supporting system platform design. In this survey, we present comprehensive studies of various PEFT algorithms, examining their performance and computational overhead. Moreover, we provide an overview of applications developed using different PEFT algorithms and discuss common techniques employed to mitigate computation costs for PEFT. In addition to the algorithmic perspective, we overview various real-world system designs to investigate the implementation costs associated with different PEFT algorithms. This survey serves as an indispensable resource for researchers aiming to understand both the PEFT algorithm and its system implementation, offering detailed insights into recent advancements and practical applications.

Model-free learning-based control methods have recently shown significant advantages over traditional control methods in avoiding complex vehicle characteristic estimation and parameter tuning. As a primary policy learning method, imitation learning (IL) is capable of learning control policies directly from expert demonstrations. However, the performance of IL policies is highly dependent on the data sufficiency and quality of the demonstrations. To alleviate the above problems of IL-based policies, a lifelong policy learning (LLPL) framework is proposed in this paper, which extends the IL scheme with lifelong learning (LLL). First, a novel IL-based model-free control policy learning method for path tracking is introduced. Even with imperfect demonstration, the optimal control policy can be learned directly from historical driving data. Second, by using the LLL method, the pre-trained IL policy can be safely updated and fine-tuned with incremental execution knowledge. Third, a knowledge evaluation method for policy learning is introduced to avoid learning redundant or inferior knowledge, thus ensuring the performance improvement of online policy learning. Experiments are conducted using a high-fidelity vehicle dynamic model in various scenarios to evaluate the performance of the proposed method. The results show that the proposed LLPL framework can continuously improve the policy performance with collected incremental driving data, and achieves the best accuracy and control smoothness compared to other baseline methods after evolving on a 7 km curved road. Through learning and evaluation with noisy real-life data collected in an off-road environment, the proposed LLPL framework also demonstrates its applicability in learning and evolving in real-life scenarios.

State-of-the-art models on contemporary 3D segmentation benchmarks like ScanNet consume and label dataset-provided 3D point clouds, obtained through post processing of sensed multiview RGB-D images. They are typically trained in-domain, forego large-scale 2D pre-training and outperform alternatives that featurize the posed RGB-D multiview images instead. The gap in performance between methods that consume posed images versus post-processed 3D point clouds has fueled the belief that 2D and 3D perception require distinct model architectures. In this paper, we challenge this view and propose ODIN (Omni-Dimensional INstance segmentation), a model that can segment and label both 2D RGB images and 3D point clouds, using a transformer architecture that alternates between 2D within-view and 3D cross-view information fusion. Our model differentiates 2D and 3D feature operations through the positional encodings of the tokens involved, which capture pixel coordinates for 2D patch tokens and 3D coordinates for 3D feature tokens. ODIN achieves state-of-the-art performance on ScanNet200, Matterport3D and AI2THOR 3D instance segmentation benchmarks, and competitive performance on ScanNet, S3DIS and COCO. It outperforms all previous works by a wide margin when the sensed 3D point cloud is used in place of the point cloud sampled from 3D mesh. When used as the 3D perception engine in an instructable embodied agent architecture, it sets a new state-of-the-art on the TEACh action-from-dialogue benchmark. Our code and checkpoints can be found at the project website (//odin-seg.github.io).

Recent advances in large pre-trained vision-language models have demonstrated remarkable performance on zero-shot downstream tasks. Building upon this, recent studies, such as CoOp and CoCoOp, have proposed the use of prompt learning, where context within a prompt is replaced with learnable vectors, leading to significant improvements over manually crafted prompts. However, the performance improvement for unseen classes is still marginal, and to tackle this problem, data augmentation has been frequently used in traditional zero-shot learning techniques. Through our experiments, we have identified important issues in CoOp and CoCoOp: the context learned through traditional image augmentation is biased toward seen classes, negatively impacting generalization to unseen classes. To address this problem, we propose adversarial token embedding to disentangle low-level visual augmentation features from high-level class information when inducing bias in learnable prompts. Through our novel mechanism called "Adding Attributes to Prompt Learning", AAPL, we guide the learnable context to effectively extract text features by focusing on high-level features for unseen classes. We have conducted experiments across 11 datasets, and overall, AAPL shows favorable performances compared to the existing methods in few-shot learning, zero-shot learning, cross-dataset, and domain generalization tasks.

We present Prompt Cache, an approach for accelerating inference for large language models (LLM) by reusing attention states across different LLM prompts. Many input prompts have overlapping text segments, such as system messages, prompt templates, and documents provided for context. Our key insight is that by precomputing and storing the attention states of these frequently occurring text segments on the inference server, we can efficiently reuse them when these segments appear in user prompts. Prompt Cache employs a schema to explicitly define such reusable text segments, called prompt modules. The schema ensures positional accuracy during attention state reuse and provides users with an interface to access cached states in their prompt. Using a prototype implementation, we evaluate Prompt Cache across several LLMs. We show that Prompt Cache significantly reduce latency in time-to-first-token, especially for longer prompts such as document-based question answering and recommendations. The improvements range from 8x for GPU-based inference to 60x for CPU-based inference, all while maintaining output accuracy and without the need for model parameter modifications.

Retrieval-Augmented Generation (RAG) has shown significant improvements in various natural language processing tasks by integrating the strengths of large language models (LLMs) and external knowledge databases. However, RAG introduces long sequence generation and leads to high computation and memory costs. We propose RAGCache, a novel multilevel dynamic caching system tailored for RAG. Our analysis benchmarks current RAG systems, pinpointing the performance bottleneck (i.e., long sequence due to knowledge injection) and optimization opportunities (i.e., caching knowledge's intermediate states). Based on these insights, we design RAGCache, which organizes the intermediate states of retrieved knowledge in a knowledge tree and caches them in the GPU and host memory hierarchy. RAGCache proposes a replacement policy that is aware of LLM inference characteristics and RAG retrieval patterns. It also dynamically overlaps the retrieval and inference steps to minimize the end-to-end latency. We implement RAGCache and evaluate it on vLLM, a state-of-the-art LLM inference system and Faiss, a state-of-the-art vector database. The experimental results show that RAGCache reduces the time to first token (TTFT) by up to 4x and improves the throughput by up to 2.1x compared to vLLM integrated with Faiss.

Long methods that encapsulate multiple responsibilities within a single method are challenging to maintain. Choosing which statements to extract into new methods has been the target of many research tools. Despite steady improvements, these tools often fail to generate refactorings that align with developers' preferences and acceptance criteria. Given that Large Language Models (LLMs) have been trained on large code corpora, if we harness their familiarity with the way developers form functions, we could suggest refactorings that developers are likely to accept. In this paper, we advance the science and practice of refactoring by synergistically combining the insights of LLMs with the power of IDEs to perform Extract Method (EM). Our formative study on 1752 EM scenarios revealed that LLMs are very effective for giving expert suggestions, yet they are unreliable: up to 76.3% of the suggestions are hallucinations. We designed a novel approach that removes hallucinations from the candidates suggested by LLMs, then further enhances and ranks suggestions based on static analysis techniques from program slicing, and finally leverages the IDE to execute refactorings correctly. We implemented this approach in an IntelliJ IDEA plugin called EM-Assist. We empirically evaluated EM-Assist on a diverse corpus that replicates 1752 actual refactorings from open-source projects. We found that EM-Assist outperforms previous state of the art tools: EM-Assist suggests the developerperformed refactoring in 53.4% of cases, improving over the recall rate of 39.4% for previous best-in-class tools. Furthermore, we conducted firehouse surveys with 16 industrial developers and suggested refactorings on their recent commits. 81.3% of them agreed with the recommendations provided by EM-Assist.

Recently, Segment Anything Model (SAM) shows exceptional performance in generating high-quality object masks and achieving zero-shot image segmentation. However, as a versatile vision model, SAM is primarily trained with large-scale natural light images. In underwater scenes, it exhibits substantial performance degradation due to the light scattering and absorption. Meanwhile, the simplicity of the SAM's decoder might lead to the loss of fine-grained object details. To address the above issues, we propose a novel feature learning framework named MAS-SAM for marine animal segmentation, which involves integrating effective adapters into the SAM's encoder and constructing a pyramidal decoder. More specifically, we first build a new SAM's encoder with effective adapters for underwater scenes. Then, we introduce a Hypermap Extraction Module (HEM) to generate multi-scale features for a comprehensive guidance. Finally, we propose a Progressive Prediction Decoder (PPD) to aggregate the multi-scale features and predict the final segmentation results. When grafting with the Fusion Attention Module (FAM), our method enables to extract richer marine information from global contextual cues to fine-grained local details. Extensive experiments on four public MAS datasets demonstrate that our MAS-SAM can obtain better results than other typical segmentation methods. The source code is available at //github.com/Drchip61/MAS-SAM.

Geospatial Copilots unlock unprecedented potential for performing Earth Observation (EO) applications through natural language instructions. However, existing agents rely on overly simplified single tasks and template-based prompts, creating a disconnect with real-world scenarios. In this work, we present GeoLLM-Engine, an environment for tool-augmented agents with intricate tasks routinely executed by analysts on remote sensing platforms. We enrich our environment with geospatial API tools, dynamic maps/UIs, and external multimodal knowledge bases to properly gauge an agent's proficiency in interpreting realistic high-level natural language commands and its functional correctness in task completions. By alleviating overheads typically associated with human-in-the-loop benchmark curation, we harness our massively parallel engine across 100 GPT-4-Turbo nodes, scaling to over half a million diverse multi-tool tasks and across 1.1 million satellite images. By moving beyond traditional single-task image-caption paradigms, we investigate state-of-the-art agents and prompting techniques against long-horizon prompts.

We propose to pre-train a unified language model for both autoencoding and partially autoregressive language modeling tasks using a novel training procedure, referred to as a pseudo-masked language model (PMLM). Given an input text with masked tokens, we rely on conventional masks to learn inter-relations between corrupted tokens and context via autoencoding, and pseudo masks to learn intra-relations between masked spans via partially autoregressive modeling. With well-designed position embeddings and self-attention masks, the context encodings are reused to avoid redundant computation. Moreover, conventional masks used for autoencoding provide global masking information, so that all the position embeddings are accessible in partially autoregressive language modeling. In addition, the two tasks pre-train a unified language model as a bidirectional encoder and a sequence-to-sequence decoder, respectively. Our experiments show that the unified language models pre-trained using PMLM achieve new state-of-the-art results on a wide range of natural language understanding and generation tasks across several widely used benchmarks.