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Safety in the face of uncertainty is a key challenge in robotics. In this work, we propose a real-time capable framework to generate safe and task-efficient robot trajectories for stochastic control problems. For that, we first formulate the problem as a chance-constrained optimisation problem, in which the probability of the controlled system to violate a safety constraint is constrained to be below a user-defined threshold. To solve the chance-constrained optimisation problem, we propose a Monte--Carlo approximation relying on samples of the uncertainty to estimate the probability of violating a safety constraint given a controller. We use this approximation in the motion planner VP-STO to solve the sampled-based problem. Consequently, we refer to our adapted approach as CC-VPSTO, which stands for Chance-Constrained VP-STO. We address the crucial issue concerning the Monte--Carlo approximation: given a predetermined number of uncertainty samples, we propose several ways to define the sample-based problem such that it is a reliable over-approximation of the original problem, i.e. any solution to the sample-based problem adheres to the original chance-constrained problem with high confidence. The strengths of our approach lie in i) its generality, as it does not require any specific assumptions on the underlying uncertainty distribution, the dynamics of the system, the cost function, and for some of the proposed sample-based approximations, on the form of inequality constraints; and ii) its applicability to MPC-settings. We demonstrate the validity and efficiency of our approach on both simulation and real-world robot experiments. For additional material, please visit //sites.google.com/oxfordrobotics.institute/cc-vpsto.

Adapting the Diffusion Probabilistic Model (DPM) for direct image super-resolution is wasteful, given that a simple Convolutional Neural Network (CNN) can recover the main low-frequency content. Therefore, we present ResDiff, a novel Diffusion Probabilistic Model based on Residual structure for Single Image Super-Resolution (SISR). ResDiff utilizes a combination of a CNN, which restores primary low-frequency components, and a DPM, which predicts the residual between the ground-truth image and the CNN predicted image. In contrast to the common diffusion-based methods that directly use LR images to guide the noise towards HR space, ResDiff utilizes the CNN's initial prediction to direct the noise towards the residual space between HR space and CNN-predicted space, which not only accelerates the generation process but also acquires superior sample quality. Additionally, a frequency-domain-based loss function for CNN is introduced to facilitate its restoration, and a frequency-domain guided diffusion is designed for DPM on behalf of predicting high-frequency details. The extensive experiments on multiple benchmark datasets demonstrate that ResDiff outperforms previous diffusion based methods in terms of shorter model convergence time, superior generation quality, and more diverse samples.

The increasing reliance on AI-driven solutions, particularly Large Language Models (LLMs) like the GPT series, for information retrieval highlights the critical need for their factuality and fairness, especially amidst the rampant spread of misinformation and disinformation online. Our study evaluates the factual accuracy, stability, and biases in widely adopted GPT models, including GPT-3.5 and GPT-4, contributing to reliability and integrity of AI-mediated information dissemination. We introduce 'Global-Liar,' a dataset uniquely balanced in terms of geographic and temporal representation, facilitating a more nuanced evaluation of LLM biases. Our analysis reveals that newer iterations of GPT models do not always equate to improved performance. Notably, the GPT-4 version from March demonstrates higher factual accuracy than its subsequent June release. Furthermore, a concerning bias is observed, privileging statements from the Global North over the Global South, thus potentially exacerbating existing informational inequities. Regions such as Africa and the Middle East are at a disadvantage, with much lower factual accuracy. The performance fluctuations over time suggest that model updates may not consistently benefit all regions equally. Our study also offers insights into the impact of various LLM configuration settings, such as binary decision forcing, model re-runs and temperature, on model's factuality. Models constrained to binary (true/false) choices exhibit reduced factuality compared to those allowing an 'unclear' option. Single inference at a low temperature setting matches the reliability of majority voting across various configurations. The insights gained highlight the need for culturally diverse and geographically inclusive model training and evaluation. This approach is key to achieving global equity in technology, distributing AI benefits fairly worldwide.

Recent advancements have significantly augmented the reasoning capabilities of Large Language Models (LLMs) through various methodologies, especially chain-of-thought (CoT) reasoning. However, previous methods fail to address reasoning errors in intermediate steps, leading to accumulative errors.In this paper, we propose Deductive Beam Search (DBS), which seamlessly integrates CoT and deductive reasoning with step-wise beam search for LLMs. Our approach deploys a verifier, verifying the deducibility of a reasoning step and its premises, thus alleviating the error accumulation. Furthermore, we introduce a scalable and labor-free data construction method to amplify our model's verification capabilities. Extensive experiments demonstrate that our approach significantly enhances the base performance of LLMs of various scales (7B, 13B, 70B, and ChatGPT) across 8 reasoning datasets from 3 diverse reasoning genres, including arithmetic, commonsense, and symbolic. Moreover, our analysis proves DBS's capability of detecting diverse and subtle reasoning errors and robustness on different model scales.

Pre-trained Language Models (PLMs) have achieved great success in various Natural Language Processing (NLP) tasks under the pre-training and fine-tuning paradigm. With large quantities of parameters, PLMs are computation-intensive and resource-hungry. Hence, model pruning has been introduced to compress large-scale PLMs. However, most prior approaches only consider task-specific knowledge towards downstream tasks, but ignore the essential task-agnostic knowledge during pruning, which may cause catastrophic forgetting problem and lead to poor generalization ability. To maintain both task-agnostic and task-specific knowledge in our pruned model, we propose ContrAstive Pruning (CAP) under the paradigm of pre-training and fine-tuning. It is designed as a general framework, compatible with both structured and unstructured pruning. Unified in contrastive learning, CAP enables the pruned model to learn from the pre-trained model for task-agnostic knowledge, and fine-tuned model for task-specific knowledge. Besides, to better retain the performance of the pruned model, the snapshots (i.e., the intermediate models at each pruning iteration) also serve as effective supervisions for pruning. Our extensive experiments show that adopting CAP consistently yields significant improvements, especially in extremely high sparsity scenarios. With only 3% model parameters reserved (i.e., 97% sparsity), CAP successfully achieves 99.2% and 96.3% of the original BERT performance in QQP and MNLI tasks. In addition, our probing experiments demonstrate that the model pruned by CAP tends to achieve better generalization ability.

Object detection with transformers (DETR) reaches competitive performance with Faster R-CNN via a transformer encoder-decoder architecture. Inspired by the great success of pre-training transformers in natural language processing, we propose a pretext task named random query patch detection to unsupervisedly pre-train DETR (UP-DETR) for object detection. Specifically, we randomly crop patches from the given image and then feed them as queries to the decoder. The model is pre-trained to detect these query patches from the original image. During the pre-training, we address two critical issues: multi-task learning and multi-query localization. (1) To trade-off multi-task learning of classification and localization in the pretext task, we freeze the CNN backbone and propose a patch feature reconstruction branch which is jointly optimized with patch detection. (2) To perform multi-query localization, we introduce UP-DETR from single-query patch and extend it to multi-query patches with object query shuffle and attention mask. In our experiments, UP-DETR significantly boosts the performance of DETR with faster convergence and higher precision on PASCAL VOC and COCO datasets. The code will be available soon.

Recently pre-trained language representation models such as BERT have shown great success when fine-tuned on downstream tasks including information retrieval (IR). However, pre-training objectives tailored for ad-hoc retrieval have not been well explored. In this paper, we propose Pre-training with Representative wOrds Prediction (PROP) for ad-hoc retrieval. PROP is inspired by the classical statistical language model for IR, specifically the query likelihood model, which assumes that the query is generated as the piece of text representative of the "ideal" document. Based on this idea, we construct the representative words prediction (ROP) task for pre-training. Given an input document, we sample a pair of word sets according to the document language model, where the set with higher likelihood is deemed as more representative of the document. We then pre-train the Transformer model to predict the pairwise preference between the two word sets, jointly with the Masked Language Model (MLM) objective. By further fine-tuning on a variety of representative downstream ad-hoc retrieval tasks, PROP achieves significant improvements over baselines without pre-training or with other pre-training methods. We also show that PROP can achieve exciting performance under both the zero- and low-resource IR settings. The code and pre-trained models are available at //github.com/Albert-Ma/PROP.

Recent work pre-training Transformers with self-supervised objectives on large text corpora has shown great success when fine-tuned on downstream NLP tasks including text summarization. However, pre-training objectives tailored for abstractive text summarization have not been explored. Furthermore there is a lack of systematic evaluation across diverse domains. In this work, we propose pre-training large Transformer-based encoder-decoder models on massive text corpora with a new self-supervised objective. In PEGASUS, important sentences are removed/masked from an input document and are generated together as one output sequence from the remaining sentences, similar to an extractive summary. We evaluated our best PEGASUS model on 12 downstream summarization tasks spanning news, science, stories, instructions, emails, patents, and legislative bills. Experiments demonstrate it achieves state-of-the-art performance on all 12 downstream datasets measured by ROUGE scores. Our model also shows surprising performance on low-resource summarization, surpassing previous state-of-the-art results on 6 datasets with only 1000 examples. Finally we validated our results using human evaluation and show that our model summaries achieve human performance on multiple datasets.

We propose UniViLM: a Unified Video and Language pre-training Model for multimodal understanding and generation. Motivated by the recent success of BERT based pre-training technique for NLP and image-language tasks, VideoBERT and CBT are proposed to exploit BERT model for video and language pre-training using narrated instructional videos. Different from their works which only pre-train understanding task, we propose a unified video-language pre-training model for both understanding and generation tasks. Our model comprises of 4 components including two single-modal encoders, a cross encoder and a decoder with the Transformer backbone. We first pre-train our model to learn the universal representation for both video and language on a large instructional video dataset. Then we fine-tune the model on two multimodal tasks including understanding task (text-based video retrieval) and generation task (multimodal video captioning). Our extensive experiments show that our method can improve the performance of both understanding and generation tasks and achieves the state-of-the art results.

State-of-the-art Convolutional Neural Network (CNN) benefits a lot from multi-task learning (MTL), which learns multiple related tasks simultaneously to obtain shared or mutually related representations for different tasks. The most widely-used MTL CNN structure is based on an empirical or heuristic split on a specific layer (e.g., the last convolutional layer) to minimize different task-specific losses. However, this heuristic sharing/splitting strategy may be harmful to the final performance of one or multiple tasks. In this paper, we propose a novel CNN structure for MTL, which enables automatic feature fusing at every layer. Specifically, we first concatenate features from different tasks according to their channel dimension, and then formulate the feature fusing problem as discriminative dimensionality reduction. We show that this discriminative dimensionality reduction can be done by 1x1 Convolution, Batch Normalization, and Weight Decay in one CNN, which we refer to as Neural Discriminative Dimensionality Reduction (NDDR). We perform ablation analysis in details for different configurations in training the network. The experiments carried out on different network structures and different task sets demonstrate the promising performance and desirable generalizability of our proposed method.