Upper-limb amputees face tremendous difficulty in operating dexterous powered prostheses. Previous work has shown that aspects of prosthetic hand, wrist, or elbow control can be improved through "intelligent" control, by combining movement-based or gaze-based intent estimation with low-level robotic autonomy. However, no such solutions exist for whole-arm control. Moreover, hardware platforms for advanced prosthetic control are expensive, and existing simulation platforms are not well-designed for integration with robotics software frameworks. We present the Prosthetic Arm Control Testbed (ProACT), a platform for evaluating intelligent control methods for prosthetic arms in an immersive (Augmented Reality) simulation setting. Using ProACT with non-amputee participants, we compare performance in a Box-and-Blocks Task using a virtual myoelectric prosthetic arm, with and without intent estimation. Our results show that methods using intent estimation improve both user satisfaction and the degree of success in the task. To the best of our knowledge, this constitutes the first study of semi-autonomous control for complex whole-arm prostheses, the first study including sequential task modeling in the context of wearable prosthetic arms, and the first testbed of its kind. Towards the goal of supporting future research in intelligent prosthetics, the system is built upon on existing open-source frameworks for robotics.
Error-bounded lossy compression has been a critical technique to significantly reduce the sheer amounts of simulation datasets for high-performance computing (HPC) scientific applications while effectively controlling the data distortion based on user-specified error bound. In many real-world use cases, users must perform computational operations on the compressed data (a.k.a. homomorphic compression). However, none of the existing error-bounded lossy compressors support the homomorphism, inevitably resulting in undesired decompression costs. In this paper, we propose a novel homomorphic error-bounded lossy compressor (called HoSZp), which supports not only error-bounding features but efficient computations (including negation, addition, multiplication, mean, variance, etc.) on the compressed data without the complete decompression step, which is the first attempt to the best of our knowledge. We develop several optimization strategies to maximize the overall compression ratio and execution performance. We evaluate HoSZp compared to other state-of-the-art lossy compressors based on multiple real-world scientific application datasets.
Reasoning about time is essential for Large Language Models (LLMs) to understand the world. Previous works focus on solving specific tasks, primarily on time-sensitive question answering. While these methods have proven effective, they cannot generalize to a wider spectrum of temporal reasoning tasks. Therefore, we propose a crucial question: Can we build a universal framework to handle a variety of temporal reasoning tasks? To that end, we systematically study 38 temporal reasoning tasks. Based on the observation that 19 tasks are directly related to mathematics, we first leverage the available mathematical dataset to set a solid foundation for temporal reasoning. However, the in-depth study indicates that focusing solely on mathematical enhancement falls short of addressing pure temporal reasoning tasks. To mitigate this limitation, we propose a simple but effective self-critic temporal optimization method to enhance the model's temporal reasoning capabilities without sacrificing general task abilities. Finally, we develop Timo, a model designed to excel in temporal reasoning at the 7B and 13B scales. Notably, Timo outperforms the counterpart LLMs by 10.0 and 7.6 in average accuracy scores and achieves the new state-of-the-art (SOTA) performance of comparable size. Extensive experiments further validate our framework's effectiveness and its generalization across diverse temporal tasks. The code is available at //github.com/zhaochen0110/Timo.
This paper presents a 3D Gaussian Inverse Rendering (GIR) method, employing 3D Gaussian representations to effectively factorize the scene into material properties, light, and geometry. The key contributions lie in three-fold. We compute the normal of each 3D Gaussian using the shortest eigenvector, with a directional masking scheme forcing accurate normal estimation without external supervision. We adopt an efficient voxel-based indirect illumination tracing scheme that stores direction-aware outgoing radiance in each 3D Gaussian to disentangle secondary illumination for approximating multi-bounce light transport. To further enhance the illumination disentanglement, we represent a high-resolution environmental map with a learnable low-resolution map and a lightweight, fully convolutional network. Our method achieves state-of-the-art performance in both relighting and novel view synthesis tasks among the recently proposed inverse rendering methods while achieving real-time rendering. This substantiates our proposed method's efficacy and broad applicability, highlighting its potential as an influential tool in various real-time interactive graphics applications such as material editing and relighting. The code will be released at //github.com/guduxiaolang/GIR.
Large Language Models (LLMs) are revolutionizing the AI industry with their superior capabilities. Training these models requires large-scale GPU clusters and significant computing time, leading to frequent failures that significantly increase training costs. Despite its significance, this field lacks a metric for evaluating reliability. In this work, we introduce a novel reliability metric called \emph{Training Overhead Ratio} (TOR) to evaluate the reliability of fault-tolerant LLM training systems. TOR is defined as the ratio of optimal training time to the observed training time of a system, serving as a practical tool for users to estimate the actual time required to train an LLM on a given system. Furthermore, our investigation identifies the key factor for enhancing reliability and present TOR equations for various types of failures encountered in practice.
Although large language models (LLMs) are capable of performing various tasks, they still suffer from producing plausible but incorrect responses. To improve the reliability of LLMs, recent research has focused on uncertainty quantification to predict whether a response is correct or not. However, most uncertainty quantification methods have been evaluated on questions requiring a single clear answer, ignoring the existence of data uncertainty that arises from irreducible randomness. Instead, these methods only consider model uncertainty, which arises from a lack of knowledge. In this paper, we investigate previous uncertainty quantification methods under the presence of data uncertainty. Our contributions are two-fold: 1) proposing a new Multi-Answer Question Answering dataset, MAQA, consisting of world knowledge, mathematical reasoning, and commonsense reasoning tasks to evaluate uncertainty quantification regarding data uncertainty, and 2) assessing 5 uncertainty quantification methods of diverse white- and black-box LLMs. Our findings show that entropy and consistency-based methods estimate the model uncertainty well even under data uncertainty, while other methods for white- and black-box LLMs struggle depending on the tasks. Additionally, methods designed for white-box LLMs suffer from overconfidence in reasoning tasks compared to simple knowledge queries. We believe our observations will pave the way for future work on uncertainty quantification in realistic setting.
Graph Neural Networks (GNNs) have demonstrated effectiveness in collaborative filtering tasks due to their ability to extract powerful structural features. However, combining the graph features extracted from user-item interactions and auxiliary features extracted from user genres and item properties remains a challenge. Currently available fusion methods face two major issues: 1) simple methods such as concatenation and summation are generic, but not accurate in capturing feature relationships; 2) task-specific methods like attention mechanisms and meta paths may not be suitable for general feature fusion. To address these challenges, we present GraphTransfer, a simple but universal feature fusion framework for GNN-based collaborative filtering. Our method accurately fuses different types of features by first extracting graph features from the user-item interaction graph and auxiliary features from users and items using GCN. The proposed cross fusion module then effectively bridges the semantic gaps between the interaction scores of different features. Theoretical analysis and experiments on public datasets show that GraphTransfer outperforms other feature fusion methods in CF tasks. Additionally, we demonstrate the universality of our framework via empirical studies in three other scenarios, showing that GraphTransfer leads to significant improvements in the performance of CF algorithms.
The utilization of automated depression detection significantly enhances early intervention for individuals experiencing depression. Despite numerous proposals on automated depression detection using recorded clinical interview videos, limited attention has been paid to considering the hierarchical structure of the interview questions. In clinical interviews for diagnosing depression, clinicians use a structured questionnaire that includes routine baseline questions and follow-up questions to assess the interviewee's condition. This paper introduces HiQuE (Hierarchical Question Embedding network), a novel depression detection framework that leverages the hierarchical relationship between primary and follow-up questions in clinical interviews. HiQuE can effectively capture the importance of each question in diagnosing depression by learning mutual information across multiple modalities. We conduct extensive experiments on the widely-used clinical interview data, DAIC-WOZ, where our model outperforms other state-of-the-art multimodal depression detection models and emotion recognition models, showcasing its clinical utility in depression detection.
Evaluation is the baton for the development of large language models. Current evaluations typically employ a single-item assessment paradigm for each atomic test objective, which struggles to discern whether a model genuinely possesses the required capabilities or merely memorizes/guesses the answers to specific questions. To this end, we propose a novel evaluation framework referred to as StructEval. Starting from an atomic test objective, StructEval deepens and broadens the evaluation by conducting a structured assessment across multiple cognitive levels and critical concepts, and therefore offers a comprehensive, robust and consistent evaluation for LLMs. Experiments on three widely-used benchmarks demonstrate that StructEval serves as a reliable tool for resisting the risk of data contamination and reducing the interference of potential biases, thereby providing more reliable and consistent conclusions regarding model capabilities. Our framework also sheds light on the design of future principled and trustworthy LLM evaluation protocols.
Conversational Agents (CAs) acting as peer supporters have been widely studied and demonstrated beneficial for people's mental health. However, previous peer support CAs either are user-initiated or follow predefined rules to initiate the conversations, which may discourage users to engage and build relationships with the CAs for long-term benefits. In this paper, we develop ComPeer, a generative CA that can proactively offer adaptive peer support to users. ComPeer leverages large language models to detect and reflect significant events in the dialogue, enabling it to strategically plan the timing and content of proactive care. In addition, ComPeer incorporates peer support strategies, conversation history, and its persona into the generative messages. Our one-week between-subjects study (N=24) demonstrates ComPeer's strength in providing peer support over time and boosting users' engagement compared to a baseline user-initiated CA.
Speaker identification (SI) determines a speaker's identity based on their spoken utterances. Previous work indicates that SI deep neural networks (DNNs) are vulnerable to backdoor attacks. Backdoor attacks involve embedding hidden triggers in DNNs' training data, causing the DNN to produce incorrect output when these triggers are present during inference. This is the first work that explores SI DNNs' vulnerability to backdoor attacks using speakers' emotional prosody, resulting in dynamic, inconspicuous triggers. %Such an attack could have real-world implications in forensics, authentication, and surveillance. We conducted a parameter study using three different datasets and DNN architectures to determine the impact of emotions as backdoor triggers on the accuracy of SI systems. Additionally, we have explored the robustness of our attacks by applying defenses like pruning, STRIP-ViTA, and three popular preprocessing techniques: quantization, median filtering, and squeezing. Our findings show that the aforementioned models are prone to our attack, indicating that emotional triggers (sad and neutral prosody) can be effectively used to compromise the integrity of SI systems. However, the results of our pruning experiments suggest potential solutions for reinforcing the models against our attacks, decreasing the attack success rate up to 40%.