Recent advancements in autonomous driving have relied on data-driven approaches, which are widely adopted but face challenges including dataset bias, overfitting, and uninterpretability. Drawing inspiration from the knowledge-driven nature of human driving, we explore the question of how to instill similar capabilities into autonomous driving systems and summarize a paradigm that integrates an interactive environment, a driver agent, as well as a memory component to address this question. Leveraging large language models with emergent abilities, we propose the DiLu framework, which combines a Reasoning and a Reflection module to enable the system to perform decision-making based on common-sense knowledge and evolve continuously. Extensive experiments prove DiLu's capability to accumulate experience and demonstrate a significant advantage in generalization ability over reinforcement learning-based methods. Moreover, DiLu is able to directly acquire experiences from real-world datasets which highlights its potential to be deployed on practical autonomous driving systems. To the best of our knowledge, we are the first to instill knowledge-driven capability into autonomous driving systems from the perspective of how humans drive.
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Makeup transfer is a process of transferring the makeup style from a reference image to the source images, while preserving the source images' identities. This technique is highly desirable and finds many applications. However, existing methods lack fine-level control of the makeup style, making it challenging to achieve high-quality results when dealing with large spatial misalignments. To address this problem, we propose a novel Spatial Alignment and Region-Adaptive normalization method (SARA) in this paper. Our method generates detailed makeup transfer results that can handle large spatial misalignments and achieve part-specific and shade-controllable makeup transfer. Specifically, SARA comprises three modules: Firstly, a spatial alignment module that preserves the spatial context of makeup and provides a target semantic map for guiding the shape-independent style codes. Secondly, a region-adaptive normalization module that decouples shape and makeup style using per-region encoding and normalization, which facilitates the elimination of spatial misalignments. Lastly, a makeup fusion module blends identity features and makeup style by injecting learned scale and bias parameters. Experimental results show that our SARA method outperforms existing methods and achieves state-of-the-art performance on two public datasets.
Binaural reproduction for headphone-based listening is an active research area due to its widespread use in evolving technologies such as augmented and virtual reality (AR and VR). On the one hand, these applications demand high quality spatial audio perception to preserve the sense of immersion. On the other hand, recording devices may only have a few microphones, leading to low-order representations such as first-order Ambisonics (FOA). However, first-order Ambisonics leads to limited externalization and spatial resolution. In this paper, a novel head-related transfer function (HRTF) preprocessing optimization loss is proposed, and is minimized using nonlinear programming. The new method, denoted iMagLS, involves the introduction of an interaural level difference (ILD) error term to the now widely used MagLS optimization loss for the lateral plane angles. Results indicate that the ILD error could be substantially reduced, while the HRTF magnitude error remains similar to that obtained with MagLS. These results could prove beneficial to the overall spatial quality of first-order Ambisonics, while other reproduction methods could also benefit from considering this modified loss.
Battery-powered IoT devices face challenges like cost, maintenance, and environmental sustainability, prompting the emergence of batteryless energy-harvesting systems that harness ambient sources. However, their intermittent behavior can disrupt program execution and cause data loss, leading to unpredictable outcomes. Despite exhaustive studies employing conventional checkpoint methods and intricate programming paradigms to address these pitfalls, this paper proposes an innovative systematic methodology, namely DIAC. The DIAC synthesis procedure enhances the performance and efficiency of intermittent computing systems, with a focus on maximizing forward progress and minimizing the energy overhead imposed by distinct memory arrays for backup. Then, a finite-state machine is delineated, encapsulating the core operations of an IoT node, sense, compute, transmit, and sleep states. First, we validate the robustness and functionalities of a DIAC-based design in the presence of power disruptions. DIAC is then applied to a wide range of benchmarks, including ISCAS-89, MCNS, and ITC-99. The simulation results substantiate the power-delay-product (PDP) benefits. For example, results for complex MCNC benchmarks indicate a PDP improvement of 61%, 56%, and 38% on average compared to three alternative techniques, evaluated at 45 nm.
Quantum computing has the potential to solve problems that are intractable for classical systems, yet the high error rates in contemporary quantum devices often exceed tolerable limits for useful algorithm execution. Quantum Error Correction (QEC) mitigates this by employing redundancy, distributing quantum information across multiple data qubits and utilizing syndrome qubits to monitor their states for errors. The syndromes are subsequently interpreted by a decoding algorithm to identify and correct errors in the data qubits. This task is complex due to the multiplicity of error sources affecting both data and syndrome qubits as well as syndrome extraction operations. Additionally, identical syndromes can emanate from different error sources, necessitating a decoding algorithm that evaluates syndromes collectively. Although machine learning (ML) decoders such as multi-layer perceptrons (MLPs) and convolutional neural networks (CNNs) have been proposed, they often focus on local syndrome regions and require retraining when adjusting for different code distances. We introduce a transformer-based QEC decoder which employs self-attention to achieve a global receptive field across all input syndromes. It incorporates a mixed loss training approach, combining both local physical error and global parity label losses. Moreover, the transformer architecture's inherent adaptability to variable-length inputs allows for efficient transfer learning, enabling the decoder to adapt to varying code distances without retraining. Evaluation on six code distances and ten different error configurations demonstrates that our model consistently outperforms non-ML decoders, such as Union Find (UF) and Minimum Weight Perfect Matching (MWPM), and other ML decoders, thereby achieving best logical error rates. Moreover, the transfer learning can save over 10x of training cost.
Seamless human-robot manipulation in close proximity relies on accurate forecasts of human motion. While there has been significant progress in learning forecast models at scale, when applied to manipulation tasks, these models accrue high errors at critical transition points leading to degradation in downstream planning performance. Our key insight is that instead of predicting the most likely human motion, it is sufficient to produce forecasts that capture how future human motion would affect the cost of a robot's plan. We present ManiCast, a novel framework that learns cost-aware human forecasts and feeds them to a model predictive control planner to execute collaborative manipulation tasks. Our framework enables fluid, real-time interactions between a human and a 7-DoF robot arm across a number of real-world tasks such as reactive stirring, object handovers, and collaborative table setting. We evaluate both the motion forecasts and the end-to-end forecaster-planner system against a range of learned and heuristic baselines while additionally contributing new datasets. We release our code and datasets at //portal-cornell.github.io/manicast/.
Despite breakthroughs in audio generation models, their capabilities are often confined to domain-specific conditions such as speech transcriptions and audio captions. However, real-world audio creation aims to generate harmonious audio containing various elements such as speech, music, and sound effects with controllable conditions, which is challenging to address using existing audio generation systems. We present WavJourney, a novel framework that leverages Large Language Models (LLMs) to connect various audio models for audio creation. WavJourney allows users to create storytelling audio content with diverse audio elements simply from textual descriptions. Specifically, given a text instruction, WavJourney first prompts LLMs to generate an audio script that serves as a structured semantic representation of audio elements. The audio script is then converted into a computer program, where each line of the program calls a task-specific audio generation model or computational operation function. The computer program is then executed to obtain a compositional and interpretable solution for audio creation. Experimental results suggest that WavJourney is capable of synthesizing realistic audio aligned with textually-described semantic, spatial and temporal conditions, achieving state-of-the-art results on text-to-audio generation benchmarks. Additionally, we introduce a new multi-genre story benchmark. Subjective evaluations demonstrate the potential of WavJourney in crafting engaging storytelling audio content from text. We further demonstrate that WavJourney can facilitate human-machine co-creation in multi-round dialogues. To foster future research, the code and synthesized audio are available at: //audio-agi.github.io/WavJourney_demopage/.
As the immense opportunities enabled by large language models become more apparent, NLP systems will be increasingly expected to excel in real-world settings. However, in many instances, powerful models alone will not yield translational NLP solutions, especially if the formulated problem is not well aligned with the real-world task. In this work, we study the case of UMLS vocabulary insertion, an important real-world task in which hundreds of thousands of new terms, referred to as atoms, are added to the UMLS, one of the most comprehensive open-source biomedical knowledge bases. Previous work aimed to develop an automated NLP system to make this time-consuming, costly, and error-prone task more efficient. Nevertheless, practical progress in this direction has been difficult to achieve due to a problem formulation and evaluation gap between research output and the real-world task. In order to address this gap, we introduce a new formulation for UMLS vocabulary insertion which mirrors the real-world task, datasets which faithfully represent it and several strong baselines we developed through re-purposing existing solutions. Additionally, we propose an effective rule-enhanced biomedical language model which enables important new model behavior, outperforms all strong baselines and provides measurable qualitative improvements to editors who carry out the UVI task. We hope this case study provides insight into the considerable importance of problem formulation for the success of translational NLP solutions.
Learning unsupervised world models for autonomous driving has the potential to improve the reasoning capabilities of today's systems dramatically. However, most work neglects the physical attributes of the world and focuses on sensor data alone. We propose MUVO, a MUltimodal World Model with Geometric VOxel Representations to address this challenge. We utilize raw camera and lidar data to learn a sensor-agnostic geometric representation of the world, which can directly be used by downstream tasks, such as planning. We demonstrate multimodal future predictions and show that our geometric representation improves the prediction quality of both camera images and lidar point clouds.
Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.
Transformers have achieved superior performances in many tasks in natural language processing and computer vision, which also intrigues great interests in the time series community. Among multiple advantages of transformers, the ability to capture long-range dependencies and interactions is especially attractive for time series modeling, leading to exciting progress in various time series applications. In this paper, we systematically review transformer schemes for time series modeling by highlighting their strengths as well as limitations through a new taxonomy to summarize existing time series transformers in two perspectives. From the perspective of network modifications, we summarize the adaptations of module level and architecture level of the time series transformers. From the perspective of applications, we categorize time series transformers based on common tasks including forecasting, anomaly detection, and classification. Empirically, we perform robust analysis, model size analysis, and seasonal-trend decomposition analysis to study how Transformers perform in time series. Finally, we discuss and suggest future directions to provide useful research guidance. To the best of our knowledge, this paper is the first work to comprehensively and systematically summarize the recent advances of Transformers for modeling time series data. We hope this survey will ignite further research interests in time series Transformers.
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