Hyperspectral sensors have enjoyed widespread use in the realm of remote sensing; however, they must be adapted to a format in which they can be operated onboard mobile robots. In this work, we introduce a first-of-its-kind system architecture with snapshot hyperspectral cameras and point spectrometers to efficiently generate composite datacubes from a robotic base. Our system collects and registers datacubes spanning the visible to shortwave infrared (660-1700 nm) spectrum while simultaneously capturing the ambient solar spectrum reflected off a white reference tile. We collect and disseminate a large dataset of more than 500 labeled datacubes from on-road and off-road terrain compliant with the ATLAS ontology to further the integration and demonstration of hyperspectral imaging (HSI) as beneficial in terrain class separability. Our analysis of this data demonstrates that HSI is a significant opportunity to increase understanding of scene composition from a robot-centric context. All code and data are open source online: //river-lab.github.io/hyper_drive_data
The recent progress in large language models (LLMs), especially the invention of chain-of-thought prompting, has made it possible to automatically answer questions by stepwise reasoning. However, when faced with more complicated problems that require non-linear thinking, even the strongest LLMs make mistakes. To address this, we explore whether LLMs are able to recognize errors in their own step-by-step reasoning, without resorting to external resources. To this end, we propose SelfCheck, a general-purpose zero-shot verification schema for recognizing such errors. We then use the results of these checks to improve question-answering performance by conducting weighted voting on multiple solutions to the question. We test SelfCheck on three datasets (GSM8K, MathQA, and MATH) and find that it successfully recognizes errors and, in turn, increases final answer accuracies.
AI alignment is about ensuring AI systems only pursue goals and activities that are beneficial to humans. Most of the current approach to AI alignment is to learn what humans value from their behavioural data. This paper proposes a different way of looking at the notion of alignment, namely by introducing AI Alignment Dialogues: dialogues with which users and agents try to achieve and maintain alignment via interaction. We argue that alignment dialogues have a number of advantages in comparison to data-driven approaches, especially for behaviour support agents, which aim to support users in achieving their desired future behaviours rather than their current behaviours. The advantages of alignment dialogues include allowing the users to directly convey higher-level concepts to the agent, and making the agent more transparent and trustworthy. In this paper we outline the concept and high-level structure of alignment dialogues. Moreover, we conducted a qualitative focus group user study from which we developed a model that describes how alignment dialogues affect users, and created design suggestions for AI alignment dialogues. Through this we establish foundations for AI alignment dialogues and shed light on what requires further development and research.
Large Language Models (LLMs) have revolutionized the field of natural language processing, but they fall short in comprehending biological sequences such as proteins. To address this challenge, we propose InstructProtein, an innovative LLM that possesses bidirectional generation capabilities in both human and protein languages: (i) taking a protein sequence as input to predict its textual function description and (ii) using natural language to prompt protein sequence generation. To achieve this, we first pre-train an LLM on both protein and natural language corpora, enabling it to comprehend individual languages. Then supervised instruction tuning is employed to facilitate the alignment of these two distinct languages. Herein, we introduce a knowledge graph-based instruction generation framework to construct a high-quality instruction dataset, addressing annotation imbalance and instruction deficits in existing protein-text corpus. In particular, the instructions inherit the structural relations between proteins and function annotations in knowledge graphs, which empowers our model to engage in the causal modeling of protein functions, akin to the chain-of-thought processes in natural languages. Extensive experiments on bidirectional protein-text generation tasks show that InstructProtein outperforms state-of-the-art LLMs by large margins. Moreover, InstructProtein serves as a pioneering step towards text-based protein function prediction and sequence design, effectively bridging the gap between protein and human language understanding.
When a predictive model is in production, it must be monitored in real-time to ensure that its performance does not suffer due to drift or abrupt changes to data. Ideally, this is done long before learning that the performance of the model itself has dropped by monitoring outcome data. In this paper we consider the problem of monitoring a predictive model that identifies the need for palliative care currently in production at the Mayo Clinic in Rochester, MN. We introduce a framework, called \textit{Bayes Watch}, for detecting change-points in high-dimensional longitudinal data with mixed variable types and missing values and for determining in which variables the change-point occurred. Bayes Watch fits an array of Gaussian Graphical Mixture Models to groupings of homogeneous data in time, called regimes, which are modeled as the observed states of a Markov process with unknown transition probabilities. In doing so, Bayes Watch defines a posterior distribution on a vector of regime assignments, which gives meaningful expressions on the probability of every possible change-point. Bayes Watch also allows for an effective and efficient fault detection system that assesses what features in the data where the most responsible for a given change-point.
Graph Neural Networks (GNNs) have already been widely used in various graph mining tasks. However, recent works reveal that the learned weights (channels) in well-trained GNNs are highly redundant, which inevitably limits the performance of GNNs. Instead of removing these redundant channels for efficiency consideration, we aim to reactivate them to enlarge the representation capacity of GNNs for effective graph learning. In this paper, we propose to substitute these redundant channels with other informative channels to achieve this goal. We introduce a novel GNN learning framework named AKE-GNN, which performs the Adaptive Knowledge Exchange strategy among multiple graph views generated by graph augmentations. AKE-GNN first trains multiple GNNs each corresponding to one graph view to obtain informative channels. Then, AKE-GNN iteratively exchanges redundant channels in the weight parameter matrix of one GNN with informative channels of another GNN in a layer-wise manner. Additionally, existing GNNs can be seamlessly incorporated into our framework. AKE-GNN achieves superior performance compared with various baselines across a suite of experiments on node classification, link prediction, and graph classification. In particular, we conduct a series of experiments on 15 public benchmark datasets, 8 popular GNN models, and 3 graph tasks and show that AKE-GNN consistently outperforms existing popular GNN models and even their ensembles. Extensive ablation studies and analyses on knowledge exchange methods validate the effectiveness of AKE-GNN.
Mixture-of-experts based models, which use language experts to extract language-specific representations effectively, have been well applied in code-switching automatic speech recognition. However, there is still substantial space to improve as similar pronunciation across languages may result in ineffective multi-language modeling and inaccurate language boundary estimation. To eliminate these drawbacks, we propose a cross-layer language adapter and a boundary-aware training method, namely Boundary-Aware Mixture-of-Experts (BA-MoE). Specifically, we introduce language-specific adapters to separate language-specific representations and a unified gating layer to fuse representations within each encoder layer. Second, we compute language adaptation loss of the mean output of each language-specific adapter to improve the adapter module's language-specific representation learning. Besides, we utilize a boundary-aware predictor to learn boundary representations for dealing with language boundary confusion. Our approach achieves significant performance improvement, reducing the mixture error rate by 16.55\% compared to the baseline on the ASRU 2019 Mandarin-English code-switching challenge dataset.
To enhance the computational efficiency of quantized Transformers, we replace the dot-product and Softmax-based attention with an alternative mechanism involving addition and ReLU activation only. This side-steps the expansion to double precision often required by matrix multiplication and avoids costly Softmax evaluations but maintains much of the core functionality of conventional dot-product attention. It can enable more efficient execution and support larger quantized Transformer models on resource-constrained hardware or alternative arithmetic systems like homomorphic encryption. Training experiments on four common benchmark tasks show test set prediction scores comparable to those of conventional Transformers with dot-product attention. Our scaling experiments also suggest significant computational savings, both in plaintext and under encryption. In particular, we believe that the ReLU and addition-based attention mechanism introduced in this paper may enable privacy-preserving AI applications operating under homomorphic encryption by avoiding the costly multiplication of encrypted variables.
Large Language Models (LLMs) have shown promise in the autonomous driving sector, particularly in generalization and interpretability. We introduce a unique object-level multimodal LLM architecture that merges vectorized numeric modalities with a pre-trained LLM to improve context understanding in driving situations. We also present a new dataset of 160k QA pairs derived from 10k driving scenarios, paired with high quality control commands collected with RL agent and question answer pairs generated by teacher LLM (GPT-3.5). A distinct pretraining strategy is devised to align numeric vector modalities with static LLM representations using vector captioning language data. We also introduce an evaluation metric for Driving QA and demonstrate our LLM-driver's proficiency in interpreting driving scenarios, answering questions, and decision-making. Our findings highlight the potential of LLM-based driving action generation in comparison to traditional behavioral cloning. We make our benchmark, datasets, and model available for further exploration.
The impressive performances of large language models (LLMs) and their immense potential for commercialization have given rise to serious concerns over the intellectual property (IP) of their training data. In particular, the synthetic texts generated by LLMs may infringe the IP of the data being used to train the LLMs. To this end, it is imperative to be able to (a) identify the data provider who contributed to the generation of a synthetic text by an LLM (source attribution) and (b) verify whether the text data from a data provider has been used to train an LLM (data provenance). In this paper, we show that both problems can be solved by watermarking, i.e., by enabling an LLM to generate synthetic texts with embedded watermarks that contain information about their source(s). We identify the key properties of such watermarking frameworks (e.g., source attribution accuracy, robustness against adversaries), and propose a WAtermarking for Source Attribution (WASA) framework that satisfies these key properties due to our algorithmic designs. Our WASA framework enables an LLM to learn an accurate mapping from the texts of different data providers to their corresponding unique watermarks, which sets the foundation for effective source attribution (and hence data provenance). Extensive empirical evaluations show that our WASA framework achieves effective source attribution and data provenance.
Deep Learning has implemented a wide range of applications and has become increasingly popular in recent years. The goal of multimodal deep learning is to create models that can process and link information using various modalities. Despite the extensive development made for unimodal learning, it still cannot cover all the aspects of human learning. Multimodal learning helps to understand and analyze better when various senses are engaged in the processing of information. This paper focuses on multiple types of modalities, i.e., image, video, text, audio, body gestures, facial expressions, and physiological signals. Detailed analysis of past and current baseline approaches and an in-depth study of recent advancements in multimodal deep learning applications has been provided. A fine-grained taxonomy of various multimodal deep learning applications is proposed, elaborating on different applications in more depth. Architectures and datasets used in these applications are also discussed, along with their evaluation metrics. Last, main issues are highlighted separately for each domain along with their possible future research directions.