Autonomous driving systems (ADSs) integrate sensing, perception, drive control, and several other critical tasks in autonomous vehicles, motivating research into techniques for assessing their safety. While there are several approaches for testing and analysing them in high-fidelity simulators, ADSs may still encounter additional critical scenarios beyond those covered once they are deployed on real roads. An additional level of confidence can be established by monitoring and enforcing critical properties when the ADS is running. Existing work, however, is only able to monitor simple safety properties (e.g., avoidance of collisions) and is limited to blunt enforcement mechanisms such as hitting the emergency brakes. In this work, we propose REDriver, a general and modular approach to runtime enforcement, in which users can specify a broad range of properties (e.g., national traffic laws) in a specification language based on signal temporal logic (STL). REDriver monitors the planned trajectory of the ADS based on a quantitative semantics of STL, and uses a gradient-driven algorithm to repair the trajectory when a violation of the specification is likely. We implemented REDriver for two versions of Apollo (i.e., a popular ADS), and subjected it to a benchmark of violations of Chinese traffic laws. The results show that REDriver significantly improves Apollo's conformance to the specification with minimal overhead.
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In the field of robotics and automation, conventional object recognition and instance segmentation methods face a formidable challenge when it comes to perceiving Deformable Linear Objects (DLOs) like wires, cables, and flexible tubes. This challenge arises primarily from the lack of distinct attributes such as shape, color, and texture, which calls for tailored solutions to achieve precise identification. In this work, we propose a foundation model-based DLO instance segmentation technique that is text-promptable and user-friendly. Specifically, our approach combines the text-conditioned semantic segmentation capabilities of CLIPSeg model with the zero-shot generalization capabilities of Segment Anything Model (SAM). We show that our method exceeds SOTA performance on DLO instance segmentation, achieving a mIoU of $91.21\%$. We also introduce a rich and diverse DLO-specific dataset for instance segmentation.
The integration of a complex set of Electronic Design Automation (EDA) tools to enhance interoperability is a critical concern for circuit designers. Recent advancements in large language models (LLMs) have showcased their exceptional capabilities in natural language processing and comprehension, offering a novel approach to interfacing with EDA tools. This research paper introduces ChatEDA, an autonomous agent for EDA empowered by a large language model, AutoMage, complemented by EDA tools serving as executors. ChatEDA streamlines the design flow from the Register-Transfer Level (RTL) to the Graphic Data System Version II (GDSII) by effectively managing task planning, script generation, and task execution. Through comprehensive experimental evaluations, ChatEDA has demonstrated its proficiency in handling diverse requirements, and our fine-tuned AutoMage model has exhibited superior performance compared to GPT-4 and other similar LLMs.
Code editing encompasses a variety of pragmatic tasks that developers deal with daily. Despite its relevance and practical usefulness, automatic code editing remains an underexplored area in the evolution of deep learning models, partly due to data scarcity. In this work, we explore the use of Large Language Models (LLMs) to edit code based on user instructions. Evaluated on a novel human-written execution-based benchmark dubbed EditEval, we found current models often struggle to fulfill the instructions. In light of this, we contribute InstructCoder, the first instruction-tuning dataset designed to adapt LLMs for general-purpose code editing, containing high-diversity code-editing tasks such as comment insertion, code optimization, and code refactoring. It consists of over 114,000 instruction-input-output triplets and covers multiple distinct code editing scenarios. The collection process starts with filtered commit data sourced from GitHub Python repositories as seeds. Subsequently, the dataset is systematically expanded through an iterative process, where both seed and generated tasks are used to prompt ChatGPT for more data. Our findings reveal that open-source LLMs fine-tuned on InstructCoder can significantly enhance the accuracy of code edits, exhibiting superior code-editing performance matching advanced proprietary LLMs. The datasets and the source code are publicly available at //github.com/qishenghu/CodeInstruct.
Model-based reinforcement learning (MBRL) achieves significant sample efficiency in practice in comparison to model-free RL, but its performance is often limited by the existence of model prediction error. To reduce the model error, standard MBRL approaches train a single well-designed network to fit the entire environment dynamics, but this wastes rich information on multiple sub-dynamics which can be modeled separately, allowing us to construct the world model more accurately. In this paper, we propose the Environment Dynamics Decomposition (ED2), a novel world model construction framework that models the environment in a decomposing manner. ED2 contains two key components: sub-dynamics discovery (SD2) and dynamics decomposition prediction (D2P). SD2 discovers the sub-dynamics in an environment automatically and then D2P constructs the decomposed world model following the sub-dynamics. ED2 can be easily combined with existing MBRL algorithms and empirical results show that ED2 significantly reduces the model error, increases the sample efficiency, and achieves higher asymptotic performance when combined with the state-of-the-art MBRL algorithms on various continuous control tasks. Our code is open source and available at //github.com/ED2-source-code/ED2.
The integration of artificial intelligence (AI) into daily life, particularly through information retrieval and recommender systems, has necessitated advanced user modeling and profiling techniques to deliver personalized experiences. These techniques aim to construct accurate user representations based on the rich amounts of data generated through interactions with these systems. This paper presents a comprehensive survey of the current state, evolution, and future directions of user modeling and profiling research. We provide a historical overview, tracing the development from early stereotype models to the latest deep learning techniques, and propose a novel taxonomy that encompasses all active topics in this research area, including recent trends. Our survey highlights the paradigm shifts towards more sophisticated user profiling methods, emphasizing implicit data collection, multi-behavior modeling, and the integration of graph data structures. We also address the critical need for privacy-preserving techniques and the push towards explainability and fairness in user modeling approaches. By examining the definitions of core terminology, we aim to clarify ambiguities and foster a clearer understanding of the field by proposing two novel encyclopedic definitions of the main terms. Furthermore, we explore the application of user modeling in various domains, such as fake news detection, cybersecurity, and personalized education. This survey serves as a comprehensive resource for researchers and practitioners, offering insights into the evolution of user modeling and profiling and guiding the development of more personalized, ethical, and effective AI systems.
We present MLTCP, a technique to augment today's congestion control algorithms to accelerate DNN training jobs in shared GPU clusters. MLTCP enables the communication phases of jobs that compete for network bandwidth to interleave with each other, thereby utilizing the network efficiently. At the heart of MLTCP lies a very simple principle based on a key conceptual insight: DNN training flows should scale their congestion window size based on the number of bytes sent at each training iteration. We show that integrating this principle into today's congestion control protocols is straightforward: by adding 30-60 lines of code to Reno, CUBIC, or DCQCN, MLTCP stabilizes flows of different jobs into an interleaved state within a few training iterations, regardless of the number of competing flows or the start time of each flow. Our experiments with popular DNN training jobs demonstrate that enabling MLTCP accelerates the average and 99th percentile training iteration time by up to 2x and 4x, respectively.
The development of autonomous agents which can interact with other agents to accomplish a given task is a core area of research in artificial intelligence and machine learning. Towards this goal, the Autonomous Agents Research Group develops novel machine learning algorithms for autonomous systems control, with a specific focus on deep reinforcement learning and multi-agent reinforcement learning. Research problems include scalable learning of coordinated agent policies and inter-agent communication; reasoning about the behaviours, goals, and composition of other agents from limited observations; and sample-efficient learning based on intrinsic motivation, curriculum learning, causal inference, and representation learning. This article provides a broad overview of the ongoing research portfolio of the group and discusses open problems for future directions.
Despite the recent progress in deep learning, most approaches still go for a silo-like solution, focusing on learning each task in isolation: training a separate neural network for each individual task. Many real-world problems, however, call for a multi-modal approach and, therefore, for multi-tasking models. Multi-task learning (MTL) aims to leverage useful information across tasks to improve the generalization capability of a model. This thesis is concerned with multi-task learning in the context of computer vision. First, we review existing approaches for MTL. Next, we propose several methods that tackle important aspects of multi-task learning. The proposed methods are evaluated on various benchmarks. The results show several advances in the state-of-the-art of multi-task learning. Finally, we discuss several possibilities for future work.
Language model pre-training, such as BERT, has significantly improved the performances of many natural language processing tasks. However, pre-trained language models are usually computationally expensive and memory intensive, so it is difficult to effectively execute them on some resource-restricted devices. To accelerate inference and reduce model size while maintaining accuracy, we firstly propose a novel transformer distillation method that is a specially designed knowledge distillation (KD) method for transformer-based models. By leveraging this new KD method, the plenty of knowledge encoded in a large teacher BERT can be well transferred to a small student TinyBERT. Moreover, we introduce a new two-stage learning framework for TinyBERT, which performs transformer distillation at both the pre-training and task-specific learning stages. This framework ensures that TinyBERT can capture both the general-domain and task-specific knowledge of the teacher BERT. TinyBERT is empirically effective and achieves comparable results with BERT in GLUE datasets, while being 7.5x smaller and 9.4x faster on inference. TinyBERT is also significantly better than state-of-the-art baselines, even with only about 28% parameters and 31% inference time of baselines.
With the capability of modeling bidirectional contexts, denoising autoencoding based pretraining like BERT achieves better performance than pretraining approaches based on autoregressive language modeling. However, relying on corrupting the input with masks, BERT neglects dependency between the masked positions and suffers from a pretrain-finetune discrepancy. In light of these pros and cons, we propose XLNet, a generalized autoregressive pretraining method that (1) enables learning bidirectional contexts by maximizing the expected likelihood over all permutations of the factorization order and (2) overcomes the limitations of BERT thanks to its autoregressive formulation. Furthermore, XLNet integrates ideas from Transformer-XL, the state-of-the-art autoregressive model, into pretraining. Empirically, XLNet outperforms BERT on 20 tasks, often by a large margin, and achieves state-of-the-art results on 18 tasks including question answering, natural language inference, sentiment analysis, and document ranking.
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