We introduce GeoSACS, a geometric framework for shared autonomy (SA). In variable environments, SA methods can be used to combine robotic capabilities with real-time human input in a way that offloads the physical task from the human. To remain intuitive, it can be helpful to simplify requirements for human input (i.e., reduce the dimensionality), which create challenges for to map low-dimensional human inputs to the higher dimensional control space of robots without requiring large amounts of data. We built GeoSACS on canal surfaces, a geometric framework that represents potential robot trajectories as a canal from as few as two demonstrations. GeoSACS maps user corrections on the cross-sections of this canal to provide an efficient SA framework. We extend canal surfaces to consider orientation and update the control frames to support intuitive mapping from user input to robot motions. Finally, we demonstrate GeoSACS in two preliminary studies, including a complex manipulation task where a robot loads laundry into a washer.
We introduce MatSynth, a dataset of 4,000+ CC0 ultra-high resolution PBR materials. Materials are crucial components of virtual relightable assets, defining the interaction of light at the surface of geometries. Given their importance, significant research effort was dedicated to their representation, creation and acquisition. However, in the past 6 years, most research in material acquisiton or generation relied either on the same unique dataset, or on company-owned huge library of procedural materials. With this dataset we propose a significantly larger, more diverse, and higher resolution set of materials than previously publicly available. We carefully discuss the data collection process and demonstrate the benefits of this dataset on material acquisition and generation applications. The complete data further contains metadata with each material's origin, license, category, tags, creation method and, when available, descriptions and physical size, as well as 3M+ renderings of the augmented materials, in 1K, under various environment lightings. The MatSynth dataset is released through the project page at: //www.gvecchio.com/matsynth.
Large Language Models (LLMs) have emerged as powerful tools for complex Operations Research (OR) in automating optimization modeling. However, current methodologies heavily rely on prompt engineering (e.g., multi-agent cooperation) with proprietary LLMs, raising data privacy concerns that could be prohibitive in industry applications. To tackle this issue, we propose training open-source LLMs for optimization modeling. We identify four critical requirements for the training dataset of OR LLMs, design and implement OR-Instruct, a semi-automated process for creating synthetic data tailored to specific requirements. We also introduce the IndustryOR benchmark, the first industrial benchmark for testing LLMs on solving real-world OR problems. We apply the data from OR-Instruct to various open-source LLMs of 7b size (termed as ORLMs), resulting in a significantly improved capability for optimization modeling. Our best-performing ORLM achieves state-of-the-art performance on the NL4OPT, MAMO, and IndustryOR benchmarks. Our code and data will be available at \url{//github.com/Cardinal-Operations/ORLM}.
Large language models (LLMs) have shown impressive capabilities across diverse settings, but still struggle as the length and complexity of the context increases. To address this challenge, we propose Thinking Recursively and Dynamically (ThReaD). THREAD frames model generation as a thread of execution that, based on the context, can run to completion or dynamically spawn new threads. By spawning, threads can offload work (e.g., thinking, retrieving information) to child threads, which only return tokens needed for the parent thread to do its work. In effect, this enables the model to adapt, as needed, the amount of intermediate work used to produce tokens. We apply THREAD in the settings of LLM task solving and question answering, where the dynamic threading allows the model to recursively decompose the given task or question into progressively simpler sub-problems that can be solved by separate child threads. We test THREAD, implemented using a few-shot learning approach, on diverse benchmarks for agent tasks and data-grounded question answering. THREAD achieves state-of-the-art performance with GPT-4 and GPT-3.5 on these benchmarks, including ALFWorld, TextCraft, and WebShop, along with two new benchmarks, DataCommons QA and MIMIC-III ICU QA. In addition, THREAD outperforms existing frameworks by 10% to 50% absolute points with smaller models, including Llama-3-8b and CodeLlama-7b.
Since ML algorithms have proven their success in many different applications, there is also a big interest in privacy preserving (PP) ML methods for building models on sensitive data. Moreover, the increase in the number of data sources and the high computational power required by those algorithms force individuals to outsource the training and/or the inference of a ML model to the clouds providing such services. To address this, we propose a secure 3-party computation framework, CECILIA, offering PP building blocks to enable complex operations privately. In addition to the adapted and common operations like addition and multiplication, it offers multiplexer, most significant bit and modulus conversion. The first two are novel in terms of methodology and the last one is novel in terms of both functionality and methodology. CECILIA also has two complex novel methods, which are the exact exponential of a public base raised to the power of a secret value and the inverse square root of a secret Gram matrix. We use CECILIA to realize the private inference on pre-trained RKNs, which require more complex operations than most other DNNs, on the structural classification of proteins as the first study ever accomplishing the PP inference on RKNs. In addition to the successful private computation of basic building blocks, the results demonstrate that we perform the exact and fully private exponential computation, which is done by approximation in the literature so far. Moreover, they also show that we compute the exact inverse square root of a secret Gram matrix up to a certain privacy level, which has not been addressed in the literature at all. We also analyze the scalability of CECILIA to various settings on a synthetic dataset. The framework shows a great promise to make other ML algorithms as well as further computations privately computable by the building blocks of the framework.
Zero-shot information extraction (IE) aims to build IE systems from the unannotated text. It is challenging due to involving little human intervention. Challenging but worthwhile, zero-shot IE reduces the time and effort that data labeling takes. Recent efforts on large language models (LLMs, e.g., GPT-3, ChatGPT) show promising performance on zero-shot settings, thus inspiring us to explore prompt-based methods. In this work, we ask whether strong IE models can be constructed by directly prompting LLMs. Specifically, we transform the zero-shot IE task into a multi-turn question-answering problem with a two-stage framework (ChatIE). With the power of ChatGPT, we extensively evaluate our framework on three IE tasks: entity-relation triple extract, named entity recognition, and event extraction. Empirical results on six datasets across two languages show that ChatIE achieves impressive performance and even surpasses some full-shot models on several datasets (e.g., NYT11-HRL). We believe that our work could shed light on building IE models with limited resources.
Conventional unsupervised multi-source domain adaptation (UMDA) methods assume all source domains can be accessed directly. This neglects the privacy-preserving policy, that is, all the data and computations must be kept decentralized. There exists three problems in this scenario: (1) Minimizing the domain distance requires the pairwise calculation of the data from source and target domains, which is not accessible. (2) The communication cost and privacy security limit the application of UMDA methods (e.g., the domain adversarial training). (3) Since users have no authority to check the data quality, the irrelevant or malicious source domains are more likely to appear, which causes negative transfer. In this study, we propose a privacy-preserving UMDA paradigm named Knowledge Distillation based Decentralized Domain Adaptation (KD3A), which performs domain adaptation through the knowledge distillation on models from different source domains. KD3A solves the above problems with three components: (1) A multi-source knowledge distillation method named Knowledge Vote to learn high-quality domain consensus knowledge. (2) A dynamic weighting strategy named Consensus Focus to identify both the malicious and irrelevant domains. (3) A decentralized optimization strategy for domain distance named BatchNorm MMD. The extensive experiments on DomainNet demonstrate that KD3A is robust to the negative transfer and brings a 100x reduction of communication cost compared with other decentralized UMDA methods. Moreover, our KD3A significantly outperforms state-of-the-art UMDA approaches.
We present CoDEx, a set of knowledge graph completion datasets extracted from Wikidata and Wikipedia that improve upon existing knowledge graph completion benchmarks in scope and level of difficulty. In terms of scope, CoDEx comprises three knowledge graphs varying in size and structure, multilingual descriptions of entities and relations, and tens of thousands of hard negative triples that are plausible but verified to be false. To characterize CoDEx, we contribute thorough empirical analyses and benchmarking experiments. First, we analyze each CoDEx dataset in terms of logical relation patterns. Next, we report baseline link prediction and triple classification results on CoDEx for five extensively tuned embedding models. Finally, we differentiate CoDEx from the popular FB15K-237 knowledge graph completion dataset by showing that CoDEx covers more diverse and interpretable content, and is a more difficult link prediction benchmark. Data, code, and pretrained models are available at //bit.ly/2EPbrJs.
The design of deep graph models still remains to be investigated and the crucial part is how to explore and exploit the knowledge from different hops of neighbors in an efficient way. In this paper, we propose a novel RNN-like deep graph neural network architecture by incorporating AdaBoost into the computation of network; and the proposed graph convolutional network called AdaGCN~(AdaBoosting Graph Convolutional Network) has the ability to efficiently extract knowledge from high-order neighbors and integrate knowledge from different hops of neighbors into the network in an AdaBoost way. We also present the architectural difference between AdaGCN and existing graph convolutional methods to show the benefits of our proposal. Finally, extensive experiments demonstrate the state-of-the-art prediction performance and the computational advantage of our approach AdaGCN.
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.
We present Generative Adversarial Capsule Network (CapsuleGAN), a framework that uses capsule networks (CapsNets) instead of the standard convolutional neural networks (CNNs) as discriminators within the generative adversarial network (GAN) setting, while modeling image data. We provide guidelines for designing CapsNet discriminators and the updated GAN objective function, which incorporates the CapsNet margin loss, for training CapsuleGAN models. We show that CapsuleGAN outperforms convolutional-GAN at modeling image data distribution on the MNIST dataset of handwritten digits, evaluated on the generative adversarial metric and at semi-supervised image classification.