Learning from demonstration (LfD) provides an efficient way to train robots. The learned motions should be convergent and stable, but to be truly effective in the real world, LfD-capable robots should also be able to remember multiple motion skills. Existing stable-LfD approaches lack the capability of multi-skill retention. Although recent work on continual-LfD has shown that hypernetwork-generated neural ordinary differential equation solvers (NODE) can learn multiple LfD tasks sequentially, this approach lacks stability guarantees. We propose an approach for stable continual-LfD in which a hypernetwork generates two networks: a trajectory learning dynamics model, and a trajectory stabilizing Lyapunov function. The introduction of stability generates convergent trajectories, but more importantly it also greatly improves continual learning performance, especially in the size-efficient chunked hypernetworks. With our approach, a single hypernetwork learns stable trajectories of the robot's end-effector position and orientation simultaneously, and does so continually for a sequence of real-world LfD tasks without retraining on past demonstrations. We also propose stochastic hypernetwork regularization with a single randomly sampled regularization term, which reduces the cumulative training time cost for N tasks from O$(N^2)$ to O$(N)$ without any loss in performance on real-world tasks. We empirically evaluate our approach on the popular LASA dataset, on high-dimensional extensions of LASA (including up to 32 dimensions) to assess scalability, and on a novel extended robotic task dataset (RoboTasks9) to assess real-world performance. In trajectory error metrics, stability metrics and continual learning metrics our approach performs favorably, compared to other baselines. Our open-source code and datasets are available at //github.com/sayantanauddy/clfd-snode.
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讓 iOS 8 和 OS X Yosemite 無縫切換的一個新特性。
> Apple products have always been designed to work together beautifully. But now they may really surprise you. With iOS 8 and OS X Yosemite, you’ll be able to do more wonderful things than ever before.
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A pivotal advancement in the progress of large language models (LLMs) is the emergence of the Mixture-of-Experts (MoE) LLMs. Compared to traditional LLMs, MoE LLMs can achieve higher performance with fewer parameters, but it is still hard to deploy them due to their immense parameter sizes. Different from previous weight pruning methods that rely on specifically designed hardware, this paper mainly aims to enhance the deployment efficiency of MoE LLMs by introducing plug-and-play expert-level sparsification techniques. Specifically, we propose, for the first time to our best knowledge, post-training approaches for task-agnostic and task-specific expert pruning and skipping of MoE LLMs, tailored to improve deployment efficiency while maintaining model performance across a wide range of tasks. Extensive experiments show that our proposed methods can simultaneously reduce model sizes and increase the inference speed, while maintaining satisfactory performance. Data and code will be available at //github.com/Lucky-Lance/Expert_Sparsity.
Relation extraction is an efficient way of mining the extraordinary wealth of human knowledge on the Web. Existing methods rely on domain-specific training data or produce noisy outputs. We focus here on extracting targeted relations from semi-structured web pages given only a short description of the relation. We present GraphScholarBERT, an open-domain information extraction method based on a joint graph and language model structure. GraphScholarBERT can generalize to previously unseen domains without additional data or training and produces only clean extraction results matched to the search keyword. Experiments show that GraphScholarBERT can improve extraction F1 scores by as much as 34.8\% compared to previous work in a zero-shot domain and zero-shot website setting.
Few-shot dialogue state tracking (DST) with Large Language Models (LLM) relies on an effective and efficient conversation retriever to find similar in-context examples for prompt learning. Previous works use raw dialogue context as search keys and queries, and a retriever is fine-tuned with annotated dialogues to achieve superior performance. However, the approach is less suited for scaling to new domains or new annotation languages, where fine-tuning data is unavailable. To address this problem, we handle the task of conversation retrieval based on text summaries of the conversations. A LLM-based conversation summarizer is adopted for query and key generation, which enables effective maximum inner product search. To avoid the extra inference cost brought by LLM-based conversation summarization, we further distill a light-weight conversation encoder which produces query embeddings without decoding summaries for test conversations. We validate our retrieval approach on MultiWOZ datasets with GPT-Neo-2.7B and LLaMA-7B/30B. The experimental results show a significant improvement over relevant baselines in real few-shot DST settings.
Information retrieval is a rapidly evolving field. However it still faces significant limitations in the scientific and industrial vast amounts of information, such as semantic divergence and vocabulary gaps in sparse retrieval, low precision and lack of interpretability in semantic search, or hallucination and outdated information in generative models. In this paper, we introduce a two-block approach to tackle these hurdles for long documents. The first block enhances language understanding in sparse retrieval by query expansion to retrieve relevant documents. The second block deepens the result by providing comprehensive and informative answers to the complex question using only the information spread in the long document, enabling bidirectional engagement. At various stages of the pipeline, intermediate results are presented to users to facilitate understanding of the system's reasoning. We believe this bidirectional approach brings significant advancements in terms of transparency, logical thinking, and comprehensive understanding in the field of scientific information retrieval.
Semantic occupancy has recently gained significant traction as a prominent 3D scene representation. However, most existing methods rely on large and costly datasets with fine-grained 3D voxel labels for training, which limits their practicality and scalability, increasing the need for self-monitored learning in this domain. In this work, we present a novel approach to occupancy estimation inspired by neural radiance field (NeRF) using only 2D labels, which are considerably easier to acquire. In particular, we employ differentiable volumetric rendering to predict depth and semantic maps and train a 3D network based on 2D supervision only. To enhance geometric accuracy and increase the supervisory signal, we introduce temporal rendering of adjacent time steps. Additionally, we introduce occupancy flow as a mechanism to handle dynamic objects in the scene and ensure their temporal consistency. Through extensive experimentation we demonstrate that 2D supervision only is sufficient to achieve state-of-the-art performance compared to methods using 3D labels, while outperforming concurrent 2D approaches. When combining 2D supervision with 3D labels, temporal rendering and occupancy flow we outperform all previous occupancy estimation models significantly. We conclude that the proposed rendering supervision and occupancy flow advances occupancy estimation and further bridges the gap towards self-supervised learning in this domain.
A multi-joint enabled robot requires extensive mathematical calculations to be done so the end-effector's position can be determined with respect to the other connective joints involved and their respective frames in a specific coordinate system. If a control algorithm employs fewer constraints than the cases necessary to explicitly determine the leg's position, the robot is generally underconstrained. Consequently, only a subset of the end effector's degree of freedom (DoF) can be assigned for the robot's leg position for pose and trajectory estimation purposes. This paper introduces a fully functional algorithm to consider all the cases of the robot's leg position in a coordinate system so the robot's degree of freedom is not limited. Mathematical derivation of the joint angles is derived with forward and inverse kinematics, and Python-based simulation has been done to verify and simulate the robot's locomotion. Using Python-based code for serial communication with a micro-controller unit makes this approach more effective for demonstrating its application on a prototype leg.
Routing represents a pivotal concern in the context of Wireless Sensor Networks (WSN) owing to its divergence from traditional network routing paradigms. The inherent dynamism of the WSN environment, coupled with the scarcity of available resources, engenders considerable challenges for industry and academia alike in devising efficient routing strategies. Addressing these challenges, a viable recourse lies in applying heuristic search methodologies to ascertain the most optimal path in WSNs. Ant Colony Optimization (ACO) is a well-established heuristic algorithm that has demonstrated notable advancements in routing contexts. This paper introduces a modify routing protocols based on Ant colony optimization. In these protocols, we incorporate the inverse of the distance between nodes and their neighbours in the probability equations of ACO along with considering pheromone levels and residual energy. These formulation modifications facilitate the selection of the most suitable candidate for the subsequent hop, effectively minimizing the average energy consumption across all nodes in each iteration. Furthermore, in this protocol, we iteratively fine-tune ACO's parameter values based on the outcomes of several experimental trials. The experimental analysis is conducted through a diverse set of network topologies, and the results are subjected to comparison against well-established ACO algorithm and routing protocols. The efficacy of the proposed protocol is assessed based on various performance metrics, encompassing throughput, energy consumption, network lifetime, energy consumption, the extent of data transferred over the network, and the length of paths traversed by packets. These metrics collectively provide a comprehensive evaluation of the performance attainments of the routing protocols.
We explore the use of aggregative crowdsourced forecasting (ACF) as a mechanism to help operationalize ``collective intelligence'' of human-machine teams for coordinated actions. We adopt the definition for Collective Intelligence as: ``A property of groups that emerges from synergies among data-information-knowledge, software-hardware, and individuals (those with new insights as well as recognized authorities) that enables just-in-time knowledge for better decisions than these three elements acting alone.'' Collective Intelligence emerges from new ways of connecting humans and AI to enable decision-advantage, in part by creating and leveraging additional sources of information that might otherwise not be included. Aggregative crowdsourced forecasting (ACF) is a recent key advancement towards Collective Intelligence wherein predictions (X\% probability that Y will happen) and rationales (why I believe it is this probability that X will happen) are elicited independently from a diverse crowd, aggregated, and then used to inform higher-level decision-making. This research asks whether ACF, as a key way to enable Operational Collective Intelligence, could be brought to bear on operational scenarios (i.e., sequences of events with defined agents, components, and interactions) and decision-making, and considers whether such a capability could provide novel operational capabilities to enable new forms of decision-advantage.
Pre-trained Language Models (PLMs) which are trained on large text corpus via self-supervised learning method, have yielded promising performance on various tasks in Natural Language Processing (NLP). However, though PLMs with huge parameters can effectively possess rich knowledge learned from massive training text and benefit downstream tasks at the fine-tuning stage, they still have some limitations such as poor reasoning ability due to the lack of external knowledge. Research has been dedicated to incorporating knowledge into PLMs to tackle these issues. In this paper, we present a comprehensive review of Knowledge-Enhanced Pre-trained Language Models (KE-PLMs) to provide a clear insight into this thriving field. We introduce appropriate taxonomies respectively for Natural Language Understanding (NLU) and Natural Language Generation (NLG) to highlight these two main tasks of NLP. For NLU, we divide the types of knowledge into four categories: linguistic knowledge, text knowledge, knowledge graph (KG), and rule knowledge. The KE-PLMs for NLG are categorized into KG-based and retrieval-based methods. Finally, we point out some promising future directions of KE-PLMs.
Defensive deception is a promising approach for cyberdefense. Although defensive deception is increasingly popular in the research community, there has not been a systematic investigation of its key components, the underlying principles, and its tradeoffs in various problem settings. This survey paper focuses on defensive deception research centered on game theory and machine learning, since these are prominent families of artificial intelligence approaches that are widely employed in defensive deception. This paper brings forth insights, lessons, and limitations from prior work. It closes with an outline of some research directions to tackle major gaps in current defensive deception research.
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