In many cutting-edge applications, high-fidelity computational models prove to be too slow for practical use and are therefore replaced by much faster surrogate models. Recently, deep learning techniques have increasingly been utilized to accelerate such predictions. To enable learning on large-dimensional and complex data, specific neural network architectures have been developed, including convolutional and graph neural networks. In this work, we present a novel encoder-decoder geometric deep learning framework called MAgNET, which extends the well-known convolutional neural networks to accommodate arbitrary graph-structured data. MAgNET consists of innovative Multichannel Aggregation (MAg) layers and graph pooling/unpooling layers, forming a graph U-Net architecture that is analogous to convolutional U-Nets. We demonstrate the predictive capabilities of MAgNET in surrogate modeling for non-linear finite element simulations in the mechanics of solids.
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Video prediction, predicting future frames from the previous ones, has broad applications such as autonomous driving and weather forecasting. Existing state-of-the-art methods typically focus on extracting either spatial, temporal, or spatiotemporal features from videos. Different feature focuses, resulting from different network architectures, may make the resultant models excel at some video prediction tasks but perform poorly on others. Towards a more generic video prediction solution, we explicitly model these features in a unified encoder-decoder framework and propose a novel simple alternating Mixer (SIAM). The novelty of SIAM lies in the design of dimension alternating mixing (DaMi) blocks, which can model spatial, temporal, and spatiotemporal features through alternating the dimensions of the feature maps. Extensive experimental results demonstrate the superior performance of the proposed SIAM on four benchmark video datasets covering both synthetic and real-world scenarios.
There has been a significant research interest in employing large language models to empower intelligent robots with complex reasoning. Existing work focuses on harnessing their abilities to reason about the histories of their actions and observations. In this paper, we explore a new dimension in which large language models may benefit robotics planning. In particular, we propose Statler, a framework in which large language models are prompted to maintain an estimate of the world state, which are often unobservable, and track its transition as new actions are taken. Our framework then conditions each action on the estimate of the current world state. Despite being conceptually simple, our Statler framework significantly outperforms strong competing methods (e.g., Code-as-Policies) on several robot planning tasks. Additionally, it has the potential advantage of scaling up to more challenging long-horizon planning tasks.
Text-guided image editing is widely needed in daily life, ranging from personal use to professional applications such as Photoshop. However, existing methods are either zero-shot or trained on an automatically synthesized dataset, which contains a high volume of noise. Thus, they still require lots of manual tuning to produce desirable outcomes in practice. To address this issue, we introduce MagicBrush (//osu-nlp-group.github.io/MagicBrush/), the first large-scale, manually annotated dataset for instruction-guided real image editing that covers diverse scenarios: single-turn, multi-turn, mask-provided, and mask-free editing. MagicBrush comprises over 10K manually annotated triplets (source image, instruction, target image), which supports trainining large-scale text-guided image editing models. We fine-tune InstructPix2Pix on MagicBrush and show that the new model can produce much better images according to human evaluation. We further conduct extensive experiments to evaluate current image editing baselines from multiple dimensions including quantitative, qualitative, and human evaluations. The results reveal the challenging nature of our dataset and the gap between current baselines and real-world editing needs.
Recent advances in generative imagery have brought forth outpainting and inpainting models that can produce high-quality, plausible image content in unknown regions. However, the content these models hallucinate is necessarily inauthentic, since they are unaware of the true scene. In this work, we propose RealFill, a novel generative approach for image completion that fills in missing regions of an image with the content that should have been there. RealFill is a generative inpainting model that is personalized using only a few reference images of a scene. These reference images do not have to be aligned with the target image, and can be taken with drastically varying viewpoints, lighting conditions, camera apertures, or image styles. Once personalized, RealFill is able to complete a target image with visually compelling contents that are faithful to the original scene. We evaluate RealFill on a new image completion benchmark that covers a set of diverse and challenging scenarios, and find that it outperforms existing approaches by a large margin. Project page: //realfill.github.io
Although pre-training on a large amount of data is beneficial for robot learning, current paradigms only perform large-scale pretraining for visual representations, whereas representations for other modalities are trained from scratch. In contrast to the abundance of visual data, it is unclear what relevant internet-scale data may be used for pretraining other modalities such as tactile sensing. Such pretraining becomes increasingly crucial in the low-data regimes common in robotics applications. In this paper, we address this gap by using contact microphones as an alternative tactile sensor. Our key insight is that contact microphones capture inherently audio-based information, allowing us to leverage large-scale audio-visual pretraining to obtain representations that boost the performance of robotic manipulation. To the best of our knowledge, our method is the first approach leveraging large-scale multisensory pre-training for robotic manipulation. For supplementary information including videos of real robot experiments, please see //sites.google.com/view/hearing-touch.
The ever-increasing use of generative models in various fields where tabular data is used highlights the need for robust and standardized validation metrics to assess the similarity between real and synthetic data. Current methods lack a unified framework and rely on diverse and often inconclusive statistical measures. Divergences, which quantify discrepancies between data distributions, offer a promising avenue for validation. However, traditional approaches calculate divergences independently for each feature due to the complexity of joint distribution modeling. This paper addresses this challenge by proposing a novel approach that uses divergence estimation to overcome the limitations of marginal comparisons. Our core contribution lies in applying a divergence estimator to build a validation metric considering the joint distribution of real and synthetic data. We leverage a probabilistic classifier to approximate the density ratio between datasets, allowing the capture of complex relationships. We specifically calculate two divergences: the well-known Kullback-Leibler (KL) divergence and the Jensen-Shannon (JS) divergence. KL divergence offers an established use in the field, while JS divergence is symmetric and bounded, providing a reliable metric. The efficacy of this approach is demonstrated through a series of experiments with varying distribution complexities. The initial phase involves comparing estimated divergences with analytical solutions for simple distributions, setting a benchmark for accuracy. Finally, we validate our method on a real-world dataset and its corresponding synthetic counterpart, showcasing its effectiveness in practical applications. This research offers a significant contribution with applicability beyond tabular data and the potential to improve synthetic data validation in various fields.
Linking (aligning) biomedical concepts across diverse data sources enables various integrative analyses, but it is challenging due to the discrepancies in concept naming conventions. Various strategies have been developed to overcome this challenge, such as those based on string-matching rules, manually crafted thesauri, and machine learning models. However, these methods are constrained by limited prior biomedical knowledge and can hardly generalize beyond the limited amounts of rules, thesauri, or training samples. Recently, large language models (LLMs) have exhibited impressive results in diverse biomedical NLP tasks due to their unprecedentedly rich prior knowledge and strong zero-shot prediction abilities. However, LLMs suffer from issues including high costs, limited context length, and unreliable predictions. In this research, we propose PromptLink, a novel biomedical concept linking framework that leverages LLMs. It first employs a biomedical-specialized pre-trained language model to generate candidate concepts that can fit in the LLM context windows. Then it utilizes an LLM to link concepts through two-stage prompts, where the first-stage prompt aims to elicit the biomedical prior knowledge from the LLM for the concept linking task and the second-stage prompt enforces the LLM to reflect on its own predictions to further enhance their reliability. Empirical results on the concept linking task between two EHR datasets and an external biomedical KG demonstrate the effectiveness of PromptLink. Furthermore, PromptLink is a generic framework without reliance on additional prior knowledge, context, or training data, making it well-suited for concept linking across various types of data sources. The source code is available at //github.com/constantjxyz/PromptLink.
Feedback-driven optimization, such as traditional machine learning training, is a static process that lacks real-time adaptability of hyperparameters. Tuning solutions for optimization require trial and error paired with checkpointing and schedulers, in many cases feedback from the algorithm is overlooked. Adjusting hyperparameters during optimization usually requires the program to be restarted, wasting utilization and time, while placing unnecessary strain on memory and processors. We present LiveTune, a novel framework allowing real-time parameter adjustment of optimization loops through LiveVariables. Live Variables allow for continuous feedback-driven optimization by storing parameters on designated ports on the system, allowing them to be dynamically adjusted. Extensive evaluations of our framework on standard machine learning training pipelines show saving up to 60 seconds and 5.4 Kilojoules of energy per hyperparameter change. We also show the feasibility and value of LiveTune in a reinforcement learning application where the users change the dynamics of the reward structure while the agent is learning showing 5x improvement over the baseline. Finally, we outline a fully automated workflow to provide end-to-end, unsupervised feedback-driven optimization.
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.
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