The scaling laws and extraordinary performance of large foundation models motivate the development and utilization of such large models in biomedicine. However, despite early promising results on some biomedical benchmarks, there are still major challenges that need to be addressed before these models can be used in real-world applications. Frontier models such as GPT-4V still have major competency gaps in multimodal capabilities for biomedical applications. Moreover, pragmatic issues such as access, cost, latency, and compliance make it hard for clinicians to use privately-hosted state-of-the-art large models directly on private patient data. In this paper, we explore training open-source small multimodal models (SMMs) to bridge biomedical competency gaps for unmet clinical needs. To maximize data efficiency, we adopt a modular approach by incorporating state-of-the-art pre-trained models for image and text modalities, and focusing on training a lightweight adapter to ground each modality to the text embedding space. We conduct a comprehensive study of this approach on radiology imaging. For training, we assemble a large dataset with over 1 million image-text pairs. For evaluation, we propose a clinically driven novel approach using GPT-4 and demonstrate its parity with expert evaluation. We also study grounding qualitatively using attention. For best practice, we conduct a systematic ablation study on various choices in data engineering and multimodal training. The resulting LLaVA-Rad (7B) model attains state-of-the-art results on radiology tasks such as report generation and cross-modal retrieval, even outperforming much larger models such as GPT-4V and Med-PaLM M (84B). LLaVA-Rad is fast and can be run on a single V100 GPU in private settings, offering a promising state-of-the-art tool for real-world clinical applications.
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ACM/IEEE第23屆模型驅動工程語言和系統國際會議，是模型驅動軟件和系統工程的首要會議系列，由ACM-SIGSOFT和IEEE-TCSE支持組織。自1998年以來，模型涵蓋了建模的各個方面，從語言和方法到工具和應用程序。模特的參加者來自不同的背景，包括研究人員、學者、工程師和工業專業人士。MODELS 2019是一個論壇，參與者可以圍繞建模和模型驅動的軟件和系統交流前沿研究成果和創新實踐經驗。今年的版本將為建模社區提供進一步推進建模基礎的機會，并在網絡物理系統、嵌入式系統、社會技術系統、云計算、大數據、機器學習、安全、開源等新興領域提出建模的創新應用以及可持續性。
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Domain experts can play a crucial role in guiding data scientists to optimize machine learning models while ensuring contextual relevance for downstream use. However, in current workflows, such collaboration is challenging due to differing expertise, abstract documentation practices, and lack of access and visibility into low-level implementation artifacts. To address these challenges and enable domain expert participation, we introduce CellSync, a collaboration framework comprising (1) a Jupyter Notebook extension that continuously tracks changes to dataframes and model metrics and (2) a Large Language Model powered visualization dashboard that makes those changes interpretable to domain experts. Through CellSync's cell-level dataset visualization with code summaries, domain experts can interactively examine how individual data and modeling operations impact different data segments. The chat features enable data-centric conversations and targeted feedback to data scientists. Our preliminary evaluation shows that CellSync provides transparency and promotes critical discussions about the intents and implications of data operations.
The detection of traversable regions on staircases and the physical modeling constitutes pivotal aspects of the mobility of legged robots. This paper presents an onboard framework tailored to the detection of traversable regions and the modeling of physical attributes of staircases by point cloud data. To mitigate the influence of illumination variations and the overfitting due to the dataset diversity, a series of data augmentations are introduced to enhance the training of the fundamental network. A curvature suppression cross-entropy(CSCE) loss is proposed to reduce the ambiguity of prediction on the boundary between traversable and non-traversable regions. Moreover, a measurement correction based on the pose estimation of stairs is introduced to calibrate the output of raw modeling that is influenced by tilted perspectives. Lastly, we collect a dataset pertaining to staircases and introduce new evaluation criteria. Through a series of rigorous experiments conducted on this dataset, we substantiate the superior accuracy and generalization capabilities of our proposed method. Codes, models, and datasets will be available at //github.com/szturobotics/Stair-detection-and-modeling-project.
We experimentally demonstrate the effects of read disturbance (RowHammer and RowPress) and uncover the inner workings of undocumented read disturbance defense mechanisms in High Bandwidth Memory (HBM). Detailed characterization of six real HBM2 DRAM chips in two different FPGA boards shows that (1) the read disturbance vulnerability significantly varies between different HBM2 chips and between different components (e.g., 3D-stacked channels) inside a chip, (2) DRAM rows at the end and in the middle of a bank are more resilient to read disturbance, (3) fewer additional activations are sufficient to induce more read disturbance bitflips in a DRAM row if the row exhibits the first bitflip at a relatively high activation count, (4) a modern HBM2 chip implements undocumented read disturbance defenses that track potential aggressor rows based on how many times they are activated. We describe how our findings could be leveraged to develop more powerful read disturbance attacks and more efficient defense mechanisms. We open source all our code and data to facilitate future research at //github.com/CMU-SAFARI/HBM-Read-Disturbance.
The key factor in implementing machine learning algorithms in decision-making situations is not only the accuracy of the model but also its confidence level. The confidence level of a model in a classification problem is often given by the output vector of a softmax function for convenience. However, these values are known to deviate significantly from the actual expected model confidence. This problem is called model calibration and has been studied extensively. One of the simplest techniques to tackle this task is focal loss, a generalization of cross-entropy by introducing one positive parameter. Although many related studies exist because of the simplicity of the idea and its formalization, the theoretical analysis of its behavior is still insufficient. In this study, our objective is to understand the behavior of focal loss by reinterpreting this function geometrically. Our analysis suggests that focal loss reduces the curvature of the loss surface in training the model. This indicates that curvature may be one of the essential factors in achieving model calibration. We design numerical experiments to support this conjecture to reveal the behavior of focal loss and the relationship between calibration performance and curvature.
In the field of trajectory generation for objects, ensuring continuous collision-free motion remains a huge challenge, especially for non-convex geometries and complex environments. Previous methods either oversimplify object shapes, which results in a sacrifice of feasible space or rely on discrete sampling, which suffers from the "tunnel effect". To address these limitations, we propose a novel hierarchical trajectory generation pipeline, which utilizes the Swept Volume Signed Distance Field (SVSDF) to guide trajectory optimization for Continuous Collision Avoidance (CCA). Our interdisciplinary approach, blending techniques from graphics and robotics, exhibits outstanding effectiveness in solving this problem. We formulate the computation of the SVSDF as a Generalized Semi-Infinite Programming model, and we solve for the numerical solutions at query points implicitly, thereby eliminating the need for explicit reconstruction of the surface. Our algorithm has been validated in a variety of complex scenarios and applies to robots of various dynamics, including both rigid and deformable shapes. It demonstrates exceptional universality and superior CCA performance compared to typical algorithms. The code will be released at //github.com/ZJU-FAST-Lab/Implicit-SVSDF-Planner for the benefit of the community.
Developing theoretical guarantees on the sample complexity of offline RL methods is an important step towards making data-hungry RL algorithms practically viable. Currently, most results hinge on unrealistic assumptions about the data distribution -- namely that it comprises a set of i.i.d. trajectories collected by a single logging policy. We consider a more general setting where the dataset may have been gathered adaptively. We develop theory for the TMIS Offline Policy Evaluation (OPE) estimator in this generalized setting for tabular MDPs, deriving high-probability, instance-dependent bounds on its estimation error. We also recover minimax-optimal offline learning in the adaptive setting. Finally, we conduct simulations to empirically analyze the behavior of these estimators under adaptive and non-adaptive regimes.
Large multimodal models extend the impressive capabilities of large language models by integrating multimodal understanding abilities. However, it is not clear how they can emulate the general intelligence and reasoning ability of humans. As recognizing patterns and abstracting concepts are key to general intelligence, we introduce PuzzleVQA, a collection of puzzles based on abstract patterns. With this dataset, we evaluate large multimodal models with abstract patterns based on fundamental concepts, including colors, numbers, sizes, and shapes. Through our experiments on state-of-the-art large multimodal models, we find that they are not able to generalize well to simple abstract patterns. Notably, even GPT-4V cannot solve more than half of the puzzles. To diagnose the reasoning challenges in large multimodal models, we progressively guide the models with our ground truth reasoning explanations for visual perception, inductive reasoning, and deductive reasoning. Our systematic analysis finds that the main bottlenecks of GPT-4V are weaker visual perception and inductive reasoning abilities. Through this work, we hope to shed light on the limitations of large multimodal models and how they can better emulate human cognitive processes in the future (Our data and code will be released publicly at //github.com/declare-lab/LLM-PuzzleTest).
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We define a framework for incorporating alternation-free fixpoint logics into the dual-adjunction setup for coalgebraic modal logics. We achieve this by using order-enriched categories. We give a least-solution semantics as well as an initial algebra semantics, and prove they are equivalent. We also show how to place the alternation-free coalgebraic $\mu$-calculus in this framework, as well as PDL and a logic with a probabilistic dynamic modality.
Human intelligence thrives on the concept of cognitive synergy, where collaboration and information integration among different cognitive processes yield superior outcomes compared to individual cognitive processes in isolation. Although Large Language Models (LLMs) have demonstrated promising performance as general task-solving agents, they still struggle with tasks that require intensive domain knowledge and complex reasoning. In this work, we propose Solo Performance Prompting (SPP), which transforms a single LLM into a cognitive synergist by engaging in multi-turn self-collaboration with multiple personas. A cognitive synergist refers to an intelligent agent that collaborates with multiple minds, combining their individual strengths and knowledge, to enhance problem-solving and overall performance in complex tasks. By dynamically identifying and simulating different personas based on task inputs, SPP unleashes the potential of cognitive synergy in LLMs. We have discovered that assigning multiple, fine-grained personas in LLMs elicits better problem-solving abilities compared to using a single or fixed number of personas. We evaluate SPP on three challenging tasks: Trivia Creative Writing, Codenames Collaborative, and Logic Grid Puzzle, encompassing both knowledge-intensive and reasoning-intensive types. Unlike previous works, such as Chain-of-Thought, that solely enhance the reasoning abilities in LLMs, SPP effectively elicits internal knowledge acquisition abilities, reduces hallucination, and maintains strong reasoning capabilities. Code, data, and prompts can be found at: //github.com/MikeWangWZHL/Solo-Performance-Prompting.git.
The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.
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