This article dives into the use of a 3-RRR Spherical Parallel Manipulator (SPM) for the purpose of inertial Line Of Sight (LOS) stabilization. Such a parallel robot provides three Degrees of Freedom (DOF) in orientation and is studied from the kinematic point of view. In particular, one guarantees that the singular loci (with the resulting numerical instabilities and inappropriate behavior of the mechanism) are far away from the prescribed workspace. Once the kinematics of the device is certified, a control strategy needs to be implemented in order to stabilize the LOS through the upper platform of the mechanism. Such a work is done with MATLAB Simulink using a SimMechanics model of our robot.
Typographic Attacks, which involve pasting misleading text onto an image, were noted to harm the performance of Vision-Language Models like CLIP. However, the susceptibility of recent Large Vision-Language Models to these attacks remains understudied. Furthermore, prior work's Typographic attacks against CLIP randomly sample a misleading class from a predefined set of categories. However, this simple strategy misses more effective attacks that exploit LVLM(s) stronger language skills. To address these issues, we first introduce a benchmark for testing Typographic attacks against LVLM(s). Moreover, we introduce two novel and more effective \textit{Self-Generated} attacks which prompt the LVLM to generate an attack against itself: 1) Class Based Attack where the LVLM (e.g. LLaVA) is asked which deceiving class is most similar to the target class and 2) Descriptive Attacks where a more advanced LVLM (e.g. GPT4-V) is asked to recommend a Typographic attack that includes both a deceiving class and description. Using our benchmark, we uncover that Self-Generated attacks pose a significant threat, reducing LVLM(s) classification performance by up to 33\%. We also uncover that attacks generated by one model (e.g. GPT-4V or LLaVA) are effective against the model itself and other models like InstructBLIP and MiniGPT4. Code: \url{//github.com/mqraitem/Self-Gen-Typo-Attack}
A vital aspect of Indian Classical Music (ICM) is Raga, which serves as a melodic framework for compositions and improvisations alike. Raga Recognition is an important music information retrieval task in ICM as it can aid numerous downstream applications ranging from music recommendations to organizing huge music collections. In this work, we propose a deep learning based approach to Raga recognition. Our approach employs efficient pre possessing and learns temporal sequences in music data using Long Short Term Memory based Recurrent Neural Networks (LSTM-RNN). We train and test the network on smaller sequences sampled from the original audio while the final inference is performed on the audio as a whole. Our method achieves an accuracy of 88.1% and 97 % during inference on the Comp Music Carnatic dataset and its 10 Raga subset respectively making it the state-of-the-art for the Raga recognition task. Our approach also enables sequence ranking which aids us in retrieving melodic patterns from a given music data base that are closely related to the presented query sequence.
Open World Object Detection (OWOD) is a challenging and realistic task that extends beyond the scope of standard Object Detection task. It involves detecting both known and unknown objects while integrating learned knowledge for future tasks. However, the level of "unknownness" varies significantly depending on the context. For example, a tree is typically considered part of the background in a self-driving scene, but it may be significant in a household context. We argue that this contextual information should already be embedded within the known classes. In other words, there should be a semantic or latent structure relationship between the known and unknown items to be discovered. Motivated by this observation, we propose Hyp-OW, a method that learns and models hierarchical representation of known items through a SuperClass Regularizer. Leveraging this representation allows us to effectively detect unknown objects using a similarity distance-based relabeling module. Extensive experiments on benchmark datasets demonstrate the effectiveness of Hyp-OW, achieving improvement in both known and unknown detection (up to 6 percent). These findings are particularly pronounced in our newly designed benchmark, where a strong hierarchical structure exists between known and unknown objects. Our code can be found at //github.com/boschresearch/Hyp-OW
This paper presents a novel Chunking-Free In-Context (CFIC) retrieval approach, specifically tailored for Retrieval-Augmented Generation (RAG) systems. Traditional RAG systems often struggle with grounding responses using precise evidence text due to the challenges of processing lengthy documents and filtering out irrelevant content. Commonly employed solutions, such as document chunking and adapting language models to handle longer contexts, have their limitations. These methods either disrupt the semantic coherence of the text or fail to effectively address the issues of noise and inaccuracy in evidence retrieval. CFIC addresses these challenges by circumventing the conventional chunking process. It utilizes the encoded hidden states of documents for in-context retrieval, employing auto-aggressive decoding to accurately identify the specific evidence text required for user queries, eliminating the need for chunking. CFIC is further enhanced by incorporating two decoding strategies, namely Constrained Sentence Prefix Decoding and Skip Decoding. These strategies not only improve the efficiency of the retrieval process but also ensure that the fidelity of the generated grounding text evidence is maintained. Our evaluations of CFIC on a range of open QA datasets demonstrate its superiority in retrieving relevant and accurate evidence, offering a significant improvement over traditional methods. By doing away with the need for document chunking, CFIC presents a more streamlined, effective, and efficient retrieval solution, making it a valuable advancement in the field of RAG systems.
Graph Neural Networks (GNNs) have been widely used to learn node representations and with outstanding performance on various tasks such as node classification. However, noise, which inevitably exists in real-world graph data, would considerably degrade the performance of GNNs revealed by recent studies. In this work, we propose a novel and robust GNN encoder, Low-Rank Graph Contrastive Learning (LR-GCL). Our method performs transductive node classification in two steps. First, a low-rank GCL encoder named LR-GCL is trained by prototypical contrastive learning with low-rank regularization. Next, using the features produced by LR-GCL, a linear transductive classification algorithm is used to classify the unlabeled nodes in the graph. Our LR-GCL is inspired by the low frequency property of the graph data and its labels, and it is also theoretically motivated by our sharp generalization bound for transductive learning. To the best of our knowledge, our theoretical result is among the first to theoretically demonstrate the advantage of low-rank learning in graph contrastive learning supported by strong empirical performance. Extensive experiments on public benchmarks demonstrate the superior performance of LR-GCL and the robustness of the learned node representations. The code of LR-GCL is available at \url{//anonymous.4open.science/r/Low-Rank_Graph_Contrastive_Learning-64A6/}.
Self-Supervised Learning (SSL) methods such as VICReg, Barlow Twins or W-MSE avoid collapse of their joint embedding architectures by constraining or regularizing the covariance matrix of their projector's output. This study highlights important properties of such strategy, which we coin Variance-Covariance regularization (VCReg). More precisely, we show that {\em VCReg combined to a MLP projector enforces pairwise independence between the features of the learned representation}. This result emerges by bridging VCReg applied on the projector's output to kernel independence criteria applied on the projector's input. We empirically validate our findings where (i) we put in evidence which projector's characteristics favor pairwise independence, (ii) we demonstrate pairwise independence to be beneficial for out-of-domain generalization, (iii) we demonstrate that the scope of VCReg goes beyond SSL by using it to solve Independent Component Analysis. This provides the first theoretical motivation and explanation of MLP projectors in SSL.
Recent artificial intelligence (AI) systems have reached milestones in "grand challenges" ranging from Go to protein-folding. The capability to retrieve medical knowledge, reason over it, and answer medical questions comparably to physicians has long been viewed as one such grand challenge. Large language models (LLMs) have catalyzed significant progress in medical question answering; Med-PaLM was the first model to exceed a "passing" score in US Medical Licensing Examination (USMLE) style questions with a score of 67.2% on the MedQA dataset. However, this and other prior work suggested significant room for improvement, especially when models' answers were compared to clinicians' answers. Here we present Med-PaLM 2, which bridges these gaps by leveraging a combination of base LLM improvements (PaLM 2), medical domain finetuning, and prompting strategies including a novel ensemble refinement approach. Med-PaLM 2 scored up to 86.5% on the MedQA dataset, improving upon Med-PaLM by over 19% and setting a new state-of-the-art. We also observed performance approaching or exceeding state-of-the-art across MedMCQA, PubMedQA, and MMLU clinical topics datasets. We performed detailed human evaluations on long-form questions along multiple axes relevant to clinical applications. In pairwise comparative ranking of 1066 consumer medical questions, physicians preferred Med-PaLM 2 answers to those produced by physicians on eight of nine axes pertaining to clinical utility (p < 0.001). We also observed significant improvements compared to Med-PaLM on every evaluation axis (p < 0.001) on newly introduced datasets of 240 long-form "adversarial" questions to probe LLM limitations. While further studies are necessary to validate the efficacy of these models in real-world settings, these results highlight rapid progress towards physician-level performance in medical question answering.
Graph Neural Networks (GNNs) have shown promising results on a broad spectrum of applications. Most empirical studies of GNNs directly take the observed graph as input, assuming the observed structure perfectly depicts the accurate and complete relations between nodes. However, graphs in the real world are inevitably noisy or incomplete, which could even exacerbate the quality of graph representations. In this work, we propose a novel Variational Information Bottleneck guided Graph Structure Learning framework, namely VIB-GSL, in the perspective of information theory. VIB-GSL advances the Information Bottleneck (IB) principle for graph structure learning, providing a more elegant and universal framework for mining underlying task-relevant relations. VIB-GSL learns an informative and compressive graph structure to distill the actionable information for specific downstream tasks. VIB-GSL deduces a variational approximation for irregular graph data to form a tractable IB objective function, which facilitates training stability. Extensive experimental results demonstrate that the superior effectiveness and robustness of VIB-GSL.
Vast amount of data generated from networks of sensors, wearables, and the Internet of Things (IoT) devices underscores the need for advanced modeling techniques that leverage the spatio-temporal structure of decentralized data due to the need for edge computation and licensing (data access) issues. While federated learning (FL) has emerged as a framework for model training without requiring direct data sharing and exchange, effectively modeling the complex spatio-temporal dependencies to improve forecasting capabilities still remains an open problem. On the other hand, state-of-the-art spatio-temporal forecasting models assume unfettered access to the data, neglecting constraints on data sharing. To bridge this gap, we propose a federated spatio-temporal model -- Cross-Node Federated Graph Neural Network (CNFGNN) -- which explicitly encodes the underlying graph structure using graph neural network (GNN)-based architecture under the constraint of cross-node federated learning, which requires that data in a network of nodes is generated locally on each node and remains decentralized. CNFGNN operates by disentangling the temporal dynamics modeling on devices and spatial dynamics on the server, utilizing alternating optimization to reduce the communication cost, facilitating computations on the edge devices. Experiments on the traffic flow forecasting task show that CNFGNN achieves the best forecasting performance in both transductive and inductive learning settings with no extra computation cost on edge devices, while incurring modest communication cost.
We propose a novel single shot object detection network named Detection with Enriched Semantics (DES). Our motivation is to enrich the semantics of object detection features within a typical deep detector, by a semantic segmentation branch and a global activation module. The segmentation branch is supervised by weak segmentation ground-truth, i.e., no extra annotation is required. In conjunction with that, we employ a global activation module which learns relationship between channels and object classes in a self-supervised manner. Comprehensive experimental results on both PASCAL VOC and MS COCO detection datasets demonstrate the effectiveness of the proposed method. In particular, with a VGG16 based DES, we achieve an mAP of 81.7 on VOC2007 test and an mAP of 32.8 on COCO test-dev with an inference speed of 31.5 milliseconds per image on a Titan Xp GPU. With a lower resolution version, we achieve an mAP of 79.7 on VOC2007 with an inference speed of 13.0 milliseconds per image.