This paper presents a novel approach to generalizing robot manipulation skills by combining a sampling-based task-and-motion planner with an offline reinforcement learning algorithm. Starting with a small library of scripted primitive skills (e.g. Push) and object-centric symbolic predicates (e.g. On(block, plate)), the planner autonomously generates a demonstration dataset of manipulation skills in the context of a long-horizon task. An offline reinforcement learning algorithm then extracts a policy from the dataset without further interactions with the environment and replaces the scripted skill in the existing library. Refining the skill library improves the robustness of the planner, which in turn facilitates data collection for more complex manipulation skills. We validate our approach in simulation, on a block-pushing task. We show that the proposed method requires less training data than conventional reinforcement learning methods. Furthermore, interaction with the environment is collision-free because of the use of planner demonstrations, making the approach more amenable to persistent robot learning in the real world.
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We study universal deepfake detection. Our goal is to detect synthetic images from a range of generative AI approaches, particularly from emerging ones which are unseen during training of the deepfake detector. Universal deepfake detection requires outstanding generalization capability. Motivated by recently proposed masked image modeling which has demonstrated excellent generalization in self-supervised pre-training, we make the first attempt to explore masked image modeling for universal deepfake detection. We study spatial and frequency domain masking in training deepfake detectors. Based on empirical analysis, we propose a novel deepfake detector via frequency masking. Our focus on frequency domain is different from the majority, which primarily target spatial domain detection. Our comparative analyses reveal substantial performance gains over existing methods. Code and models are publicly available.
This paper examines LASSO, a widely-used $L_{1}$-penalized regression method, in high dimensional linear predictive regressions, particularly when the number of potential predictors exceeds the sample size and numerous unit root regressors are present. The consistency of LASSO is contingent upon two key components: the deviation bound of the cross product of the regressors and the error term, and the restricted eigenvalue of the Gram matrix. We present new probabilistic bounds for these components, suggesting that LASSO's rates of convergence are different from those typically observed in cross-sectional cases. When applied to a mixture of stationary, nonstationary, and cointegrated predictors, LASSO maintains its asymptotic guarantee if predictors are scale-standardized. Leveraging machine learning and macroeconomic domain expertise, LASSO demonstrates strong performance in forecasting the unemployment rate, as evidenced by its application to the FRED-MD database.
This paper presents null-shot prompting. Null-shot prompting exploits hallucination in large language models (LLMs) by instructing LLMs to utilize information from the "Examples" section that never exists within the provided context to perform a task. While reducing hallucination is crucial and non-negligible for daily and critical uses of LLMs, we propose that in the current landscape in which these LLMs still hallucinate, it is possible, in fact, to exploit hallucination to increase performance in performing tasks compared to standard zero-shot prompting. Experiments with six LLMs show improvements in performance across the majority of eight datasets, including reading comprehension, arithmetic reasoning, and closed-book question answering. The observed inconsistency in increased relative performance across LLMs also potentially indicates a different degree of inherent hallucination in each model. These differences show that it is possible to utilize null-shot prompting as a way to detect degrees of hallucination in LLMs using existing benchmarking datasets. We also perform ablation studies, including experimenting with a modified version of null-shot prompting that incorporates ideas from zero-shot chain-of-thought prompting, which shows different trends of results.
Hybrid quantum-classical classifiers promise to positively impact critical aspects of natural language processing tasks, particularly classification-related ones. Among the possibilities currently investigated, quantum transfer learning, i.e., using a quantum circuit for fine-tuning pre-trained classical models for a specific task, is attracting significant attention as a potential platform for proving quantum advantage. This work shows potential advantages, both in terms of performance and expressiveness, of quantum transfer learning algorithms trained on embedding vectors extracted from a large language model to perform classification on a classical Linguistics task: acceptability judgments. Acceptability judgment is the ability to determine whether a sentence is considered natural and well-formed by a native speaker. The approach has been tested on sentences extracted from ItaCoLa, a corpus that collects Italian sentences labeled with their acceptability judgment. The evaluation phase shows results for the quantum transfer learning pipeline comparable to state-of-the-art classical transfer learning algorithms, proving current quantum computers' capabilities to tackle NLP tasks for ready-to-use applications. Furthermore, a qualitative linguistic analysis, aided by explainable AI methods, reveals the capabilities of quantum transfer learning algorithms to correctly classify complex and more structured sentences, compared to their classical counterpart. This finding sets the ground for a quantifiable quantum advantage in NLP in the near future.
This paper presents a novel approach to enhance the communication efficiency of federated learning (FL) in multiple input and multiple output (MIMO) wireless systems. The proposed method centers on a low-rank matrix factorization strategy for local gradient compression based on alternating least squares, along with over-the-air computation and error feedback. The proposed protocol, termed over-the-air low-rank compression (Ota-LC), is demonstrated to have lower computation cost and lower communication overhead as compared to existing benchmarks while guaranteeing the same inference performance. As an example, when targeting a test accuracy of 80% on the Cifar-10 dataset, Ota-LC achieves a reduction in total communication costs of at least 30% when contrasted with benchmark schemes, while also reducing the computational complexity order by a factor equal to the sum of the dimension of the gradients.
In this paper, we investigate joint power control and access point (AP) selection scheme in a cell-free massive multiple-input multiple-output (CF-mMIMO) system under an active eavesdropping attack, where an eavesdropper tries to overhear the signal sent to one of the legitimate users by contaminating the uplink channel estimation. We formulate a joint optimization problem to minimize the eavesdropping spectral efficiency (SE) while guaranteeing a given SE requirement at legitimate users. The challenging formulated problem is converted into a more tractable form and an efficient low-complexity accelerated projected gradient (APG)-based approach is proposed to solve it. Our findings reveal that the proposed joint optimization approach significantly outperforms the heuristic approaches in terms of secrecy SE (SSE). For instance, the $50\%$ likely SSE performance of the proposed approach is $265\%$ higher than that of equal power allocation and random AP selection scheme.
Our paper proposes an innovative approach for modeling Fluid-Structure Interaction (FSI). Our method combines both traditional monolithic and partitioned approaches, creating a hybrid solution that facilitates FSI. At each time iteration, the solid mesh is immersed within a fluid-solid mesh, all while maintaining its independent Lagrangian hyperelastic solver. The Eulerian mesh encompasses both the fluid and solid components and accommodates various physical phenomena. We enhance the interaction between solid and fluid through anisotropic mesh adaptation and the Level-Set methods. This enables a more accurate representation of their interaction. Together, these components constitute the Adaptive Immersed Mesh Method (AIMM). For both solvers, we utilize the Variational Multi-Scale (VMS) method, mitigating potential spurious oscillations common with piecewise linear tetrahedral elements. The framework operates in 3D with parallel computing capabilities. Our methods accuracy, robustness, and capabilities are assessed through a series of 2D numerical problems. Furthermore, we present various three-dimensional test cases and compare their results to experimental data.
This work proposes a novel approach for hand gesture recognition using an inexpensive, low-resolution (24 x 32) thermal sensor processed by a Spiking Neural Network (SNN) followed by Sparse Segmentation and feature-based gesture classification via Robust Principal Component Analysis (R-PCA). Compared to the use of standard RGB cameras, the proposed system is insensitive to lighting variations while being significantly less expensive compared to high-frequency radars, time-of-flight cameras and high-resolution thermal sensors previously used in literature. Crucially, this paper shows that the innovative use of the recently proposed Monostable Multivibrator (MMV) neural networks as a new class of SNN achieves more than one order of magnitude smaller memory and compute complexity compared to deep learning approaches, while reaching a top gesture recognition accuracy of 93.9% using a 5-class thermal camera dataset acquired in a car cabin, within an automotive context. Our dataset is released for helping future research.
This paper proposes a generic method to learn interpretable convolutional filters in a deep convolutional neural network (CNN) for object classification, where each interpretable filter encodes features of a specific object part. Our method does not require additional annotations of object parts or textures for supervision. Instead, we use the same training data as traditional CNNs. Our method automatically assigns each interpretable filter in a high conv-layer with an object part of a certain category during the learning process. Such explicit knowledge representations in conv-layers of CNN help people clarify the logic encoded in the CNN, i.e., answering what patterns the CNN extracts from an input image and uses for prediction. We have tested our method using different benchmark CNNs with various structures to demonstrate the broad applicability of our method. Experiments have shown that our interpretable filters are much more semantically meaningful than traditional filters.
Few-shot learning aims to learn novel categories from very few samples given some base categories with sufficient training samples. The main challenge of this task is the novel categories are prone to dominated by color, texture, shape of the object or background context (namely specificity), which are distinct for the given few training samples but not common for the corresponding categories (see Figure 1). Fortunately, we find that transferring information of the correlated based categories can help learn the novel concepts and thus avoid the novel concept being dominated by the specificity. Besides, incorporating semantic correlations among different categories can effectively regularize this information transfer. In this work, we represent the semantic correlations in the form of structured knowledge graph and integrate this graph into deep neural networks to promote few-shot learning by a novel Knowledge Graph Transfer Network (KGTN). Specifically, by initializing each node with the classifier weight of the corresponding category, a propagation mechanism is learned to adaptively propagate node message through the graph to explore node interaction and transfer classifier information of the base categories to those of the novel ones. Extensive experiments on the ImageNet dataset show significant performance improvement compared with current leading competitors. Furthermore, we construct an ImageNet-6K dataset that covers larger scale categories, i.e, 6,000 categories, and experiments on this dataset further demonstrate the effectiveness of our proposed model.
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