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Traditional reinforcement learning from human feedback (RLHF) approaches relying on parametric models like the Bradley-Terry model fall short in capturing the intransitivity and irrationality in human preferences. Recent advancements suggest that directly working with preference probabilities can yield a more accurate reflection of human preferences, enabling more flexible and accurate language model alignment. In this paper, we propose a self-play-based method for language model alignment, which treats the problem as a constant-sum two-player game aimed at identifying the Nash equilibrium policy. Our approach, dubbed \textit{Self-play Probabilistic Preference Optimization} (SPPO), approximates the Nash equilibrium through iterative policy updates and enjoys a theoretical convergence guarantee. Our method can effectively increase the log-likelihood of the chosen response and decrease that of the rejected response, which cannot be trivially achieved by symmetric pairwise loss such as Direct Preference Optimization (DPO) and Identity Preference Optimization (IPO). In our experiments, using only 60k prompts (without responses) from the UltraFeedback dataset and without any prompt augmentation, by leveraging a pre-trained preference model PairRM with only 0.4B parameters, SPPO can obtain a model from fine-tuning Mistral-7B-Instruct-v0.2 that achieves the state-of-the-art length-controlled win-rate of 28.53\% against GPT-4-Turbo on AlpacaEval 2.0. It also outperforms the (iterative) DPO and IPO on MT-Bench and the Open LLM Leaderboard. Notably, the strong performance of SPPO is achieved without additional external supervision (e.g., responses, preferences, etc.) from GPT-4 or other stronger language models.

Training large Deep Neural Network (DNN) models requires thousands of GPUs for days or weeks at a time. At these scales, failures are frequent and can have a big impact on training throughput. Restoring performance using spare GPU servers becomes increasingly expensive as models grow. SlipStream is a system for efficient DNN training in the presence of failures, without using spare servers. It exploits the functional redundancy inherent in distributed training systems -- servers hold the same model parameters across data-parallel groups -- as well as the bubbles in the pipeline schedule within each data-parallel group. SlipStream dynamically re-routes the work of a failed server to its data-parallel peers, ensuring continuous training despite multiple failures. However, re-routing work leads to imbalances across pipeline stages that degrades training throughput. SlipStream introduces two optimizations that allow re-routed work to execute within bubbles of the original pipeline schedule. First, it decouples the backward pass computation into two phases. Second, it staggers the execution of the optimizer step across pipeline stages. Combined, these optimizations enable schedules that minimize or even eliminate training throughput degradation during failures. We describe a prototype for SlipStream and show that it achieves high training throughput under multiple failures, outperforming recent proposals for fault-tolerant training such as Oobleck and Bamboo by up to 1.46x and 1.64x, respectively.

Model predictive control (MPC) is a powerful, optimization-based approach for controlling dynamical systems. However, the computational complexity of online optimization can be problematic on embedded devices. Especially, when we need to guarantee fixed control frequencies. Thus, previous work proposed to reduce the computational burden using imitation learning (IL) approximating the MPC policy by a neural network. In this work, we instead learn the whole planned trajectory of the MPC. We introduce a combination of a novel neural network architecture PlanNetX and a simple loss function based on the state trajectory that leverages the parameterized optimal control structure of the MPC. We validate our approach in the context of autonomous driving by learning a longitudinal planner and benchmarking it extensively in the CommonRoad simulator using synthetic scenarios and scenarios derived from real data. Our experimental results show that we can learn the open-loop MPC trajectory with high accuracy while improving the closed-loop performance of the learned control policy over other baselines like behavior cloning.

Before deploying outputs from foundation models in high-stakes tasks, it is imperative to ensure that they align with human values. For instance, in radiology report generation, reports generated by a vision-language model must align with human evaluations before their use in medical decision-making. This paper presents Conformal Alignment, a general framework for identifying units whose outputs meet a user-specified alignment criterion. It is guaranteed that on average, a prescribed fraction of selected units indeed meet the alignment criterion, regardless of the foundation model or the data distribution. Given any pre-trained model and new units with model-generated outputs, Conformal Alignment leverages a set of reference data with ground-truth alignment status to train an alignment predictor. It then selects new units whose predicted alignment scores surpass a data-dependent threshold, certifying their corresponding outputs as trustworthy. Through applications to question answering and radiology report generation, we demonstrate that our method is able to accurately identify units with trustworthy outputs via lightweight training over a moderate amount of reference data. En route, we investigate the informativeness of various features in alignment prediction and combine them with standard models to construct the alignment predictor.

By equipping the most recent 3D Gaussian Splatting representation with head 3D morphable models (3DMM), existing methods manage to create head avatars with high fidelity. However, most existing methods only reconstruct a head without the body, substantially limiting their application scenarios. We found that naively applying Gaussians to model the clothed chest and shoulders tends to result in blurry reconstruction and noisy floaters under novel poses. This is because of the fundamental limitation of Gaussians and point clouds -- each Gaussian or point can only have a single directional radiance without spatial variance, therefore an unnecessarily large number of them is required to represent complicated spatially varying texture, even for simple geometry. In contrast, we propose to model the body part with a neural texture that consists of coarse and pose-dependent fine colors. To properly render the body texture for each view and pose without accurate geometry nor UV mapping, we optimize another sparse set of Gaussians as anchors that constrain the neural warping field that maps image plane coordinates to the texture space. We demonstrate that Gaussian Head & Shoulders can fit the high-frequency details on the clothed upper body with high fidelity and potentially improve the accuracy and fidelity of the head region. We evaluate our method with casual phone-captured and internet videos and show our method archives superior reconstruction quality and robustness in both self and cross reenactment tasks. To fully utilize the efficient rendering speed of Gaussian splatting, we additionally propose an accelerated inference method of our trained model without Multi-Layer Perceptron (MLP) queries and reach a stable rendering speed of around 130 FPS for any subjects.

Conformer-based attention models have become the de facto backbone model for Automatic Speech Recognition tasks. A blank symbol is usually introduced to align the input and output sequences for CTC or RNN-T models. Unfortunately, the long input length overloads computational budget and memory consumption quadratically by attention mechanism. In this work, we propose a "Skip-and-Recover" Conformer architecture, named Skipformer, to squeeze sequence input length dynamically and inhomogeneously. Skipformer uses an intermediate CTC output as criteria to split frames into three groups: crucial, skipping and ignoring. The crucial group feeds into next conformer blocks and its output joint with skipping group by original temporal order as the final encoder output. Experiments show that our model reduces the input sequence length by 31 times on Aishell-1 and 22 times on Librispeech corpus. Meanwhile, the model can achieve better recognition accuracy and faster inference speed than recent baseline models. Our code is open-sourced and available online.

Adversarial attacks on learning-based multi-modal trajectory predictors have already been demonstrated. However, there are still open questions about the effects of perturbations on inputs other than state histories, and how these attacks impact downstream planning and control. In this paper, we conduct a sensitivity analysis on two trajectory prediction models, Trajectron++ and AgentFormer. The analysis reveals that between all inputs, almost all of the perturbation sensitivities for both models lie only within the most recent position and velocity states. We additionally demonstrate that, despite dominant sensitivity on state history perturbations, an undetectable image map perturbation made with the Fast Gradient Sign Method can induce large prediction error increases in both models, revealing that these trajectory predictors are, in fact, susceptible to image-based attacks. Using an optimization-based planner and example perturbations crafted from sensitivity results, we show how these attacks can cause a vehicle to come to a sudden stop from moderate driving speeds.

Pre-trained large language models (LLMs) have significantly improved code generation. As these models scale up, there is an increasing need for the output to handle more intricate tasks and to be appropriately specialized to particular domains. Here, we target bioinformatics due to the amount of domain knowledge, algorithms, and data operations this discipline requires. We present BioCoder, a benchmark developed to evaluate LLMs in generating bioinformatics-specific code. BioCoder spans much of the field, covering cross-file dependencies, class declarations, and global variables. It incorporates 1,026 Python functions and 1,243 Java methods extracted from GitHub, along with 253 examples from the Rosalind Project, all pertaining to bioinformatics. Using topic modeling, we show that the overall coverage of the included code is representative of the full spectrum of bioinformatics calculations. BioCoder incorporates a fuzz-testing framework for evaluation. We have applied it to evaluate various models including InCoder, CodeGen, CodeGen2, SantaCoder, StarCoder, StarCoder+, InstructCodeT5+, GPT-3.5, and GPT- 4. Furthermore, we fine-tuned one model (StarCoder), demonstrating that our training dataset can enhance the performance on our testing benchmark (by >15% in terms of Pass@K under certain prompt configurations and always >3%). The results highlight two key aspects of successful models: (1) Successful models accommodate a long prompt (> 2,600 tokens) with full context, including functional dependencies. (2) They contain domain-specific knowledge of bioinformatics, beyond just general coding capability. This is evident from the performance gain of GPT-3.5/4 compared to the smaller models on our benchmark (50% vs. up to 25%). Availability and implementation: Code is available at: //github.com/gersteinlab/biocoder and //biocoder-benchmark. github.io/.

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.

State-of-the-art Convolutional Neural Network (CNN) benefits a lot from multi-task learning (MTL), which learns multiple related tasks simultaneously to obtain shared or mutually related representations for different tasks. The most widely-used MTL CNN structure is based on an empirical or heuristic split on a specific layer (e.g., the last convolutional layer) to minimize different task-specific losses. However, this heuristic sharing/splitting strategy may be harmful to the final performance of one or multiple tasks. In this paper, we propose a novel CNN structure for MTL, which enables automatic feature fusing at every layer. Specifically, we first concatenate features from different tasks according to their channel dimension, and then formulate the feature fusing problem as discriminative dimensionality reduction. We show that this discriminative dimensionality reduction can be done by 1x1 Convolution, Batch Normalization, and Weight Decay in one CNN, which we refer to as Neural Discriminative Dimensionality Reduction (NDDR). We perform ablation analysis in details for different configurations in training the network. The experiments carried out on different network structures and different task sets demonstrate the promising performance and desirable generalizability of our proposed method.