Recently, the integration of external tools with Large Language Models (LLMs) has emerged as a promising approach to overcome the inherent constraints of their pre-training data. However, realworld applications often involve a diverse range of tools, making it infeasible to incorporate all tools directly into LLMs due to constraints on input length and response time. Therefore, to fully exploit the potential of tool-augmented LLMs, it is crucial to develop an effective tool retrieval system. Existing tool retrieval methods techniques mainly rely on semantic matching between user queries and tool descriptions, which often results in the selection of redundant tools. As a result, these methods fail to provide a complete set of diverse tools necessary for addressing the multifaceted problems encountered by LLMs. In this paper, we propose a novel modelagnostic COllaborative Learning-based Tool Retrieval approach, COLT, which captures not only the semantic similarities between user queries and tool descriptions but also takes into account the collaborative information of tools. Specifically, we first fine-tune the PLM-based retrieval models to capture the semantic relationships between queries and tools in the semantic learning stage. Subsequently, we construct three bipartite graphs among queries, scenes, and tools and introduce a dual-view graph collaborative learning framework to capture the intricate collaborative relationships among tools during the collaborative learning stage. Extensive experiments on both the open benchmark and the newly introduced ToolLens dataset show that COLT achieves superior performance. Notably, the performance of BERT-mini (11M) with our proposed model framework outperforms BERT-large (340M), which has 30 times more parameters. Additionally, we plan to publicly release the ToolLens dataset to support further research in tool retrieval.
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Differentiable 3D-Gaussian splatting (GS) is emerging as a prominent technique in computer vision and graphics for reconstructing 3D scenes. GS represents a scene as a set of 3D Gaussians with varying opacities and employs a computationally efficient splatting operation along with analytical derivatives to compute the 3D Gaussian parameters given scene images captured from various viewpoints. Unfortunately, capturing surround view ($360^{\circ}$ viewpoint) images is impossible or impractical in many real-world imaging scenarios, including underwater imaging, rooms inside a building, and autonomous navigation. In these restricted baseline imaging scenarios, the GS algorithm suffers from a well-known 'missing cone' problem, which results in poor reconstruction along the depth axis. In this manuscript, we demonstrate that using transient data (from sonars) allows us to address the missing cone problem by sampling high-frequency data along the depth axis. We extend the Gaussian splatting algorithms for two commonly used sonars and propose fusion algorithms that simultaneously utilize RGB camera data and sonar data. Through simulations, emulations, and hardware experiments across various imaging scenarios, we show that the proposed fusion algorithms lead to significantly better novel view synthesis (5 dB improvement in PSNR) and 3D geometry reconstruction (60% lower Chamfer distance).
Advancements in generative AI have broadened the potential applications of Large Language Models (LLMs) in the development of autonomous agents. Achieving true autonomy requires accumulating and updating knowledge gained from interactions with the environment and effectively utilizing it. Current LLM-based approaches leverage past experiences using a full history of observations, summarization or retrieval augmentation. However, these unstructured memory representations do not facilitate the reasoning and planning essential for complex decision-making. In our study, we introduce AriGraph, a novel method wherein the agent constructs a memory graph that integrates semantic and episodic memories while exploring the environment. This graph structure facilitates efficient associative retrieval of interconnected concepts, relevant to the agent's current state and goals, thus serving as an effective environmental model that enhances the agent's exploratory and planning capabilities. We demonstrate that our Ariadne LLM agent, equipped with this proposed memory architecture augmented with planning and decision-making, effectively handles complex tasks on a zero-shot basis in the TextWorld environment. Our approach markedly outperforms established methods such as full-history, summarization, and Retrieval-Augmented Generation in various tasks, including the cooking challenge from the First TextWorld Problems competition and novel tasks like house cleaning and puzzle Treasure Hunting.
Database Management Systems (DBMSs) are vital components in modern data-driven systems. Their complexity often leads to logic bugs, which are implementation errors within the DBMSs that can lead to incorrect query results, data exposure, unauthorized access, etc., without necessarily causing visible system failures. Existing detection employs two strategies: rule-based bug detection and coverage-guided fuzzing. In general, rule specification itself is challenging; as a result, rule-based detection is limited to specific and simple rules. Coverage-guided fuzzing blindly explores code paths or blocks, many of which are unlikely to contain logic bugs; therefore, this strategy is cost-ineffective. In this paper, we design SQLaser, a SQL-clause-guided fuzzer for detecting logic bugs in DBMSs. Through a comprehensive examination of most existing logic bugs across four distinct DBMSs, excluding those causing system crashes, we have identified 35 logic bug patterns. These patterns manifest as certain SQL clause combinations that commonly result in logic bugs, and behind these clause combinations are a sequence of functions. We therefore model logic bug patterns as error-prone function chains (ie, sequences of functions). We further develop a directed fuzzer with a new path-to-path distance-calculation mechanism for effectively testing these chains and discovering additional logic bugs. This mechanism enables SQLaser to swiftly navigate to target sites and uncover potential bugs emerging from these paths. Our evaluation, conducted on SQLite, MySQL, PostgreSQL, and TiDB, demonstrates that SQLaser significantly accelerates bug discovery compared to other fuzzing approaches, reducing detection time by approximately 60%.
Numerous locomotion controllers have been designed based on Reinforcement Learning (RL) to facilitate blind quadrupedal locomotion traversing challenging terrains. Nevertheless, locomotion control is still a challenging task for quadruped robots traversing diverse terrains amidst unforeseen disturbances. Recently, privileged learning has been employed to learn reliable and robust quadrupedal locomotion over various terrains based on a teacher-student architecture. However, its one-encoder structure is not adequate in addressing external force perturbations. The student policy would experience inevitable performance degradation due to the feature embedding discrepancy between the feature encoder of the teacher policy and the one of the student policy. Hence, this paper presents a privileged learning framework with multiple feature encoders and a residual policy network for robust and reliable quadruped locomotion subject to various external perturbations. The multi-encoder structure can decouple latent features from different privileged information, ultimately leading to enhanced performance of the learned policy in terms of robustness, stability, and reliability. The efficiency of the proposed feature encoding module is analyzed in depth using extensive simulation data. The introduction of the residual policy network helps mitigate the performance degradation experienced by the student policy that attempts to clone the behaviors of a teacher policy. The proposed framework is evaluated on a Unitree GO1 robot, showcasing its performance enhancement over the state-of-the-art privileged learning algorithm through extensive experiments conducted on diverse terrains. Ablation studies are conducted to illustrate the efficiency of the residual policy network.
Prompt engineering, as an efficient and effective way to leverage Large Language Models (LLM), has drawn a lot of attention from the research community. The existing research primarily emphasizes the importance of adapting prompts to specific tasks, rather than specific LLMs. However, a good prompt is not solely defined by its wording, but also binds to the nature of the LLM in question. In this work, we first quantitatively demonstrate that different prompts should be adapted to different LLMs to enhance their capabilities across various downstream tasks in NLP. Then we novelly propose a model-adaptive prompt optimizer (MAPO) method that optimizes the original prompts for each specific LLM in downstream tasks. Extensive experiments indicate that the proposed method can effectively refine prompts for an LLM, leading to significant improvements over various downstream tasks.
Operators devoid of multiplication, such as Shift and Add, have gained prominence for their compatibility with hardware. However, neural networks (NNs) employing these operators typically exhibit lower accuracy compared to conventional NNs with identical structures. ShiftAddAug uses costly multiplication to augment efficient but less powerful multiplication-free operators, improving performance without any inference overhead. It puts a ShiftAdd tiny NN into a large multiplicative model and encourages it to be trained as a sub-model to obtain additional supervision. In order to solve the weight discrepancy problem between hybrid operators, a new weight sharing method is proposed. Additionally, a novel two stage neural architecture search is used to obtain better augmentation effects for smaller but stronger multiplication-free tiny neural networks. The superiority of ShiftAddAug is validated through experiments in image classification and semantic segmentation, consistently delivering noteworthy enhancements. Remarkably, it secures up to a 4.95% increase in accuracy on the CIFAR100 compared to its directly trained counterparts, even surpassing the performance of multiplicative NNs.
The proliferation of Knowledge Graphs (KGs) that support a wide variety of applications, like entity search, question answering and recommender systems, has led to the need for identifying overlapping information among different KGs. Entity Alignment (EA) is the problem of detecting such overlapping information among KGs that refer to the same real-world entities. Recent works have shown a great potential in exploiting KG embeddings for the task of EA, with most works focusing on the structural representation of entities (i.e., entity neighborhoods) in a KG and some works also exploiting the available factual information of entities (e.g., their names and associated literal values). However, real-word KGs exhibit high levels of structural and semantic heterogeneity, making EA a challenging task in which most existing methods struggle to achieve good results. In this work, we propose HybEA, an open-source EA method that focuses on both structure and facts, using two separate attention-based models. Our experimental results show that HybEA outperforms state-of-the-art methods by at least 5% and as much as 20+% (with an average difference of 11+%) Hits@1, in 5 widely used benchmark datasets.
Knowledge distillation (KD) is widely used for compressing a teacher model to a smaller student model, reducing its inference cost and memory footprint while preserving model capabilities. However, current KD methods for auto-regressive sequence models (e.g., large language models) suffer from missing a standardized objective function. Moreover, the recent use of student-generated outputs to address training-inference mismatches has significantly escalated computational costs. To tackle these issues, we introduce DistiLLM, a more effective and efficient KD framework for auto-regressive language models. DistiLLM comprises two components: (1) a novel skew Kullback-Leibler divergence loss, where we unveil and leverage its theoretical properties, and (2) an adaptive off-policy approach designed to enhance the efficiency in utilizing student-generated outputs. Extensive experiments, including instruction-following tasks, demonstrate the effectiveness of DistiLLM in building high-performing student models while achieving up to 4.3$\times$ speedup compared to recent KD methods.
Graph Neural Networks (GNNs) are widely used for analyzing graph-structured data. Most GNN methods are highly sensitive to the quality of graph structures and usually require a perfect graph structure for learning informative embeddings. However, the pervasiveness of noise in graphs necessitates learning robust representations for real-world problems. To improve the robustness of GNN models, many studies have been proposed around the central concept of Graph Structure Learning (GSL), which aims to jointly learn an optimized graph structure and corresponding representations. Towards this end, in the presented survey, we broadly review recent progress of GSL methods for learning robust representations. Specifically, we first formulate a general paradigm of GSL, and then review state-of-the-art methods classified by how they model graph structures, followed by applications that incorporate the idea of GSL in other graph tasks. Finally, we point out some issues in current studies and discuss future directions.
Graph Neural Networks (GNN) has demonstrated the superior performance in many challenging applications, including the few-shot learning tasks. Despite its powerful capacity to learn and generalize from few samples, GNN usually suffers from severe over-fitting and over-smoothing as the model becomes deep, which limit the model scalability. In this work, we propose a novel Attentive GNN to tackle these challenges, by incorporating a triple-attention mechanism, \ie node self-attention, neighborhood attention, and layer memory attention. We explain why the proposed attentive modules can improve GNN for few-shot learning with theoretical analysis and illustrations. Extensive experiments show that the proposed Attentive GNN outperforms the state-of-the-art GNN-based methods for few-shot learning over the mini-ImageNet and Tiered-ImageNet datasets, with both inductive and transductive settings.
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