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A flurry of recent work has demonstrated that pre-trained large language models (LLMs) can be effective task planners for a variety of single-robot tasks. The planning performance of LLMs is significantly improved via prompting techniques, such as in-context learning or re-prompting with state feedback, placing new importance on the token budget for the context window. An under-explored but natural next direction is to investigate LLMs as multi-robot task planners. However, long-horizon, heterogeneous multi-robot planning introduces new challenges of coordination while also pushing up against the limits of context window length. It is therefore critical to find token-efficient LLM planning frameworks that are also able to reason about the complexities of multi-robot coordination. In this work, we compare the task success rate and token efficiency of four multi-agent communication frameworks (centralized, decentralized, and two hybrid) as applied to four coordination-dependent multi-agent 2D task scenarios for increasing numbers of agents. We find that a hybrid framework achieves better task success rates across all four tasks and scales better to more agents. We further demonstrate the hybrid frameworks in 3D simulations where the vision-to-text problem and dynamical errors are considered. See our project website //yongchao98.github.io/MIT-REALM-Multi-Robot/ for prompts, videos, and code.

Large Language Models (LLMs) have demonstrated exceptional abilities in comprehending and generating text, motivating numerous researchers to utilize them for Information Extraction (IE) purposes, including Relation Extraction (RE). Nonetheless, most existing methods are predominantly designed for Sentence-level Relation Extraction (SentRE) tasks, which typically encompass a restricted set of relations and triplet facts within a single sentence. Furthermore, certain approaches resort to treating relations as candidate choices integrated into prompt templates, leading to inefficient processing and suboptimal performance when tackling Document-Level Relation Extraction (DocRE) tasks, which entail handling multiple relations and triplet facts distributed across a given document, posing distinct challenges. To overcome these limitations, we introduce AutoRE, an end-to-end DocRE model that adopts a novel RE extraction paradigm named RHF (Relation-Head-Facts). Unlike existing approaches, AutoRE does not rely on the assumption of known relation options, making it more reflective of real-world scenarios. Additionally, we have developed an easily extensible RE framework using a Parameters Efficient Fine Tuning (PEFT) algorithm (QLoRA). Our experiments on the RE-DocRED dataset showcase AutoRE's best performance, achieving state-of-the-art results, surpassing TAG by 10.03% and 9.03% respectively on the dev and test set.

Background: Synthetic data has been proposed as a solution for sharing anonymized versions of sensitive biomedical datasets. Ideally, synthetic data should preserve the structure and statistical properties of the original data, while protecting the privacy of the individual subjects. Differential privacy (DP) is currently considered the gold standard approach for balancing this trade-off. Objectives: The aim of this study is to evaluate the Mann-Whitney U test on DP-synthetic biomedical data in terms of Type I and Type II errors, in order to establish whether statistical hypothesis testing performed on privacy preserving synthetic data is likely to lead to loss of test's validity or decreased power. Methods: We evaluate the Mann-Whitney U test on DP-synthetic data generated from real-world data, including a prostate cancer dataset (n=500) and a cardiovascular dataset (n=70 000), as well as on data drawn from two Gaussian distributions. Five different DP-synthetic data generation methods are evaluated, including two basic DP histogram release methods and MWEM, Private-PGM, and DP GAN algorithms. Conclusion: Most of the tested DP-synthetic data generation methods showed inflated Type I error, especially at privacy budget levels of $\epsilon\leq 1$. This result calls for caution when releasing and analyzing DP-synthetic data: low p-values may be obtained in statistical tests simply as a byproduct of the noise added to protect privacy. A DP smoothed histogram-based synthetic data generation method was shown to produce valid Type I error for all privacy levels tested but required a large original dataset size and a modest privacy budget ($\epsilon\geq 5$) in order to have reasonable Type II error levels.

Tabular data plays a crucial role in various domains but often suffers from missing values, thereby curtailing its potential utility. Traditional imputation techniques frequently yield suboptimal results and impose substantial computational burdens, leading to inaccuracies in subsequent modeling tasks. To address these challenges, we propose DiffImpute, a novel Denoising Diffusion Probabilistic Model (DDPM). Specifically, DiffImpute is trained on complete tabular datasets, ensuring that it can produce credible imputations for missing entries without undermining the authenticity of the existing data. Innovatively, it can be applied to various settings of Missing Completely At Random (MCAR) and Missing At Random (MAR). To effectively handle the tabular features in DDPM, we tailor four tabular denoising networks, spanning MLP, ResNet, Transformer, and U-Net. We also propose Harmonization to enhance coherence between observed and imputed data by infusing the data back and denoising them multiple times during the sampling stage. To enable efficient inference while maintaining imputation performance, we propose a refined non-Markovian sampling process that works along with Harmonization. Empirical evaluations on seven diverse datasets underscore the prowess of DiffImpute. Specifically, when paired with the Transformer as the denoising network, it consistently outperforms its competitors, boasting an average ranking of 1.7 and the most minimal standard deviation. In contrast, the next best method lags with a ranking of 2.8 and a standard deviation of 0.9. The code is available at //github.com/Dendiiiii/DiffImpute.

In the literature, machine learning (ML) has been implemented at the base station (BS) and user equipment (UE) to improve the precision of downlink channel state information (CSI). However, ML implementation at the UE can be infeasible for various reasons, such as UE power consumption. Motivated by this issue, we propose a CSI learning mechanism at BS, called CSILaBS, to avoid ML at UE. To this end, by exploiting channel predictor (CP) at BS, a light-weight predictor function (PF) is considered for feedback evaluation at the UE. CSILaBS reduces over-the-air feedback overhead, improves CSI quality, and lowers the computation cost of UE. Besides, in a multiuser environment, we propose various mechanisms to select the feedback by exploiting PF while aiming to improve CSI accuracy. We also address various ML-based CPs, such as NeuralProphet (NP), an ML-inspired statistical algorithm. Furthermore, inspired to use a statistical model and ML together, we propose a novel hybrid framework composed of a recurrent neural network and NP, which yields better prediction accuracy than individual models. The performance of CSILaBS is evaluated through an empirical dataset recorded at Nokia Bell-Labs. The outcomes show that ML elimination at UE can retain performance gains, for example, precoding quality.

Medical Visual Question Answering (VQA) is a combination of medical artificial intelligence and popular VQA challenges. Given a medical image and a clinically relevant question in natural language, the medical VQA system is expected to predict a plausible and convincing answer. Although the general-domain VQA has been extensively studied, the medical VQA still needs specific investigation and exploration due to its task features. In the first part of this survey, we cover and discuss the publicly available medical VQA datasets up to date about the data source, data quantity, and task feature. In the second part, we review the approaches used in medical VQA tasks. In the last part, we analyze some medical-specific challenges for the field and discuss future research directions.

Compared with cheap addition operation, multiplication operation is of much higher computation complexity. The widely-used convolutions in deep neural networks are exactly cross-correlation to measure the similarity between input feature and convolution filters, which involves massive multiplications between float values. In this paper, we present adder networks (AdderNets) to trade these massive multiplications in deep neural networks, especially convolutional neural networks (CNNs), for much cheaper additions to reduce computation costs. In AdderNets, we take the $\ell_1$-norm distance between filters and input feature as the output response. The influence of this new similarity measure on the optimization of neural network have been thoroughly analyzed. To achieve a better performance, we develop a special back-propagation approach for AdderNets by investigating the full-precision gradient. We then propose an adaptive learning rate strategy to enhance the training procedure of AdderNets according to the magnitude of each neuron's gradient. As a result, the proposed AdderNets can achieve 74.9% Top-1 accuracy 91.7% Top-5 accuracy using ResNet-50 on the ImageNet dataset without any multiplication in convolution layer.

With the advent of deep neural networks, learning-based approaches for 3D reconstruction have gained popularity. However, unlike for images, in 3D there is no canonical representation which is both computationally and memory efficient yet allows for representing high-resolution geometry of arbitrary topology. Many of the state-of-the-art learning-based 3D reconstruction approaches can hence only represent very coarse 3D geometry or are limited to a restricted domain. In this paper, we propose occupancy networks, a new representation for learning-based 3D reconstruction methods. Occupancy networks implicitly represent the 3D surface as the continuous decision boundary of a deep neural network classifier. In contrast to existing approaches, our representation encodes a description of the 3D output at infinite resolution without excessive memory footprint. We validate that our representation can efficiently encode 3D structure and can be inferred from various kinds of input. Our experiments demonstrate competitive results, both qualitatively and quantitatively, for the challenging tasks of 3D reconstruction from single images, noisy point clouds and coarse discrete voxel grids. We believe that occupancy networks will become a useful tool in a wide variety of learning-based 3D tasks.

Generative Adversarial Networks (GANs) can produce images of surprising complexity and realism, but are generally modeled to sample from a single latent source ignoring the explicit spatial interaction between multiple entities that could be present in a scene. Capturing such complex interactions between different objects in the world, including their relative scaling, spatial layout, occlusion, or viewpoint transformation is a challenging problem. In this work, we propose to model object composition in a GAN framework as a self-consistent composition-decomposition network. Our model is conditioned on the object images from their marginal distributions to generate a realistic image from their joint distribution by explicitly learning the possible interactions. We evaluate our model through qualitative experiments and user evaluations in both the scenarios when either paired or unpaired examples for the individual object images and the joint scenes are given during training. Our results reveal that the learned model captures potential interactions between the two object domains given as input to output new instances of composed scene at test time in a reasonable fashion.

Convolutional Neural Networks (CNNs) have gained significant traction in the field of machine learning, particularly due to their high accuracy in visual recognition. Recent works have pushed the performance of GPU implementations of CNNs to significantly improve their classification and training times. With these improvements, many frameworks have become available for implementing CNNs on both CPUs and GPUs, with no support for FPGA implementations. In this work we present a modified version of the popular CNN framework Caffe, with FPGA support. This allows for classification using CNN models and specialized FPGA implementations with the flexibility of reprogramming the device when necessary, seamless memory transactions between host and device, simple-to-use test benches, and the ability to create pipelined layer implementations. To validate the framework, we use the Xilinx SDAccel environment to implement an FPGA-based Winograd convolution engine and show that the FPGA layer can be used alongside other layers running on a host processor to run several popular CNNs (AlexNet, GoogleNet, VGG A, Overfeat). The results show that our framework achieves 50 GFLOPS across 3x3 convolutions in the benchmarks. This is achieved within a practical framework, which will aid in future development of FPGA-based CNNs.