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Autonomous driving has long faced a challenge with public acceptance due to the lack of explainability in the decision-making process. Video question-answering (QA) in natural language provides the opportunity for bridging this gap. Nonetheless, evaluating the performance of Video QA models has proved particularly tough due to the absence of comprehensive benchmarks. To fill this gap, we introduce LingoQA, a benchmark specifically for autonomous driving Video QA. The LingoQA trainable metric demonstrates a 0.95 Spearman correlation coefficient with human evaluations. We introduce a Video QA dataset of central London consisting of 419k samples that we release with the paper. We establish a baseline vision-language model and run extensive ablation studies to understand its performance.

Radiofrequency ablation (RFA) is a widely used minimally invasive technique for ablating solid tumors. Achieving precise personalized treatment necessitates feedback information on in situ thermal effects induced by the RFA procedure. While computer simulation facilitates the prediction of electrical and thermal phenomena associated with RFA, its practical implementation in clinical settings is hindered by high computational demands. In this paper, we propose a physics-guided neural network model, named PhysRFANet, to enable real-time prediction of thermal effect during RFA treatment. The networks, designed for predicting temperature distribution and the corresponding ablation lesion, were trained using biophysical computational models that integrated electrostatics, bio-heat transfer, and cell necrosis, alongside magnetic resonance (MR) images of breast cancer patients. Validation of the computational model was performed through experiments on ex vivo bovine liver tissue. Our model demonstrated a 96% Dice score in predicting the lesion volume and an RMSE of 0.4854 for temperature distribution when tested with foreseen tumor images. Notably, even with unforeseen images, it achieved a 93% Dice score for the ablation lesion and an RMSE of 0.6783 for temperature distribution. All networks were capable of inferring results within 10 ms. The presented technique, applied to optimize the placement of the electrode for a specific target region, holds significant promise in enhancing the safety and efficacy of RFA treatments.

Neural finite-state transducers (NFSTs) form an expressive family of neurosymbolic sequence transduction models. An NFST models each string pair as having been generated by a latent path in a finite-state transducer. As they are deep generative models, both training and inference of NFSTs require inference networks that approximate posterior distributions over such latent variables. In this paper, we focus on the resulting challenge of imputing the latent alignment path that explains a given pair of input and output strings (e.g., during training). We train three autoregressive approximate models for amortized inference of the path, which can then be used as proposal distributions for importance sampling. All three models perform lookahead. Our most sophisticated (and novel) model leverages the FST structure to consider the graph of future paths; unfortunately, we find that it loses out to the simpler approaches -- except on an artificial task that we concocted to confuse the simpler approaches.

Despite significant recent progress in the field of autonomous driving, modern methods still struggle and can incur serious accidents when encountering long-tail unforeseen events and challenging urban scenarios. On the one hand, large language models (LLM) have shown impressive reasoning capabilities that approach "Artificial General Intelligence". On the other hand, previous autonomous driving methods tend to rely on limited-format inputs (e.g. sensor data and navigation waypoints), restricting the vehicle's ability to understand language information and interact with humans. To this end, this paper introduces LMDrive, a novel language-guided, end-to-end, closed-loop autonomous driving framework. LMDrive uniquely processes and integrates multi-modal sensor data with natural language instructions, enabling interaction with humans and navigation software in realistic instructional settings. To facilitate further research in language-based closed-loop autonomous driving, we also publicly release the corresponding dataset which includes approximately 64K instruction-following data clips, and the LangAuto benchmark that tests the system's ability to handle complex instructions and challenging driving scenarios. Extensive closed-loop experiments are conducted to demonstrate LMDrive's effectiveness. To the best of our knowledge, we're the very first work to leverage LLMs for closed-loop end-to-end autonomous driving. Codes, models, and datasets can be found at //github.com/opendilab/LMDrive

Fine-tuning large pre-trained language models on downstream tasks has become an important paradigm in NLP. However, common practice fine-tunes all of the parameters in a pre-trained model, which becomes prohibitive when a large number of downstream tasks are present. Therefore, many fine-tuning methods are proposed to learn incremental updates of pre-trained weights in a parameter efficient way, e.g., low-rank increments. These methods often evenly distribute the budget of incremental updates across all pre-trained weight matrices, and overlook the varying importance of different weight parameters. As a consequence, the fine-tuning performance is suboptimal. To bridge this gap, we propose AdaLoRA, which adaptively allocates the parameter budget among weight matrices according to their importance score. In particular, AdaLoRA parameterizes the incremental updates in the form of singular value decomposition. Such a novel approach allows us to effectively prune the singular values of unimportant updates, which is essentially to reduce their parameter budget but circumvent intensive exact SVD computations. We conduct extensive experiments with several pre-trained models on natural language processing, question answering, and natural language generation to validate the effectiveness of AdaLoRA. Results demonstrate that AdaLoRA manifests notable improvement over baselines, especially in the low budget settings. Our code is publicly available at //github.com/QingruZhang/AdaLoRA .

The emergence of large language models (LLMs) has substantially influenced natural language processing, demonstrating exceptional results across various tasks. In this study, we employ ``Introspective Tips" to facilitate LLMs in self-optimizing their decision-making. By introspectively examining trajectories, LLM refines its policy by generating succinct and valuable tips. Our method enhances the agent's performance in both few-shot and zero-shot learning situations by considering three essential scenarios: learning from the agent's past experiences, integrating expert demonstrations, and generalizing across diverse games. Importantly, we accomplish these improvements without fine-tuning the LLM parameters; rather, we adjust the prompt to generalize insights from the three aforementioned situations. Our framework not only supports but also emphasizes the advantage of employing LLM in in-contxt decision-making. Experiments involving over 100 games in TextWorld illustrate the superior performance of our approach.

The past few years have seen rapid progress in combining reinforcement learning (RL) with deep learning. Various breakthroughs ranging from games to robotics have spurred the interest in designing sophisticated RL algorithms and systems. However, the prevailing workflow in RL is to learn tabula rasa, which may incur computational inefficiency. This precludes continuous deployment of RL algorithms and potentially excludes researchers without large-scale computing resources. In many other areas of machine learning, the pretraining paradigm has shown to be effective in acquiring transferable knowledge, which can be utilized for a variety of downstream tasks. Recently, we saw a surge of interest in Pretraining for Deep RL with promising results. However, much of the research has been based on different experimental settings. Due to the nature of RL, pretraining in this field is faced with unique challenges and hence requires new design principles. In this survey, we seek to systematically review existing works in pretraining for deep reinforcement learning, provide a taxonomy of these methods, discuss each sub-field, and bring attention to open problems and future directions.

We propose to pre-train a unified language model for both autoencoding and partially autoregressive language modeling tasks using a novel training procedure, referred to as a pseudo-masked language model (PMLM). Given an input text with masked tokens, we rely on conventional masks to learn inter-relations between corrupted tokens and context via autoencoding, and pseudo masks to learn intra-relations between masked spans via partially autoregressive modeling. With well-designed position embeddings and self-attention masks, the context encodings are reused to avoid redundant computation. Moreover, conventional masks used for autoencoding provide global masking information, so that all the position embeddings are accessible in partially autoregressive language modeling. In addition, the two tasks pre-train a unified language model as a bidirectional encoder and a sequence-to-sequence decoder, respectively. Our experiments show that the unified language models pre-trained using PMLM achieve new state-of-the-art results on a wide range of natural language understanding and generation tasks across several widely used benchmarks.

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.

Retrieving object instances among cluttered scenes efficiently requires compact yet comprehensive regional image representations. Intuitively, object semantics can help build the index that focuses on the most relevant regions. However, due to the lack of bounding-box datasets for objects of interest among retrieval benchmarks, most recent work on regional representations has focused on either uniform or class-agnostic region selection. In this paper, we first fill the void by providing a new dataset of landmark bounding boxes, based on the Google Landmarks dataset, that includes $94k$ images with manually curated boxes from $15k$ unique landmarks. Then, we demonstrate how a trained landmark detector, using our new dataset, can be leveraged to index image regions and improve retrieval accuracy while being much more efficient than existing regional methods. In addition, we further introduce a novel regional aggregated selective match kernel (R-ASMK) to effectively combine information from detected regions into an improved holistic image representation. R-ASMK boosts image retrieval accuracy substantially at no additional memory cost, while even outperforming systems that index image regions independently. Our complete image retrieval system improves upon the previous state-of-the-art by significant margins on the Revisited Oxford and Paris datasets. Code and data will be released.