Structural re-parameterization is a general training scheme for Convolutional Neural Networks (CNNs), which achieves performance improvement without increasing inference cost. As Vision Transformers (ViTs) are gradually surpassing CNNs in various visual tasks, one may question: if a training scheme specifically for ViTs exists that can also achieve performance improvement without increasing inference cost? Recently, Mixture-of-Experts (MoE) has attracted increasing attention, as it can efficiently scale up the capacity of Transformers at a fixed cost through sparsely activated experts. Considering that MoE can also be viewed as a multi-branch structure, can we utilize MoE to implement a ViT training scheme similar to structural re-parameterization? In this paper, we affirmatively answer these questions, with a new general training strategy for ViTs. Specifically, we decouple the training and inference phases of ViTs. During training, we replace some Feed-Forward Networks (FFNs) of the ViT with specially designed, more efficient MoEs that assign tokens to experts by random uniform partition, and perform Experts Weights Averaging (EWA) on these MoEs at the end of each iteration. After training, we convert each MoE into an FFN by averaging the experts, transforming the model back into original ViT for inference. We further provide a theoretical analysis to show why and how it works. Comprehensive experiments across various 2D and 3D visual tasks, ViT architectures, and datasets validate the effectiveness and generalizability of the proposed training scheme. Besides, our training scheme can also be applied to improve performance when fine-tuning ViTs. Lastly, but equally important, the proposed EWA technique can significantly improve the effectiveness of naive MoE in various 2D visual small datasets and 3D visual tasks.
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Large Language Models (LLMs) have recently gained the In-Context Learning (ICL) ability with the models scaling up, allowing them to quickly adapt to downstream tasks with only a few demonstration examples prepended in the input sequence. Nonetheless, the current practice of ICL treats all demonstration examples equally, which still warrants improvement, as the quality of examples is usually uneven. In this paper, we investigate how to determine approximately optimal weights for demonstration examples and how to apply them during ICL. To assess the quality of weights in the absence of additional validation data, we design a masked self-prediction (MSP) score that exhibits a strong correlation with the final ICL performance. To expedite the weight-searching process, we discretize the continuous weight space and adopt beam search. With approximately optimal weights obtained, we further propose two strategies to apply them to demonstrations at different model positions. Experimental results on 8 text classification tasks show that our approach outperforms conventional ICL by a large margin. Our code are publicly available at https:github.com/Zhe-Young/WICL.
Vehicle-to-Everything (V2X) collaborative perception is crucial for autonomous driving. However, achieving high-precision V2X perception requires a significant amount of annotated real-world data, which can always be expensive and hard to acquire. Simulated data have raised much attention since they can be massively produced at an extremely low cost. Nevertheless, the significant domain gap between simulated and real-world data, including differences in sensor type, reflectance patterns, and road surroundings, often leads to poor performance of models trained on simulated data when evaluated on real-world data. In addition, there remains a domain gap between real-world collaborative agents, e.g. different types of sensors may be installed on autonomous vehicles and roadside infrastructures with different extrinsics, further increasing the difficulty of sim2real generalization. To take full advantage of simulated data, we present a new unsupervised sim2real domain adaptation method for V2X collaborative detection named Decoupled Unsupervised Sim2Real Adaptation (DUSA). Our new method decouples the V2X collaborative sim2real domain adaptation problem into two sub-problems: sim2real adaptation and inter-agent adaptation. For sim2real adaptation, we design a Location-adaptive Sim2Real Adapter (LSA) module to adaptively aggregate features from critical locations of the feature map and align the features between simulated data and real-world data via a sim/real discriminator on the aggregated global feature. For inter-agent adaptation, we further devise a Confidence-aware Inter-agent Adapter (CIA) module to align the fine-grained features from heterogeneous agents under the guidance of agent-wise confidence maps. Experiments demonstrate the effectiveness of the proposed DUSA approach on unsupervised sim2real adaptation from the simulated V2XSet dataset to the real-world DAIR-V2X-C dataset.
We introduce Ferret, a new Multimodal Large Language Model (MLLM) capable of understanding spatial referring of any shape or granularity within an image and accurately grounding open-vocabulary descriptions. To unify referring and grounding in the LLM paradigm, Ferret employs a novel and powerful hybrid region representation that integrates discrete coordinates and continuous features jointly to represent a region in the image. To extract the continuous features of versatile regions, we propose a spatial-aware visual sampler, adept at handling varying sparsity across different shapes. Consequently, Ferret can accept diverse region inputs, such as points, bounding boxes, and free-form shapes. To bolster the desired capability of Ferret, we curate GRIT, a comprehensive refer-and-ground instruction tuning dataset including 1.1M samples that contain rich hierarchical spatial knowledge, with 95K hard negative data to promote model robustness. The resulting model not only achieves superior performance in classical referring and grounding tasks, but also greatly outperforms existing MLLMs in region-based and localization-demanded multimodal chatting. Our evaluations also reveal a significantly improved capability of describing image details and a remarkable alleviation in object hallucination. Code and data will be available at //github.com/apple/ml-ferret
Generative Large Language Models (LLMs) such as GPT-3 are capable of generating highly fluent responses to a wide variety of user prompts. However, LLMs are known to hallucinate facts and make non-factual statements which can undermine trust in their output. Existing fact-checking approaches either require access to the output probability distribution (which may not be available for systems such as ChatGPT) or external databases that are interfaced via separate, often complex, modules. In this work, we propose "SelfCheckGPT", a simple sampling-based approach that can be used to fact-check the responses of black-box models in a zero-resource fashion, i.e. without an external database. SelfCheckGPT leverages the simple idea that if an LLM has knowledge of a given concept, sampled responses are likely to be similar and contain consistent facts. However, for hallucinated facts, stochastically sampled responses are likely to diverge and contradict one another. We investigate this approach by using GPT-3 to generate passages about individuals from the WikiBio dataset, and manually annotate the factuality of the generated passages. We demonstrate that SelfCheckGPT can: i) detect non-factual and factual sentences; and ii) rank passages in terms of factuality. We compare our approach to several baselines and show that our approach has considerably higher AUC-PR scores in sentence-level hallucination detection and higher correlation scores in passage-level factuality assessment compared to grey-box methods.
Pre-trained Text-to-Text Language Models (LMs), such as T5 or BART yield promising results in the Knowledge Graph Question Answering (KGQA) task. However, the capacity of the models is limited and the quality decreases for questions with less popular entities. In this paper, we present a novel approach which works on top of the pre-trained Text-to-Text QA system to address this issue. Our simple yet effective method performs filtering and re-ranking of generated candidates based on their types derived from Wikidata "instance_of" property.
We present RoboHive, a comprehensive software platform and ecosystem for research in the field of Robot Learning and Embodied Artificial Intelligence. Our platform encompasses a diverse range of pre-existing and novel environments, including dexterous manipulation with the Shadow Hand, whole-arm manipulation tasks with Franka and Fetch robots, quadruped locomotion, among others. Included environments are organized within and cover multiple domains such as hand manipulation, locomotion, multi-task, multi-agent, muscles, etc. In comparison to prior works, RoboHive offers a streamlined and unified task interface taking dependency on only a minimal set of well-maintained packages, features tasks with high physics fidelity and rich visual diversity, and supports common hardware drivers for real-world deployment. The unified interface of RoboHive offers a convenient and accessible abstraction for algorithmic research in imitation, reinforcement, multi-task, and hierarchical learning. Furthermore, RoboHive includes expert demonstrations and baseline results for most environments, providing a standard for benchmarking and comparisons. Details: //sites.google.com/view/robohive
The Central Pattern Generator (CPG) is adept at generating rhythmic gait patterns characterized by consistent timing and adequate foot clearance. Yet, its open-loop configuration often compromises the system's control performance in response to environmental variations. On the other hand, Reinforcement Learning (RL), celebrated for its model-free properties, has gained significant traction in robotics due to its inherent adaptability and robustness. However, initiating traditional RL approaches from the ground up presents computational challenges and a heightened risk of converging to suboptimal local minima. In this paper, we propose an innovative quadruped locomotion framework, SYNLOCO, by synthesizing CPG and RL that can ingeniously integrate the strengths of both methods, enabling the development of a locomotion controller that is both stable and natural. Furthermore, we introduce a set of performance-driven reward metrics that augment the learning of locomotion control. To optimize the learning trajectory of SYNLOCO, a two-phased training strategy is presented. Our empirical evaluation, conducted on a Unitree GO1 robot under varied conditions--including distinct velocities, terrains, and payload capacities--showcases SYNLOCO's ability to produce consistent and clear-footed gaits across diverse scenarios. The developed controller exhibits resilience against substantial parameter variations, underscoring its potential for robust real-world applications.
Large Language Models (LLMs) are trained with a pre-defined context length, restricting their use in scenarios requiring long inputs. Previous efforts for adapting LLMs to a longer length usually requires fine-tuning with this target length (Full-length fine-tuning), suffering intensive training cost. To decouple train length from target length for efficient context window extension, we propose Positional Skip-wisE (PoSE) training that smartly simulates long inputs using a fixed context window. This is achieved by first dividing the original context window into several chunks, then designing distinct skipping bias terms to manipulate the position indices of each chunk. These bias terms and the lengths of each chunk are altered for every training example, allowing the model to adapt to all positions within target length. Experimental results show that PoSE greatly reduces memory and time overhead compared with Full-length fine-tuning, with minimal impact on performance. Leveraging this advantage, we have successfully extended the LLaMA model to 128k tokens using a 2k training context window. Furthermore, we empirically confirm that PoSE is compatible with all RoPE-based LLMs and position interpolation strategies. Notably, our method can potentially support infinite length, limited only by memory usage in inference. With ongoing progress for efficient inference, we believe PoSE can further scale the context window beyond 128k.
We present CoDEx, a set of knowledge graph completion datasets extracted from Wikidata and Wikipedia that improve upon existing knowledge graph completion benchmarks in scope and level of difficulty. In terms of scope, CoDEx comprises three knowledge graphs varying in size and structure, multilingual descriptions of entities and relations, and tens of thousands of hard negative triples that are plausible but verified to be false. To characterize CoDEx, we contribute thorough empirical analyses and benchmarking experiments. First, we analyze each CoDEx dataset in terms of logical relation patterns. Next, we report baseline link prediction and triple classification results on CoDEx for five extensively tuned embedding models. Finally, we differentiate CoDEx from the popular FB15K-237 knowledge graph completion dataset by showing that CoDEx covers more diverse and interpretable content, and is a more difficult link prediction benchmark. Data, code, and pretrained models are available at //bit.ly/2EPbrJs.
We present Emu, a system that semantically enhances multilingual sentence embeddings. Our framework fine-tunes pre-trained multilingual sentence embeddings using two main components: a semantic classifier and a language discriminator. The semantic classifier improves the semantic similarity of related sentences, whereas the language discriminator enhances the multilinguality of the embeddings via multilingual adversarial training. Our experimental results based on several language pairs show that our specialized embeddings outperform the state-of-the-art multilingual sentence embedding model on the task of cross-lingual intent classification using only monolingual labeled data.
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