BLOOM: A 176B-Parameter Open-Access Multilingual Language Model

Large language models (LLMs) have been shown to be able to perform new tasks based on a few demonstrations or natural language instructions. While these capabilities have led to widespread adoption, most LLMs are developed by resource-rich organizations and are frequently kept from the public. As a step towards democratizing this powerful technology, we present BLOOM, a 176B-parameter open-access language model designed and built thanks to a collaboration of hundreds of researchers. BLOOM is a decoder-only Transformer language model that was trained on the ROOTS corpus, a dataset comprising hundreds of sources in 46 natural and 13 programming languages (59 in total). We find that BLOOM achieves competitive performance on a wide variety of benchmarks, with stronger results after undergoing multitask prompted finetuning. To facilitate future research and applications using LLMs, we publicly release our models and code under the Responsible AI License.

Safety-Critical Optimal Control for Robotic Manipulators in A Cluttered Environment

Designing safety-critical control for robotic manipulators is challenging, especially in a cluttered environment. First, the actual trajectory of a manipulator might deviate from the planned one due to the complex collision environments and non-trivial dynamics, leading to collision; Second, the feasible space for the manipulator is hard to obtain since the explicit distance functions between collision meshes are unknown. By analyzing the relationship between the safe set and the controlled invariant set, this paper proposes a data-driven control barrier function (CBF) construction method, which extracts CBF from distance samples. Specifically, the CBF guarantees the controlled invariant property for considering the system dynamics. The data-driven method samples the distance function and determines the safe set. Then, the CBF is synthesized based on the safe set by a scenario-based sum of square (SOS) program. Unlike most existing linearization based approaches, our method reserves the volume of the feasible space for planning without approximation, which helps find a solution in a cluttered environment. The control law is obtained by solving a CBF-based quadratic program in real time, which works as a safe filter for the desired planning-based controller. Moreover, our method guarantees safety with the proven probabilistic result. Our method is validated on a 7-DOF manipulator in both real and virtual cluttered environments. The experiments show that the manipulator is able to execute tasks where the clearance between obstacles is in millimeters.

Few-Shot Character Understanding in Movies as an Assessment to Meta-Learning of Theory-of-Mind

When reading a story, humans can rapidly understand new fictional characters with a few observations, mainly by drawing analogy to fictional and real people they met before in their lives. This reflects the few-shot and meta-learning essence of humans' inference of characters' mental states, i.e., humans' theory-of-mind (ToM), which is largely ignored in existing research. We fill this gap with a novel NLP benchmark, TOM-IN-AMC, the first assessment of models' ability of meta-learning of ToM in a realistic narrative understanding scenario. Our benchmark consists of $\sim$1,000 parsed movie scripts for this purpose, each corresponding to a few-shot character understanding task; and requires models to mimic humans' ability of fast digesting characters with a few starting scenes in a new movie. Our human study verified that humans can solve our problem by inferring characters' mental states based on their previously seen movies; while the state-of-the-art metric-learning and meta-learning approaches adapted to our task lags 30% behind.

Language Model Pre-Training with Sparse Latent Typing

Modern large-scale Pre-trained Language Models (PLMs) have achieved tremendous success on a wide range of downstream tasks. However, most of the LM pre-training objectives only focus on text reconstruction, but have not sought to learn latent-level interpretable representations of sentences. In this paper, we manage to push the language models to obtain a deeper understanding of sentences by proposing a new pre-training objective, Sparse Latent Typing, which enables the model to sparsely extract sentence-level keywords with diverse latent types. Experimental results show that our model is able to learn interpretable latent type categories in a self-supervised manner without using any external knowledge. Besides, the language model pre-trained with such an objective also significantly improves Information Extraction related downstream tasks in both supervised and few-shot settings. Our code is publicly available at: https://github.com/renll/SparseLT.

PyPose: A Library for Robot Learning with Physics-based Optimization

Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physics-based optimization generalizes better, but it does not perform as well in complicated tasks due to the lack of high-level semantic information and the reliance on manual parametric tuning. To take advantage of these two complementary worlds, we present PyPose: a robotics-oriented, PyTorch-based library that combines deep perceptual models with physics-based optimization techniques. Our design goal for PyPose is to make it user-friendly, efficient, and interpretable with a tidy and well-organized architecture. Using an imperative style interface, it can be easily integrated into real-world robotic applications. Besides, it supports parallel computing of any order gradients of Lie groups and Lie algebras and $2^{\text{nd}}$-order optimizers, such as trust region methods. Experiments show that PyPose achieves 3-20$\times$ speedup in computation compared to state-of-the-art libraries. To boost future research, we provide concrete examples across several fields of robotics, including SLAM, inertial navigation, planning, and control.

Causal Inference via Nonlinear Variable Decorrelation for Healthcare Applications

Causal inference and model interpretability research are gaining increasing attention, especially in the domains of healthcare and bioinformatics. Despite recent successes in this field, decorrelating features under nonlinear environments with human interpretable representations has not been adequately investigated. To address this issue, we introduce a novel method with a variable decorrelation regularizer to handle both linear and nonlinear confounding. Moreover, we employ association rules as new representations using association rule mining based on the original features to further proximate human decision patterns to increase model interpretability. Extensive experiments are conducted on four healthcare datasets (one synthetically generated and three real-world collections on different diseases). Quantitative results in comparison to baseline approaches on parameter estimation and causality computation indicate the model's superior performance. Furthermore, expert evaluation given by healthcare professionals validates the effectiveness and interpretability of the proposed model.

A deep variational free energy approach to dense hydrogen

We present a deep generative model-based variational free energy approach to the equations of state of dense hydrogen. We employ a normalizing flow network to model the proton Boltzmann distribution and a fermionic neural network to model the electron wavefunction at given proton positions. By jointly optimizing the two neural networks we reached a comparable variational free energy to the previous coupled electron-ion Monte Carlo calculation. Our result suggests that hydrogen in the planetary condition is even denser compared to previous Monte Carlo and ab initio molecular dynamics data, which is further away from the empirical chemical model predictions. Obtaining reliable equations of state of dense hydrogen, and in particular, direct access to entropy and free energy opens new opportunities in planetary modeling and high-pressure physics research.

PTSEFormer: Progressive Temporal-Spatial Enhanced TransFormer Towards Video Object Detection

Recent years have witnessed a trend of applying context frames to boost the performance of object detection as video object detection. Existing methods usually aggregate features at one stroke to enhance the feature. These methods, however, usually lack spatial information from neighboring frames and suffer from insufficient feature aggregation. To address the issues, we perform a progressive way to introduce both temporal information and spatial information for an integrated enhancement. The temporal information is introduced by the temporal feature aggregation model (TFAM), by conducting an attention mechanism between the context frames and the target frame (i.e., the frame to be detected). Meanwhile, we employ a Spatial Transition Awareness Model (STAM) to convey the location transition information between each context frame and target frame. Built upon a transformer-based detector DETR, our PTSEFormer also follows an end-to-end fashion to avoid heavy post-processing procedures while achieving 88.1% mAP on the ImageNet VID dataset. Codes are available at https://github.com/Hon-Wong/PTSEFormer.

DPA-1: Pretraining of Attention-based Deep Potential Model for Molecular Simulation

Machine learning assisted modeling of the inter-atomic potential energy surface (PES) is revolutionizing the field of molecular simulation. With the accumulation of high-quality electronic structure data, a model that can be pretrained on all available data and finetuned on downstream tasks with a small additional effort would bring the field to a new stage. Here we propose DPA-1, a Deep Potential model with a novel attention mechanism, which is highly effective for representing the conformation and chemical spaces of atomic systems and learning the PES. We tested DPA-1 on a number of systems and observed superior performance compared with existing benchmarks. When pretrained on large-scale datasets containing 56 elements, DPA-1 can be successfully applied to various downstream tasks with a great improvement of sample efficiency. Surprisingly, for different elements, the learned type embedding parameters form a $spiral$ in the latent space and have a natural correspondence with their positions on the periodic table, showing interesting interpretability of the pretrained DPA-1 model.

Ask Question First for Enhancing Lifelong Language Learning

Lifelong language learning aims to stream learning NLP tasks while retaining knowledge of previous tasks. Previous works based on the language model and following data-free constraint approaches have explored formatting all data as "begin token (\textit{B}) + context (\textit{C}) + question (\textit{Q}) + answer (\textit{A})" for different tasks. However, they still suffer from catastrophic forgetting and are exacerbated when the previous task's pseudo data is insufficient for the following reasons: (1) The model has difficulty generating task-corresponding pseudo data, and (2) \textit{A} is prone to error when \textit{A} and \textit{C} are separated by \textit{Q} because the information of the \textit{C} is diminished before generating \textit{A}. Therefore, we propose the Ask Question First and Replay Question (AQF-RQ), including a novel data format "\textit{BQCA}" and a new training task to train pseudo questions of previous tasks. Experimental results demonstrate that AQF-RQ makes it easier for the model to generate more pseudo data that match corresponding tasks, and is more robust to both sufficient and insufficient pseudo-data when the task boundary is both clear and unclear. AQF-RQ can achieve only 0.36\% lower performance than multi-task learning.