In this work, we introduce OmniDrones, an efficient and flexible platform tailored for reinforcement learning in drone control, built on Nvidia's Omniverse Isaac Sim. It employs a bottom-up design approach that allows users to easily design and experiment with various application scenarios on top of GPU-parallelized simulations. It also offers a range of benchmark tasks, presenting challenges ranging from single-drone hovering to over-actuated system tracking. In summary, we propose an open-sourced drone simulation platform, equipped with an extensive suite of tools for drone learning. It includes 4 drone models, 5 sensor modalities, 4 control modes, over 10 benchmark tasks, and a selection of widely used RL baselines. To showcase the capabilities of OmniDrones and to support future research, we also provide preliminary results on these benchmark tasks. We hope this platform will encourage further studies on applying RL to practical drone systems.
Graph Neural Networks (GNNs) have gained significant attention owing to their ability to handle graph-structured data and the improvement in practical applications. However, many of these models prioritize high utility performance, such as accuracy, with a lack of privacy consideration, which is a major concern in modern society where privacy attacks are rampant. To address this issue, researchers have started to develop privacy-preserving GNNs. Despite this progress, there is a lack of a comprehensive overview of the attacks and the techniques for preserving privacy in the graph domain. In this survey, we aim to address this gap by summarizing the attacks on graph data according to the targeted information, categorizing the privacy preservation techniques in GNNs, and reviewing the datasets and applications that could be used for analyzing/solving privacy issues in GNNs. We also outline potential directions for future research in order to build better privacy-preserving GNNs.
Large Language Models (LLMs) have revolutionized Natural Language Processing (NLP). Although convenient for research and practical applications, open-source LLMs with fewer parameters often suffer from severe hallucinations compared to their larger counterparts. This paper focuses on measuring and reducing hallucinations in BLOOM 7B, a representative of such weaker open-source LLMs that are publicly available for research and commercial applications. We introduce HaloCheck, a lightweight BlackBox knowledge-free framework designed to quantify the severity of hallucinations in LLMs. Additionally, we explore techniques like knowledge injection and teacher-student approaches to alleviate hallucinations in low-parameter LLMs. Our experiments effectively demonstrate the reduction of hallucinations in challenging domains for these LLMs.
The segmentation of kidney layer structures, including cortex, outer stripe, inner stripe, and inner medulla within human kidney whole slide images (WSI) plays an essential role in automated image analysis in renal pathology. However, the current manual segmentation process proves labor-intensive and infeasible for handling the extensive digital pathology images encountered at a large scale. In response, the realm of digital renal pathology has seen the emergence of deep learning-based methodologies. However, very few, if any, deep learning based approaches have been applied to kidney layer structure segmentation. Addressing this gap, this paper assesses the feasibility of performing deep learning based approaches on kidney layer structure segmetnation. This study employs the representative convolutional neural network (CNN) and Transformer segmentation approaches, including Swin-Unet, Medical-Transformer, TransUNet, U-Net, PSPNet, and DeepLabv3+. We quantitatively evaluated six prevalent deep learning models on renal cortex layer segmentation using mice kidney WSIs. The empirical results stemming from our approach exhibit compelling advancements, as evidenced by a decent Mean Intersection over Union (mIoU) index. The results demonstrate that Transformer models generally outperform CNN-based models. By enabling a quantitative evaluation of renal cortical structures, deep learning approaches are promising to empower these medical professionals to make more informed kidney layer segmentation.
Large language models (LLMs) have achieved significant success in interacting with human. However, recent studies have revealed that these models often suffer from hallucinations, leading to overly confident but incorrect judgments. This limits their application in the medical domain, where tasks require the utmost accuracy. This paper introduces an automated evaluation framework that assesses the practical capabilities of LLMs as virtual doctors during multi-turn consultations. Consultation tasks are designed to require LLMs to be aware of what they do not know, to inquire about missing medical information from patients, and to ultimately make diagnoses. To evaluate the performance of LLMs for these tasks, a benchmark is proposed by reformulating medical multiple-choice questions from the United States Medical Licensing Examinations (USMLE), and comprehensive evaluation metrics are developed and evaluated on three constructed test sets. A medical consultation training set is further constructed to improve the consultation ability of LLMs. The results of the experiments show that fine-tuning with the training set can alleviate hallucinations and improve LLMs' performance on the proposed benchmark. Extensive experiments and ablation studies are conducted to validate the effectiveness and robustness of the proposed framework.
Learning from corrupted labels is very common in real-world machine-learning applications. Memorizing such noisy labels could affect the learning of the model, leading to sub-optimal performances. In this work, we propose a novel framework to learn robust machine-learning models from noisy labels. Through an empirical study, we find that different models make relatively similar predictions on clean examples, while the predictions on noisy examples vary much more across different models. Motivated by this observation, we propose \em denoising with cross-model agreement \em (DeCA) which aims to minimize the KL-divergence between the true label distributions parameterized by two machine learning models while maximizing the likelihood of data observation. We employ the proposed DeCA on both the binary label scenario and the multiple label scenario. For the binary label scenario, we select implicit feedback recommendation as the downstream task and conduct experiments with four state-of-the-art recommendation models on four datasets. For the multiple-label scenario, the downstream application is image classification on two benchmark datasets. Experimental results demonstrate that the proposed methods significantly improve the model performance compared with normal training and other denoising methods on both binary and multiple-label scenarios.
While Large Language Models (LLMs) have demonstrated commendable performance across a myriad of domains and tasks, existing LLMs still exhibit a palpable deficit in handling multimodal functionalities, especially for the Spoken Question Answering (SQA) task which necessitates precise alignment and deep interaction between speech and text features. To address the SQA challenge on LLMs, we initially curated the free-form and open-ended LibriSQA dataset from Librispeech, comprising Part I with natural conversational formats and Part II encompassing multiple-choice questions followed by answers and analytical segments. Both parts collectively include 107k SQA pairs that cover various topics. Given the evident paucity of existing speech-text LLMs, we propose a lightweight, end-to-end framework to execute the SQA task on the LibriSQA, witnessing significant results. By reforming ASR into the SQA format, we further substantiate our framework's capability in handling ASR tasks. Our empirical findings bolster the LLMs' aptitude for aligning and comprehending multimodal information, paving the way for the development of universal multimodal LLMs. The dataset and demo can be found at https://github.com/ZihanZhaoSJTU/LibriSQA.