Online Continual Learning For Interactive Instruction Following Agents

In learning an embodied agent executing daily tasks via language directives, the literature largely assumes that the agent learns all training data at the beginning. We argue that such a learning scenario is less realistic since a robotic agent is supposed to learn the world continuously as it explores and perceives it. To take a step towards a more realistic embodied agent learning scenario, we propose two continual learning setups for embodied agents; learning new behaviors (Behavior Incremental Learning, Behavior-IL) and new environments (Environment Incremental Learning, Environment-IL) For the tasks, previous 'data prior' based continual learning methods maintain logits for the past tasks. However, the stored information is often insufficiently learned information and requires task boundary information, which might not always be available. Here, we propose to update them based on confidence scores without task boundary information during training (i.e., task-free) in a moving average fashion, named Confidence-Aware Moving Average (CAMA). In the proposed Behavior-IL and Environment-IL setups, our simple CAMA outperforms prior state of the art in our empirical validations by noticeable margins. The project page including codes is https://github.com/snumprlab/cl-alfred.

A survey of synthetic data augmentation methods in computer vision

The standard approach to tackling computer vision problems is to train deep convolutional neural network (CNN) models using large-scale image datasets which are representative of the target task. However, in many scenarios, it is often challenging to obtain sufficient image data for the target task. Data augmentation is a way to mitigate this challenge. A common practice is to explicitly transform existing images in desired ways so as to create the required volume and variability of training data necessary to achieve good generalization performance. In situations where data for the target domain is not accessible, a viable workaround is to synthesize training data from scratch--i.e., synthetic data augmentation. This paper presents an extensive review of synthetic data augmentation techniques. It covers data synthesis approaches based on realistic 3D graphics modeling, neural style transfer (NST), differential neural rendering, and generative artificial intelligence (AI) techniques such as generative adversarial networks (GANs) and variational autoencoders (VAEs). For each of these classes of methods, we focus on the important data generation and augmentation techniques, general scope of application and specific use-cases, as well as existing limitations and possible workarounds. Additionally, we provide a summary of common synthetic datasets for training computer vision models, highlighting the main features, application domains and supported tasks. Finally, we discuss the effectiveness of synthetic data augmentation methods. Since this is the first paper to explore synthetic data augmentation methods in great detail, we are hoping to equip readers with the necessary background information and in-depth knowledge of existing methods and their attendant issues.

LayerDiff: Exploring Text-guided Multi-layered Composable Image Synthesis via Layer-Collaborative Diffusion Model

Despite the success of generating high-quality images given any text prompts by diffusion-based generative models, prior works directly generate the entire images, but cannot provide object-wise manipulation capability. To support wider real applications like professional graphic design and digital artistry, images are frequently created and manipulated in multiple layers to offer greater flexibility and control. Therefore in this paper, we propose a layer-collaborative diffusion model, named LayerDiff, specifically designed for text-guided, multi-layered, composable image synthesis. The composable image consists of a background layer, a set of foreground layers, and associated mask layers for each foreground element. To enable this, LayerDiff introduces a layer-based generation paradigm incorporating multiple layer-collaborative attention modules to capture inter-layer patterns. Specifically, an inter-layer attention module is designed to encourage information exchange and learning between layers, while a text-guided intra-layer attention module incorporates layer-specific prompts to direct the specific-content generation for each layer. A layer-specific prompt-enhanced module better captures detailed textual cues from the global prompt. Additionally, a self-mask guidance sampling strategy further unleashes the model's ability to generate multi-layered images. We also present a pipeline that integrates existing perceptual and generative models to produce a large dataset of high-quality, text-prompted, multi-layered images. Extensive experiments demonstrate that our LayerDiff model can generate high-quality multi-layered images with performance comparable to conventional whole-image generation methods. Moreover, LayerDiff enables a broader range of controllable generative applications, including layer-specific image editing and style transfer.

CGI-DM: Digital Copyright Authentication for Diffusion Models via Contrasting Gradient Inversion

Diffusion Models (DMs) have evolved into advanced image generation tools, especially for few-shot generation where a pretrained model is fine-tuned on a small set of images to capture a specific style or object. Despite their success, concerns exist about potential copyright violations stemming from the use of unauthorized data in this process. In response, we present Contrasting Gradient Inversion for Diffusion Models (CGI-DM), a novel method featuring vivid visual representations for digital copyright authentication. Our approach involves removing partial information of an image and recovering missing details by exploiting conceptual differences between the pretrained and fine-tuned models. We formulate the differences as KL divergence between latent variables of the two models when given the same input image, which can be maximized through Monte Carlo sampling and Projected Gradient Descent (PGD). The similarity between original and recovered images serves as a strong indicator of potential infringements. Extensive experiments on the WikiArt and Dreambooth datasets demonstrate the high accuracy of CGI-DM in digital copyright authentication, surpassing alternative validation techniques. Code implementation is available at https://github.com/Nicholas0228/Revelio.

Principles and Optimization of Reflective Intelligent Surface Assisted mmWave Systems

A conceptual example is first analyzed to show that efficient wireless communications is possible, when user equipment (UE) receiver, BS transmitter or/and the scatter (reflector) in wireless channels employ the required channel state information (CSI) to remove the randomness of signal phase. Then, the principles and optimization of three reflective intelligent surface (RIS) assisted mmWave (RIS-mmWave) models are introduced. The first model assumes one BS, one RIS and one UE; the second one assumes one BS, one RIS and multiple UEs; while the third RIS-mmWave model assumes one BS, multiple RISs and multiple UEs. Furthermore, the optimization of BS precoder and RIS phase-shifts is addressed in the context of the massive RIS-mmWave scenarios, where the number of BS antennas and that of RIS reflection elements are significantly larger than the number of supported UEs. The analyses demonstrate that, while the deployment of RISs with mmWave is capable of solving the blockage problem and has the potential to significantly improve efficiency, finding the near-optimum solutions for RIS phase-shifts is highly challenging in practice.

The Impact Of Bug Localization Based on Crash Report Mining: A Developers' Perspective

Developers often use crash reports to understand the root cause of bugs. However, locating the buggy source code snippet from such information is a challenging task, mainly when the log database contains many crash reports. To mitigate this issue, recent research has proposed and evaluated approaches for grouping crash report data and using stack trace information to locate bugs. The effectiveness of such approaches has been evaluated by mainly comparing the candidate buggy code snippets with the actual changed code in bug-fix commits -- which happens in the context of retrospective repository mining studies. Therefore, the existing literature still lacks discussing the use of such approaches in the daily life of a software company, which could explain the developers' perceptions on the use of these approaches. In this paper, we report our experience of using an approach for grouping crash reports and finding buggy code on a weekly basis for 18 months, within three development teams in a software company. We grouped over 750,000 crash reports, opened over 130 issues, and collected feedback from 18 developers and team leaders. Among other results, we observe that the amount of system logs related to a crash report group is not the only criteria developers use to choose a candidate bug to be analyzed. Instead, other factors were considered, such as the need to deliver customer-prioritized features and the difficulty of solving complex crash reports (e.g., architectural debts), to cite some. The approach investigated in this study correctly suggested the buggy file most of the time -- the approach's precision was around 80%. In this study, the developers also shared their perspectives on the usefulness of the suspicious files and methods extracted from crash reports to fix related bugs.

Rethinking Mutual Information for Language Conditioned Skill Discovery on Imitation Learning

Language-conditioned robot behavior plays a vital role in executing complex tasks by associating human commands or instructions with perception and actions. The ability to compose long-horizon tasks based on unconstrained language instructions necessitates the acquisition of a diverse set of general-purpose skills. However, acquiring inherent primitive skills in a coupled and long-horizon environment without external rewards or human supervision presents significant challenges. In this paper, we evaluate the relationship between skills and language instructions from a mathematical perspective, employing two forms of mutual information within the framework of language-conditioned policy learning. To maximize the mutual information between language and skills in an unsupervised manner, we propose an end-to-end imitation learning approach known as Language Conditioned Skill Discovery (LCSD). Specifically, we utilize vector quantization to learn discrete latent skills and leverage skill sequences of trajectories to reconstruct high-level semantic instructions. Through extensive experiments on language-conditioned robotic navigation and manipulation tasks, encompassing BabyAI, LORel, and CALVIN, we demonstrate the superiority of our method over prior works. Our approach exhibits enhanced generalization capabilities towards unseen tasks, improved skill interpretability, and notably higher rates of task completion success.

HIMap: HybrId Representation Learning for End-to-end Vectorized HD Map Construction

Vectorized High-Definition (HD) map construction requires predictions of the category and point coordinates of map elements (e.g. road boundary, lane divider, pedestrian crossing, etc.). State-of-the-art methods are mainly based on point-level representation learning for regressing accurate point coordinates. However, this pipeline has limitations in obtaining element-level information and handling element-level failures, e.g. erroneous element shape or entanglement between elements. To tackle the above issues, we propose a simple yet effective HybrId framework named HIMap to sufficiently learn and interact both point-level and element-level information. Concretely, we introduce a hybrid representation called HIQuery to represent all map elements, and propose a point-element interactor to interactively extract and encode the hybrid information of elements, e.g. point position and element shape, into the HIQuery. Additionally, we present a point-element consistency constraint to enhance the consistency between the point-level and element-level information. Finally, the output point-element integrated HIQuery can be directly converted into map elements' class, point coordinates, and mask. We conduct extensive experiments and consistently outperform previous methods on both nuScenes and Argoverse2 datasets. Notably, our method achieves $77.8$ mAP on the nuScenes dataset, remarkably superior to previous SOTAs by $8.3$ mAP at least.

Evaluating Named Entity Recognition: Comparative Analysis of Mono- and Multilingual Transformer Models on Brazilian Corporate Earnings Call Transcriptions

Named Entity Recognition (NER) is a Natural Language Processing technique for extracting information from textual documents. However, much of the existing research on NER has been centered around English-language documents, leaving a gap in the availability of datasets tailored to the financial domain in Portuguese. This study addresses the need for NER within the financial domain, focusing on Portuguese-language texts extracted from earnings call transcriptions of Brazilian banks. By curating a comprehensive dataset comprising 384 transcriptions and leveraging weak supervision techniques for annotation, we evaluate the performance of monolingual models trained on Portuguese (BERTimbau and PTT5) and multilingual models (mBERT and mT5). Notably, we introduce a novel approach that reframes the token classification task as a text generation problem, enabling fine-tuning and evaluation of T5 models. Following the fine-tuning of the models, we conduct an evaluation on the test dataset, employing performance and error metrics. Our findings reveal that BERT-based models consistently outperform T5-based models. Furthermore, while the multilingual models exhibit comparable macro F1-scores, BERTimbau demonstrates superior performance over PTT5. A manual analysis of sentences generated by PTT5 and mT5 unveils a degree of similarity ranging from 0.89 to 1.0, between the original and generated sentences. However, critical errors emerge as both models exhibit discrepancies, such as alterations to monetary and percentage values, underscoring the importance of accuracy and consistency in the financial domain. Despite these challenges, PTT5 and mT5 achieve impressive macro F1-scores of 98.52% and 98.85%, respectively, with our proposed approach. Furthermore, our study sheds light on notable disparities in memory and time consumption for inference across the models.

A Toolbox for Surfacing Health Equity Harms and Biases in Large Language Models

Large language models (LLMs) hold immense promise to serve complex health information needs but also have the potential to introduce harm and exacerbate health disparities. Reliably evaluating equity-related model failures is a critical step toward developing systems that promote health equity. In this work, we present resources and methodologies for surfacing biases with potential to precipitate equity-related harms in long-form, LLM-generated answers to medical questions and then conduct an empirical case study with Med-PaLM 2, resulting in the largest human evaluation study in this area to date. Our contributions include a multifactorial framework for human assessment of LLM-generated answers for biases, and EquityMedQA, a collection of seven newly-released datasets comprising both manually-curated and LLM-generated questions enriched for adversarial queries. Both our human assessment framework and dataset design process are grounded in an iterative participatory approach and review of possible biases in Med-PaLM 2 answers to adversarial queries. Through our empirical study, we find that the use of a collection of datasets curated through a variety of methodologies, coupled with a thorough evaluation protocol that leverages multiple assessment rubric designs and diverse rater groups, surfaces biases that may be missed via narrower evaluation approaches. Our experience underscores the importance of using diverse assessment methodologies and involving raters of varying backgrounds and expertise. We emphasize that while our framework can identify specific forms of bias, it is not sufficient to holistically assess whether the deployment of an AI system promotes equitable health outcomes. We hope the broader community leverages and builds on these tools and methods towards realizing a shared goal of LLMs that promote accessible and equitable healthcare for all.