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Haoyi Song

Publications and source records attributed to Haoyi Song.

2 recordsLinked to original sources

Inv-Entropy: A Fully Probabilistic Framework for Uncertainty Quantification in Language Models

Large language models (LLMs) have transformed natural language processing, but their reliable deployment requires effective uncertainty quantification (UQ). Existing UQ methods are often heuristic and lack a probabilistic interpretation. This paper begins by providing a theoretical justification for the role of perturbations in UQ for LLMs. We then introduce a dual random walk perspective, modeling input-output pairs as two Markov chains with transition probabilities defined by semantic similarity. Building on this, we propose a fully probabilistic framework based on an inverse model, which quantifies uncertainty by evaluating the diversity of the input space conditioned on a given output through systematic perturbations. Within this framework, we define a new uncertainty measure, Inv-Entropy. A key strength of our framework is its flexibility: it supports various definitions of uncertainty measures, embeddings, perturbation strategies, and similarity metrics. We also propose GAAP, a perturbation algorithm based on genetic algorithms, which enhances the diversity of sampled inputs. In addition, we introduce a new evaluation metric, Temperature Sensitivity of Uncertainty (TSU), which directly assesses uncertainty without relying on correctness as a proxy. Extensive experiments demonstrate that Inv-Entropy outperforms existing semantic UQ methods. The code to reproduce the results can be found at https://github.com/UMDataScienceLab/Uncertainty-Quantification-for-LLMs.

cs.CL

A Novel Semi-Coupled Hierarchical Motion Planning Framework for Cooperative Transportation of Multiple Mobile Manipulators

Multiple mobile manipulators show superiority in the tasks requiring mobility and dexterity compared with a single robot, especially when manipulating/transporting bulky objects. However, closed-chain of the system, redundancy of each mobile manipulator and obstacles in the environment bring challenges to the motion planning problem. In this paper, we propose a novel semi-coupled hierarchical framework (SCHF), which decomposes the problem into two semi-coupled sub-problems.To be specific, the centralized layer plans the object's motion first and then the decentralized layer independently explores the redundancy of each robot in real-time. A notable feature is that the lower bound of the redundancy constraint metric is ensured besides the closed-chain and obstacle-avoidance constraints in the centralized layer, which ensures the object's motion can be executed by each robot in the decentralized layer. Simulated results show that the success rate and time cost of SCHF outperforms the fully centralized planner and fully decoupled hierarchical planner significantly. In addition, cluttered real-world experiments also show the feasibility of the SCHF in the transportation tasks. A video clip in various scenarios can be found at https://youtu.be/Y8ZrnspIuBg.

cs.RO