arXiv subjects

Qian Liu

Publications and source records attributed to Qian Liu.

At least 163 records · Page 9Linked to original sources

arXiv2024

Spider2-V: How Far Are Multimodal Agents From Automating Data Science and Engineering Workflows?

Data science and engineering workflows often span multiple stages, from warehousing to orchestration, using tools like BigQuery, dbt, and Airbyte. As vision language models (VLMs) advance in multimodal understanding and code generation, VLM-based agents could potentially automate these workflows by generating SQL queries, Python code, and GUI operations. This automation can improve the productivity of experts while democratizing access to large-scale data analysis. In this paper, we introduce Spider2-V, the first multimodal agent benchmark focusing on professional data science and engineering workflows, featuring 494 real-world tasks in authentic computer environments and incorporating 20 enterprise-level professional applications. These tasks, derived from real-world use cases, evaluate the ability of a multimodal agent to perform data-related tasks by writing code and managing the GUI in enterprise data software systems. To balance realistic simulation with evaluation simplicity, we devote significant effort to developing automatic configurations for task setup and carefully crafting evaluation metrics for each task. Furthermore, we supplement multimodal agents with comprehensive documents of these enterprise data software systems. Our empirical evaluation reveals that existing state-of-the-art LLM/VLM-based agents do not reliably automate full data workflows (14.0% success). Even with step-by-step guidance, these agents still underperform in tasks that require fine-grained, knowledge-intensive GUI actions (16.2%) and involve remote cloud-hosted workspaces (10.6%). We hope that Spider2-V paves the way for autonomous multimodal agents to transform the automation of data science and engineering workflow. Our code and data are available at https://spider2-v.github.io.

cs.AI↗

arXiv2024

MoveTouch: Robotic Motion Capturing System with Wearable Tactile Display to Achieve Safe HRI

The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of humans should be a priority. We introduce a novel wearable robotic system to enhance safety during Human-Robot Interaction (HRI). The proposed wearable robot is designed to hold a fiducial marker and maintain its visibility to a motion capture system, which, in turn, localizes the user's hand with good accuracy and low latency and provides vibrotactile feedback to the user's wrist. The vibrotactile feedback guides the user's hand movement during collaborative tasks in order to increase safety and enhance collaboration efficiency. A user study was conducted to assess the recognition and discriminability of ten designed vibration patterns applied to the upper (dorsal) and the down (volar) parts of the user's wrist. The results show that the pattern recognition rate on the volar side was higher, with an average of 75.64% among all users. Four patterns with a high recognition rate were chosen to be incorporated into our system. A second experiment was carried out to evaluate users' response to the chosen patterns in real-world collaborative tasks. Results show that all participants responded to the patterns correctly, and the average response time for the patterns was between 0.24 and 2.41 seconds.

cs.RO↗

arXiv2024

MIMO-OFDM ISAC Waveform Design for Range-Doppler Sidelobe Suppression

Integrated sensing and communication (ISAC) is a key enabling technique for future wireless networks owing to its efficient hardware and spectrum utilization. In this paper, we focus on dual-functional waveform design for a multi-input multi-output (MIMO) orthogonal frequency division multiplexing (OFDM) ISAC system, which is considered to be a promising solution for practical deployment. Since the dual-functional waveform carries communication information, its random nature leads to high range-Doppler sidelobes in the ambiguity function, which in turn degrades radar sensing performance. To suppress range-Doppler sidelobes, we propose a novel symbol-level precoding (SLP) based waveform design for MIMO-OFDM ISAC systems by fully exploiting the temporal degrees of freedom (DoFs). Our goal is to minimize the range-Doppler integrated sidelobe level (ISL) while satisfying the constraints of target illumination power, multi-user communication quality of service (QoS), and constant-modulus transmission. To solve the resulting non-convex waveform design problem, we develop an efficient algorithm using the majorization-minimization (MM) and alternative direction method of multipliers (ADMM) methods. Simulation results show that the proposed waveform has significantly reduced range-Doppler sidelobes compared with signals designed only for communications and other baselines. In addition, the proposed waveform design achieves target detection and estimation performance close to that achievable by waveforms designed only for radar, which demonstrates the superiority of the proposed SLP-based ISAC approach.

eess.SP↗

arXiv2024

EmpathyEar: An Open-source Avatar Multimodal Empathetic Chatbot

This paper introduces EmpathyEar, a pioneering open-source, avatar-based multimodal empathetic chatbot, to fill the gap in traditional text-only empathetic response generation (ERG) systems. Leveraging the advancements of a large language model, combined with multimodal encoders and generators, EmpathyEar supports user inputs in any combination of text, sound, and vision, and produces multimodal empathetic responses, offering users, not just textual responses but also digital avatars with talking faces and synchronized speeches. A series of emotion-aware instruction-tuning is performed for comprehensive emotional understanding and generation capabilities. In this way, EmpathyEar provides users with responses that achieve a deeper emotional resonance, closely emulating human-like empathy. The system paves the way for the next emotional intelligence, for which we open-source the code for public access.

cs.MM↗

arXiv2024

Mercury: A Code Efficiency Benchmark for Code Large Language Models

Amidst the recent strides in evaluating Large Language Models for Code (Code LLMs), existing benchmarks have mainly focused on the functional correctness of generated code, neglecting the importance of their computational efficiency. To fill the gap, we present Mercury, the first code efficiency benchmark for Code LLMs. It comprises 1,889 Python tasks, each accompanied by adequate solutions that serve as real-world efficiency baselines, enabling a comprehensive analysis of the runtime distribution. Based on the distribution, we introduce a new metric Beyond, which computes a runtime-percentile-weighted Pass score to reflect functional correctness and code efficiency simultaneously. On Mercury, leading Code LLMs can achieve 65% on Pass, while less than 50% on Beyond. Given that an ideal Beyond score would be aligned with the Pass score, it indicates that while Code LLMs exhibit impressive capabilities in generating functionally correct code, there remains a notable gap in their efficiency. Finally, our empirical experiments reveal that Direct Preference Optimization (DPO) serves as a robust baseline for enhancing code efficiency compared with Supervised Fine Tuning (SFT), which paves a promising avenue for future exploration of efficient code generation. Our code and data are available on GitHub: https://github.com/Elfsong/Mercury.

cs.SE↗

arXiv2024

Faithful Logical Reasoning via Symbolic Chain-of-Thought

While the recent Chain-of-Thought (CoT) technique enhances the reasoning ability of large language models (LLMs) with the theory of mind, it might still struggle in handling logical reasoning that relies much on symbolic expressions and rigid deducing rules. To strengthen the logical reasoning capability of LLMs, we propose a novel Symbolic Chain-of-Thought, namely SymbCoT, a fully LLM-based framework that integrates symbolic expressions and logic rules with CoT prompting. Technically, building upon an LLM, SymbCoT 1) first translates the natural language context into the symbolic format, and then 2) derives a step-by-step plan to solve the problem with symbolic logical rules, 3) followed by a verifier to check the translation and reasoning chain. Via thorough evaluations on 5 standard datasets with both First-Order Logic and Constraint Optimization symbolic expressions, SymbCoT shows striking improvements over the CoT method consistently, meanwhile refreshing the current state-of-the-art performances. We further demonstrate that our system advances in more faithful, flexible, and explainable logical reasoning. To our knowledge, this is the first to combine symbolic expressions and rules into CoT for logical reasoning with LLMs. Code is open at https://github.com/Aiden0526/SymbCoT.

cs.CL↗

arXiv2024

Automotive Object Detection via Learning Sparse Events by Spiking Neurons

Event-based sensors, distinguished by their high temporal resolution of 1 $\mathrmμ\text{s}$ and a dynamic range of 120 $\text{dB}$, stand out as ideal tools for deployment in fast-paced settings like vehicles and drones. Traditional object detection techniques that utilize Artificial Neural Networks (ANNs) face challenges due to the sparse and asynchronous nature of the events these sensors capture. In contrast, Spiking Neural Networks (SNNs) offer a promising alternative, providing a temporal representation that is inherently aligned with event-based data. This paper explores the unique membrane potential dynamics of SNNs and their ability to modulate sparse events. We introduce an innovative spike-triggered adaptive threshold mechanism designed for stable training. Building on these insights, we present a specialized spiking feature pyramid network (SpikeFPN) optimized for automotive event-based object detection. Comprehensive evaluations demonstrate that SpikeFPN surpasses both traditional SNNs and advanced ANNs enhanced with attention mechanisms. Evidently, SpikeFPN achieves a mean Average Precision (mAP) of 0.477 on the GEN1 Automotive Detection (GAD) benchmark dataset, marking significant increases over the selected SNN baselines. Moreover, the efficient design of SpikeFPN ensures robust performance while optimizing computational resources, attributed to its innate sparse computation capabilities. Source codes are publicly accessible at https://github.com/EMI-Group/spikefpn.

cs.CV↗

arXiv2024

Agent Smith: A Single Image Can Jailbreak One Million Multimodal LLM Agents Exponentially Fast

A multimodal large language model (MLLM) agent can receive instructions, capture images, retrieve histories from memory, and decide which tools to use. Nonetheless, red-teaming efforts have revealed that adversarial images/prompts can jailbreak an MLLM and cause unaligned behaviors. In this work, we report an even more severe safety issue in multi-agent environments, referred to as infectious jailbreak. It entails the adversary simply jailbreaking a single agent, and without any further intervention from the adversary, (almost) all agents will become infected exponentially fast and exhibit harmful behaviors. To validate the feasibility of infectious jailbreak, we simulate multi-agent environments containing up to one million LLaVA-1.5 agents, and employ randomized pair-wise chat as a proof-of-concept instantiation for multi-agent interaction. Our results show that feeding an (infectious) adversarial image into the memory of any randomly chosen agent is sufficient to achieve infectious jailbreak. Finally, we derive a simple principle for determining whether a defense mechanism can provably restrain the spread of infectious jailbreak, but how to design a practical defense that meets this principle remains an open question to investigate. Our project page is available at https://sail-sg.github.io/Agent-Smith/.

cs.CL↗

arXiv2024

Multipath Exploitation for Fluctuating Target Detection in RIS-Assisted ISAC Systems

Integrated sensing and communication (ISAC) systems are typically deployed in multipath environments, which is usually deemed as a challenging issue for wireless communications. However, the multipath propagation can also provide extra illumination and observation perspectives for radar sensing, which offers spatial diversity gain for detecting targets with spatial radar cross-section (RCS) fluctuations. In this letter, we propose to utilize reconfigurable intelligent surfaces (RIS) in ISAC systems to provide high-quality and controllable multipath propagation for improving the performance of fluctuating target detection and simultaneously enhancing the quality of communication services. To effectively exploit the spatial diversity offered by RIS-empowered multipath, the dual-functional transmit beamforming and the RIS reflection beamforming are jointly designed to maximize the expectation of radar signal-to-noise ratio (SNR). To solve the resulting complex non-convex optimization problem, we develop an efficient alternating optimization algorithm that utilizes majorization-minimization (MM) and alternating direction method of multipliers (ADMM) algorithms. Simulation results illustrate the advantages of multipath exploitation and the proposed beamforming design algorithm for fluctuating target detection in RIS-assisted ISAC systems.

eess.SP↗

arXiv2024

Self-Distillation Bridges Distribution Gap in Language Model Fine-Tuning

The surge in Large Language Models (LLMs) has revolutionized natural language processing, but fine-tuning them for specific tasks often encounters challenges in balancing performance and preserving general instruction-following abilities. In this paper, we posit that the distribution gap between task datasets and the LLMs serves as the primary underlying cause. To address the problem, we introduce Self-Distillation Fine-Tuning (SDFT), a novel approach that bridges the distribution gap by guiding fine-tuning with a distilled dataset generated by the model itself to match its original distribution. Experimental results on the Llama-2-chat model across various benchmarks demonstrate that SDFT effectively mitigates catastrophic forgetting while achieving comparable or superior performance on downstream tasks compared to the vanilla fine-tuning. Moreover, SDFT demonstrates the potential to maintain the helpfulness and safety alignment of LLMs. Our code is available at https://github.com/sail-sg/sdft.

cs.CL↗

arXiv2024

Speck: A Smart event-based Vision Sensor with a low latency 327K Neuron Convolutional Neuronal Network Processing Pipeline

Edge computing solutions that enable the extraction of high-level information from a variety of sensors is in increasingly high demand. This is due to the increasing number of smart devices that require sensory processing for their application on the edge. To tackle this problem, we present a smart vision sensor System on Chip (SoC), featuring an event-based camera and a low-power asynchronous spiking Convolutional Neural Network (sCNN) computing architecture embedded on a single chip. By combining both sensor and processing on a single die, we can lower unit production costs significantly. Moreover, the simple end-to-end nature of the SoC facilitates small stand-alone applications as well as functioning as an edge node in larger systems. The event-driven nature of the vision sensor delivers high-speed signals in a sparse data stream. This is reflected in the processing pipeline, which focuses on optimising highly sparse computation and minimising latency for 9 sCNN layers to 3.36μs for an incoming event. Overall, this results in an extremely low-latency visual processing pipeline deployed on a small form factor with a low energy budget and sensor cost. We present the asynchronous architecture, the individual blocks, and the sCNN processing principle and benchmark against other sCNN capable processors.

cs.NE↗

arXiv2024

GrainGrasp: Dexterous Grasp Generation with Fine-grained Contact Guidance

One goal of dexterous robotic grasping is to allow robots to handle objects with the same level of flexibility and adaptability as humans. However, it remains a challenging task to generate an optimal grasping strategy for dexterous hands, especially when it comes to delicate manipulation and accurate adjustment the desired grasping poses for objects of varying shapes and sizes. In this paper, we propose a novel dexterous grasp generation scheme called GrainGrasp that provides fine-grained contact guidance for each fingertip. In particular, we employ a generative model to predict separate contact maps for each fingertip on the object point cloud, effectively capturing the specifics of finger-object interactions. In addition, we develop a new dexterous grasping optimization algorithm that solely relies on the point cloud as input, eliminating the necessity for complete mesh information of the object. By leveraging the contact maps of different fingertips, the proposed optimization algorithm can generate precise and determinable strategies for human-like object grasping. Experimental results confirm the efficiency of the proposed scheme.

cs.RO↗

arXiv2024

ISQA: Informative Factuality Feedback for Scientific Summarization

We propose Iterative Facuality Refining on Informative Scientific Question-Answering (ISQA) feedback\footnote{Code is available at \url{https://github.com/lizekai-richard/isqa}}, a method following human learning theories that employs model-generated feedback consisting of both positive and negative information. Through iterative refining of summaries, it probes for the underlying rationale of statements to enhance the factuality of scientific summarization. ISQA does this in a fine-grained manner by asking a summarization agent to reinforce validated statements in positive feedback and fix incorrect ones in negative feedback. Our findings demonstrate that the ISQA feedback mechanism significantly improves the factuality of various open-source LLMs on the summarization task, as evaluated across multiple scientific datasets.

cs.CL↗

arXiv2024

S3Eval: A Synthetic, Scalable, Systematic Evaluation Suite for Large Language Models

The rapid development of Large Language Models (LLMs) has led to great strides in model capabilities like long-context understanding and reasoning. However, as LLMs are able to process longer contexts, it becomes more challenging to evaluate whether they have acquired certain capabilities, since the length of text (e.g., 200K tokens) they can process far exceeds what humans can reliably assess in a reasonable duration. In this paper, we propose using complex synthetic tasks as a proxy evaluation method, and present S3Eval, a Synthetic, Scalable, Systematic evaluation suite for LLMs evaluation. The synthetic nature of S3Eval provides users full control over the dataset, allowing them to systematically probe LLM capabilities by scaling text length and varying task difficulty across diverse scenarios. The strong correlation between S3Eval and real-world benchmarks demonstrates the soundness of using S3Eval for evaluation of LLMs. S3Eval provides a flexible and infinite long-context data generation method. We have generated a comprehensive dataset called S3Eval-Standard, and experimental results have shown that it poses significant challenges for all existing LLMs.

cs.CL↗

arXiv2024

Sailor: Open Language Models for South-East Asia

We present Sailor, a family of open language models ranging from 0.5B to 7B parameters, tailored for South-East Asian (SEA) languages. These models are continually pre-trained from Qwen1.5, a great language model for multilingual use cases. From Qwen1.5, Sailor models accept 200B to 400B tokens, primarily covering the languages of English, Chinese, Vietnamese, Thai, Indonesian, Malay, and Lao. The training leverages several techniques, including BPE dropout for improving the model robustness, aggressive data cleaning and deduplication, and small proxy models to optimize data mixture. Experimental results on four typical tasks indicate that Sailor models demonstrate strong performance across different benchmarks, including commonsense reasoning, question answering, reading comprehension and examination. Embracing the open-source spirit, we share our insights through this report to spark a wider interest in developing large language models for multilingual use cases.

cs.CL↗

arXiv2024

Cramer-Rao Bound Optimization for Active RIS-Empowered ISAC Systems

Integrated sensing and communication (ISAC), which simultaneously performs sensing and communication functions within a shared frequency band and hardware platform, has emerged as a promising technology for future wireless systems. Nevertheless, the weak echo signal received by the low-sensitivity ISAC receiver significantly constrains sensing performance in scenarios involving obstructed targets. Active reconfigurable intelligent surface (RIS) has become a prospective solution by situationally manipulating the wireless propagations and amplifying the signals. In this paper, we investigate active RIS-empowered ISAC systems to enhance radar echo signal quality as well as communication performance. In particular, we focus on the joint design of the base station (BS) transmit precoding and the active RIS reflection beamforming to optimize the parameter estimation performance in terms of Cramer-Rao bound (CRB) subject to the communication users' signal-to-interference-plus-noise ratio (SINR) requirements. An efficient algorithm based on alternating optimization, semidefinite relaxation (SDR), and majorization-minimization (MM) is proposed to solve the formulated challenging non-convex problem. Finally, simulation results validate the effectiveness of the developed algorithm and the potential of employing active RIS in ISAC systems to enhance direct-of-arrival (DoA) estimation performance.

eess.SP↗

arXiv2024

StarCoder 2 and The Stack v2: The Next Generation

The BigCode project, an open-scientific collaboration focused on the responsible development of Large Language Models for Code (Code LLMs), introduces StarCoder2. In partnership with Software Heritage (SWH), we build The Stack v2 on top of the digital commons of their source code archive. Alongside the SWH repositories spanning 619 programming languages, we carefully select other high-quality data sources, such as GitHub pull requests, Kaggle notebooks, and code documentation. This results in a training set that is 4x larger than the first StarCoder dataset. We train StarCoder2 models with 3B, 7B, and 15B parameters on 3.3 to 4.3 trillion tokens and thoroughly evaluate them on a comprehensive set of Code LLM benchmarks. We find that our small model, StarCoder2-3B, outperforms other Code LLMs of similar size on most benchmarks, and also outperforms StarCoderBase-15B. Our large model, StarCoder2- 15B, significantly outperforms other models of comparable size. In addition, it matches or outperforms CodeLlama-34B, a model more than twice its size. Although DeepSeekCoder- 33B is the best-performing model at code completion for high-resource languages, we find that StarCoder2-15B outperforms it on math and code reasoning benchmarks, as well as several low-resource languages. We make the model weights available under an OpenRAIL license and ensure full transparency regarding the training data by releasing the SoftWare Heritage persistent IDentifiers (SWHIDs) of the source code data.

cs.SE↗

arXiv2024

Your Large Language Model is Secretly a Fairness Proponent and You Should Prompt it Like One

The widespread adoption of large language models (LLMs) underscores the urgent need to ensure their fairness. However, LLMs frequently present dominant viewpoints while ignoring alternative perspectives from minority parties, resulting in potential biases. We hypothesize that these fairness-violating behaviors occur because LLMs express their viewpoints using a human personality that represents the majority of training data. In response to this, we validate that prompting LLMs with specific roles can allow LLMs to express diverse viewpoints. Building on this insight and observation, we develop FairThinking, a pipeline designed to automatically generate roles that enable LLMs to articulate diverse perspectives for fair expressions. To evaluate FairThinking, we create a dataset with a thousand items covering three fairness-related topics and conduct experiments on GPT-3.5, GPT-4, Llama2, and Mistral to demonstrate its superior performance.

cs.CL↗