arXiv subjects

Rui Hu

Publications and source records attributed to Rui Hu.

At least 91 records · Page 5Linked to original sources

arXiv2024

Indoor 3D Reconstruction with an Unknown Camera-Projector Pair

Structured light-based method with a camera-projector pair (CPP) plays a vital role in indoor 3D reconstruction, especially for scenes with weak textures. Previous methods usually assume known intrinsics, which are pre-calibrated from known objects, or self-calibrated from multi-view observations. It is still challenging to reliably recover CPP intrinsics from only two views without any known objects. In this paper, we provide a simple yet reliable solution. We demonstrate that, for the first time, sufficient constraints on CPP intrinsics can be derived from an unknown cuboid corner (C2), e.g. a room's corner, which is a common structure in indoor scenes. In addition, with only known camera principal point, the complex multi-variable estimation of all CPP intrinsics can be simplified to a simple univariable optimization problem, leading to reliable calibration and thus direct 3D reconstruction with unknown CPP. Extensive results have demonstrated the superiority of the proposed method over both traditional and learning-based counterparts. Furthermore, the proposed method also demonstrates impressive potential to solve similar tasks without active lighting, such as sparse-view structure from motion.

cs.CV↗

arXiv2024

Skywork-MoE: A Deep Dive into Training Techniques for Mixture-of-Experts Language Models

In this technical report, we introduce the training methodologies implemented in the development of Skywork-MoE, a high-performance mixture-of-experts (MoE) large language model (LLM) with 146 billion parameters and 16 experts. It is initialized from the pre-existing dense checkpoints of our Skywork-13B model. We explore the comparative effectiveness of upcycling versus training from scratch initializations. Our findings suggest that the choice between these two approaches should consider both the performance of the existing dense checkpoints and the MoE training budget. We highlight two innovative techniques: gating logit normalization, which improves expert diversification, and adaptive auxiliary loss coefficients, allowing for layer-specific adjustment of auxiliary loss coefficients. Our experimental results validate the effectiveness of these methods. Leveraging these techniques and insights, we trained our upcycled Skywork-MoE on a condensed subset of our SkyPile corpus. The evaluation results demonstrate that our model delivers strong performance across a wide range of benchmarks.

cs.CL↗

arXiv2024

LongSkywork: A Training Recipe for Efficiently Extending Context Length in Large Language Models

We introduce LongSkywork, a long-context Large Language Model (LLM) capable of processing up to 200,000 tokens. We provide a training recipe for efficiently extending context length of LLMs. We identify that the critical element in enhancing long-context processing capability is to incorporate a long-context SFT stage following the standard SFT stage. A mere 200 iterations can convert the standard SFT model into a long-context model. To reduce the effort in collecting and annotating data for long-context language modeling, we develop two novel methods for creating synthetic data. These methods are applied during the continual pretraining phase as well as the Supervised Fine-Tuning (SFT) phase, greatly enhancing the training efficiency of our long-context LLMs. Our findings suggest that synthetic long-context SFT data can surpass the performance of data curated by humans to some extent. LongSkywork achieves outstanding performance on a variety of long-context benchmarks. In the Needle test, a benchmark for long-context information retrieval, our models achieved perfect accuracy across multiple context spans. Moreover, in realistic application scenarios, LongSkywork-13B demonstrates performance on par with Claude2.1, the leading long-context model, underscoring the effectiveness of our proposed methods.

cs.CL↗

arXiv2024

Copilot4D: Learning Unsupervised World Models for Autonomous Driving via Discrete Diffusion

Learning world models can teach an agent how the world works in an unsupervised manner. Even though it can be viewed as a special case of sequence modeling, progress for scaling world models on robotic applications such as autonomous driving has been somewhat less rapid than scaling language models with Generative Pre-trained Transformers (GPT). We identify two reasons as major bottlenecks: dealing with complex and unstructured observation space, and having a scalable generative model. Consequently, we propose Copilot4D, a novel world modeling approach that first tokenizes sensor observations with VQVAE, then predicts the future via discrete diffusion. To efficiently decode and denoise tokens in parallel, we recast Masked Generative Image Transformer as discrete diffusion and enhance it with a few simple changes, resulting in notable improvement. When applied to learning world models on point cloud observations, Copilot4D reduces prior SOTA Chamfer distance by more than 65% for 1s prediction, and more than 50% for 3s prediction, across NuScenes, KITTI Odometry, and Argoverse2 datasets. Our results demonstrate that discrete diffusion on tokenized agent experience can unlock the power of GPT-like unsupervised learning for robotics.

cs.CV↗

arXiv2024

Weighted Composition Operator on Fock Space

In this thesis, we establish a necessary and sufficient condition for a weighted composition operator to commute with a self-adjoint weighted composition operator on the Fock space, then obtain a sufficient condition for these commuting weighted composition operators to be normal.

math.FA↗

arXiv2024

Language-assisted Vision Model Debugger: A Sample-Free Approach to Finding and Fixing Bugs

Vision models with high overall accuracy often exhibit systematic errors in specific scenarios, posing potential serious safety concerns. Diagnosing bugs of vision models is gaining increased attention, however traditional diagnostic approaches require annotation efforts (eg rich metadata accompanying each samples of CelebA). To address this issue,We propose a language-assisted diagnostic method that uses texts instead of images to diagnose bugs in vision models based on multi-modal models (eg CLIP). Our approach connects the embedding space of CLIP with the buggy vision model to be diagnosed; meanwhile, utilizing a shared classifier and the cross-modal transferability of embedding space from CLIP, the text-branch of CLIP become a proxy model to find bugs in the buggy model. The proxy model can classify texts paired with images. During the diagnosis, a Large Language Model (LLM) is employed to obtain task-relevant corpora, and this corpora is used to extract keywords. Descriptions constructed with templates containing these keywords serve as input text to probe errors in the proxy model. Finally, we validate the ability to diagnose existing visual models using language on the Waterbirds and CelebA datasets, we can identify bugs comprehensible to human experts, uncovering not only known bugs but also previously unknown ones.

cs.AI↗

arXiv2024

A Safe Reinforcement Learning Algorithm for Supervisory Control of Power Plants

Traditional control theory-based methods require tailored engineering for each system and constant fine-tuning. In power plant control, one often needs to obtain a precise representation of the system dynamics and carefully design the control scheme accordingly. Model-free Reinforcement learning (RL) has emerged as a promising solution for control tasks due to its ability to learn from trial-and-error interactions with the environment. It eliminates the need for explicitly modeling the environment's dynamics, which is potentially inaccurate. However, the direct imposition of state constraints in power plant control raises challenges for standard RL methods. To address this, we propose a chance-constrained RL algorithm based on Proximal Policy Optimization for supervisory control. Our method employs Lagrangian relaxation to convert the constrained optimization problem into an unconstrained objective, where trainable Lagrange multipliers enforce the state constraints. Our approach achieves the smallest distance of violation and violation rate in a load-follow maneuver for an advanced Nuclear Power Plant design.

eess.SY↗

arXiv2023

Reconstructing Objects in-the-wild for Realistic Sensor Simulation

Reconstructing objects from real world data and rendering them at novel views is critical to bringing realism, diversity and scale to simulation for robotics training and testing. In this work, we present NeuSim, a novel approach that estimates accurate geometry and realistic appearance from sparse in-the-wild data captured at distance and at limited viewpoints. Towards this goal, we represent the object surface as a neural signed distance function and leverage both LiDAR and camera sensor data to reconstruct smooth and accurate geometry and normals. We model the object appearance with a robust physics-inspired reflectance representation effective for in-the-wild data. Our experiments show that NeuSim has strong view synthesis performance on challenging scenarios with sparse training views. Furthermore, we showcase composing NeuSim assets into a virtual world and generating realistic multi-sensor data for evaluating self-driving perception models.

cs.CV↗

arXiv2023

Skywork: A More Open Bilingual Foundation Model

In this technical report, we present Skywork-13B, a family of large language models (LLMs) trained on a corpus of over 3.2 trillion tokens drawn from both English and Chinese texts. This bilingual foundation model is the most extensively trained and openly published LLMs of comparable size to date. We introduce a two-stage training methodology using a segmented corpus, targeting general purpose training and then domain-specific enhancement training, respectively. We show that our model not only excels on popular benchmarks, but also achieves \emph{state of the art} performance in Chinese language modeling on diverse domains. Furthermore, we propose a novel leakage detection method, demonstrating that test data contamination is a pressing issue warranting further investigation by the LLM community. To spur future research, we release Skywork-13B along with checkpoints obtained during intermediate stages of the training process. We are also releasing part of our SkyPile corpus, a collection of over 150 billion tokens of web text, which is the largest high quality open Chinese pre-training corpus to date. We hope Skywork-13B and our open corpus will serve as a valuable open-source resource to democratize access to high-quality LLMs.

cs.CL↗

arXiv2023

SkyMath: Technical Report

Large language models (LLMs) have shown great potential to solve varieties of natural language processing (NLP) tasks, including mathematical reasoning. In this work, we present SkyMath, a large language model for mathematics with 13 billion parameters. By applying self-compare fine-tuning, we have enhanced mathematical reasoning abilities of Skywork-13B-Base remarkably. On GSM8K, SkyMath outperforms all known open-source models of similar size and has established a new SOTA performance.

cs.CL↗

arXiv2023

Byzantine-Robust Federated Learning with Variance Reduction and Differential Privacy

Federated learning (FL) is designed to preserve data privacy during model training, where the data remains on the client side (i.e., IoT devices), and only model updates of clients are shared iteratively for collaborative learning. However, this process is vulnerable to privacy attacks and Byzantine attacks: the local model updates shared throughout the FL network will leak private information about the local training data, and they can also be maliciously crafted by Byzantine attackers to disturb the learning. In this paper, we propose a new FL scheme that guarantees rigorous privacy and simultaneously enhances system robustness against Byzantine attacks. Our approach introduces sparsification- and momentum-driven variance reduction into the client-level differential privacy (DP) mechanism, to defend against Byzantine attackers. The security design does not violate the privacy guarantee of the client-level DP mechanism; hence, our approach achieves the same client-level DP guarantee as the state-of-the-art. We conduct extensive experiments on both IID and non-IID datasets and different tasks and evaluate the performance of our approach against different Byzantine attacks by comparing it with state-of-the-art defense methods. The results of our experiments show the efficacy of our framework and demonstrate its ability to improve system robustness against Byzantine attacks while achieving a strong privacy guarantee.

cs.LG↗

arXiv2023

Echoes: Unsupervised Debiasing via Pseudo-bias Labeling in an Echo Chamber

Neural networks often learn spurious correlations when exposed to biased training data, leading to poor performance on out-of-distribution data. A biased dataset can be divided, according to biased features, into bias-aligned samples (i.e., with biased features) and bias-conflicting samples (i.e., without biased features). Recent debiasing works typically assume that no bias label is available during the training phase, as obtaining such information is challenging and labor-intensive. Following this unsupervised assumption, existing methods usually train two models: a biased model specialized to learn biased features and a target model that uses information from the biased model for debiasing. This paper first presents experimental analyses revealing that the existing biased models overfit to bias-conflicting samples in the training data, which negatively impacts the debiasing performance of the target models. To address this issue, we propose a straightforward and effective method called Echoes, which trains a biased model and a target model with a different strategy. We construct an "echo chamber" environment by reducing the weights of samples which are misclassified by the biased model, to ensure the biased model fully learns the biased features without overfitting to the bias-conflicting samples. The biased model then assigns lower weights on the bias-conflicting samples. Subsequently, we use the inverse of the sample weights of the biased model for training the target model. Experiments show that our approach achieves superior debiasing results compared to the existing baselines on both synthetic and real-world datasets. Our code is available at https://github.com/isruihu/Echoes.

cs.LG↗

arXiv2023

Rethinking Closed-loop Training for Autonomous Driving

Recent advances in high-fidelity simulators have enabled closed-loop training of autonomous driving agents, potentially solving the distribution shift in training v.s. deployment and allowing training to be scaled both safely and cheaply. However, there is a lack of understanding of how to build effective training benchmarks for closed-loop training. In this work, we present the first empirical study which analyzes the effects of different training benchmark designs on the success of learning agents, such as how to design traffic scenarios and scale training environments. Furthermore, we show that many popular RL algorithms cannot achieve satisfactory performance in the context of autonomous driving, as they lack long-term planning and take an extremely long time to train. To address these issues, we propose trajectory value learning (TRAVL), an RL-based driving agent that performs planning with multistep look-ahead and exploits cheaply generated imagined data for efficient learning. Our experiments show that TRAVL can learn much faster and produce safer maneuvers compared to all the baselines. For more information, visit the project website: https://waabi.ai/research/travl

cs.RO↗

arXiv2023

Comparative Evaluation of Data Decoupling Techniques for Federated Machine Learning with Database as a Service

Federated Learning (FL) is a machine learning approach that allows multiple clients to collaboratively learn a shared model without sharing raw data. However, current FL systems provide an all-in-one solution, which can hinder the wide adoption of FL in certain domains such as scientific applications. To overcome this limitation, this paper proposes a decoupling approach that enables clients to customize FL applications with specific data subsystems. To evaluate this approach, the authors develop a framework called Data-Decoupling Federated Learning (DDFL) and compare it with state-of-the-art FL systems that tightly couple data management and computation. Extensive experiments on various datasets and data management subsystems show that DDFL achieves comparable or better performance in terms of training time, inference accuracy, and database query time. Moreover, DDFL provides clients with more options to tune their FL applications regarding data-related metrics. The authors also provide a detailed qualitative analysis of DDFL when integrated with mainstream database systems.

cs.DB↗

arXiv2023

DULDA: Dual-domain Unsupervised Learned Descent Algorithm for PET image reconstruction

Deep learning based PET image reconstruction methods have achieved promising results recently. However, most of these methods follow a supervised learning paradigm, which rely heavily on the availability of high-quality training labels. In particular, the long scanning time required and high radiation exposure associated with PET scans make obtaining this labels impractical. In this paper, we propose a dual-domain unsupervised PET image reconstruction method based on learned decent algorithm, which reconstructs high-quality PET images from sinograms without the need for image labels. Specifically, we unroll the proximal gradient method with a learnable l2,1 norm for PET image reconstruction problem. The training is unsupervised, using measurement domain loss based on deep image prior as well as image domain loss based on rotation equivariance property. The experimental results domonstrate the superior performance of proposed method compared with maximum likelihood expectation maximazation (MLEM), total-variation regularized EM (EM-TV) and deep image prior based method (DIP).

eess.IV↗

arXiv2023

STPDnet: Spatial-temporal convolutional primal dual network for dynamic PET image reconstruction

Dynamic positron emission tomography (dPET) image reconstruction is extremely challenging due to the limited counts received in individual frame. In this paper, we propose a spatial-temporal convolutional primal dual network (STPDnet) for dynamic PET image reconstruction. Both spatial and temporal correlations are encoded by 3D convolution operators. The physical projection of PET is embedded in the iterative learning process of the network, which provides the physical constraints and enhances interpretability. The experiments of real rat scan data have shown that the proposed method can achieve substantial noise reduction in both temporal and spatial domains and outperform the maximum likelihood expectation maximization (MLEM), spatial-temporal kernel method (KEM-ST), DeepPET and Learned Primal Dual (LPD).

eess.IV↗

arXiv2023

LMPDNet: TOF-PET list-mode image reconstruction using model-based deep learning method

The integration of Time-of-Flight (TOF) information in the reconstruction process of Positron Emission Tomography (PET) yields improved image properties. However, implementing the cutting-edge model-based deep learning methods for TOF-PET reconstruction is challenging due to the substantial memory requirements. In this study, we present a novel model-based deep learning approach, LMPDNet, for TOF-PET reconstruction from list-mode data. We address the issue of real-time parallel computation of the projection matrix for list-mode data, and propose an iterative model-based module that utilizes a dedicated network model for list-mode data. Our experimental results indicate that the proposed LMPDNet outperforms traditional iteration-based TOF-PET list-mode reconstruction algorithms. Additionally, we compare the spatial and temporal consumption of list-mode data and sinogram data in model-based deep learning methods, demonstrating the superiority of list-mode data in model-based TOF-PET reconstruction.

eess.IV↗

arXiv2022

Federated Learning with Sparsified Model Perturbation: Improving Accuracy under Client-Level Differential Privacy

Federated learning (FL) that enables edge devices to collaboratively learn a shared model while keeping their training data locally has received great attention recently and can protect privacy in comparison with the traditional centralized learning paradigm. However, sensitive information about the training data can still be inferred from model parameters shared in FL. Differential privacy (DP) is the state-of-the-art technique to defend against those attacks. The key challenge to achieving DP in FL lies in the adverse impact of DP noise on model accuracy, particularly for deep learning models with large numbers of parameters. This paper develops a novel differentially-private FL scheme named Fed-SMP that provides a client-level DP guarantee while maintaining high model accuracy. To mitigate the impact of privacy protection on model accuracy, Fed-SMP leverages a new technique called Sparsified Model Perturbation (SMP) where local models are sparsified first before being perturbed by Gaussian noise. We provide a tight end-to-end privacy analysis for Fed-SMP using Renyi DP and prove the convergence of Fed-SMP with both unbiased and biased sparsifications. Extensive experiments on real-world datasets are conducted to demonstrate the effectiveness of Fed-SMP in improving model accuracy with the same DP guarantee and saving communication cost simultaneously.

cs.LG↗