arXiv subjects

Tianyi Zhang

Publications and source records attributed to Tianyi Zhang.

At least 271 records · Page 15Linked to original sources

arXiv2024

Learning Orbitally Stable Systems for Diagrammatically Teaching

Diagrammatic Teaching is a paradigm for robots to acquire novel skills, whereby the user provides 2D sketches over images of the scene to shape the robot's motion. In this work, we tackle the problem of teaching a robot to approach a surface and then follow cyclic motion on it, where the cycle of the motion can be arbitrarily specified by a single user-provided sketch over an image from the robot's camera. Accordingly, we contribute the Stable Diffeomorphic Diagrammatic Teaching (SDDT) framework. SDDT models the robot's motion as an Orbitally Asymptotically Stable (O.A.S.) dynamical system that learns to stablize based on a single diagrammatic sketch provided by the user. This is achieved by applying a \emph{diffeomorphism}, i.e. a differentiable and invertible function, to morph a known O.A.S. system. The parameterised diffeomorphism is then optimised with respect to the Hausdorff distance between the limit cycle of our modelled system and the sketch, to produce the desired robot motion. We provide novel theoretical insight into the behaviour of the optimised system and also empirically evaluate SDDT, both in simulation and on a quadruped with a mounted 6-DOF manipulator. Results show that we can diagrammatically teach complex cyclic motion patterns with a high degree of accuracy.

cs.RO↗

arXiv2024

PMFL: Partial Meta-Federated Learning for heterogeneous tasks and its applications on real-world medical records

Federated machine learning is a versatile and flexible tool to utilize distributed data from different sources, especially when communication technology develops rapidly and an unprecedented amount of data could be collected on mobile devices nowadays. Federated learning method exploits not only the data but the computational power of all devices in the network to achieve more efficient model training. Nevertheless, while most traditional federated learning methods work well for homogeneous data and tasks, adapting the method to a different heterogeneous data and task distribution is challenging. This limitation has constrained the applications of federated learning in real-world contexts, especially in healthcare settings. Inspired by the fundamental idea of meta-learning, in this study we propose a new algorithm, which is an integration of federated learning and meta-learning, to tackle this issue. In addition, owing to the advantage of transfer learning for model generalization, we further improve our algorithm by introducing partial parameter sharing. We name this method partial meta-federated learning (PMFL). Finally, we apply the algorithms to two medical datasets. We show that our algorithm could obtain the fastest training speed and achieve the best performance when dealing with heterogeneous medical datasets.

cs.LG↗

arXiv2024

Generating Progressive Images from Pathological Transitions via Diffusion Model

Deep learning is widely applied in computer-aided pathological diagnosis, which alleviates the pathologist workload and provide timely clinical analysis. However, most models generally require large-scale annotated data for training, which faces challenges due to the sampling and annotation scarcity in pathological images. The rapid developing generative models shows potential to generate more training samples from recent studies. However, they also struggle in generalization diversity with limited training data, incapable of generating effective samples. Inspired by the pathological transitions between different stages, we propose an adaptive depth-controlled diffusion (ADD) network to generate pathological progressive images for effective data augmentation. This novel approach roots in domain migration, where a hybrid attention strategy guides the bidirectional diffusion, blending local and global attention priorities. With feature measuring, the adaptive depth-controlled strategy ensures the migration and maintains locational similarity in simulating the pathological feature transition. Based on tiny training set (samples less than 500), the ADD yields cross-domain progressive images with corresponding soft-labels. Experiments on two datasets suggest significant improvements in generation diversity, and the effectiveness with generated progressive samples are highlighted in downstream classifications. The code is available at https://github.com/Rowerliu/ADD.

cs.CV↗

arXiv2024

PromptCharm: Text-to-Image Generation through Multi-modal Prompting and Refinement

The recent advancements in Generative AI have significantly advanced the field of text-to-image generation. The state-of-the-art text-to-image model, Stable Diffusion, is now capable of synthesizing high-quality images with a strong sense of aesthetics. Crafting text prompts that align with the model's interpretation and the user's intent thus becomes crucial. However, prompting remains challenging for novice users due to the complexity of the stable diffusion model and the non-trivial efforts required for iteratively editing and refining the text prompts. To address these challenges, we propose PromptCharm, a mixed-initiative system that facilitates text-to-image creation through multi-modal prompt engineering and refinement. To assist novice users in prompting, PromptCharm first automatically refines and optimizes the user's initial prompt. Furthermore, PromptCharm supports the user in exploring and selecting different image styles within a large database. To assist users in effectively refining their prompts and images, PromptCharm renders model explanations by visualizing the model's attention values. If the user notices any unsatisfactory areas in the generated images, they can further refine the images through model attention adjustment or image inpainting within the rich feedback loop of PromptCharm. To evaluate the effectiveness and usability of PromptCharm, we conducted a controlled user study with 12 participants and an exploratory user study with another 12 participants. These two studies show that participants using PromptCharm were able to create images with higher quality and better aligned with the user's expectations compared with using two variants of PromptCharm that lacked interaction or visualization support.

cs.HC↗

arXiv2024

NoMAD-Attention: Efficient LLM Inference on CPUs Through Multiply-add-free Attention

Large language model inference on Central Processing Units (CPU) is challenging due to the vast quantities of expensive Multiply-Add (MAD) matrix operations in the attention computations. In this paper, we argue that there is a rare gem in modern CPUs, Single-Instruction-Multiple-Data (SIMD) registers, which allow for ultra-low-latency lookups in batch. We leverage this unique capability of CPUs to propose NoMAD-Attention, an efficient attention algorithm that replaces MAD operations with in-register lookups. Through hardware-aware algorithmic designs, NoMAD-Attention achieves the computation of attention scores using repeated fast accesses to SIMD registers despite their highly limited sizes. Moreover, NoMAD-Attention works with pre-trained attention-based LLMs without model finetuning. Empirical evaluations demonstrate that NoMAD-Attention maintains the quality of the original LLMs well, and speeds up the 4-bit quantized LLaMA-7B-based model by up to 2$\times$ at 16k context length. Our results are reproducible at https://github.com/tonyzhang617/nomad-dist.

cs.LG↗

arXiv2024

Customizable Perturbation Synthesis for Robust SLAM Benchmarking

Robustness is a crucial factor for the successful deployment of robots in unstructured environments, particularly in the domain of Simultaneous Localization and Mapping (SLAM). Simulation-based benchmarks have emerged as a highly scalable approach for robustness evaluation compared to real-world data collection. However, crafting a challenging and controllable noisy world with diverse perturbations remains relatively under-explored. To this end, we propose a novel, customizable pipeline for noisy data synthesis, aimed at assessing the resilience of multi-modal SLAM models against various perturbations. This pipeline incorporates customizable hardware setups, software components, and perturbed environments. In particular, we introduce comprehensive perturbation taxonomy along with a perturbation composition toolbox, allowing the transformation of clean simulations into challenging noisy environments. Utilizing the pipeline, we instantiate the Robust-SLAM benchmark, which includes diverse perturbation types, to evaluate the risk tolerance of existing advanced multi-modal SLAM models. Our extensive analysis uncovers the susceptibilities of existing SLAM models to real-world disturbance, despite their demonstrated accuracy in standard benchmarks. Our perturbation synthesis toolbox, SLAM robustness evaluation pipeline, and Robust-SLAM benchmark will be made publicly available at https://github.com/Xiaohao-Xu/SLAM-under-Perturbation/.

cs.RO↗

arXiv2024

Insights into Natural Language Database Query Errors: From Attention Misalignment to User Handling Strategies

Querying structured databases with natural language (NL2SQL) has remained a difficult problem for years. Recently, the advancement of machine learning (ML), natural language processing (NLP), and large language models (LLM) have led to significant improvements in performance, with the best model achieving ~85% percent accuracy on the benchmark Spider dataset. However, there is a lack of a systematic understanding of the types, causes, and effectiveness of error-handling mechanisms of errors for erroneous queries nowadays. To bridge the gap, a taxonomy of errors made by four representative NL2SQL models was built in this work, along with an in-depth analysis of the errors. Second, the causes of model errors were explored by analyzing the model-human attention alignment to the natural language query. Last, a within-subjects user study with 26 participants was conducted to investigate the effectiveness of three interactive error-handling mechanisms in NL2SQL. Findings from this paper shed light on the design of model structure and error discovery and repair strategies for natural language data query interfaces in the future.

cs.HC↗

arXiv2024

Is Stack Overflow Obsolete? An Empirical Study of the Characteristics of ChatGPT Answers to Stack Overflow Questions

Q&A platforms have been crucial for the online help-seeking behavior of programmers. However, the recent popularity of ChatGPT is altering this trend. Despite this popularity, no comprehensive study has been conducted to evaluate the characteristics of ChatGPT's answers to programming questions. To bridge the gap, we conducted the first in-depth analysis of ChatGPT answers to 517 programming questions on Stack Overflow and examined the correctness, consistency, comprehensiveness, and conciseness of ChatGPT answers. Furthermore, we conducted a large-scale linguistic analysis, as well as a user study, to understand the characteristics of ChatGPT answers from linguistic and human aspects. Our analysis shows that 52% of ChatGPT answers contain incorrect information and 77% are verbose. Nonetheless, our user study participants still preferred ChatGPT answers 35% of the time due to their comprehensiveness and well-articulated language style. However, they also overlooked the misinformation in the ChatGPT answers 39% of the time. This implies the need to counter misinformation in ChatGPT answers to programming questions and raise awareness of the risks associated with seemingly correct answers.

cs.SE↗

arXiv2024

Building Open-Ended Embodied Agent via Language-Policy Bidirectional Adaptation

Building embodied agents on integrating Large Language Models (LLMs) and Reinforcement Learning (RL) have revolutionized human-AI interaction: researchers can now leverage language instructions to plan decision-making for open-ended tasks. However, existing research faces challenges in meeting the requirement of open-endedness. They typically either train LLM/RL models to adapt to a fixed counterpart, limiting exploration of novel skills and hindering the efficacy of human-AI interaction. To this end, we present OpenPAL, a co-training framework comprising two stages: (1) fine-tuning a pre-trained LLM to translate human instructions into goals for planning, and goal-conditioned training a policy for decision-making; (2) co-training to align the LLM and policy, achieving instruction open-endedness. We conducted experiments using Contra, an open-ended FPS game, demonstrating that an agent trained with OpenPAL not only comprehends arbitrary instructions but also exhibits efficient execution. These results suggest that OpenPAL holds the potential to construct open-ended embodied agents in practical scenarios.

cs.AI↗

arXiv2024

Electrical switching of the perpendicular Neel order in a collinear antiferromagnet

Electrical manipulation of magnetic order by current-induced spin torques lays the foundation for spintronics. One promising approach is encoding information in the Néel vector of antiferromagnetic (AFM) materials, particularly to collinear antiferromagnets with the perpendicular magnetic anisotropy (PMA), as the negligible stray fields and terahertz spin dynamics can enable memory devices with higher integration density and ultrafast speed. Here we demonstrate that the Néel order information in a prototypical collinear AFM insulator with PMA, Cr2O3, can be reliably readout via the anomalous Hall effect and efficiently switched by the spin-orbit torque (SOT) effect with a low current density of 5.8*106 A/cm2. Moreover, using Cr2O3 as a mediator, we electrically switch the magnetization of a Y3Fe5O12 film exchange-coupled to the Cr2O3 layer, unambiguously confirming the Néel order switching of the Cr2O3 layer. This work provides a significant basis for developing AFM memory devices based on collinear AFM materials with PMA.

physics.app-ph↗

arXiv2024

Compositional Inversion for Stable Diffusion Models

Inversion methods, such as Textual Inversion, generate personalized images by incorporating concepts of interest provided by user images. However, existing methods often suffer from overfitting issues, where the dominant presence of inverted concepts leads to the absence of other desired concepts. It stems from the fact that during inversion, the irrelevant semantics in the user images are also encoded, forcing the inverted concepts to occupy locations far from the core distribution in the embedding space. To address this issue, we propose a method that guides the inversion process towards the core distribution for compositional embeddings. Additionally, we introduce a spatial regularization approach to balance the attention on the concepts being composed. Our method is designed as a post-training approach and can be seamlessly integrated with other inversion methods. Experimental results demonstrate the effectiveness of our proposed approach in mitigating the overfitting problem and generating more diverse and balanced compositions of concepts in the synthesized images. The source code is available at https://github.com/zhangxulu1996/Compositional-Inversion.

cs.CV↗

arXiv2024

AlpacaFarm: A Simulation Framework for Methods that Learn from Human Feedback

Large language models (LLMs) such as ChatGPT have seen widespread adoption due to their strong instruction-following abilities. Developing these LLMs involves a complex yet poorly understood workflow requiring training with human feedback. Replicating and understanding this instruction-following requires tackling three major challenges: the high cost of data collection, the lack of trustworthy evaluation, and the absence of reference method implementations. We address these challenges with AlpacaFarm, a simulator that enables research and development for learning from feedback at a low cost. First, we design LLM prompts to simulate human feedback that are 50x cheaper than crowdworkers and display high agreement with humans. Second, we propose an automatic evaluation and validate it against human instructions obtained on real-world interactions. Third, we contribute reference implementations for several methods (PPO, DPO, best-of-n, expert iteration, and more) that learn from pairwise feedback. Finally, as an end-to-end validation of AlpacaFarm, we train and evaluate eleven models on 10k pairs of real human feedback and show that rankings of models trained in AlpacaFarm match rankings of models trained on human data. As a demonstration of the research possible in AlpacaFarm, we find that methods that use a reward model can substantially improve over supervised fine-tuning and that our reference PPO implementation leads to a +10% improvement in win-rate against Davinci003. We release all components of AlpacaFarm at https://github.com/tatsu-lab/alpaca_farm.

cs.LG↗

arXiv2024

Interactive Text-to-SQL Generation via Editable Step-by-Step Explanations

Relational databases play an important role in business, science, and more. However, many users cannot fully unleash the analytical power of relational databases, because they are not familiar with database languages such as SQL. Many techniques have been proposed to automatically generate SQL from natural language, but they suffer from two issues: (1) they still make many mistakes, particularly for complex queries, and (2) they do not provide a flexible way for non-expert users to validate and refine incorrect queries. To address these issues, we introduce a new interaction mechanism that allows users to directly edit a step-by-step explanation of a query to fix errors. Our experiments on multiple datasets, as well as a user study with 24 participants, demonstrate that our approach can achieve better performance than multiple SOTA approaches. Our code and datasets are available at https://github.com/magic-YuanTian/STEPS.

cs.DB↗

arXiv2023

DL3DV-10K: A Large-Scale Scene Dataset for Deep Learning-based 3D Vision

We have witnessed significant progress in deep learning-based 3D vision, ranging from neural radiance field (NeRF) based 3D representation learning to applications in novel view synthesis (NVS). However, existing scene-level datasets for deep learning-based 3D vision, limited to either synthetic environments or a narrow selection of real-world scenes, are quite insufficient. This insufficiency not only hinders a comprehensive benchmark of existing methods but also caps what could be explored in deep learning-based 3D analysis. To address this critical gap, we present DL3DV-10K, a large-scale scene dataset, featuring 51.2 million frames from 10,510 videos captured from 65 types of point-of-interest (POI) locations, covering both bounded and unbounded scenes, with different levels of reflection, transparency, and lighting. We conducted a comprehensive benchmark of recent NVS methods on DL3DV-10K, which revealed valuable insights for future research in NVS. In addition, we have obtained encouraging results in a pilot study to learn generalizable NeRF from DL3DV-10K, which manifests the necessity of a large-scale scene-level dataset to forge a path toward a foundation model for learning 3D representation. Our DL3DV-10K dataset, benchmark results, and models will be publicly accessible at https://dl3dv-10k.github.io/DL3DV-10K/.

cs.CV↗

arXiv2023

Multi-modality Affinity Inference for Weakly Supervised 3D Semantic Segmentation

3D point cloud semantic segmentation has a wide range of applications. Recently, weakly supervised point cloud segmentation methods have been proposed, aiming to alleviate the expensive and laborious manual annotation process by leveraging scene-level labels. However, these methods have not effectively exploited the rich geometric information (such as shape and scale) and appearance information (such as color and texture) present in RGB-D scans. Furthermore, current approaches fail to fully leverage the point affinity that can be inferred from the feature extraction network, which is crucial for learning from weak scene-level labels. Additionally, previous work overlooks the detrimental effects of the long-tailed distribution of point cloud data in weakly supervised 3D semantic segmentation. To this end, this paper proposes a simple yet effective scene-level weakly supervised point cloud segmentation method with a newly introduced multi-modality point affinity inference module. The point affinity proposed in this paper is characterized by features from multiple modalities (e.g., point cloud and RGB), and is further refined by normalizing the classifier weights to alleviate the detrimental effects of long-tailed distribution without the need of the prior of category distribution. Extensive experiments on the ScanNet and S3DIS benchmarks verify the effectiveness of our proposed method, which outperforms the state-of-the-art by ~4% to ~6% mIoU. Codes are released at https://github.com/Sunny599/AAAI24-3DWSSG-MMA.

cs.CV↗

arXiv2023

In-Plane Magnon Valve Effect in Magnetic Insulator/Heavy Metal/ Magnetic Insulator Device

We propose an in-plane magnon valve (MV), a sandwich structure composed of ferromagnetic insulator/heavy metal/ferromagnetic insulator (MI/HM/MI). When the magnetizations of the two MI layers are parallel, the longitudinal conductance in the HM layer is greater than that in the antiparallel state according to the magnetic proximity effect, termed as the in-plane magnon valve effect. We investigate the dependence of MV ratio (MVR), which is the relative change in longitudinal conductance between the parallel and antiparallel MV states, on the difference in electronic structure between magnetized and non-magnetized metal atoms, revealing that MVR can reach 100%. Additionally, the dependence of MVR on the thickness of metal layer is analyzed, revealing an exponential decrease with increasing thickness. Then we investigate the dependence of HM layer conductance on the relative angle between the magnetizations of two MI layers, illustrating the potential of MV as a magneto-sensitive magnonic sensor. We also investigate the effect of Joule heating on the measurement signal based on the spin Seebeck effect. Two designed configurations are proposed according to whether the electron current is parallel or perpendicular to the magnetization of the MI layer. In the parallel configuration, the transverse voltage differs between the parallel and antiparallel MV states. While in the perpendicular configuration, the longitudinal resistance differs. Quantitative numerical results indicate the feasibility of detecting a voltage signal using the first configuration in experiments. Our work contributes valuable insights for the design, development and integration of magnon devices

cond-mat.mes-hall↗

arXiv2023

Learning Scalable Structural Representations for Link Prediction with Bloom Signatures

Graph neural networks (GNNs) have shown great potential in learning on graphs, but they are known to perform sub-optimally on link prediction tasks. Existing GNNs are primarily designed to learn node-wise representations and usually fail to capture pairwise relations between target nodes, which proves to be crucial for link prediction. Recent works resort to learning more expressive edge-wise representations by enhancing vanilla GNNs with structural features such as labeling tricks and link prediction heuristics, but they suffer from high computational overhead and limited scalability. To tackle this issue, we propose to learn structural link representations by augmenting the message-passing framework of GNNs with Bloom signatures. Bloom signatures are hashing-based compact encodings of node neighborhoods, which can be efficiently merged to recover various types of edge-wise structural features. We further show that any type of neighborhood overlap-based heuristic can be estimated by a neural network that takes Bloom signatures as input. GNNs with Bloom signatures are provably more expressive than vanilla GNNs and also more scalable than existing edge-wise models. Experimental results on five standard link prediction benchmarks show that our proposed model achieves comparable or better performance than existing edge-wise GNN models while being 3-200 $\times$ faster and more memory-efficient for online inference.

cs.LG↗

arXiv2023

Transformer-based Selective Super-Resolution for Efficient Image Refinement

Conventional super-resolution methods suffer from two drawbacks: substantial computational cost in upscaling an entire large image, and the introduction of extraneous or potentially detrimental information for downstream computer vision tasks during the refinement of the background. To solve these issues, we propose a novel transformer-based algorithm, Selective Super-Resolution (SSR), which partitions images into non-overlapping tiles, selects tiles of interest at various scales with a pyramid architecture, and exclusively reconstructs these selected tiles with deep features. Experimental results on three datasets demonstrate the efficiency and robust performance of our approach for super-resolution. Compared to the state-of-the-art methods, the FID score is reduced from 26.78 to 10.41 with 40% reduction in computation cost for the BDD100K dataset. The source code is available at https://github.com/destiny301/SSR.

cs.CV↗