Jiaqi Shang

h-index15
2papers
625citations

2 Papers

7.9LGNov 12, 2024
Diverse capability and scaling of diffusion and auto-regressive models when learning abstract rules

Binxu Wang, Jiaqi Shang, Haim Sompolinsky · harvard

Humans excel at discovering regular structures from limited samples and applying inferred rules to novel settings. We investigate whether modern generative models can similarly learn underlying rules from finite samples and perform reasoning through conditional sampling. Inspired by Raven's Progressive Matrices task, we designed GenRAVEN dataset, where each sample consists of three rows, and one of 40 relational rules governing the object position, number, or attributes applies to all rows. We trained generative models to learn the data distribution, where samples are encoded as integer arrays to focus on rule learning. We compared two generative model families: diffusion (EDM, DiT, SiT) and autoregressive models (GPT2, Mamba). We evaluated their ability to generate structurally consistent samples and perform panel completion via unconditional and conditional sampling. We found diffusion models excel at unconditional generation, producing more novel and consistent samples from scratch and memorizing less, but performing less well in panel completion, even with advanced conditional sampling methods. Conversely, autoregressive models excel at completing missing panels in a rule-consistent manner but generate less consistent samples unconditionally. We observe diverse data scaling behaviors: for both model families, rule learning emerges at a certain dataset size - around 1000s examples per rule. With more training data, diffusion models improve both their unconditional and conditional generation capabilities. However, for autoregressive models, while panel completion improves with more training data, unconditional generation consistency declines. Our findings highlight complementary capabilities and limitations of diffusion and autoregressive models in rule learning and reasoning tasks, suggesting avenues for further research into their mechanisms and potential for human-like reasoning.

4.1ROOct 22, 2024
Deep-Sea A*+: An Advanced Path Planning Method Integrating Enhanced A* and Dynamic Window Approach for Autonomous Underwater Vehicles

Yinyi Lai, Jiaqi Shang, Zenghui Liu et al.

As terrestrial resources become increasingly depleted, the demand for deep-sea resource exploration has intensified. However, the extreme conditions in the deep-sea environment pose significant challenges for underwater operations, necessitating the development of robust detection robots. In this paper, we propose an advanced path planning methodology that integrates an improved A* algorithm with the Dynamic Window Approach (DWA). By optimizing the search direction of the traditional A* algorithm and introducing an enhanced evaluation function, our improved A* algorithm accelerates path searching and reduces computational load. Additionally, the path-smoothing process has been refined to improve continuity and smoothness, minimizing sharp turns. This method also integrates global path planning with local dynamic obstacle avoidance via DWA, improving the real-time response of underwater robots in dynamic environments. Simulation results demonstrate that our proposed method surpasses the traditional A* algorithm in terms of path smoothness, obstacle avoidance, and real-time performance. The robustness of this approach in complex environments with both static and dynamic obstacles highlights its potential in autonomous underwater vehicle (AUV) navigation and obstacle avoidance.