Ning Ding

Xiaozhi Wang, Yulin Chen, Ning Ding et al. · tencent-ai, tsinghua

The diverse relationships among real-world events, including coreference, temporal, causal, and subevent relations, are fundamental to understanding natural languages. However, two drawbacks of existing datasets limit event relation extraction (ERE) tasks: (1) Small scale. Due to the annotation complexity, the data scale of existing datasets is limited, which cannot well train and evaluate data-hungry models. (2) Absence of unified annotation. Different types of event relations naturally interact with each other, but existing datasets only cover limited relation types at once, which prevents models from taking full advantage of relation interactions. To address these issues, we construct a unified large-scale human-annotated ERE dataset MAVEN-ERE with improved annotation schemes. It contains 103,193 event coreference chains, 1,216,217 temporal relations, 57,992 causal relations, and 15,841 subevent relations, which is larger than existing datasets of all the ERE tasks by at least an order of magnitude. Experiments show that ERE on MAVEN-ERE is quite challenging, and considering relation interactions with joint learning can improve performances. The dataset and source codes can be obtained from https://github.com/THU-KEG/MAVEN-ERE.

Ganqu Cui, Shengding Hu, Ning Ding et al. · tsinghua

Prompt-based tuning for pre-trained language models (PLMs) has shown its effectiveness in few-shot learning. Typically, prompt-based tuning wraps the input text into a cloze question. To make predictions, the model maps the output words to labels via a verbalizer, which is either manually designed or automatically built. However, manual verbalizers heavily depend on domain-specific prior knowledge and human efforts, while finding appropriate label words automatically still remains challenging.In this work, we propose the prototypical verbalizer (ProtoVerb) which is built directly from training data. Specifically, ProtoVerb learns prototype vectors as verbalizers by contrastive learning. In this way, the prototypes summarize training instances and are able to enclose rich class-level semantics. We conduct experiments on both topic classification and entity typing tasks, and the results demonstrate that ProtoVerb significantly outperforms current automatic verbalizers, especially when training data is extremely scarce. More surprisingly, ProtoVerb consistently boosts prompt-based tuning even on untuned PLMs, indicating an elegant non-tuning way to utilize PLMs. Our codes are avaliable at https://github.com/thunlp/OpenPrompt.

Jifan Yu, Xiaozhi Wang, Shangqing Tu et al. · tsinghua

The unprecedented performance of large language models (LLMs) necessitates improvements in evaluations. Rather than merely exploring the breadth of LLM abilities, we believe meticulous and thoughtful designs are essential to thorough, unbiased, and applicable evaluations. Given the importance of world knowledge to LLMs, we construct a Knowledge-oriented LLM Assessment benchmark (KoLA), in which we carefully design three crucial factors: (1) For \textbf{ability modeling}, we mimic human cognition to form a four-level taxonomy of knowledge-related abilities, covering $19$ tasks. (2) For \textbf{data}, to ensure fair comparisons, we use both Wikipedia, a corpus prevalently pre-trained by LLMs, along with continuously collected emerging corpora, aiming to evaluate the capacity to handle unseen data and evolving knowledge. (3) For \textbf{evaluation criteria}, we adopt a contrastive system, including overall standard scores for better numerical comparability across tasks and models and a unique self-contrast metric for automatically evaluating knowledge-creating ability. We evaluate $28$ open-source and commercial LLMs and obtain some intriguing findings. The KoLA dataset and open-participation leaderboard are publicly released at https://kola.xlore.cn and will be continuously updated to provide references for developing LLMs and knowledge-related systems.

Yujia Qin, Shengding Hu, Yankai Lin et al. · tsinghua

Humans possess an extraordinary ability to create and utilize tools, allowing them to overcome physical limitations and explore new frontiers. With the advent of foundation models, AI systems have the potential to be equally adept in tool use as humans. This paradigm, i.e., tool learning with foundation models, combines the strengths of specialized tools and foundation models to achieve enhanced accuracy, efficiency, and automation in problem-solving. Despite its immense potential, there is still a lack of a comprehensive understanding of key challenges, opportunities, and future endeavors in this field. To this end, we present a systematic investigation of tool learning in this paper. We first introduce the background of tool learning, including its cognitive origins, the paradigm shift of foundation models, and the complementary roles of tools and models. Then we recapitulate existing tool learning research into tool-augmented and tool-oriented learning. We formulate a general tool learning framework: starting from understanding the user instruction, models should learn to decompose a complex task into several subtasks, dynamically adjust their plan through reasoning, and effectively conquer each sub-task by selecting appropriate tools. We also discuss how to train models for improved tool-use capabilities and facilitate the generalization in tool learning. Considering the lack of a systematic tool learning evaluation in prior works, we experiment with 18 representative tools and show the potential of current foundation models in skillfully utilizing tools. Finally, we discuss several open problems that require further investigation for tool learning. In general, we hope this paper could inspire future research in integrating tools with foundation models.

Ning Ding, Yujia Qin, Guang Yang et al. · tsinghua

Despite the success, the process of fine-tuning large-scale PLMs brings prohibitive adaptation costs. In fact, fine-tuning all the parameters of a colossal model and retaining separate instances for different tasks are practically infeasible. This necessitates a new branch of research focusing on the parameter-efficient adaptation of PLMs, dubbed as delta tuning in this paper. In contrast with the standard fine-tuning, delta tuning only fine-tunes a small portion of the model parameters while keeping the rest untouched, largely reducing both the computation and storage costs. Recent studies have demonstrated that a series of delta tuning methods with distinct tuned parameter selection could achieve performance on a par with full-parameter fine-tuning, suggesting a new promising way of stimulating large-scale PLMs. In this paper, we first formally describe the problem of delta tuning and then comprehensively review recent delta tuning approaches. We also propose a unified categorization criterion that divide existing delta tuning methods into three groups: addition-based, specification-based, and reparameterization-based methods. Though initially proposed as an efficient method to steer large models, we believe that some of the fascinating evidence discovered along with delta tuning could help further reveal the mechanisms of PLMs and even deep neural networks. To this end, we discuss the theoretical principles underlying the effectiveness of delta tuning and propose frameworks to interpret delta tuning from the perspective of optimization and optimal control, respectively. Furthermore, we provide a holistic empirical study of representative methods, where results on over 100 NLP tasks demonstrate a comprehensive performance comparison of different approaches. The experimental results also cover the analysis of combinatorial, scaling and transferable properties of delta tuning.

Shengding Hu, Xin Liu, Xu Han et al. · tencent-ai, tsinghua

The scientific scale-up of large language models (LLMs) necessitates a comprehensive understanding of their scaling properties. However, the existing literature on the scaling properties only yields an incomplete answer: optimization loss decreases predictably as the model size increases, in line with established scaling law; yet no scaling law for task has been established and the task performances are far from predictable during scaling. Task performances typically show minor gains on small models until they improve dramatically once models exceed a size threshold, exemplifying the ``emergent abilities''. In this study, we discover that small models, although they exhibit minor performance, demonstrate critical and consistent task performance improvements that are not captured by conventional evaluation strategies due to insufficient measurement resolution. To measure such improvements, we introduce PassUntil, an evaluation strategy with theoretically infinite resolution, through massive sampling in the decoding phase. With PassUntil, we conduct a quantitative investigation into the scaling law of task performance. The investigation contains two parts. Firstly, a strict task scaling law that is not conventionally known to exist, is identified, enhancing the predictability of task performances. Remarkably, we are able to predict the performance of the 2.4B model on code generation with merely 0.05\% deviation before training starts, which is the first systematic attempt to verify predictable scaling proposed by GPT-4's report. Secondly, we are able to study emergent abilities quantitatively. We identify a kind of accelerated emergence whose scaling curve cannot be fitted by standard scaling law function and has a increasing speed. We then examine two hypothesis and imply that the ``multiple circuits hypothesis'' might be responsible for the accelerated emergence.

Shengding Hu, Zhen Zhang, Ning Ding et al. · tsinghua

Adapting large pre-trained models (PTMs) through fine-tuning imposes prohibitive computational and storage burdens. Recent studies of parameter-efficient tuning (PET) find that only optimizing a small portion of parameters conditioned on PTMs could yield on-par performance compared to conventional fine-tuning. Generally, PET methods exquisitely design parameter-efficient modules (PET modules) which could be applied to arbitrary fine-grained positions inside PTMs. However, the effectiveness of these fine-grained positions largely relies on sophisticated manual designation, thereby usually producing sub-optimal results. In contrast to the manual designation, we explore constructing PET modules in an automatic manner. We automatically \textbf{S}earch for the \textbf{S}parse \textbf{S}tructure of \textbf{P}arameter-\textbf{E}fficient \textbf{T}uning (S$^3$PET). Based on a unified framework of various PET methods, S$^3$PET conducts the differentiable PET structure search through bi-level optimization and proposes shifted global sigmoid method to explicitly control the number of trainable parameters. Extensive experiments show that S$^3$PET surpasses manual and random structures with less trainable parameters. The searched structures preserve more than 99\% fine-tuning performance with 0.01\% trainable parameters. Moreover, the advantage of S$^3$PET is amplified with extremely low trainable parameters budgets (0.0009\%$\sim$0.01\%). The searched structures are transferable and explainable, providing suggestions and guidance for the future design of PET methods.

Sha Yuan, Hanyu Zhao, Shuai Zhao et al. · bytedance, pku

With the rapid development of deep learning, training Big Models (BMs) for multiple downstream tasks becomes a popular paradigm. Researchers have achieved various outcomes in the construction of BMs and the BM application in many fields. At present, there is a lack of research work that sorts out the overall progress of BMs and guides the follow-up research. In this paper, we cover not only the BM technologies themselves but also the prerequisites for BM training and applications with BMs, dividing the BM review into four parts: Resource, Models, Key Technologies and Application. We introduce 16 specific BM-related topics in those four parts, they are Data, Knowledge, Computing System, Parallel Training System, Language Model, Vision Model, Multi-modal Model, Theory&Interpretability, Commonsense Reasoning, Reliability&Security, Governance, Evaluation, Machine Translation, Text Generation, Dialogue and Protein Research. In each topic, we summarize clearly the current studies and propose some future research directions. At the end of this paper, we conclude the further development of BMs in a more general view.

Wanjun Zhong, Yifan Gao, Ning Ding et al. · amazon-science, tsinghua

Question Answering (QA) is a longstanding challenge in natural language processing. Existing QA works mostly focus on specific question types, knowledge domains, or reasoning skills. The specialty in QA research hinders systems from modeling commonalities between tasks and generalization for wider applications. To address this issue, we present ProQA, a unified QA paradigm that solves various tasks through a single model. ProQA takes a unified structural prompt as the bridge and improves the QA-centric ability by structural prompt-based pre-training. Through a structurally designed prompt-based input schema, ProQA concurrently models the knowledge generalization for all QA tasks while keeping the knowledge customization for every specific QA task. Furthermore, ProQA is pre-trained with structural prompt-formatted large-scale synthesized corpus, which empowers the model with the commonly-required QA ability. Experimental results on 11 QA benchmarks demonstrate that ProQA consistently boosts performance on both full data fine-tuning, few-shot learning, and zero-shot testing scenarios. Furthermore, ProQA exhibits strong ability in both continual learning and transfer learning by taking the advantages of the structural prompt.

Ning Ding, Yixing Xu, Yehui Tang et al.

Domain Adaptation aims to transfer the knowledge learned from a labeled source domain to an unlabeled target domain whose data distributions are different. However, the training data in source domain required by most of the existing methods is usually unavailable in real-world applications due to privacy preserving policies. Recently, Source-Free Domain Adaptation (SFDA) has drawn much attention, which tries to tackle domain adaptation problem without using source data. In this work, we propose a novel framework called SFDA-DE to address SFDA task via source Distribution Estimation. Firstly, we produce robust pseudo-labels for target data with spherical k-means clustering, whose initial class centers are the weight vectors (anchors) learned by the classifier of pretrained model. Furthermore, we propose to estimate the class-conditioned feature distribution of source domain by exploiting target data and corresponding anchors. Finally, we sample surrogate features from the estimated distribution, which are then utilized to align two domains by minimizing a contrastive adaptation loss function. Extensive experiments show that the proposed method achieves state-of-the-art performance on multiple DA benchmarks, and even outperforms traditional DA methods which require plenty of source data.

Ganqu Cui, Wentao Li, Ning Ding et al. · tsinghua

With the evergrowing sizes of pre-trained models (PTMs), it has been an emerging practice to only provide the inference APIs for users, namely model-as-a-service (MaaS) setting. To adapt PTMs with model parameters frozen, most current approaches focus on the input side, seeking for powerful prompts to stimulate models for correct answers. However, we argue that input-side adaptation could be arduous due to the lack of gradient signals and they usually require thousands of API queries, resulting in high computation and time costs. In light of this, we present Decoder Tuning (DecT), which in contrast optimizes task-specific decoder networks on the output side. Specifically, DecT first extracts prompt-stimulated output scores for initial predictions. On top of that, we train an additional decoder network on the output representations to incorporate posterior data knowledge. By gradient-based optimization, DecT can be trained within several seconds and requires only one PTM query per sample. Empirically, we conduct extensive natural language understanding experiments and show that DecT significantly outperforms state-of-the-art algorithms with a $200\times$ speed-up.

Wanjun Zhong, Yifan Gao, Ning Ding et al. · amazon-science, tsinghua

Task generalization has been a long standing challenge in Natural Language Processing (NLP). Recent research attempts to improve the task generalization ability of pre-trained language models by mapping NLP tasks into human-readable prompted forms. However, these approaches require laborious and inflexible manual collection of prompts, and different prompts on the same downstream task may receive unstable performance. We propose Unified Schema Prompt, a flexible and extensible prompting method, which automatically customizes the learnable prompts for each task according to the task input schema. It models the shared knowledge between tasks, while keeping the characteristics of different task schema, and thus enhances task generalization ability. The schema prompt takes the explicit data structure of each task to formulate prompts so that little human effort is involved. To test the task generalization ability of schema prompt at scale, we conduct schema prompt-based multitask pre-training on a wide variety of general NLP tasks. The framework achieves strong zero-shot and few-shot generalization performance on 16 unseen downstream tasks from 8 task types (e.g., QA, NLI, etc). Furthermore, comprehensive analyses demonstrate the effectiveness of each component in the schema prompt, its flexibility in task compositionality, and its ability to improve performance under a full-data fine-tuning setting.

Jing Yi, Weize Chen, Yujia Qin et al. · tencent-ai, tsinghua

Delta tuning (DET, also known as parameter-efficient tuning) is deemed as the new paradigm for using pre-trained language models (PLMs). Up to now, various DETs with distinct design elements have been proposed, achieving performance on par with fine-tuning. However, the mechanisms behind the above success are still under-explored, especially the connections among various DETs. To fathom the mystery, we hypothesize that the adaptations of different DETs could all be reparameterized as low-dimensional optimizations in a unified optimization subspace, which could be found by jointly decomposing independent solutions of different DETs. Then we explore the connections among different DETs by conducting optimization within the subspace. In experiments, we find that, for a certain DET, conducting optimization simply in the subspace could achieve comparable performance to its original space, and the found solution in the subspace could be transferred to another DET and achieve non-trivial performance. We also visualize the performance landscape of the subspace and find that there exists a substantial region where different DETs all perform well. Finally, we extend our analysis and show the strong connections between fine-tuning and DETs.

Fei Wu, Qingzhong Wang, Jian Bian et al.

To understand human behaviors, action recognition based on videos is a common approach. Compared with image-based action recognition, videos provide much more information. Reducing the ambiguity of actions and in the last decade, many works focused on datasets, novel models and learning approaches have improved video action recognition to a higher level. However, there are challenges and unsolved problems, in particular in sports analytics where data collection and labeling are more sophisticated, requiring sport professionals to annotate data. In addition, the actions could be extremely fast and it becomes difficult to recognize them. Moreover, in team sports like football and basketball, one action could involve multiple players, and to correctly recognize them, we need to analyse all players, which is relatively complicated. In this paper, we present a survey on video action recognition for sports analytics. We introduce more than ten types of sports, including team sports, such as football, basketball, volleyball, hockey and individual sports, such as figure skating, gymnastics, table tennis, tennis, diving and badminton. Then we compare numerous existing frameworks for sports analysis to present status quo of video action recognition in both team sports and individual sports. Finally, we discuss the challenges and unsolved problems in this area and to facilitate sports analytics, we develop a toolbox using PaddlePaddle, which supports football, basketball, table tennis and figure skating action recognition.

Ning Ding, Yulin Chen, Ganqu Cui et al. · tsinghua

Metric-based meta-learning is one of the de facto standards in few-shot learning. It composes of representation learning and metrics calculation designs. Previous works construct class representations in different ways, varying from mean output embedding to covariance and distributions. However, using embeddings in space lacks expressivity and cannot capture class information robustly, while statistical complex modeling poses difficulty to metric designs. In this work, we use tensor fields (``areas'') to model classes from the geometrical perspective for few-shot learning. We present a simple and effective method, dubbed hypersphere prototypes (HyperProto), where class information is represented by hyperspheres with dynamic sizes with two sets of learnable parameters: the hypersphere's center and the radius. Extending from points to areas, hyperspheres are much more expressive than embeddings. Moreover, it is more convenient to perform metric-based classification with hypersphere prototypes than statistical modeling, as we only need to calculate the distance from a data point to the surface of the hypersphere. Following this idea, we also develop two variants of prototypes under other measurements. Extensive experiments and analysis on few-shot learning tasks across NLP and CV and comparison with 20+ competitive baselines demonstrate the effectiveness of our approach.

Kaiyan Zhang, Ning Ding, Biqing Qi et al.

Instruction tuning has recently been recognized as an effective way of aligning Large Language Models (LLMs) to enhance their generalization ability across various tasks. However, when tuning publicly accessible, centralized LLMs with private instruction data, privacy concerns are inevitable. While direct transfer of parameterized modules between models is a plausible approach to address this, its implications and effectiveness need further exploration. This paper focuses on Offsite-Tuning (OFT), a representative technique that transfers transformer blocks between centralized LLMs and downstream emulators. Given the limited understanding of the underlying mechanism of OFT, we perform an empirical analysis on LLMs from the perspectives of representation and functional similarity. Interestingly, our findings reveal a unique modular structure within the layers of LLMs that appears to emerge as the model size expands. Simultaneously, we note subtle but potentially significant changes in representation and intermediate predictions across the layers. Inspired by these observations, we propose CRaSh, involving Clustering, Removing, and Sharing, a training-free strategy to derive improved emulators from LLMs. CRaSh significantly boosts performance of OFT with billions of parameters. Furthermore, we investigate the optimal solutions yielded by fine-tuning with and without full model through the lens of loss landscape. Our findings demonstrate a linear connectivity among these optima falling over the same basin, thereby highlighting the effectiveness of CRaSh and OFT. The source code is publicly available at https://github.com/TsinghuaC3I/CRaSh.

Yusheng Dai, Hang Chen, Jun Du et al.

In recent research, slight performance improvement is observed from automatic speech recognition systems to audio-visual speech recognition systems in the end-to-end framework with low-quality videos. Unmatching convergence rates and specialized input representations between audio and visual modalities are considered to cause the problem. In this paper, we propose two novel techniques to improve audio-visual speech recognition (AVSR) under a pre-training and fine-tuning training framework. First, we explore the correlation between lip shapes and syllable-level subword units in Mandarin to establish good frame-level syllable boundaries from lip shapes. This enables accurate alignment of video and audio streams during visual model pre-training and cross-modal fusion. Next, we propose an audio-guided cross-modal fusion encoder (CMFE) neural network to utilize main training parameters for multiple cross-modal attention layers to make full use of modality complementarity. Experiments on the MISP2021-AVSR data set show the effectiveness of the two proposed techniques. Together, using only a relatively small amount of training data, the final system achieves better performances than state-of-the-art systems with more complex front-ends and back-ends.

Ning Ding, Ce Zhang, Azim Eskandarian

A lack of driver's vigilance is the main cause of most vehicle crashes. Electroencephalography(EEG) has been reliable and efficient tool for drivers' drowsiness estimation. Even though previous studies have developed accurate and robust driver's vigilance detection algorithms, these methods are still facing challenges on following areas: (a) small sample size training, (b) anomaly signal detection, and (c) subject-independent classification. In this paper, we propose a generalized few-shot model, namely EEG-Fest, to improve aforementioned drawbacks. The EEG-Fest model can (a) classify the query sample's drowsiness with a few samples, (b) identify whether a query sample is anomaly signals or not, and (c) achieve subject independent classification. The proposed algorithm achieves state-of-the-art results on the SEED-VIG dataset and the SADT dataset. The accuracy of the drowsy class achieves 92% and 94% for 1-shot and 5-shot support samples in the SEED-VIG dataset, and 62% and 78% for 1-shot and 5-shot support samples in the SADT dataset.

Ding Ning, Varvara Vetrova, Karin R. Bryan

Sea surface temperature (SST) forecasts help with managing the marine ecosystem and the aquaculture impacted by anthropogenic climate change. Numerical dynamical models are resource intensive for SST forecasts; machine learning (ML) models could reduce high computational requirements and have been in the focus of the research community recently. ML models normally require a large amount of data for training. Environmental data are collected on regularly-spaced grids, so early work mainly used grid-based deep learning (DL) for prediction. However, both grid data and the corresponding DL approaches have inherent problems. As geometric DL has emerged, graphs as a more generalized data structure and graph neural networks (GNNs) have been introduced to the spatiotemporal domains. In this work, we preliminarily explored graph re-sampling and GNNs for global SST forecasts, and GNNs show better one month ahead SST prediction than the persistence model in most oceans in terms of root mean square errors.

Ning Ding, Yehui Tang, Zhongqian Fu et al.

The upsurge in pre-trained large models started by ChatGPT has swept across the entire deep learning community. Such powerful models demonstrate advanced generative ability and multimodal understanding capability, which quickly set new state of the arts on a variety of benchmarks. The pre-trained LLM usually plays the role as a universal AI model that can conduct various tasks like article analysis and image comprehension. However, due to the prohibitively high memory and computational cost of implementing such a large model, the conventional models (such as CNN and ViT) are still essential for many visual perception tasks. In this paper, we propose to enhance the representation ability of ordinary vision models on perception tasks (e.g. image classification) by taking advantage of the off-the-shelf large pre-trained models. We present a new learning framework, dubbed GPT4Image, where the knowledge of the large pre-trained models are extracted to help CNNs and ViTs learn better representations and achieve higher performance. Firstly, we curate a high quality description set by prompting a multimodal LLM to generate descriptions for training images. Then, these detailed descriptions are fed into a pre-trained encoder to extract text embeddings that encodes the rich semantics of images. During training, text embeddings will serve as extra supervising signal and be aligned with image representations learned by vision models. The alignment process helps vision models achieve better performance with the aid of pre-trained LLMs. We conduct extensive experiments to verify the effectiveness of the proposed algorithm on various visual perception tasks for heterogeneous model architectures.

Lifan Yuan, Ganqu Cui, Hanbin Wang et al. · tencent-ai, tsinghua

We introduce Eurus, a suite of large language models (LLMs) optimized for reasoning. Finetuned from Mistral-7B and CodeLlama-70B, Eurus models achieve state-of-the-art results among open-source models on a diverse set of benchmarks covering mathematics, code generation, and logical reasoning problems. Notably, Eurus-70B beats GPT-3.5 Turbo in reasoning through a comprehensive benchmarking across 12 tests covering five tasks, and achieves a 33.3% pass@1 accuracy on LeetCode and 32.6% on TheoremQA, two challenging benchmarks, substantially outperforming existing open-source models by margins more than 13.3%. The strong performance of Eurus can be primarily attributed to UltraInteract, our newly-curated large-scale, high-quality alignment dataset specifically designed for complex reasoning tasks. UltraInteract can be used in both supervised fine-tuning and preference learning. For each instruction, it includes a preference tree consisting of (1) reasoning chains with diverse planning strategies in a unified format, (2) multi-turn interaction trajectories with the environment and the critique, and (3) pairwise data to facilitate preference learning. UltraInteract allows us to conduct an in-depth exploration of preference learning for reasoning tasks. Our investigation reveals that some well-established preference learning algorithms may be less suitable for reasoning tasks compared to their effectiveness in general conversations. Inspired by this, we derive a novel reward modeling objective which, together with UltraInteract, leads to a strong reward model.

Ning Ding, Azim Eskandarian

Object detection is a crucial component of autonomous driving, and many detection applications have been developed to address this task. These applications often rely on backbone architectures, which extract representation features from inputs to perform the object detection task. The quality of the features extracted by the backbone architecture can have a significant impact on the overall detection performance. Many researchers have focused on developing new and improved backbone architectures to enhance the efficiency and accuracy of object detection applications. While these backbone architectures have shown state-of-the-art performance on generic object detection datasets like MS-COCO and PASCAL-VOC, evaluating their performance under an autonomous driving environment has not been previously explored. To address this, our study evaluates three well-known autonomous vehicle datasets, namely KITTI, NuScenes, and BDD, to compare the performance of different backbone architectures on object detection tasks.

Yuxin Zuo, Shang Qu, Yifei Li et al. · tsinghua

We introduce MedXpertQA, a highly challenging and comprehensive benchmark to evaluate expert-level medical knowledge and advanced reasoning. MedXpertQA includes 4,460 questions spanning 17 specialties and 11 body systems. It includes two subsets, Text for text evaluation and MM for multimodal evaluation. Notably, MM introduces expert-level exam questions with diverse images and rich clinical information, including patient records and examination results, setting it apart from traditional medical multimodal benchmarks with simple QA pairs generated from image captions. MedXpertQA applies rigorous filtering and augmentation to address the insufficient difficulty of existing benchmarks like MedQA, and incorporates specialty board questions to improve clinical relevance and comprehensiveness. We perform data synthesis to mitigate data leakage risk and conduct multiple rounds of expert reviews to ensure accuracy and reliability. We evaluate 18 leading models on \benchmark. Moreover, medicine is deeply connected to real-world decision-making, providing a rich and representative setting for assessing reasoning abilities beyond mathematics and code. To this end, we develop a reasoning-oriented subset to facilitate the assessment of o1-like models. Code and data are available at: https://github.com/TsinghuaC3I/MedXpertQA

Kaiyan Zhang, Jianyu Wang, Ermo Hua et al.

With the advancement of language models (LMs), their exposure to private data is increasingly inevitable, and their deployment (especially for smaller ones) on personal devices, such as PCs and smartphones, has become a prevailing trend. In contexts laden with user information, enabling models to both safeguard user privacy and execute commands efficiently emerges as an essential research imperative. In this paper, we propose CoGenesis, a collaborative generation framework integrating large (hosted on cloud infrastructure) and small models (deployed on local devices) to address privacy concerns logically. Initially, we design a pipeline to create personalized writing instruction datasets enriched with extensive context details as the testbed of this research issue. Subsequently, we introduce two variants of CoGenesis based on sketch and logits respectively. Our experimental findings, based on our synthesized dataset and two additional open-source datasets, indicate that: 1) Large-scale models perform well when provided with user context but struggle in the absence of such context. 2) While specialized smaller models fine-tuned on the synthetic dataset show promise, they still lag behind their larger counterparts. 3) Our CoGenesis framework, utilizing mixed-scale models, showcases competitive performance, providing a feasible solution to privacy issues.

MiniCPM Team, Chaojun Xiao, Yuxuan Li et al. · tencent-ai, tsinghua

This paper introduces MiniCPM4, a highly efficient large language model (LLM) designed explicitly for end-side devices. We achieve this efficiency through systematic innovation in four key dimensions: model architecture, training data, training algorithms, and inference systems. Specifically, in terms of model architecture, we propose InfLLM v2, a trainable sparse attention mechanism that accelerates both prefilling and decoding phases for long-context processing. Regarding training data, we propose UltraClean, an efficient and accurate pre-training data filtering and generation strategy, and UltraChat v2, a comprehensive supervised fine-tuning dataset. These datasets enable satisfactory model performance to be achieved using just 8 trillion training tokens. Regarding training algorithms, we propose ModelTunnel v2 for efficient pre-training strategy search, and improve existing post-training methods by introducing chunk-wise rollout for load-balanced reinforcement learning and data-efficient tenary LLM, BitCPM. Regarding inference systems, we propose CPM.cu that integrates sparse attention, model quantization, and speculative sampling to achieve efficient prefilling and decoding. To meet diverse on-device requirements, MiniCPM4 is available in two versions, with 0.5B and 8B parameters, respectively. Furthermore, we construct a hybrid reasoning model, MiniCPM4.1, which can be used in both deep reasoning mode and non-reasoning mode. Evaluation results demonstrate that MiniCPM4 and MiniCPM4.1 outperform similar-sized open-source models across benchmarks, with the 8B variants showing significant speed improvements on long sequence understanding and generation.

Kaikai An, Li Sheng, Ganqu Cui et al. · pku, tsinghua

Instruction-following made modern large language models (LLMs) helpful assistants. However, the key to taming LLMs on complex instructions remains mysterious, for that there are huge gaps between models trained by open-source community and those trained by leading companies. To bridge the gap, we propose a simple and scalable approach UltraIF for building LLMs that can follow complex instructions with open-source data. UltraIF first decomposes real-world user prompts into simpler queries, constraints, and corresponding evaluation questions for the constraints. Then, we train an UltraComposer to compose constraint-associated prompts with evaluation questions. This prompt composer allows us to synthesize complicated instructions as well as filter responses with evaluation questions. In our experiment, for the first time, we successfully align LLaMA-3.1-8B-Base to catch up with its instruct version on 5 instruction-following benchmarks without any benchmark information, using only 8B model as response generator and evaluator. The aligned model also achieved competitive scores on other benchmarks. Moreover, we also show that UltraIF could further improve LLaMA-3.1-8B-Instruct through self-alignment, motivating broader use cases for the method. Our code is available at https://github.com/kkk-an/UltraIF.

Xuan Xia, Weijie Lv, Xing He et al.

Although industrial anomaly detection (AD) technology has made significant progress in recent years, generating realistic anomalies and learning priors of normal remain challenging tasks. In this study, we propose an end-to-end industrial anomaly detection method called FractalAD. Training samples are obtained by synthesizing fractal images and patches from normal samples. This fractal anomaly generation method is designed to sample the full morphology of anomalies. Moreover, we designed a backbone knowledge distillation structure to extract prior knowledge contained in normal samples. The differences between a teacher and a student model are converted into anomaly attention using a cosine similarity attention module. The proposed method enables an end-to-end semantic segmentation network to be used for anomaly detection without adding any trainable parameters to the backbone and segmentation head, and has obvious advantages over other methods in training and inference speed.. The results of ablation studies confirmed the effectiveness of fractal anomaly generation and backbone knowledge distillation. The results of performance experiments showed that FractalAD achieved competitive results on the MVTec AD dataset and MVTec 3D-AD dataset compared with other state-of-the-art anomaly detection methods.

Shenghe Zheng, Qianjia Cheng, Junchi Yao et al. · tsinghua

Large Language Models (LLMs) have achieved remarkable progress on advanced reasoning tasks such as mathematics and coding competitions. Meanwhile, physics, despite being both reasoning-intensive and essential to real-world understanding, received limited academic and industrial attention. This paper introduces PHYSICS, a dataset containing 16,568 high-quality physics problems spanning subjects and difficulty levels, to facilitate this issue. Specifically, PHYSICS is curated with exercises from over 100 textbooks through a carefully designed pipeline for quality control. It covers five major physics domains: Mechanics, Electromagnetism, Thermodynamics, Optics, and Modern Physics. It also spans a wide range of difficulty levels, from high school to graduate-level physics courses. To utilize the data for improving and evaluating the model's physical reasoning capabilities, we split the dataset into training and test sets, and provide reasoning paths generated by powerful reasoning models for the training data to facilitate model training. In addition, for the evaluation part, we find that existing evaluation frameworks exhibit biases in aspects such as units, simplification, and precision in physics domain. To balance efficiency and accuracy, we introduce a Rule+Model evaluation framework tailored to physics problems. Our evaluations on current state-of-the-art open-source and proprietary models highlight the limitations of current models in handling physics-related tasks. We hope that our dataset and evaluation methodology will jointly advance the development of LLMs in the field of physics. The code and data can be found at: https://github.com/Zhengsh123/PHYSICS.

Houyi Li, Wenzhen Zheng, Qiufeng Wang et al.

The impressive capabilities of Large Language Models (LLMs) across diverse tasks are now well established, yet their effective deployment necessitates careful hyperparameter optimization. Although existing methods have explored the influence of hyperparameters on model performance, a principled and generalizable framework across model architectures and data recipes remains absent. In this study, we conduct an unprecedented empirical investigation training over 3,700 LLMs from scratch across 100 trillion tokens, consuming nearly one million NVIDIA H800 GPU hours to establish a universal Scaling Law for hyperparameter optimization in LLM Pre-training, called Step Law. We empirically observe that, under fixed model size ($N$) and dataset size ($D$), the hyperparameter landscape exhibits convexity with a broad optimum, substantially reducing the complexity of hyperparameter search. Building on this insight, we formally define and empirically validate the Step Law: The optimal learning rate follows a power-law relationship with $N$ and $D$, while the optimal batch size is primarily influenced by $D$ and remains largely invariant to $N$.Notably, our estimated optima deviate from the global best performance found via exhaustive search by merely 0.094\% on the test set. To our best known, Step Law is the first that unifies different model shapes and structures, such as Mixture-of-Experts models and dense transformers, as well as establishes optimal hyperparameter scaling laws across diverse data recipes. We contribute a universal, plug-and-play optimal hyperparameter tool for the community, which is expected to advance efficient LLM training at scale. All experimental code, data and checkpoints are publicly available at https://github.com/step-law/steplaw

Houyi Li, Wenzhen Zheng, Qiufeng Wang et al.

Training Large Language Models (LLMs) is prohibitively expensive, creating a critical scaling gap where insights from small-scale experiments often fail to transfer to resource-intensive production systems, thereby hindering efficient innovation. To bridge this, we introduce Farseer, a novel and refined scaling law offering enhanced predictive accuracy across scales. By systematically constructing a model loss surface $L(N,D)$, Farseer achieves a significantly better fit to empirical data than prior laws (e.g., Chinchilla's law). Our methodology yields accurate, robust, and highly generalizable predictions, demonstrating excellent extrapolation capabilities, improving upon Chinchilla's law by reducing extrapolation error by 433\%. This allows for the reliable evaluation of competing training strategies across all $(N,D)$ settings, enabling conclusions from small-scale ablation studies to be confidently extrapolated to predict large-scale performance. Furthermore, Farseer provides new insights into optimal compute allocation, better reflecting the nuanced demands of modern LLM training. To validate our approach, we trained an extensive suite of approximately 1,000 LLMs across diverse scales and configurations, consuming roughly 3 million NVIDIA H100 GPU hours. We are comprehensively open-sourcing all models, data, results, and logs at https://github.com/Farseer-Scaling-Law/Farseer to foster further research.

Kaiyan Zhang, Jianyu Wang, Ning Ding et al.

Large Language Models (LLMs) exhibit impressive capabilities across various applications but encounter substantial challenges such as high inference latency, considerable training costs, and the generation of hallucinations. Collaborative decoding between large and small language models (SLMs) presents a promising strategy to mitigate these issues through methods including speculative decoding, contrastive decoding, and emulator or proxy fine-tuning. However, the specifics of such collaborations, particularly from a unified perspective, remain largely unexplored. Inspired by dual-process cognitive theory, we propose a unified framework in this paper, termed Fast and Slow Generating (FS-GEN). Within this framework, LLMs (sometimes along with SLMs) are categorized as System 2 (slow and deliberate), while independent SLMs are designated as System 1 (fast and intuitive). We provide a comprehensive analysis of these collaborative methodologies, elucidating their common properties and shedding light on the differential knowledge capabilities of System 2 versus System 1 through the FS-GEN framework. Our findings indicate that only a small proportion of collaborative interactions (approximately less than 20\% in most instances) are necessary across various methods. These interactions between System 1 and System 2 conform to a scaling law related to the parameter ratios, enabling predictable collaboration. Furthermore, we explore the specific conditions under which collaboration proves most effective, particularly from an uncertainty perspective, offering novel insights that may guide future optimization efforts. Our research underscores that the fundamental distinction between System 1 and System 2 lies in the uncertainty of next token predictions, where interventions by System 2 are crucial to support System 1. Code for Reproduction: https://github.com/TsinghuaC3I/FS-GEN

Ning Ding, Yulin Chen, Bokai Xu et al.

Fine-tuning on instruction data has been widely validated as an effective practice for implementing chat language models like ChatGPT. Scaling the diversity and quality of such data, although straightforward, stands a great chance of leading to improved performance. This paper aims to improve the upper bound of open-source models further. We first provide a systematically designed, diverse, informative, large-scale dataset of instructional conversations, UltraChat, which does not involve human queries. Our objective is to capture the breadth of interactions that a human might have with an AI assistant and employs a comprehensive framework to generate multi-turn conversation iteratively. UltraChat contains 1.5 million high-quality multi-turn dialogues and covers a wide range of topics and instructions. Our statistical analysis of UltraChat reveals its superiority in various key metrics, including scale, average length, diversity, coherence, etc., solidifying its position as a leading open-source dataset. Building upon UltraChat, we fine-tune a LLaMA model to create a powerful conversational model, UltraLLaMA. Our evaluations indicate that UltraLLaMA consistently outperforms other open-source models, including Vicuna, the previously recognized state-of-the-art open-source model. The dataset and the model will be publicly released\footnote{\url{https://github.com/thunlp/UltraChat}}.

Ning Ding, Ce Zhang, Azim Eskandarian

Object detection (OD) is crucial to autonomous driving. On the other hand, unknown objects, which have not been seen in training sample set, are one of the reasons that hinder autonomous vehicles from driving beyond the operational domain. To addresss this issue, we propose a saliency-based OD algorithm (SalienDet) to detect unknown objects. Our SalienDet utilizes a saliency-based algorithm to enhance image features for object proposal generation. Moreover, we design a dataset relabeling approach to differentiate the unknown objects from all objects in training sample set to achieve Open-World Detection. To validate the performance of SalienDet, we evaluate SalienDet on KITTI, nuScenes, and BDD datasets, and the result indicates that it outperforms existing algorithms for unknown object detection. Notably, SalienDet can be easily adapted for incremental learning in open-world detection tasks. The project page is \url{https://github.com/dingmike001/SalienDet-Open-Detection.git}.

Ning Ding, Shengding Hu, Weilin Zhao et al.

Prompt-learning has become a new paradigm in modern natural language processing, which directly adapts pre-trained language models (PLMs) to $cloze$-style prediction, autoregressive modeling, or sequence to sequence generation, resulting in promising performances on various tasks. However, no standard implementation framework of prompt-learning is proposed yet, and most existing prompt-learning codebases, often unregulated, only provide limited implementations for specific scenarios. Since there are many details such as templating strategy, initializing strategy, and verbalizing strategy, etc. need to be considered in prompt-learning, practitioners face impediments to quickly adapting the desired prompt learning methods to their applications. In this paper, we present {OpenPrompt}, a unified easy-to-use toolkit to conduct prompt-learning over PLMs. OpenPrompt is a research-friendly framework that is equipped with efficiency, modularity, and extendibility, and its combinability allows the freedom to combine different PLMs, task formats, and prompting modules in a unified paradigm. Users could expediently deploy prompt-learning frameworks and evaluate the generalization of them on different NLP tasks without constraints. OpenPrompt is publicly released at {\url{ https://github.com/thunlp/OpenPrompt}}.

Yiju Guo, Ganqu Cui, Lifan Yuan et al. · tencent-ai

Alignment in artificial intelligence pursues the consistency between model responses and human preferences as well as values. In practice, the multifaceted nature of human preferences inadvertently introduces what is known as the "alignment tax" -a compromise where enhancements in alignment within one objective (e.g.,harmlessness) can diminish performance in others (e.g.,helpfulness). However, existing alignment techniques are mostly unidirectional, leading to suboptimal trade-offs and poor flexibility over various objectives. To navigate this challenge, we argue the prominence of grounding LLMs with evident preferences. We introduce controllable preference optimization (CPO), which explicitly specifies preference scores for different objectives, thereby guiding the model to generate responses that meet the requirements. Our experimental analysis reveals that the aligned models can provide responses that match various preferences among the "3H" (helpfulness, honesty, harmlessness) desiderata. Furthermore, by introducing diverse data and alignment goals, we surpass baseline methods in aligning with single objectives, hence mitigating the impact of the alignment tax and achieving improvements in multi-objective alignment.

Jia-Wei Guo, Hung-Chyun Chou, Sen-Hua Zhu et al.

This paper proposes a novel method for depth completion, which leverages multi-view improved monitored distillation to generate more precise depth maps. Our approach builds upon the state-of-the-art ensemble distillation method, in which we introduce a stereo-based model as a teacher model to improve the accuracy of the student model for depth completion. By minimizing the reconstruction error of a target image during ensemble distillation, we can avoid learning inherent error modes of completion-based teachers. We introduce an Attention-based Sparse-to-Dense (AS2D) module at the front layer of the student model to enhance its ability to extract global features from sparse depth. To provide self-supervised information, we also employ multi-view depth consistency and multi-scale minimum reprojection. These techniques utilize existing structural constraints to yield supervised signals for student model training, without requiring costly ground truth depth information. Our extensive experimental evaluation demonstrates that our proposed method significantly improves the accuracy of the baseline monitored distillation method.

Jiawei Guo, HungChyun Chou, Ning Ding

Neural Radiance Fields (NeRF) are an advanced technology that creates highly realistic images by learning about scenes through a neural network model. However, NeRF often encounters issues when there are not enough images to work with, leading to problems in accurately rendering views. The main issue is that NeRF lacks sufficient structural details to guide the rendering process accurately. To address this, we proposed a Depth and Normal Dense Completion Priors for NeRF (CP\_NeRF) framework. This framework enhances view rendering by adding depth and normal dense completion priors to the NeRF optimization process. Before optimizing NeRF, we obtain sparse depth maps using the Structure from Motion (SfM) technique used to get camera poses. Based on the sparse depth maps and a normal estimator, we generate sparse normal maps for training a normal completion prior with precise standard deviations. During optimization, we apply depth and normal completion priors to transform sparse data into dense depth and normal maps with their standard deviations. We use these dense maps to guide ray sampling, assist distance sampling and construct a normal loss function for better training accuracy. To improve the rendering of NeRF's normal outputs, we incorporate an optical centre position embedder that helps synthesize more accurate normals through volume rendering. Additionally, we employ a normal patch matching technique to choose accurate rendered normal maps, ensuring more precise supervision for the model. Our method is superior to leading techniques in rendering detailed indoor scenes, even with limited input views.

Xingtai Lv, Youbang Sun, Kaiyan Zhang et al. · tsinghua

State Space Models (SSMs) have emerged as a promising alternative to the popular transformer-based models and have been increasingly gaining attention. Compared to transformers, SSMs excel at tasks with sequential data or longer contexts, demonstrating comparable performances with significant efficiency gains. In this survey, we provide a coherent and systematic overview for SSMs, including their theoretical motivations, mathematical formulations, comparison with existing model classes, and various applications. We divide the SSM series into three main sections, providing a detailed introduction to the original SSM, the structured SSM represented by S4, and the selective SSM typified by Mamba. We put an emphasis on technicality, and highlight the various key techniques introduced to address the effectiveness and efficiency of SSMs. We hope this manuscript serves as an introduction for researchers to explore the theoretical foundations of SSMs.

Bingxiang He, Wenbin Zhang, Jiaxi Song et al.

Preference learning is critical for aligning large language models (LLMs) with human values, yet its success hinges on high-quality datasets comprising three core components: Preference \textbf{A}nnotations, \textbf{I}nstructions, and \textbf{R}esponse Pairs. Current approaches conflate these components, obscuring their individual impacts and hindering systematic optimization. In this work, we propose \textbf{AIR}, a component-wise analysis framework that systematically isolates and optimizes each component while evaluating their synergistic effects. Through rigorous experimentation, AIR reveals actionable principles: annotation simplicity (point-wise generative scoring), instruction inference stability (variance-based filtering across LLMs), and response pair quality (moderate margins + high absolute scores). When combined, these principles yield +5.3 average gains over baseline method, even with only 14k high-quality pairs. Our work shifts preference dataset design from ad hoc scaling to component-aware optimization, offering a blueprint for efficient, reproducible alignment.

Ding Ning, Varvara Vetrova, Yun Sing Koh et al.

Marine heatwaves (MHWs), an extreme climate phenomenon, pose significant challenges to marine ecosystems and industries, with their frequency and intensity increasing due to climate change. This study introduces an integrated deep learning approach to forecast short-to-long-term MHWs on a global scale. The approach combines graph representation for modeling spatial properties in climate data, imbalanced regression to handle skewed data distributions, and temporal diffusion to enhance forecast accuracy across various lead times. To the best of our knowledge, this is the first study that synthesizes three spatiotemporal anomaly methodologies to predict MHWs. Additionally, we introduce a method for constructing graphs that avoids isolated nodes and provide a new publicly available sea surface temperature anomaly graph dataset. We examine the trade-offs in the selection of loss functions and evaluation metrics for MHWs. We analyze spatial patterns in global MHW predictability by focusing on historical hotspots, and our approach demonstrates better performance compared to traditional numerical models in regions such as the middle south Pacific, equatorial Atlantic near Africa, south Atlantic, and high-latitude Indian Ocean. We highlight the potential of temporal diffusion to replace the conventional sliding window approach for long-term forecasts, achieving improved prediction up to six months in advance. These insights not only establish benchmarks for machine learning applications in MHW forecasting but also enhance understanding of general climate forecasting methodologies.

Yujia Qin, Xiaozhi Wang, Yusheng Su et al.

Why can pre-trained language models (PLMs) learn universal representations and effectively adapt to broad NLP tasks differing a lot superficially? In this work, we empirically find evidence indicating that the adaptations of PLMs to various few-shot tasks can be reparameterized as optimizing only a few free parameters in a unified low-dimensional intrinsic task subspace, which may help us understand why PLMs could easily adapt to various NLP tasks with small-scale data. To find such a subspace and examine its universality, we propose an analysis pipeline called intrinsic prompt tuning (IPT). Specifically, we resort to the recent success of prompt tuning and decompose the soft prompts of multiple NLP tasks into the same low-dimensional nonlinear subspace, then we learn to adapt the PLM to unseen data or tasks by only tuning parameters in this subspace. In the experiments, we study diverse few-shot NLP tasks and surprisingly find that in a 250-dimensional subspace found with 100 tasks, by only tuning 250 free parameters, we can recover 97% and 83% of the full prompt tuning performance for 100 seen tasks (using different training data) and 20 unseen tasks, respectively, showing great generalization ability of the found intrinsic task subspace. Besides being an analysis tool, IPT could further help us improve the prompt tuning stability.

Deng Ganyu, Luo Jianwen, Sun Caiming et al.

Quadruped locomotion is currently a vibrant research area, which has reached a level of maturity and performance that enables some of the most advanced real-world applications with autonomous quadruped robots both in academia and industry. Blind robust quadruped locomotion has been pushed forward in control and technology aspects within recent decades. However, in the complicated environment, the capability including terrain perception and path planning is still required. Visual perception is an indispensable ability in legged locomotion for such a demand. This study explores a vision-based navigation method for a small-scale quadruped robot Pegasus-Mini, aiming to propose a method that enables efficient and reliable navigation for the small-scale quadruped locomotion. The vision-based navigation method proposed in this study is applicable in such a small-scale quadruped robot platform in which the computation resources and space are limited. The semantic segmentation based on a CNN model is adopted for the real-time path segmentation in the outdoor environment. The desired traverse trajectory is generated through real-time updating the middle line, which is calculated from the edge position of the segmented path in the images. To enhance the stability of the path planning directly based on the semantic segmentation method, a trajectory compensation method is supplemented considering the temporal information to revise the untrustworthy planned path. Experiments of semantic segmentation and navigation in a garden scene are demonstrated to verify the effectiveness of the proposed method.

Shengding Hu, Ning Ding, Huadong Wang et al.

Tuning pre-trained language models (PLMs) with task-specific prompts has been a promising approach for text classification. Particularly, previous studies suggest that prompt-tuning has remarkable superiority in the low-data scenario over the generic fine-tuning methods with extra classifiers. The core idea of prompt-tuning is to insert text pieces, i.e., template, to the input and transform a classification problem into a masked language modeling problem, where a crucial step is to construct a projection, i.e., verbalizer, between a label space and a label word space. A verbalizer is usually handcrafted or searched by gradient descent, which may lack coverage and bring considerable bias and high variances to the results. In this work, we focus on incorporating external knowledge into the verbalizer, forming a knowledgeable prompt-tuning (KPT), to improve and stabilize prompt-tuning. Specifically, we expand the label word space of the verbalizer using external knowledge bases (KBs) and refine the expanded label word space with the PLM itself before predicting with the expanded label word space. Extensive experiments on zero and few-shot text classification tasks demonstrate the effectiveness of knowledgeable prompt-tuning.

Juntong Su, Bingchen Jin, Shusheng Ye et al.

A hopping leg, no matter in legged animals or humans, usually behaves like a spring during the periodic hopping. Hopping like a spring is efficient and without the requirement of complicated control algorithms. Position and force control are two main methods to realize such a spring-like behaviour. The position control usually consumes the torque resources to ensure the position accuracy and compensate the tracking errors. In comparison, the force control strategy is able to maintain a high elasticity. Currently, the position and force control both leads to the discount of motor saturation ratio as well as the bandwidth of the control system, and thus attenuates the performance of the actuator. To augment the performance, this letter proposes a motor saturation strategy based on the force control to maximize the output torque of the actuator and realize the continuous hopping motion with natural dynamics. The proposed strategy is able to maximize the saturation ratio of motor and thus maximize the foot clearance of the single leg. The dynamics of the two-mass model is utilized to increase the force bandwidth and the performance of the actuator. A single leg with two degrees of freedom is designed as the experiment platform. The actuator consists of a powerful electric motor, a harmonic gear and encoder. The effectiveness of this method is verified through simulations and experiments using a robotic leg actuated by powerful high reduction ratio actuators.

Xuan Xia, Xizhou Pan, Xing He et al.

As a kind of generative self-supervised learning methods, generative adversarial nets have been widely studied in the field of anomaly detection. However, the representation learning ability of the generator is limited since it pays too much attention to pixel-level details, and generator is difficult to learn abstract semantic representations from label prediction pretext tasks as effective as discriminator. In order to improve the representation learning ability of generator, we propose a self-supervised learning framework combining generative methods and discriminative methods. The generator no longer learns representation by reconstruction error, but the guidance of discriminator, and could benefit from pretext tasks designed for discriminative methods. Our discriminative-generative representation learning method has performance close to discriminative methods and has a great advantage in speed. Our method used in one-class anomaly detection task significantly outperforms several state-of-the-arts on multiple benchmark data sets, increases the performance of the top-performing GAN-based baseline by 6% on CIFAR-10 and 2% on MVTAD.

Yinghui Li, Ruiyang Liu, ZiHao Zhang et al.

Deep neural models have hitherto achieved significant performances on numerous classification tasks, but meanwhile require sufficient manually annotated data. Since it is extremely time-consuming and expensive to annotate adequate data for each classification task, learning an empirically effective model with generalization on small dataset has received increased attention. Existing efforts mainly focus on transferring task-relevant knowledge from other similar data to tackle the issue. These approaches have yielded remarkable improvements, yet neglecting the fact that the task-irrelevant features could bring out massive negative transfer effects. To date, no large-scale studies have been performed to investigate the impact of task-irrelevant features, let alone the utilization of this kind of features. In this paper, we firstly propose Task-Irrelevant Transfer Learning (TIRTL) to exploit task-irrelevant features, which mainly are extracted from task-irrelevant labels. Particularly, we suppress the expression of task-irrelevant information and facilitate the learning process of classification. We also provide a theoretical explanation of our method. In addition, TIRTL does not conflict with those that have previously exploited task-relevant knowledge and can be well combined to enable the simultaneous utilization of task-relevant and task-irrelevant features for the first time. In order to verify the effectiveness of our theory and method, we conduct extensive experiments on facial expression recognition and digit recognition tasks. Our source code will be also available in the future for reproducibility.