Huang Huang

Huang Huang, Fei Yu, Jianqing Zhu et al.

This paper is devoted to the development of a localized Large Language Model (LLM) specifically for Arabic, a language imbued with unique cultural characteristics inadequately addressed by current mainstream models. Significant concerns emerge when addressing cultural sensitivity and local values. To address this, the paper proposes a comprehensive solution that includes further pre-training with Arabic texts, Supervised Fine-Tuning (SFT) utilizing native Arabic instructions, and GPT-4 responses in Arabic, alongside Reinforcement Learning with AI Feedback (RLAIF) employing a reward model attuned to local culture and values. The goal is to cultivate culturally cognizant and value-aligned Arabic LLMs capable of accommodating the diverse, application-specific needs of Arabic-speaking communities. Comprehensive evaluations reveal that the resulting model, dubbed `AceGPT', sets the state-of-the-art standard for open Arabic LLMs across various benchmarks. Codes, data, and models are in https://github.com/FreedomIntelligence/AceGPT.

Vincent Lim, Ellen Novoseller, Jeffrey Ichnowski et al.

For applications in healthcare, physics, energy, robotics, and many other fields, designing maximally informative experiments is valuable, particularly when experiments are expensive, time-consuming, or pose safety hazards. While existing approaches can sequentially design experiments based on prior observation history, many of these methods do not extend to implicit models, where simulation is possible but computing the likelihood is intractable. Furthermore, they often require either significant online computation during deployment or a differentiable simulation system. We introduce Reinforcement Learning for Deep Adaptive Design (RL-DAD), a method for simulation-based optimal experimental design for non-differentiable implicit models. RL-DAD extends prior work in policy-based Bayesian Optimal Experimental Design (BOED) by reformulating it as a Markov Decision Process with a reward function based on likelihood-free information lower bounds, which is used to learn a policy via deep reinforcement learning. The learned design policy maps prior histories to experiment designs offline and can be quickly deployed during online execution. We evaluate RL-DAD and find that it performs competitively with baselines on three benchmarks.

Huang Huang, Satvik Sharma, Antonio Loquercio et al.

This paper focuses on the problem of detecting and reacting to changes in the distribution of a sensorimotor controller's observables. The key idea is the design of switching policies that can take conformal quantiles as input, which we define as conformal policy learning, that allows robots to detect distribution shifts with formal statistical guarantees. We show how to design such policies by using conformal quantiles to switch between base policies with different characteristics, e.g. safety or speed, or directly augmenting a policy observation with a quantile and training it with reinforcement learning. Theoretically, we show that such policies achieve the formal convergence guarantees in finite time. In addition, we thoroughly evaluate their advantages and limitations on two compelling use cases: simulated autonomous driving and active perception with a physical quadruped. Empirical results demonstrate that our approach outperforms five baselines. It is also the simplest of the baseline strategies besides one ablation. Being easy to use, flexible, and with formal guarantees, our work demonstrates how conformal prediction can be an effective tool for sensorimotor learning under uncertainty.

Letian Fu, Huang Huang, Gaurav Datta et al.

We explore how to enhance next-token prediction models to perform in-context imitation learning on a real robot, where the robot executes new tasks by interpreting contextual information provided during the input phase, without updating its underlying policy parameters. We propose In-Context Robot Transformer (ICRT), a causal transformer that performs autoregressive prediction on sensorimotor trajectories without relying on any linguistic data or reward function. This formulation enables flexible and training-free execution of new tasks at test time, achieved by prompting the model with sensorimotor trajectories of the new task composing of image observations, actions and states tuples, collected through human teleoperation. Experiments with a Franka Emika robot demonstrate that the ICRT can adapt to new tasks specified by prompts, even in environment configurations that differ from both the prompt and the training data. In a multitask environment setup, ICRT significantly outperforms current state-of-the-art next-token prediction models in robotics on generalizing to unseen tasks. Code, checkpoints and data are available on https://icrt.dev/

Letian Fu, Gaurav Datta, Huang Huang et al.

Touch is an important sensing modality for humans, but it has not yet been incorporated into a multimodal generative language model. This is partially due to the difficulty of obtaining natural language labels for tactile data and the complexity of aligning tactile readings with both visual observations and language descriptions. As a step towards bridging that gap, this work introduces a new dataset of 44K in-the-wild vision-touch pairs, with English language labels annotated by humans (10%) and textual pseudo-labels from GPT-4V (90%). We use this dataset to train a vision-language-aligned tactile encoder for open-vocabulary classification and a touch-vision-language (TVL) model for text generation using the trained encoder. Results suggest that by incorporating touch, the TVL model improves (+29% classification accuracy) touch-vision-language alignment over existing models trained on any pair of those modalities. Although only a small fraction of the dataset is human-labeled, the TVL model demonstrates improved visual-tactile understanding over GPT-4V (+12%) and open-source vision-language models (+32%) on a new touch-vision understanding benchmark. Code and data: https://tactile-vlm.github.io.

Juhao Liang, Zhenyang Cai, Jianqing Zhu et al.

The alignment of large language models (LLMs) is critical for developing effective and safe language models. Traditional approaches focus on aligning models during the instruction tuning or reinforcement learning stages, referred to in this paper as `post alignment'. We argue that alignment during the pre-training phase, which we term `native alignment', warrants investigation. Native alignment aims to prevent unaligned content from the beginning, rather than relying on post-hoc processing. This approach leverages extensively aligned pre-training data to enhance the effectiveness and usability of pre-trained models. Our study specifically explores the application of native alignment in the context of Arabic LLMs. We conduct comprehensive experiments and ablation studies to evaluate the impact of native alignment on model performance and alignment stability. Additionally, we release open-source Arabic LLMs that demonstrate state-of-the-art performance on various benchmarks, providing significant benefits to the Arabic LLM community.

Jianqing Zhu, Huang Huang, Zhihang Lin et al.

This paper addresses the critical need for democratizing large language models (LLM) in the Arab world, a region that has seen slower progress in developing models comparable to state-of-the-art offerings like GPT-4 or ChatGPT 3.5, due to a predominant focus on mainstream languages (e.g., English and Chinese). One practical objective for an Arabic LLM is to utilize an Arabic-specific vocabulary for the tokenizer that could speed up decoding. However, using a different vocabulary often leads to a degradation of learned knowledge since many words are initially out-of-vocabulary (OOV) when training starts. Inspired by the vocabulary learning during Second Language (Arabic) Acquisition for humans, the released AraLLaMA employs progressive vocabulary expansion, which is implemented by a modified BPE algorithm that progressively extends the Arabic subwords in its dynamic vocabulary during training, thereby balancing the OOV ratio at every stage. The ablation study demonstrated the effectiveness of Progressive Vocabulary Expansion. Moreover, AraLLaMA achieves decent performance comparable to the best Arabic LLMs across a variety of Arabic benchmarks. Models, training data, benchmarks, and codes will be all open-sourced.

Yelu Gao, Huang Huang, Lian Zhang

Alzheimer's disease (AD) is an irreversible neurode generative disease of the brain.The disease may causes memory loss, difficulty communicating and disorientation. For the diagnosis of Alzheimer's disease, a series of scales are often needed to evaluate the diagnosis clinically, which not only increases the workload of doctors, but also makes the results of diagnosis highly subjective. Therefore, for Alzheimer's disease, imaging means to find early diagnostic markers has become a top priority. In this paper, we propose a novel 3DMgNet architecture which is a unified framework of multigrid and convolutional neural network to diagnose Alzheimer's disease (AD). The model is trained using an open dataset (ADNI dataset) and then test with a smaller dataset of ours. Finally, the model achieved 92.133% accuracy for AD vs NC classification and significantly reduced the model parameters.